Menu
▾
▴
[Personalrobots-commit] SF.net SVN: personalrobots:[1777] pkg/trunk
|
From: <is...@us...> - 2008-07-18 21:09:51
|
Revision: 1777
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=1777&view=rev
Author: isucan
Date: 2008-07-18 21:09:58 +0000 (Fri, 18 Jul 2008)
Log Message:
-----------
reorganized collision space (hopefully, one of the last iterations)
Modified Paths:
--------------
pkg/trunk/robot_models/robot_motion_planning_models/include/planning_models/kinematic.h
pkg/trunk/robot_models/robot_motion_planning_models/src/planning_models/kinematic.cpp
Added Paths:
-----------
pkg/trunk/util/collision_space/src/collision_space/environment.cpp
Modified: pkg/trunk/robot_models/robot_motion_planning_models/include/planning_models/kinematic.h
===================================================================
--- pkg/trunk/robot_models/robot_motion_planning_models/include/planning_models/kinematic.h 2008-07-18 21:09:22 UTC (rev 1776)
+++ pkg/trunk/robot_models/robot_motion_planning_models/include/planning_models/kinematic.h 2008-07-18 21:09:58 UTC (rev 1777)
@@ -44,7 +44,7 @@
A class describing a kinematic robot model loaded from URDF */
-namespace robot_models
+namespace planning_models
{
Modified: pkg/trunk/robot_models/robot_motion_planning_models/src/planning_models/kinematic.cpp
===================================================================
--- pkg/trunk/robot_models/robot_motion_planning_models/src/planning_models/kinematic.cpp 2008-07-18 21:09:22 UTC (rev 1776)
+++ pkg/trunk/robot_models/robot_motion_planning_models/src/planning_models/kinematic.cpp 2008-07-18 21:09:58 UTC (rev 1777)
@@ -35,13 +35,13 @@
#include <planning_models/kinematic.h>
#include <cstdio>
-void robot_models::KinematicModel::Robot::computeTransforms(const double *params)
+void planning_models::KinematicModel::Robot::computeTransforms(const double *params)
{
chain->computeTransform(params);
}
// we can optimize things here... (when we use identity transforms, for example)
-void robot_models::KinematicModel::Joint::computeTransform(const double *params)
+void planning_models::KinematicModel::Joint::computeTransform(const double *params)
{
switch (type)
{
@@ -73,7 +73,7 @@
after->computeTransform(params);
}
-void robot_models::KinematicModel::Link::computeTransform(const double *params)
+void planning_models::KinematicModel::Link::computeTransform(const double *params)
{
globalTrans = before->globalTrans;
globalTrans.multiplyPose(constTrans);
@@ -82,7 +82,7 @@
globalTrans.multiplyPose(constGeomTrans);
}
-void robot_models::KinematicModel::build(robot_desc::URDF &model, const char *group)
+void planning_models::KinematicModel::build(robot_desc::URDF &model, const char *group)
{
if (group)
{
@@ -110,17 +110,17 @@
}
}
-unsigned int robot_models::KinematicModel::getRobotCount(void) const
+unsigned int planning_models::KinematicModel::getRobotCount(void) const
{
return m_robots.size();
}
-robot_models::KinematicModel::Robot* robot_models::KinematicModel::getRobot(unsigned int index) const
+planning_models::KinematicModel::Robot* planning_models::KinematicModel::getRobot(unsigned int index) const
{
return m_robots[index];
}
-void robot_models::KinematicModel::buildChain(Robot *robot, Link *parent, Joint* joint, robot_desc::URDF::Link* urdfLink)
+void planning_models::KinematicModel::buildChain(Robot *robot, Link *parent, Joint* joint, robot_desc::URDF::Link* urdfLink)
{
joint->usedParamStart = robot->stateDimension;
joint->before = parent;
@@ -168,7 +168,7 @@
buildChain(robot, joint, joint->after, urdfLink);
}
-void robot_models::KinematicModel::buildChain(Robot *robot, Joint *parent, Link* link, robot_desc::URDF::Link* urdfLink)
+void planning_models::KinematicModel::buildChain(Robot *robot, Joint *parent, Link* link, robot_desc::URDF::Link* urdfLink)
{
link->before = parent;
robot->links.push_back(link);
Added: pkg/trunk/util/collision_space/src/collision_space/environment.cpp
===================================================================
--- pkg/trunk/util/collision_space/src/collision_space/environment.cpp (rev 0)
+++ pkg/trunk/util/collision_space/src/collision_space/environment.cpp 2008-07-18 21:09:58 UTC (rev 1777)
@@ -0,0 +1,44 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+* Copyright (c) 2008, Willow Garage, Inc.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* * Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* * Redistributions in binary form must reproduce the above
+* copyright notice, this list of conditions and the following
+* disclaimer in the documentation and/or other materials provided
+* with the distribution.
+* * Neither the name of the Willow Garage nor the names of its
+* contributors may be used to endorse or promote products derived
+* from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+#include <collision_space/environment.h>
+
+unsigned int collision_space::EnvironmentModel::addRobotModel(robot_desc::URDF &pmodel, const char *group)
+{
+ planning_models::KinematicModel *m = new planning_models::KinematicModel();
+ m->build(pmodel, group);
+ unsigned int pos = models.size();
+ models.push_back(m);
+ return pos;
+}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
