Revision: 7867
http://playerstage.svn.sourceforge.net/playerstage/?rev=7867&view=rev
Author: robotos
Date: 2009-06-21 13:59:20 +0000 (Sun, 21 Jun 2009)
Log Message:
-----------
laserFiducialID and laserRetro properties for models. This not only saves
typing but also .model files with no fiducial information can be fiducialized
in the .world file.
Modified Paths:
--------------
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/Model.hh
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/Body.hh
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2009-06-20 13:07:12 UTC (rev 7866)
+++ code/gazebo/trunk/server/Model.cc 2009-06-21 13:59:20 UTC (rev 7867)
@@ -84,6 +84,12 @@
this->collideP = new ParamT<std::string>("collide", "all", 0);
this->collideP->Callback( &Model::SetCollideMode, this );
+ this->laserFiducialP = new ParamT<int>("laserFiducialId", -1, 0);
+ this->laserFiducialP->Callback( &Model::SetLaserFiducialId, this );
+
+ this->laserRetroP = new ParamT<float>("laserRetro", -1, 0);
+ this->laserRetroP->Callback( &Model::SetLaserRetro, this );
+
Param::End();
this->graphicsHandler = NULL;
@@ -245,6 +251,9 @@
this->SetCollideMode( **this->collideP );
+ this->SetLaserFiducialId( **this->laserFiducialP);
+ this->SetLaserRetro( **this->laserRetroP);
+
// Create the graphics iface handler
this->graphicsHandler = new GraphicsIfaceHandler();
this->graphicsHandler->Load(this->GetName(), this);
@@ -975,6 +984,38 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Set the collide mode of the model
+void Model::SetLaserFiducialId( const int &id )
+{
+ Body *body;
+
+ std::map<std::string, Body* >::iterator iter;
+
+ for (iter=this->bodies.begin(); iter!=this->bodies.end(); iter++)
+ {
+ body = iter->second;
+
+ body->SetLaserFiducialId( id );
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Set the collide mode of the model
+void Model::SetLaserRetro( const float &retro )
+{
+ Body *body;
+
+ std::map<std::string, Body* >::iterator iter;
+
+ for (iter=this->bodies.begin(); iter!=this->bodies.end(); iter++)
+ {
+ body = iter->second;
+
+ body->SetLaserRetro( retro );
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
// Load a renderable model (like a light source).
void Model::LoadRenderable(XMLConfigNode *node)
{
Modified: code/gazebo/trunk/server/Model.hh
===================================================================
--- code/gazebo/trunk/server/Model.hh 2009-06-20 13:07:12 UTC (rev 7866)
+++ code/gazebo/trunk/server/Model.hh 2009-06-21 13:59:20 UTC (rev 7867)
@@ -178,6 +178,12 @@
/// \brief Set the collide mode of the model
public: void SetCollideMode( const std::string &m );
+ /// \brief Set the laser fiducial integer Id of the model
+ public: void SetLaserFiducialId( const int &id );
+
+ /// \brief Set the laser retro reflectiveness of the model
+ public: void SetLaserRetro( const float &retro );
+
/// \brief Load a body helper function
/// \param node XML Configuration node
private: void LoadBody(XMLConfigNode *node);
@@ -230,6 +236,8 @@
private: ParamT<std::string> *myBodyNameP;
private: ParamT<bool> *enableGravityP;
private: ParamT<bool> *enableFrictionP;
+ private: ParamT<int> *laserFiducialP;
+ private: ParamT<float> *laserRetroP;
private: ParamT<std::string> *collideP;
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2009-06-20 13:07:12 UTC (rev
7866)
+++ code/gazebo/trunk/server/physics/Body.cc 2009-06-21 13:59:20 UTC (rev
7867)
@@ -364,6 +364,34 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Set the laser fiducial integer id of this body
+void Body::SetLaserFiducialId(int id)
+{
+ std::map< std::string, Geom* >::iterator giter;
+
+ for (giter = this->geoms.begin(); giter != this->geoms.end(); giter++)
+ {
+ giter->second->SetLaserFiducialId( id );
+ }
+
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
+/// Set the laser retro reflectiveness of this body
+void Body::SetLaserRetro(float retro)
+{
+ std::map< std::string, Geom* >::iterator giter;
+
+ for (giter = this->geoms.begin(); giter != this->geoms.end(); giter++)
+ {
+ giter->second->SetLaserRetro( retro );
+ }
+
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
// Initialize the body
void Body::Init()
{
Modified: code/gazebo/trunk/server/physics/Body.hh
===================================================================
--- code/gazebo/trunk/server/physics/Body.hh 2009-06-20 13:07:12 UTC (rev
7866)
+++ code/gazebo/trunk/server/physics/Body.hh 2009-06-21 13:59:20 UTC (rev
7867)
@@ -138,6 +138,12 @@
// with other bodies even if they share the same parent.
public: bool GetSelfCollide();
+ /// \brief Set the laser fiducial integer id
+ public: void SetLaserFiducialId(int id);
+
+ /// \brief Set the laser retro reflectiveness
+ public: void SetLaserRetro(float retro);
+
/// \brief Set the linear velocity of the body
public: void SetLinearVel(const Vector3 &vel);
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