Revision: 567
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=567&view=rev
Author: gerkey
Date: 2008-05-29 21:38:15 -0700 (Thu, 29 May 2008)
Log Message:
-----------
added catch statement for libTF LookupException
Modified Paths:
--------------
pkg/trunk/nav/nav_view/nav_view.cpp
Modified: pkg/trunk/nav/nav_view/nav_view.cpp
===================================================================
--- pkg/trunk/nav/nav_view/nav_view.cpp 2008-05-30 04:37:58 UTC (rev 566)
+++ pkg/trunk/nav/nav_view/nav_view.cpp 2008-05-30 04:38:15 UTC (rev 567)
@@ -207,7 +207,9 @@
glEnd();
}
- glPushMatrix();
+ const float robot_rad = 0.3;
+ try
+ {
libTF::TFPose2D robotPose;
robotPose.x = 0;
robotPose.y = 0;
@@ -217,26 +219,23 @@
libTF::TFPose2D mapPose = tf.transformPose2D(FRAMEID_MAP, robotPose);
+ glPushMatrix();
glTranslatef(mapPose.x, mapPose.y, 0);
glRotatef(mapPose.yaw * 180 / M_PI, 0, 0, 1);
-
- /* printf("lpose: %.3f %.3f %.3f\n",
- mapPose.x,
- mapPose.y,
- mapPose.yaw);
- */
-
glColor3f(0.2, 1.0, 0.4);
glBegin(GL_LINE_LOOP);
- const float robot_rad = 0.3;
- for (float f = 0; f < (float)(2*M_PI); f += 0.5f)
- glVertex2f(robot_rad * cos(f), robot_rad * sin(f));
+ for (float f = 0; f < (float)(2*M_PI); f += 0.5f)
+ glVertex2f(robot_rad * cos(f), robot_rad * sin(f));
glEnd();
glBegin(GL_LINES);
- glVertex2f(0,0);
- glVertex2f(robot_rad,0);
+ glVertex2f(0,0);
+ glVertex2f(robot_rad,0);
glEnd();
- glPopMatrix();
+ glPopMatrix();
+ }
+ catch(libTF::TransformReference::LookupException& ex)
+ {
+ }
cloud.lock();
for(unsigned int i=0;i<cloud.get_particles_size();i++)
@@ -246,11 +245,11 @@
glRotatef(cloud.particles[i].th * 180 / M_PI, 0, 0, 1);
glColor3f(1.0, 0.0, 0.0);
glBegin(GL_LINE_LOOP);
- glVertex2f(0,0);
- glVertex2f(robot_rad,0);
- glVertex2f(0.75*robot_rad,-0.25*robot_rad);
- glVertex2f(0.75*robot_rad,0.25*robot_rad);
- glVertex2f(robot_rad,0);
+ glVertex2f(0,0);
+ glVertex2f(robot_rad,0);
+ glVertex2f(0.75*robot_rad,-0.25*robot_rad);
+ glVertex2f(0.75*robot_rad,0.25*robot_rad);
+ glVertex2f(robot_rad,0);
glEnd();
glPopMatrix();
}
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