Revision: 8182
http://playerstage.svn.sourceforge.net/playerstage/?rev=8182&view=rev
Author: gbiggs
Date: 2009-08-07 08:08:34 +0000 (Fri, 07 Aug 2009)
Log Message:
-----------
Applied patch #2832969: Update to writelog and readlog
Modified Paths:
--------------
code/player/trunk/server/drivers/shell/readlog.cc
code/player/trunk/server/drivers/shell/writelog.cc
Modified: code/player/trunk/server/drivers/shell/readlog.cc
===================================================================
--- code/player/trunk/server/drivers/shell/readlog.cc 2009-08-06 23:32:05 UTC
(rev 8181)
+++ code/player/trunk/server/drivers/shell/readlog.cc 2009-08-07 08:08:34 UTC
(rev 8182)
@@ -2458,6 +2458,39 @@
(void*)&data, sizeof(data), &time);
return (0);
}
+
+ case PLAYER_IMU_DATA_FULLSTATE:
+ {
+ if (token_count < 22)
+ {
+ PLAYER_ERROR2("invalid line at %s:%d",
this->filename, linenum);
+ return -1;
+ }
+ player_imu_data_fullstate_t data;
+
+ data.pose.px = static_cast<float> (atof (tokens[7]));
+ data.pose.py = static_cast<float> (atof (tokens[8]));
+ data.pose.pz = static_cast<float> (atof (tokens[9]));
+ data.pose.proll = static_cast<float> (atof
(tokens[10]));
+ data.pose.ppitch = static_cast<float> (atof
(tokens[11]));
+ data.pose.pyaw = static_cast<float> (atof
(tokens[12]));
+ data.vel.px = static_cast<float> (atof (tokens[13]));
+ data.vel.py = static_cast<float> (atof (tokens[14]));
+ data.vel.pz = static_cast<float> (atof (tokens[15]));
+ data.vel.proll = static_cast<float> (atof
(tokens[16]));
+ data.vel.ppitch = static_cast<float> (atof
(tokens[17]));
+ data.vel.pyaw = static_cast<float> (atof (tokens[18]));
+ data.acc.px = static_cast<float> (atof (tokens[19]));
+ data.acc.py = static_cast<float> (atof (tokens[20]));
+ data.acc.pz = static_cast<float> (atof (tokens[21]));
+ data.acc.proll = 0;
+ data.acc.ppitch = 0;
+ data.acc.pyaw = 0;
+
+ this->Publish (id, static_cast<uint8_t> (type),
static_cast<uint8_t> (subtype),
+ (void*)&data,
sizeof(data), &time);
+ return (0);
+ }
default:
PLAYER_ERROR1 ("unknown IMU data subtype %d\n", subtype);
return (-1);
Modified: code/player/trunk/server/drivers/shell/writelog.cc
===================================================================
--- code/player/trunk/server/drivers/shell/writelog.cc 2009-08-06 23:32:05 UTC
(rev 8181)
+++ code/player/trunk/server/drivers/shell/writelog.cc 2009-08-07 08:08:34 UTC
(rev 8182)
@@ -1636,6 +1636,22 @@
-> proll (float): roll angle
-> ppitch (float): pitch angle
-> pyaw (float): yaw angle
+ - for PLAYER_IMU_DATA_FULLSTATE (player_imu_data_fullstate_t):
+ -> pose_px (float): X pose
+ -> pose_py (float): Y pose
+ -> pose_pz (float): Z pose
+ -> pose_proll (float): roll angle
+ -> pose_ppitch (float): pitch angle
+ -> pose_pyaw (float): yaw angle
+ -> vel_px (float): X velocity
+ -> vel_py (float): Y velocity
+ -> vel_pz (float): Z velocity
+ -> vel_proll (float): roll anglular velocity
+ -> vel_ppitch (float): pitch anglular velocity
+ -> vel_pyaw (float): yaw anglular velocity
+ -> acc_px (float): X acceleration
+ -> acc_py (float): Y acceleration
+ -> acc_pz (float): Z acceleration
*/
int
WriteLog::WriteIMU (player_msghdr_t* hdr, void *data)
@@ -1718,6 +1734,29 @@
idata->orientation.pyaw);
return (0);
}
+
+ case PLAYER_IMU_DATA_FULLSTATE:
+ {
+ player_imu_data_fullstate_t* idata;
+ idata =
(player_imu_data_fullstate_t*)data;
+ fprintf (this->file,"%f %f %f %f %f %f
%f %f %f %f %f %f %f %f %f",
+ idata->pose.px,
+ idata->pose.py,
+ idata->pose.pz,
+ idata->pose.proll,
+ idata->pose.ppitch,
+ idata->pose.pyaw,
+ idata->vel.px,
+ idata->vel.py,
+ idata->vel.pz,
+ idata->vel.proll,
+ idata->vel.ppitch,
+ idata->vel.pyaw,
+ idata->acc.px,
+ idata->acc.py,
+ idata->acc.pz);
+ return (0);
+ }
default:
return (-1);
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