[Playerstage-users] Player 1.6 / Stage 1.3.5 truth-related fixes

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

hi everybody,

So it only took two and half days for the first bugfix patches against the
latest release...

The truth data format changed with Player 1.6; it's now 3-D, and angles are
measured in milliradians, instead of degrees (we're slowly moving all
interfaces to use milliradians for angles).

This change introduced a few bugs.  Fixes are accumulating here:

http://sourceforge.net/tracker/index.php?func=detail&aid=1066779&group_id=42445&atid=433166

Currently there are two patches, which:

- Fix Stage 1.3.5 to produce valid truth data (it was producing
   yaw in millideg, rather than millirad).

- Fix TruthProxy::Print() in Player 1.6 to print out
   (x,y,z,roll,pitch,yaw), rather than (x,y,z).

And something that I forgot to mention with the release is that Stage
1.3.5 produces truth in a coordinate system centered at the origin,
rather that the lower left corner, of the world.  This brings Stage into
agreement with the map and localize interfaces.

Forthcoming is a fix to Stage 1.3.5 so that it reads and writes .world
files in this coordinate system; at the moment .world files still use
the old system.

Once this is all worked out, I'll make a 1.3.6 release of Stage.

         brian.

-- 
Brian P. Gerkey                    ge...@ai...
Stanford AI Lab                    http://ai.stanford.edu/~gerkey