Revision: 8601
http://playerstage.svn.sourceforge.net/playerstage/?rev=8601&view=rev
Author: rtv
Date: 2010-03-25 01:06:42 +0000 (Thu, 25 Mar 2010)
Log Message:
-----------
updated stageplugin to track model API changes
Modified Paths:
--------------
code/stage/trunk/libstageplugin/p_laser.cc
code/stage/trunk/libstageplugin/p_sonar.cc
code/stage/trunk/worlds/fasr.world
Modified: code/stage/trunk/libstageplugin/p_laser.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_laser.cc 2010-03-24 04:05:49 UTC (rev
8600)
+++ code/stage/trunk/libstageplugin/p_laser.cc 2010-03-25 01:06:42 UTC (rev
8601)
@@ -53,16 +53,18 @@
void InterfaceLaser::Publish( void )
{
ModelLaser* mod = (ModelLaser*)this->mod;
- ModelLaser::Sample* samples = mod->GetSamples(NULL);
-
+
+ const std::vector<ModelLaser::Sample>& samples = mod->GetSamples();
+
+ uint32_t sample_count = samples.size();
// don't publish anything until we have some real data
- if( samples == NULL )
+ if( sample_count == 0 )
return;
player_laser_data_t pdata;
memset( &pdata, 0, sizeof(pdata) );
-
- ModelLaser::Config cfg = mod->GetConfig();
+
+ ModelLaser::Config cfg = mod->GetConfig();
pdata.min_angle = -cfg.fov/2.0;
pdata.max_angle = +cfg.fov/2.0;
pdata.resolution = cfg.fov / cfg.sample_count;
Modified: code/stage/trunk/libstageplugin/p_sonar.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_sonar.cc 2010-03-24 04:05:49 UTC (rev
8600)
+++ code/stage/trunk/libstageplugin/p_sonar.cc 2010-03-25 01:06:42 UTC (rev
8601)
@@ -60,17 +60,19 @@
player_sonar_data_t sonar;
memset( &sonar, 0, sizeof(sonar) );
- size_t count = mod->sensors.size();
+ const std::vector<Sensor>& sensors = mod->GetSensors();
+ size_t count = sensors.size();
+
if( count > 0 )
{
//if( son->power_on ) // set with a sonar config
{
- sonar.ranges_count = count;
- sonar.ranges = new float[count];
+ sonar.ranges_count = count;
+ sonar.ranges = new float[count];
- for( unsigned int i=0; i<count; i++ )
- sonar.ranges[i] = mod->sensors[i].range;
+ for( unsigned int i=0; i<count; i++ )
+ sonar.ranges[i] = sensors[i].range;
}
}
@@ -94,8 +96,9 @@
this->addr) )
{
ModelRanger* mod = (ModelRanger*)this->mod;
-
- size_t count = mod->sensors.size();
+
+ const std::vector<Sensor>& sensors = mod->GetSensors();
+ size_t count = sensors.size();
// convert the ranger data into Player-format sonar poses
player_sonar_geom_t pgeom;
@@ -107,12 +110,12 @@
for( unsigned int i=0; i<count; i++ )
{
// fill in the geometry data formatted
player-like
- pgeom.poses[i].px =
mod->sensors[i].pose.x;
- pgeom.poses[i].py =
mod->sensors[i].pose.y;
+ pgeom.poses[i].px = sensors[i].pose.x;
+ pgeom.poses[i].py = sensors[i].pose.y;
pgeom.poses[i].pz = 0;
pgeom.poses[i].ppitch = 0;
pgeom.poses[i].proll = 0;
- pgeom.poses[i].pyaw =
mod->sensors[i].pose.a;
+ pgeom.poses[i].pyaw =
sensors[i].pose.a;
}
this->driver->Publish( this->addr, resp_queue,
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2010-03-24 04:05:49 UTC (rev 8600)
+++ code/stage/trunk/worlds/fasr.world 2010-03-25 01:06:42 UTC (rev 8601)
@@ -16,7 +16,7 @@
resolution 0.02
-threads 2
+threads 8
# configure the GUI window
window
@@ -44,14 +44,16 @@
zone
(
+ size [ 2 2 0 ]
color "green"
pose [ -7.000 -7.000 0 0 ]
name "source"
- ctrl "source"
+ ctrl "source 100 1"
)
zone
(
+ size [ 2 2 0 ]
color "red"
pose [ 7.000 7.000 0 0 ]
name "sink"
@@ -84,7 +86,7 @@
size [ 0.050 0.200 0.100 ]
joules -1 # provides infinite energy
give_watts 2000
- fiducial_return 2 # look for this in the fiducial sensor
+ fiducial_return 2 # look for this in the fiducial senso
alwayson 1 # so we give charge without any explicit subscriber
)
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