Revision: 9042
http://playerstage.svn.sourceforge.net/playerstage/?rev=9042&view=rev
Author: hsujohnhsu
Date: 2011-04-11 22:16:54 +0000 (Mon, 11 Apr 2011)
Log Message:
-----------
patches per ticket by Peter Nordin
https://sourceforge.net/tracker/?func=detail&aid=3195458&group_id=42445&atid=433166
Modified Paths:
--------------
code/gazebo/trunk/libgazebo/gz.h
code/gazebo/trunk/player/CMakeLists.txt
code/gazebo/trunk/player/GazeboDriver.cc
code/gazebo/trunk/server/controllers/imu/Generic_Imu.cc
code/gazebo/trunk/server/physics/CMakeLists.txt
code/gazebo/trunk/server/physics/bullet/BulletGeom.cc
code/gazebo/trunk/server/physics/bullet/BulletGeom.hh
code/gazebo/trunk/server/sensors/imu/ImuSensor.cc
code/gazebo/trunk/server/sensors/imu/ImuSensor.hh
Modified: code/gazebo/trunk/libgazebo/gz.h
===================================================================
--- code/gazebo/trunk/libgazebo/gz.h 2011-03-29 09:42:13 UTC (rev 9041)
+++ code/gazebo/trunk/libgazebo/gz.h 2011-04-11 22:16:54 UTC (rev 9042)
@@ -1052,6 +1052,7 @@
{
public: GazeboData head;
public: Pose velocity;
+ public: Vec3 eulerAngles;
};
class ImuIface : public Iface
Modified: code/gazebo/trunk/player/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/player/CMakeLists.txt 2011-03-29 09:42:13 UTC (rev
9041)
+++ code/gazebo/trunk/player/CMakeLists.txt 2011-04-11 22:16:54 UTC (rev
9042)
@@ -15,6 +15,7 @@
GripperInterface.cc
BumperInterface.cc
IRInterface.cc
+ ImuInterface.cc
)
include_directories(
Modified: code/gazebo/trunk/player/GazeboDriver.cc
===================================================================
--- code/gazebo/trunk/player/GazeboDriver.cc 2011-03-29 09:42:13 UTC (rev
9041)
+++ code/gazebo/trunk/player/GazeboDriver.cc 2011-04-11 22:16:54 UTC (rev
9042)
@@ -41,6 +41,7 @@
#include "BumperInterface.hh"
#include "GripperInterface.hh"
#include "IRInterface.hh"
+#include "ImuInterface.hh"
/*
#include "PowerInterface.hh"
@@ -311,6 +312,10 @@
ifsrc = new IRInterface( playerAddr, this, cf, section );
break;
+ case PLAYER_IMU_CODE:
+ if (!player_quiet_startup) printf(" an imu interface.\n");
+ ifsrc = new ImuInterface( playerAddr, this, cf, section );
+ break;
/* case PLAYER_POWER_CODE:
if (!player_quiet_startup) printf(" a power interface.\n");
Modified: code/gazebo/trunk/server/controllers/imu/Generic_Imu.cc
===================================================================
--- code/gazebo/trunk/server/controllers/imu/Generic_Imu.cc 2011-03-29
09:42:13 UTC (rev 9041)
+++ code/gazebo/trunk/server/controllers/imu/Generic_Imu.cc 2011-04-11
22:16:54 UTC (rev 9042)
@@ -35,6 +35,7 @@
#include "ControllerFactory.hh"
#include "Generic_Imu.hh"
#include "ImuSensor.hh"
+#include "Simulator.hh"
using namespace gazebo;
@@ -108,13 +109,19 @@
{
Pose3d velocity;
+ Vector3 eulerAngles;
velocity = this->myParent->GetVelocity();
+ eulerAngles = this->myParent->GetEulerAngles();
if (this->imuIface->Lock(1))
{
// Data timestamp
- //this->imuIface->data->head.time = Simulator::Instance()->GetSimTime();
+ this->imuIface->data->head.time =
Simulator::Instance()->GetSimTime().Double();
+ this->imuIface->data->eulerAngles.x = eulerAngles[0];
+ this->imuIface->data->eulerAngles.y = eulerAngles[1];
+ this->imuIface->data->eulerAngles.z = eulerAngles[2];
+
this->imuIface->data->velocity.pos.x = velocity.pos.x;
this->imuIface->data->velocity.pos.y = velocity.pos.y;
this->imuIface->data->velocity.pos.z = velocity.pos.z;
Modified: code/gazebo/trunk/server/physics/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/physics/CMakeLists.txt 2011-03-29 09:42:13 UTC
(rev 9041)
+++ code/gazebo/trunk/server/physics/CMakeLists.txt 2011-04-11 22:16:54 UTC
(rev 9042)
@@ -55,6 +55,7 @@
)
add_library(gazebo_physics SHARED ${sources})
+target_link_libraries(gazebo_physics ${LINK_LIBS} )
if (CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE})
set_source_files_properties(${sources} PROPERTIES LINK_FLAGS
Modified: code/gazebo/trunk/server/physics/bullet/BulletGeom.cc
===================================================================
--- code/gazebo/trunk/server/physics/bullet/BulletGeom.cc 2011-03-29
09:42:13 UTC (rev 9041)
+++ code/gazebo/trunk/server/physics/bullet/BulletGeom.cc 2011-04-11
22:16:54 UTC (rev 9042)
@@ -76,13 +76,6 @@
}
////////////////////////////////////////////////////////////////////////////////
-// Update
-void BulletGeom::Update()
-{
- Geom::Update();
-}
-
-////////////////////////////////////////////////////////////////////////////////
// On pose change
void BulletGeom::OnPoseChange()
{
Modified: code/gazebo/trunk/server/physics/bullet/BulletGeom.hh
===================================================================
--- code/gazebo/trunk/server/physics/bullet/BulletGeom.hh 2011-03-29
09:42:13 UTC (rev 9041)
+++ code/gazebo/trunk/server/physics/bullet/BulletGeom.hh 2011-04-11
22:16:54 UTC (rev 9042)
@@ -62,9 +62,6 @@
/// \brief Load the geom
public: virtual void Save(std::string &prefix, std::ostream &stream);
- /// \brief Update function for geoms
- public: virtual void Update();
-
/// \brief On pose change
public: virtual void OnPoseChange();
Modified: code/gazebo/trunk/server/sensors/imu/ImuSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/imu/ImuSensor.cc 2011-03-29 09:42:13 UTC
(rev 9041)
+++ code/gazebo/trunk/server/sensors/imu/ImuSensor.cc 2011-04-11 22:16:54 UTC
(rev 9042)
@@ -96,6 +96,11 @@
return this->imuVel;
}
+Vector3 ImuSensor::GetEulerAngles()
+{
+ return this->eulerAngles;
+}
+
//////////////////////////////////////////////////////////////////////////////
// Update the sensor information
void ImuSensor::UpdateChild()
@@ -138,5 +143,6 @@
this->imuVel.rot.y = velocity.y;
this->imuVel.rot.z = velocity.z;
+ this->eulerAngles = rot;
}
}
Modified: code/gazebo/trunk/server/sensors/imu/ImuSensor.hh
===================================================================
--- code/gazebo/trunk/server/sensors/imu/ImuSensor.hh 2011-03-29 09:42:13 UTC
(rev 9041)
+++ code/gazebo/trunk/server/sensors/imu/ImuSensor.hh 2011-04-11 22:16:54 UTC
(rev 9042)
@@ -56,9 +56,11 @@
protected: virtual void FiniChild();
public: Pose3d GetVelocity();
+ public: Vector3 GetEulerAngles();
private: Pose3d prevPose;
private: Pose3d imuVel;
+ private: Vector3 eulerAngles;
};
}
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