[Playerstage-commit] code/player/server/drivers/position/vfh vfh_algorithm.h, 1.6, 1.6.4.1 .cvsignore, 1.1.16.1, 1.1.16.2 vfh.cc, 1.79, 1.79.2.1 vfh_algorithm.cc, 1.9, 1.9.4.1

[Toby C. <th...@us...>]

Update of /cvsroot/playerstage/code/player/server/drivers/position/vfh
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11860/server/drivers/position/vfh

Modified Files:
      Tag: b_thjc_dynamic_arrays
	vfh_algorithm.h .cvsignore vfh.cc vfh_algorithm.cc 
Log Message:
dynamic array changes to drivers compile, still needs testing
added lots more .cvsignore settings for eclipse

Index: .cvsignore
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/position/vfh/.cvsignore,v
retrieving revision 1.1.16.1
retrieving revision 1.1.16.2
diff -C2 -d -r1.1.16.1 -r1.1.16.2
*** .cvsignore	10 Oct 2007 09:26:14 -0000	1.1.16.1
--- .cvsignore	19 Oct 2007 21:58:58 -0000	1.1.16.2
***************
*** 4,5 ****
--- 4,7 ----
  *.la
  *.a
+ .libs
+ *.lo

Index: vfh_algorithm.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/position/vfh/vfh_algorithm.cc,v
retrieving revision 1.9
retrieving revision 1.9.4.1
diff -C2 -d -r1.9 -r1.9.4.1
*** vfh_algorithm.cc	20 Jan 2006 21:26:31 -0000	1.9
--- vfh_algorithm.cc	19 Oct 2007 21:58:58 -0000	1.9.4.1
***************
*** 404,408 ****
  }
  
! int VFH_Algorithm::Update_VFH( double laser_ranges[PLAYER_LASER_MAX_SAMPLES][2], 
                                 int current_speed, 
                                 float goal_direction,
--- 404,408 ----
  }
  
! int VFH_Algorithm::Update_VFH( double (*laser_ranges)[2], 
                                 int current_speed, 
                                 float goal_direction,
***************
*** 858,862 ****
  }
  
! int VFH_Algorithm::Calculate_Cells_Mag( double laser_ranges[PLAYER_LASER_MAX_SAMPLES][2], int speed ) 
  {
    int x, y;
--- 858,862 ----
  }
  
! int VFH_Algorithm::Calculate_Cells_Mag( double (*laser_ranges)[2], int speed ) 
  {
    int x, y;
***************
*** 910,914 ****
  }
  
! int VFH_Algorithm::Build_Primary_Polar_Histogram( double laser_ranges[PLAYER_LASER_MAX_SAMPLES][2], int speed ) 
  {
    int x, y;
--- 910,914 ----
  }
  
! int VFH_Algorithm::Build_Primary_Polar_Histogram( double (*laser_ranges)[2], int speed ) 
  {
    int x, y;

Index: vfh.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/position/vfh/vfh.cc,v
retrieving revision 1.79
retrieving revision 1.79.2.1
diff -C2 -d -r1.79 -r1.79.2.1
*** vfh.cc	23 Aug 2007 19:58:47 -0000	1.79
--- vfh.cc	19 Oct 2007 21:58:58 -0000	1.79.2.1
***************
*** 281,289 ****
      player_devaddr_t sonar_addr;
      int num_sonars;
!     player_pose3d_t sonar_poses[PLAYER_SONAR_MAX_SAMPLES];
  
      // Laser range and bearing values
      int laser_count;
!     double laser_ranges[PLAYER_LASER_MAX_SAMPLES][2];
  
      // Control velocity
--- 281,289 ----
      player_devaddr_t sonar_addr;
      int num_sonars;
!     player_pose3d_t * sonar_poses;
  
      // Laser range and bearing values
      int laser_count;
!     double (*laser_ranges)[2];
  
      // Control velocity
***************
*** 436,444 ****
  
    this->laser_count = 0;
!   for(int i=0;i<PLAYER_LASER_MAX_SAMPLES;i++)
!   {
!     this->laser_ranges[i][0] = 0;
!     this->laser_ranges[i][1] = 0;
!   }
    return 0;
  }
--- 436,440 ----
  
    this->laser_count = 0;
!   this->laser_ranges = NULL;
    return 0;
  }
***************
*** 475,478 ****
--- 471,475 ----
    cfg = (player_sonar_geom_t*)msg->GetPayload();
    this->num_sonars = cfg->poses_count;
+   this->sonar_poses = new player_pose3d_t[num_sonars];
    for(int i=0;i<this->num_sonars;i++)
    {
***************
*** 483,491 ****
  
    this->laser_count = 0;
!   for(int i=0;i<PLAYER_LASER_MAX_SAMPLES;i++)
!   {
!     this->laser_ranges[i][0] = 0;
!     this->laser_ranges[i][1] = 0;
!   }
    return 0;
  }
--- 480,484 ----
  
    this->laser_count = 0;
!   this->laser_ranges = NULL;
    return 0;
  }
***************
*** 497,500 ****
--- 490,495 ----
  {
    this->laser->Unsubscribe(this->InQueue);
+   delete [] laser_ranges;
+   laser_ranges = NULL;
    return 0;
  }
***************
*** 505,508 ****
--- 500,507 ----
  {
    this->sonar->Unsubscribe(this->InQueue);
+   delete [] laser_ranges;
+   laser_ranges = NULL;
+   delete [] sonar_poses;
+   sonar_poses = NULL;
    return 0;
  }
***************
*** 542,549 ****
  
    this->laser_count = 181;
!   assert(this->laser_count <
!          (int)sizeof(this->laser_ranges) / (int)sizeof(this->laser_ranges[0]));
  
!   for(i = 0; i < PLAYER_LASER_MAX_SAMPLES; i++)
      this->laser_ranges[i][0] = -1;
  
--- 541,548 ----
  
    this->laser_count = 181;
!   if (!laser_ranges)
! 	  this->laser_ranges = new double[laser_count][2];
  
!   for(i = 0; i < laser_count; i++)
      this->laser_ranges[i][0] = -1;
  
***************
*** 560,564 ****
  
    r = 1000000.0;
!   for (i = 0; i < PLAYER_LASER_MAX_SAMPLES; i++)
    {
      if (this->laser_ranges[i][0] != -1) {
--- 559,563 ----
  
    r = 1000000.0;
!   for (i = 0; i < laser_count; i++)
    {
      if (this->laser_ranges[i][0] != -1) {
***************
*** 582,589 ****
  
    this->laser_count = count;
!   assert(this->laser_count <
!          (int)sizeof(this->laser_ranges) / (int)sizeof(this->laser_ranges[0]));
! 
!   for(i = 0; i < PLAYER_LASER_MAX_SAMPLES; i++)
      this->laser_ranges[i][0] = -1;
  
--- 581,588 ----
  
    this->laser_count = count;
!   if (!laser_ranges)
! 	  this->laser_ranges = new double[laser_count][2];
!   
!   for(i = 0; i < laser_count; i++)
      this->laser_ranges[i][0] = -1;
  
***************
*** 610,614 ****
  
    r = 1000000.0;
!   for (i = 0; i < PLAYER_LASER_MAX_SAMPLES; i++)
    {
      if (this->laser_ranges[i][0] != -1) {
--- 609,613 ----
  
    r = 1000000.0;
!   for (i = 0; i < laser_count; i++)
    {
      if (this->laser_ranges[i][0] != -1) {

Index: vfh_algorithm.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/position/vfh/vfh_algorithm.h,v
retrieving revision 1.6
retrieving revision 1.6.4.1
diff -C2 -d -r1.6 -r1.6.4.1
*** vfh_algorithm.h	20 Jan 2006 21:26:31 -0000	1.6
--- vfh_algorithm.h	19 Oct 2007 21:58:58 -0000	1.6.4.1
***************
*** 59,63 ****
      //  - goal_distance_tolerance in mm.
      //
!     int Update_VFH( double laser_ranges[PLAYER_LASER_MAX_SAMPLES][2], 
                      int current_speed,  
                      float goal_direction,
--- 59,63 ----
      //  - goal_distance_tolerance in mm.
      //
!     int Update_VFH( double (*laser_ranges)[2], 
                      int current_speed,  
                      float goal_direction,
***************
*** 101,107 ****
  
      // Returns 0 if something got inside the safety distance, else 1.
!     int Calculate_Cells_Mag( double laser_ranges[PLAYER_LASER_MAX_SAMPLES][2], int speed );
      // Returns 0 if something got inside the safety distance, else 1.
!     int Build_Primary_Polar_Histogram( double laser_ranges[PLAYER_LASER_MAX_SAMPLES][2], int speed );
      int Build_Binary_Polar_Histogram(int speed);
      int Build_Masked_Polar_Histogram(int speed);
--- 101,107 ----
  
      // Returns 0 if something got inside the safety distance, else 1.
!     int Calculate_Cells_Mag( double (*laser_ranges)[2], int speed );
      // Returns 0 if something got inside the safety distance, else 1.
!     int Build_Primary_Polar_Histogram( double (*laser_ranges)[2], int speed );
      int Build_Binary_Polar_Histogram(int speed);
      int Build_Masked_Polar_Histogram(int speed);