Revision: 9084
http://playerstage.svn.sourceforge.net/playerstage/?rev=9084&view=rev
Author: jpgr87
Date: 2012-01-01 02:16:41 +0000 (Sun, 01 Jan 2012)
Log Message:
-----------
Fixed Bug #3442143: bug in snd driver. SND now uses config file length and
angle types
Modified Paths:
--------------
code/player/trunk/server/drivers/position/snd/snd.cc
Modified: code/player/trunk/server/drivers/position/snd/snd.cc
===================================================================
--- code/player/trunk/server/drivers/position/snd/snd.cc 2011-12-08
19:21:46 UTC (rev 9083)
+++ code/player/trunk/server/drivers/position/snd/snd.cc 2012-01-01
02:16:41 UTC (rev 9084)
@@ -89,31 +89,31 @@
@par Configuration file options
-- robot_radius (meters)
+- robot_radius (length)
- Default: 0.25 (m)
- The radius of the minimum circle which contains the robot
-- min_gap_width (meters)
+- min_gap_width (length)
- Default: 2*Robot radius
- Minimum passage width the driver will try to exploit
-- obstacle_avoid_dist(meters)
+- obstacle_avoid_dist(length)
- Default: 4*Robot radius
- Maximum distance allowed from an obstacle
-- max_speed (meters/s)
+- max_speed (length/s)
- Default: 0.5
- Maximum speed allowed
-- max_turn_rate (radiants/sec)
+- max_turn_rate (angle/sec)
- Default: 60 degrees
- Maximum angular speed allowed
-- goal_position_tol (meters)
+- goal_position_tol (length)
- Default: Robot radius/2
- Maximum distance allowed from the final goal for the algorithm to stop.
-- goal_angle_tol (radiants)
+- goal_angle_tol (angle)
- Default: 30 degrees
- Maximum angular error from the final goal position for the algorithm to
stop
@@ -236,13 +236,13 @@
PLAYER_MSG0(3,"INTERFACE INITIALIZED");
- robot_radius = cf->ReadTupleLength(section, "robot_radius", 0, 0.25);
- min_gap_width = cf->ReadTupleLength(section, "min_gap_width", 0,
2*robot_radius);
- obstacle_avoid_dist = cf->ReadTupleLength(section,
"obstacle_avoid_dist", 0, 4*robot_radius);
- max_speed = cf->ReadTupleLength(section, "max_speed", 0, 0.5);
- max_turn_rate = cf->ReadTupleLength(section, "max_turn_rate", 0,
DTOR(60.0));
- goal_position_tol = cf->ReadTupleLength(section, "goal_tol", 0,
robot_radius/2);
- goal_angle_tol = cf->ReadTupleLength(section, "goal_tol", 1,
DTOR(30.0));
+ robot_radius = cf->ReadLength(section, "robot_radius", 0.25);
+ min_gap_width = cf->ReadLength(section, "min_gap_width", 2*robot_radius);
+ obstacle_avoid_dist = cf->ReadLength(section, "obstacle_avoid_dist",
4*robot_radius);
+ max_speed = cf->ReadLength(section, "max_speed", 0.5);
+ max_turn_rate = cf->ReadAngle(section, "max_turn_rate", 60.0);
+ goal_position_tol = cf->ReadLength(section, "goal_position_tol",
robot_radius/2);
+ goal_angle_tol = cf->ReadAngle(section, "goal_angle_tol", 30.0);
}
////////////////////////////////////////////////////////////////////////////////
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
------------------------------------------------------------------------------
Ridiculously easy VDI. With Citrix VDI-in-a-Box, you don't need a complex
infrastructure or vast IT resources to deliver seamless, secure access to
virtual desktops. With this all-in-one solution, easily deploy virtual
desktops for less than the cost of PCs and save 60% on VDI infrastructure
costs. Try it free! http://p.sf.net/sfu/Citrix-VDIinabox
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
