[Personalrobots-commit] SF.net SVN: personalrobots: [130] pkg/trunk/libTF/simple

[<tf...@us...>]

Revision: 130
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=130&view=rev
Author:   tfoote
Date:     2008-04-17 18:30:07 -0700 (Thu, 17 Apr 2008)

Log Message:
-----------
a few more api cleanups

Modified Paths:
--------------
    pkg/trunk/libTF/simple/libTF.cc
    pkg/trunk/libTF/simple/libTF.hh
    pkg/trunk/libTF/simple/main.cc

Modified: pkg/trunk/libTF/simple/libTF.cc
===================================================================
--- pkg/trunk/libTF/simple/libTF.cc	2008-04-18 01:22:06 UTC (rev 129)
+++ pkg/trunk/libTF/simple/libTF.cc	2008-04-18 01:30:07 UTC (rev 130)
@@ -51,7 +51,7 @@
 }
 
 
-void TransformReference::set(unsigned int frameID, unsigned int parentID, double a,double b,double c,double d,double e,double f, unsigned long long time)
+void TransformReference::setWithEulers(unsigned int frameID, unsigned int parentID, double a,double b,double c,double d,double e,double f, unsigned long long time)
 {
   if (frameID > MAX_NUM_FRAMES || parentID > MAX_NUM_FRAMES || frameID == NO_PARENT || frameID == ROOT_FRAME)
     throw InvalidFrame;
@@ -63,7 +63,7 @@
   getFrame(frameID)->fromEuler(a,b,c,d,e,f,time);
 }
 
-void TransformReference::set(unsigned int frameID, unsigned int parentID, double a,double b,double c,double d, unsigned long long time)
+void TransformReference::setWithDH(unsigned int frameID, unsigned int parentID, double a,double b,double c,double d, unsigned long long time)
 {
   if (frameID > MAX_NUM_FRAMES || parentID > MAX_NUM_FRAMES || frameID == NO_PARENT || frameID == ROOT_FRAME)
     throw InvalidFrame;

Modified: pkg/trunk/libTF/simple/libTF.hh
===================================================================
--- pkg/trunk/libTF/simple/libTF.hh	2008-04-18 01:22:06 UTC (rev 129)
+++ pkg/trunk/libTF/simple/libTF.hh	2008-04-18 01:30:07 UTC (rev 130)
@@ -92,8 +92,8 @@
 
   /********** Mutators **************/
   /* Set a new frame or update an old one. */
-  void set(unsigned int framid, unsigned int parentid, double,double,double,double,double,double,unsigned long long time);
-  void set(unsigned int framid, unsigned int parentid, double,double,double,double,unsigned long long time);
+  void setWithEulers(unsigned int framid, unsigned int parentid, double,double,double,double,double,double,unsigned long long time);
+  void setWithDH(unsigned int framid, unsigned int parentid, double,double,double,double,unsigned long long time);
   // Possible exceptions TransformReference::LookupException
 
   /*********** Accessors *************/

Modified: pkg/trunk/libTF/simple/main.cc
===================================================================
--- pkg/trunk/libTF/simple/main.cc	2008-04-18 01:22:06 UTC (rev 129)
+++ pkg/trunk/libTF/simple/main.cc	2008-04-18 01:30:07 UTC (rev 130)
@@ -18,19 +18,19 @@
 
   
   //Fill in some transforms
-  //  mTR.set(10,2,1,1,1,dyaw,dp,dr,atime); //Switching out for DH params below
-  mTR.set(10,2,1,1,1,dyaw,atime);
-    //mTR.set(2,3,1-1,1,1,dyaw,dp,dr,atime-1000);
-   mTR.set(2,3,1,1,1,dyaw,dp,dr,atime-100);
-   mTR.set(2,3,1,1,1,dyaw,dp,dr,atime-50);
-   mTR.set(2,3,1,1,1,dyaw,dp,dr,atime-1000);
-   //mTR.set(2,3,1+1,1,1,dyaw,dp,dr,atime+1000);
-  mTR.set(3,5,dx,dy,dz,dyaw,dp,dr,atime);
-  mTR.set(5,1,dx,dy,dz,dyaw,dp,dr,atime);
-  mTR.set(6,5,dx,dy,dz,dyaw,dp,dr,atime);
-  mTR.set(7,6,1,1,1,dyaw,dp,dr,atime);
-  mTR.set(8,7,1,1,1,dyaw,atime);
-  //mTR.set(8,7,1,1,1,dyaw,dp,dr,atime); //Switching out for DH params above
+  //  mTR.setWithEulers(10,2,1,1,1,dyaw,dp,dr,atime); //Switching out for DH params below
+  mTR.setWithDH(10,2,1,1,1,dyaw,atime);
+    //mTR.setWithEulers(2,3,1-1,1,1,dyaw,dp,dr,atime-1000);
+   mTR.setWithEulers(2,3,1,1,1,dyaw,dp,dr,atime-100);
+   mTR.setWithEulers(2,3,1,1,1,dyaw,dp,dr,atime-50);
+   mTR.setWithEulers(2,3,1,1,1,dyaw,dp,dr,atime-1000);
+   //mTR.setWithEulers(2,3,1+1,1,1,dyaw,dp,dr,atime+1000);
+  mTR.setWithEulers(3,5,dx,dy,dz,dyaw,dp,dr,atime);
+  mTR.setWithEulers(5,1,dx,dy,dz,dyaw,dp,dr,atime);
+  mTR.setWithEulers(6,5,dx,dy,dz,dyaw,dp,dr,atime);
+  mTR.setWithEulers(7,6,1,1,1,dyaw,dp,dr,atime);
+  mTR.setWithDH(8,7,1,1,1,dyaw,atime);
+  //mTR.setWithEulers(8,7,1,1,1,dyaw,dp,dr,atime); //Switching out for DH params above
   
   
   //Demonstrate InvalidFrame LookupException
@@ -59,7 +59,7 @@
   
   
   //Break the graph, making it loop and demonstrate catching MaxDepthException
-  mTR.set(6,7,dx,dy,dz,dyaw,dp,dr,atime);
+  mTR.setWithEulers(6,7,dx,dy,dz,dyaw,dp,dr,atime);
   
   try {
     std::cout<<mTR.viewChain(10,8);
@@ -70,7 +70,7 @@
     }
   
   //Break the graph, making it disconnected, and demonstrate catching ConnectivityException
-  mTR.set(6,0,dx,dy,dz,dyaw,dp,dr,atime);
+  mTR.setWithEulers(6,0,dx,dy,dz,dyaw,dp,dr,atime);
   
   try {
     std::cout<<mTR.viewChain(10,8);


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.