Revision: 8550
http://playerstage.svn.sourceforge.net/playerstage/?rev=8550&view=rev
Author: rtv
Date: 2010-02-09 18:27:44 +0000 (Tue, 09 Feb 2010)
Log Message:
-----------
fixed bug whereby geometry was not initialized properly when headless. Thanks
to Mathias Ludtke for the report and fix
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/CMakeLists.txt
code/stage/trunk/libstage/model_ranger.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
code/stage/trunk/worlds/map.inc
Modified: code/stage/trunk/examples/ctrl/CMakeLists.txt
===================================================================
--- code/stage/trunk/examples/ctrl/CMakeLists.txt 2010-02-09 01:58:31 UTC
(rev 8549)
+++ code/stage/trunk/examples/ctrl/CMakeLists.txt 2010-02-09 18:27:44 UTC
(rev 8550)
@@ -1,6 +1,7 @@
SET( PLUGINS
fasr
+ fasr2
lasernoise
sink
source
Modified: code/stage/trunk/libstage/model_ranger.cc
===================================================================
--- code/stage/trunk/libstage/model_ranger.cc 2010-02-09 01:58:31 UTC (rev
8549)
+++ code/stage/trunk/libstage/model_ranger.cc 2010-02-09 18:27:44 UTC (rev
8550)
@@ -257,6 +257,7 @@
void ModelRanger::Update( void )
{
// raytrace new range data for all sensors
+ printf( "Stage: " );
FOR_EACH( it, sensors )
{
Sensor& s = *it;
@@ -264,15 +265,18 @@
// TODO - reinstate multi-ray rangers
//for( int r=0; r<sensors[t].ray_count; r++ )
//{
- stg_raytrace_result_t ray = Raytrace( s.pose,
-
s.bounds_range.max,
-
ranger_match,
-
NULL );
+ stg_raytrace_result_t ray = Raytrace( s.pose,
+
s.bounds_range.max,
+
ranger_match,
+
NULL );
s.range = std::max( ray.range, s.bounds_range.min );
+
+ printf( " %.3f (%.3f) ", s.range, s.pose.a );
}
-
- Model::Update();
+ puts("");
+
+ Model::Update();
}
void ModelRanger::Print( char* prefix )
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2010-02-09 01:58:31 UTC (rev 8549)
+++ code/stage/trunk/libstage/stage.hh 2010-02-09 18:27:44 UTC (rev 8550)
@@ -521,7 +521,7 @@
virtual void Visualize( Model* mod, Camera* cam ) = 0;
const std::string& GetMenuName() { return menu_name; }
- const std::string& GetWorldfileName() { return worldfile_name; }
+ const std::string& GetWorldfileName() { return worldfile_name; }
};
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2010-02-09 01:58:31 UTC (rev 8549)
+++ code/stage/trunk/libstage/world.cc 2010-02-09 18:27:44 UTC (rev 8550)
@@ -400,7 +400,8 @@
// call all controller init functions
FOR_EACH( it, models )
{
- // this is a hack and shouldn't be necessary
+ // all this is a hack and shouldn't be necessary
+ (*it)->blockgroup.CalcSize();
(*it)->UnMap();
(*it)->Map();
// to here
Modified: code/stage/trunk/worlds/map.inc
===================================================================
--- code/stage/trunk/worlds/map.inc 2010-02-09 01:58:31 UTC (rev 8549)
+++ code/stage/trunk/worlds/map.inc 2010-02-09 18:27:44 UTC (rev 8550)
@@ -26,7 +26,7 @@
gui_nose 0
gui_grid 0
- gui_move 0
+ gui_move 1
gui_outline 0
# insensible to collision and range sensors
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