[Playerstage-commit] code/player/server/drivers/localization/amcl amcl.cc, 1.75, 1.76 amcl.h, 1.15, 1.16

[Brian G. <ge...@us...>]

Update of /cvsroot/playerstage/code/player/server/drivers/localization/amcl
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1684/drivers/localization/amcl

Modified Files:
	amcl.cc amcl.h 
Log Message:
fixed position update bug in amcl

Index: amcl.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/localization/amcl/amcl.cc,v
retrieving revision 1.75
retrieving revision 1.76
diff -C2 -d -r1.75 -r1.76
*** amcl.cc	7 Jun 2006 16:20:02 -0000	1.75
--- amcl.cc	19 Jan 2007 22:34:09 -0000	1.76
***************
*** 883,887 ****
            usleep(1000);
            ProcessMessages();
!           UpdateSensorData();
            continue;
          }
--- 883,887 ----
            usleep(1000);
            ProcessMessages();
!           //UpdateSensorData();
            continue;
          }
***************
*** 952,956 ****
      // Encode data to send to server
      this->PutDataLocalize(ts);
!     this->PutDataPosition(delta);
  
      return true;
--- 952,957 ----
      // Encode data to send to server
      this->PutDataLocalize(ts);
!     delta = pf_vector_zero();
!     this->PutDataPosition(delta,ts);
  
      return true;
***************
*** 973,977 ****
      // Encode data to send to server; only the position interface
      // gets updated every cycle
!     this->PutDataPosition(delta);
  
      return false;
--- 974,978 ----
      // Encode data to send to server; only the position interface
      // gets updated every cycle
!     this->PutDataPosition(delta,ts);
  
      return false;
***************
*** 1056,1060 ****
                  PLAYER_MSGTYPE_DATA,
                  PLAYER_LOCALIZE_DATA_HYPOTHS,
!                 (void*)&data,datalen,NULL);
  }
  
--- 1057,1061 ----
                  PLAYER_MSGTYPE_DATA,
                  PLAYER_LOCALIZE_DATA_HYPOTHS,
!                 (void*)&data,datalen,&time);
  }
  
***************
*** 1062,1066 ****
  ////////////////////////////////////////////////////////////////////////////////
  // Output data on the position interface
! void AdaptiveMCL::PutDataPosition(pf_vector_t delta)
  {
    pf_vector_t pose;
--- 1063,1067 ----
  ////////////////////////////////////////////////////////////////////////////////
  // Output data on the position interface
! void AdaptiveMCL::PutDataPosition(pf_vector_t delta, double time)
  {
    pf_vector_t pose;
***************
*** 1085,1089 ****
                  PLAYER_MSGTYPE_DATA,
                  PLAYER_POSITION2D_DATA_STATE,
!                 (void*)&data,sizeof(data),NULL);
  }
  
--- 1086,1090 ----
                  PLAYER_MSGTYPE_DATA,
                  PLAYER_POSITION2D_DATA_STATE,
!                 (void*)&data,sizeof(data),&time);
  }
  

Index: amcl.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/localization/amcl/amcl.h,v
retrieving revision 1.15
retrieving revision 1.16
diff -C2 -d -r1.15 -r1.16
*** amcl.h	7 Jun 2006 16:20:02 -0000	1.15
--- amcl.h	19 Jan 2007 22:34:09 -0000	1.16
***************
*** 126,130 ****
  
    // Put new position data
!   private: void PutDataPosition(pf_vector_t delta);
  
    // Send back geometry data
--- 126,130 ----
  
    // Put new position data
!   private: void PutDataPosition(pf_vector_t delta, double time);
  
    // Send back geometry data