Re: [Playerstage-users] PositionProxy output in v1.3

[brian g. <bg...@po...>]

Hi,

In the meantime, below is a patch for Stage's positiondevice.cc.  You should
apply thusly in the directory above where you've got the 'stage-1.3' source
tree:

  $ patch -p0 < positiondevice.cc.patch


        brian.

*** stage-1.3/src/models/positiondevice.cc	Fri Nov  1 16:16:33 2002
--- stage-1.3-foo/src/models/positiondevice.cc	Thu Nov 14 11:30:19 2002
***************
*** 278,287 ****
    // Basically just changes byte orders and some units
    this->data.xpos = htonl((int) px);
    this->data.ypos = htonl((int) py);
!   this->data.yaw = htons((unsigned short) pth);

!   this->data.xspeed = htons((unsigned short) (this->com_vr * 1000.0));
!   this->data.yawspeed = htons((short) RTOD(this->com_vth));
    //this->data.compass = htons((unsigned short)(RTOD(compass)));
    this->data.stall = this->stall;

--- 278,288 ----
    // Basically just changes byte orders and some units
    this->data.xpos = htonl((int) px);
    this->data.ypos = htonl((int) py);
!   this->data.yaw = htonl((int) pth);

!   this->data.xspeed = htonl((int) (this->com_vr * 1000.0));
!   this->data.yspeed = htonl((int) 0);
!   this->data.yawspeed = htonl((int) RTOD(this->com_vth));
    //this->data.compass = htons((unsigned short)(RTOD(compass)));
    this->data.stall = this->stall;



On Thu, 14 Nov 2002, Richard Vaughan wrote:

>
> Hi Alex,
>
> I saw that problem too, the day after the release. I'm part way through
> mergining position and omniposition devices, and have fixed the problem in
> CVS. I'll make a bugfix release in a day or two. Problem was caused by
> Player's position interface field sizes changing between 1.2 and 1.3. I
> plan to encapsulate the interfaces a little better to avoid this sort of
> problem.
>
> Thanks very much for the manual bug report and the FAQ entry. This Free
> Software thing is starting to work nicely.
>
> Richard.
>
> On Thu, 14 Nov 2002, Alex Makarenko wrote:
>
> > Hi guys,
> >
> > Can somebody verify this?
> >
> > Weird scaling or overflow problem in PositionProxy fields .theta,
> > .speed, and .turnrate
> >
> > Setup: Player/Stage 1.3 on Debian Linux, compiled with gcc v3.2
> >
> >
> > Simply add pp.Print() to randomwalk.cc (v.1.3) and recompile
> > Run with some provided world file (e.g. simple.world)
> >
> > ===================================================================
> > ...
> > for(;;)
> >   {
> >     /* this blocks until new data comes; 10Hz by default */
> >     if(robot.Read())
> >       exit(1);
> >     pp.Print();
> > ...
> >   }
> > ===================================================================
> >
> > Output:
> >
> > ===================================================================
> > makara@thistle:~$ /home/pub/player-1.3/examples/c++/randomwalk -p 6665
> > -m -l
> > #Position(4:0) - a
> > #xpos   ypos    theta   speed   turn    stall
> > 0       0       0       0       0       0
> > #Position(4:0) - a
> > #xpos   ypos    theta   speed   turn    stall
> > 19      0       0       13107200        131072  0
> > #Position(4:0) - a
> > #xpos   ypos    theta   speed   turn    stall
> > 39      0       0       13107200        131072  0
> > #Position(4:0) - a
> > #xpos   ypos    theta   speed   turn    stall
> > 79      0       65536   13107200        131072  0
> > #Position(4:0) - a
> > #xpos   ypos    theta   speed   turn    stall
> > 119     1       65536   13107200        131072  0
> > #Position(4:0) - a
> > #xpos   ypos    theta   speed   turn    stall
> > 139     2       131072  13107200        131072  0
> > #Position(4:0) - a
> > #xpos   ypos    theta   speed   turn    stall
> > 159     3       131072  13107200        131072  0
> > #Position(4:0) - a
> > #xpos   ypos    theta   speed   turn    stall
> > 219     6       196608  13107200        131072  0
> > #Position(4:0) - a
> > #xpos   ypos    theta   speed   turn    stall
> > 259     8       196608  13107200        131072  0
> > #Position(4:0) - a
> > #xpos   ypos    theta   speed   turn    stall
> > 279     10      262144  13107200        131072  0
> > ===================================================================
> >
> >
> > My guess:
> > A) something simple described in the manual
> > B) something funny with transition from short to int in PositionProxy
> > C) something to do with gcc 3.2
> > D) something with sys/types.h and the compiler flags HAVE_STDINT_H and
> > HAVE_SYS_TYPES_H
> >
> >
> >
> > ----------------------------------------------------
> > Alex Makarenko
> > Australian Centre for Field Robotics
> > Dept. of Mechanical & Mechatronic Engineering  J04
> > The University of Sydney  2006  NSW, AUSTRALIA
> >
> > a.m...@ac...
> > www.acfr.usyd.edu.au
> > +61 (0)2 9351 7154 (tel)
> > +61 (0)2 9351 7474 (fax)
> >
> >
> >
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>
>