[Personalrobots-commit] SF.net SVN: personalrobots: [209] pkg/trunk/libTF

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

Revision: 209
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=209&view=rev
Author:   tfoote
Date:     2008-04-28 07:05:55 -0700 (Mon, 28 Apr 2008)

Log Message:
-----------
history of transforms destroyed when parent frame is changes ticket:18.

Modified Paths:
--------------
    pkg/trunk/libTF/include/libTF/Quaternion3D.h
    pkg/trunk/libTF/include/libTF/libTF.h
    pkg/trunk/libTF/src/simple/Quaternion3D.cpp
    pkg/trunk/libTF/src/test/main.cpp

Modified: pkg/trunk/libTF/include/libTF/Quaternion3D.h
===================================================================
--- pkg/trunk/libTF/include/libTF/Quaternion3D.h	2008-04-28 04:57:01 UTC (rev 208)
+++ pkg/trunk/libTF/include/libTF/Quaternion3D.h	2008-04-28 14:05:55 UTC (rev 209)
@@ -108,6 +108,9 @@
   //Print as a matrix
   void printMatrix(unsigned long long time);  //Not a critical part either
   void printStorage(const Quaternion3DStorage &storage); //Do i need this now that i've got the ostream method??
+
+  // Remove all nodes from the list
+  void clearList();
   
   
 private:

Modified: pkg/trunk/libTF/include/libTF/libTF.h
===================================================================
--- pkg/trunk/libTF/include/libTF/libTF.h	2008-04-28 04:57:01 UTC (rev 208)
+++ pkg/trunk/libTF/include/libTF/libTF.h	2008-04-28 14:05:55 UTC (rev 209)
@@ -60,8 +60,10 @@
   /* Get the parent node */
   inline unsigned int getParent(){return parent;};
 
-  /* Return tha parent node */
-  inline void setParent(unsigned int parentID){parent = parentID;};
+  /* Set the parent node 
+  * return: false => change of parent, cleared history
+  * return: true => no change of parent */
+  inline bool setParent(unsigned int parentID){if (parent != parentID){parent = parentID; clearList(); return false;} return true;};
 private:
 
   /* Storage of the parent */

Modified: pkg/trunk/libTF/src/simple/Quaternion3D.cpp
===================================================================
--- pkg/trunk/libTF/src/simple/Quaternion3D.cpp	2008-04-28 04:57:01 UTC (rev 208)
+++ pkg/trunk/libTF/src/simple/Quaternion3D.cpp	2008-04-28 14:05:55 UTC (rev 209)
@@ -457,8 +457,26 @@
   
 };
 
+void Quaternion3D::clearList()
+{
+  data_LL * p_current = first;
+  data_LL * p_last = NULL;
 
+  // Delete all nodes in list
+  while (p_current != NULL)
+    {
+      p_last = p_current;
+      p_current = p_current->next;
+      delete p_last;
+    }
 
+  //Clean up pointers
+  first = NULL;
+  last = NULL;
+  
+};
+
+
 int Quaternion3D::findClosest(Quaternion3DStorage& one, Quaternion3DStorage& two, const unsigned long long target_time, long long &time_diff)
 {
 

Modified: pkg/trunk/libTF/src/test/main.cpp
===================================================================
--- pkg/trunk/libTF/src/test/main.cpp	2008-04-28 04:57:01 UTC (rev 208)
+++ pkg/trunk/libTF/src/test/main.cpp	2008-04-28 14:05:55 UTC (rev 209)
@@ -79,6 +79,9 @@
     {
       std::cout <<"caught unconnected frame"<<std::endl;
     }
+
+  //Testing clearing the history with parent change
+  mTR.setWithEulers(7,5,1,1,1,dyaw,dp,dr,atime);
   
   return 0;
 };


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