[Playerstage-commit] SF.net SVN: playerstage: [6496] code/player/branches/release-2-1-patches/ server/drivers/localization/amcl

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

Revision: 6496
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6496&view=rev
Author:   thjc
Date:     2008-06-09 15:32:57 -0700 (Mon, 09 Jun 2008)

Log Message:
-----------
Merged AMCL fixes from trunk (6440,6443)

Modified Paths:
--------------
    code/player/branches/release-2-1-patches/server/drivers/localization/amcl/amcl_laser.cc
    code/player/branches/release-2-1-patches/server/drivers/localization/amcl/amcl_laser.h
    code/player/branches/release-2-1-patches/server/drivers/localization/amcl/amcl_sensor.h

Modified: code/player/branches/release-2-1-patches/server/drivers/localization/amcl/amcl_laser.cc
===================================================================
--- code/player/branches/release-2-1-patches/server/drivers/localization/amcl/amcl_laser.cc	2008-06-09 22:29:28 UTC (rev 6495)
+++ code/player/branches/release-2-1-patches/server/drivers/localization/amcl/amcl_laser.cc	2008-06-09 22:32:57 UTC (rev 6496)
@@ -176,7 +176,8 @@
   player_map_info_t* info = (player_map_info_t*)msg->GetPayload();
   
   // copy in the map info
-  this->map->origin_x = this->map->origin_y = 0.0;
+  this->map->origin_x = info->origin.px + (info->scale * info->width) / 2.0;
+  this->map->origin_y = info->origin.py + (info->scale * info->height) / 2.0;
   this->map->scale = info->scale;
   this->map->size_x = info->width;
   this->map->size_y = info->height;

Modified: code/player/branches/release-2-1-patches/server/drivers/localization/amcl/amcl_laser.h
===================================================================
--- code/player/branches/release-2-1-patches/server/drivers/localization/amcl/amcl_laser.h	2008-06-09 22:29:28 UTC (rev 6495)
+++ code/player/branches/release-2-1-patches/server/drivers/localization/amcl/amcl_laser.h	2008-06-09 22:32:57 UTC (rev 6496)
@@ -38,7 +38,7 @@
 {
   public:
     AMCLLaserData () {ranges=NULL;};
-    ~AMCLLaserData() {delete [] ranges;};
+    virtual ~AMCLLaserData() {delete [] ranges;};
   // Laser range data (range, bearing tuples)
   public: int range_count;
   public: double range_max;

Modified: code/player/branches/release-2-1-patches/server/drivers/localization/amcl/amcl_sensor.h
===================================================================
--- code/player/branches/release-2-1-patches/server/drivers/localization/amcl/amcl_sensor.h	2008-06-09 22:29:28 UTC (rev 6495)
+++ code/player/branches/release-2-1-patches/server/drivers/localization/amcl/amcl_sensor.h	2008-06-09 22:32:57 UTC (rev 6496)
@@ -106,6 +106,7 @@
 {
   // Pointer to sensor that generated the data
   public: AMCLSensor *sensor;
+          virtual ~AMCLSensorData() {}
 
   // Data timestamp
   public: double time;


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