[Personalrobots-commit] SF.net SVN: personalrobots:[3484] pkg/trunk

[<is...@us...>]

Revision: 3484
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=3484&view=rev
Author:   isucan
Date:     2008-08-22 17:51:04 +0000 (Fri, 22 Aug 2008)

Log Message:
-----------
small incremental updates

Modified Paths:
--------------
    pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp
    pkg/trunk/motion_planning/planning_world_viewer/src/planning_world_viewer.cpp
    pkg/trunk/world_models/fake_world_3d_map/src/fake_world_3d_map.cpp

Modified: pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp
===================================================================
--- pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp	2008-08-22 17:47:41 UTC (rev 3483)
+++ pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp	2008-08-22 17:51:04 UTC (rev 3484)
@@ -79,13 +79,17 @@
 	req.threshold = 0.01;
 	req.distance_metric = "L2Square";
 	req.interpolate = 1;
-	req.times = 10;
+	req.times = 1;
 	
 	initialState(req.start_state);
 	
 	req.goal_state.set_vals_size(3);
 	for (unsigned int i = 0 ; i < req.goal_state.vals_size ; ++i)
+	{
 	    req.start_state.vals[i] = m_basePos[i];
+	    req.goal_state.vals[i] = m_basePos[i];
+	}
+	
 	req.goal_state.vals[0] += 3.5;
 	
 	req.allowed_time = 5.0;
@@ -104,7 +108,7 @@
 	req.threshold = 0.01;
 	req.distance_metric = "L2Square";
 	req.interpolate = 1;
-	req.times = 100;
+	req.times = 1;
 
 	initialState(req.start_state);
 	
@@ -130,7 +134,7 @@
 	req.threshold = 0.01;
 	req.distance_metric = "L2Square";
 	req.interpolate = 1;
-	req.times = 100;
+	req.times = 1;
 
 	initialState(req.start_state);
 	

Modified: pkg/trunk/motion_planning/planning_world_viewer/src/planning_world_viewer.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_world_viewer/src/planning_world_viewer.cpp	2008-08-22 17:47:41 UTC (rev 3483)
+++ pkg/trunk/motion_planning/planning_world_viewer/src/planning_world_viewer.cpp	2008-08-22 17:51:04 UTC (rev 3484)
@@ -112,9 +112,6 @@
 	m_displayRobot = true;
 	m_displayObstacles = true;
 	m_checkCollision = false;
-
-	double sphere[3] = {0.7, 0.5, 0.7 };
-	m_collisionSpace->addPointCloud(1, sphere, 0.2);	
     }
     
     ~PlanningWorldViewer(void)

Modified: pkg/trunk/world_models/fake_world_3d_map/src/fake_world_3d_map.cpp
===================================================================
--- pkg/trunk/world_models/fake_world_3d_map/src/fake_world_3d_map.cpp	2008-08-22 17:47:41 UTC (rev 3483)
+++ pkg/trunk/world_models/fake_world_3d_map/src/fake_world_3d_map.cpp	2008-08-22 17:51:04 UTC (rev 3484)
@@ -107,7 +107,10 @@
 	{
 	case 1:
 	    oneObstacle();
-	    break;	    
+	    break;
+	case 3:
+	    planeX();
+	    break;
 	default:
 	    break;
 	}
@@ -122,11 +125,17 @@
     void oneObstacle(void)
     {
 	m_toPublish.set_pts_size(1);
-	m_toPublish.pts[0].x = 0.0;
-	m_toPublish.pts[0].y = 0.0;
-	m_toPublish.pts[0].z = 0.0;
+	m_toPublish.pts[0].x = 0.6;
+	m_toPublish.pts[0].y = 0.35;
+	m_toPublish.pts[0].z = 0.75;
     }
     
+    void planeX(void)
+    {
+	//	for (int i = 0 ; i < 20 ; ++i)
+	//	    for (int j = 0 ; j < 20 ;
+    }
+    
     std_msgs::PointCloudFloat32 m_toPublish; 
     random_utils::rngState      m_rng;
 
@@ -147,6 +156,7 @@
 	FakeWorld3DMap *map = new FakeWorld3DMap();
 	int index = 0;
 	sscanf(argv[1], "%d", &index);	
+	sleep(1);	
 	map->sendMap(index);
 	map->shutdown();
 	delete map;


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