[Playerstage-commit] code/player/client_libs/libplayerc++ playerc++.h, 1.80, 1.81

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

Update of /cvsroot/playerstage/code/player/client_libs/libplayerc++
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5317

Modified Files:
	playerc++.h 
Log Message:
added LaserProxy::GetRobotPose

Index: playerc++.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc++/playerc++.h,v
retrieving revision 1.80
retrieving revision 1.81
diff -C2 -d -r1.80 -r1.81
*** playerc++.h	12 Feb 2007 01:29:42 -0000	1.80
--- playerc++.h	13 Feb 2007 02:14:32 -0000	1.81
***************
*** 1132,1136 ****
      void RequestGeom();
  
!     /// Accessor for the pose (fill it in by calling RequestGeom)
      player_pose_t GetPose()
      {
--- 1132,1137 ----
      void RequestGeom();
  
!     /// Accessor for the pose of the laser with respect to its parent
!     /// object (e.g., a robot).  Fill it in by calling RequestGeom.
      player_pose_t GetPose()
      {
***************
*** 1143,1146 ****
--- 1144,1160 ----
        return(p);
      }
+     
+     /// Accessor for the pose of the laser's parent object (e.g., a robot).
+     /// Filled in by some (but not all) laser data messages.
+     player_pose_t GetRobotPose()
+     {
+       player_pose_t p;
+       scoped_lock_t lock(mPc->mMutex);
+ 
+       p.px = mDevice->robot_pose[0];
+       p.py = mDevice->robot_pose[1];
+       p.pa = mDevice->robot_pose[2];
+       return(p);
+     }
  
      /// Accessor for the size (fill it in by calling RequestGeom)