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[Personalrobots-commit] SF.net SVN: personalrobots:[4126] pkg/trunk
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From: <hsu...@us...> - 2008-09-09 23:14:50
|
Revision: 4126
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4126&view=rev
Author: hsujohnhsu
Date: 2008-09-09 23:14:57 +0000 (Tue, 09 Sep 2008)
Log Message:
-----------
updates to new gazebo revision.
more clean up on local patch.
Modified Paths:
--------------
pkg/trunk/3rdparty/gazebo/Makefile
pkg/trunk/3rdparty/gazebo/gazebo_patch.diff
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Ros_PTZ.hh
pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_PTZ.cc
Modified: pkg/trunk/3rdparty/gazebo/Makefile
===================================================================
--- pkg/trunk/3rdparty/gazebo/Makefile 2008-09-09 22:31:20 UTC (rev 4125)
+++ pkg/trunk/3rdparty/gazebo/Makefile 2008-09-09 23:14:57 UTC (rev 4126)
@@ -2,7 +2,7 @@
SVN_DIR = gazebo-svn
SVN_URL = https://playerstage.svn.sourceforge.net/svnroot/playerstage/code/gazebo/trunk
-SVN_REVISION = -r 6981
+SVN_REVISION = -r 7016
SVN_PATCH = gazebo_patch.diff
include $(shell rospack find mk)/svn_checkout.mk
Modified: pkg/trunk/3rdparty/gazebo/gazebo_patch.diff
===================================================================
--- pkg/trunk/3rdparty/gazebo/gazebo_patch.diff 2008-09-09 22:31:20 UTC (rev 4125)
+++ pkg/trunk/3rdparty/gazebo/gazebo_patch.diff 2008-09-09 23:14:57 UTC (rev 4126)
@@ -1,10 +1,10 @@
Index: player/SConscript
===================================================================
---- player/SConscript (revision 6981)
+--- player/SConscript (revision 7016)
+++ player/SConscript (working copy)
@@ -1,7 +1,8 @@
import os
- Import('env install_prefix staticObjs sharedObjs subdirs')
+ Import('env install_prefix sharedObjs subdirs')
-parseConfigs = ['pkg-config --cflags --libs playerc++']
+parseConfigs = ['pkg-config --cflags --libs playerc++',
@@ -14,9 +14,9 @@
'GazeboClient.cc',
Index: libgazebo/gazebo.h
===================================================================
---- libgazebo/gazebo.h (revision 6981)
+--- libgazebo/gazebo.h (revision 7016)
+++ libgazebo/gazebo.h (working copy)
-@@ -558,7 +558,7 @@
+@@ -556,7 +556,7 @@
/// Maximum image pixels (width x height)
@@ -25,7 +25,7 @@
/// \brief Camera interface data
class CameraData
-@@ -586,6 +586,9 @@
+@@ -584,6 +584,9 @@
/// Pose of the camera
public: Pose camera_pose;
@@ -35,7 +35,7 @@
};
/// \brief The camera interface
-@@ -604,6 +607,7 @@
+@@ -602,6 +605,7 @@
{
Iface::Create(server,id);
this->data = (CameraData*)this->mMap;
@@ -43,7 +43,7 @@
}
/// \brief Open an existing interface
-@@ -613,8 +617,18 @@
+@@ -611,8 +615,18 @@
{
Iface::Open(client,id);
this->data = (CameraData*)this->mMap;
@@ -62,7 +62,7 @@
/// Pointer to the camera data
public: CameraData *data;
};
-@@ -833,6 +847,9 @@
+@@ -831,6 +845,9 @@
/// Commaned range count
public: int cmd_range_count;
@@ -72,7 +72,7 @@
};
/// \brief Laser interface
-@@ -851,6 +868,7 @@
+@@ -849,6 +866,7 @@
{
Iface::Create(server,id);
this->data = (LaserData*)this->mMap;
@@ -80,7 +80,7 @@
}
/// \brief Open an existing interface
-@@ -860,8 +878,16 @@
+@@ -858,8 +876,16 @@
{
Iface::Open(client,id);
this->data = (LaserData*)this->mMap;
@@ -97,7 +97,7 @@
/// Pointer to the laser data
public: LaserData *data;
};
-@@ -1065,6 +1091,30 @@
+@@ -1063,6 +1089,30 @@
/// Lift down flag
public: int lift_down;
@@ -128,7 +128,7 @@
};
/// \brief Gripper interface
-@@ -1262,6 +1312,8 @@
+@@ -1260,6 +1310,8 @@
/// \} */
@@ -137,7 +137,7 @@
/***************************************************************************/
/// \addtogroup libgazebo_iface
/// \{
-@@ -1342,7 +1394,7 @@
+@@ -1340,7 +1392,7 @@
\{
*/
@@ -146,7 +146,7 @@
#define GAZEBO_STEREO_CAMERA_MAX_DISPARITY_SIZE 640 * 480
/// \brief Stereo data
-@@ -1380,6 +1432,9 @@
+@@ -1378,6 +1430,9 @@
/// Right depth map (float)
public: float right_depth[GAZEBO_STEREO_CAMERA_MAX_DISPARITY_SIZE];
@@ -156,7 +156,7 @@
};
-@@ -1397,6 +1452,7 @@
+@@ -1395,6 +1450,7 @@
{
Iface::Create(server,id);
this->data = (StereoCameraData*)this->mMap;
@@ -164,7 +164,7 @@
}
/// \brief Open the iface
-@@ -1404,8 +1460,16 @@
+@@ -1402,8 +1458,16 @@
{
Iface::Open(client,id);
this->data = (StereoCameraData*)this->mMap;
@@ -183,13 +183,14 @@
};
Index: server/physics/SphereGeom.cc
===================================================================
---- server/physics/SphereGeom.cc (revision 6981)
+--- server/physics/SphereGeom.cc (revision 7016)
+++ server/physics/SphereGeom.cc (working copy)
-@@ -55,10 +55,18 @@
- this->radiusP->Load(node);
+@@ -66,11 +66,18 @@
+ this->radiusP->SetValue( radius );
// Initialize box mass matrix
-- dMassSetSphereTotal(&this->mass, this->massP->GetValue(), this->radiusP->GetValue());
+- dMassSetSphereTotal(&this->mass, this->massP->GetValue(),
+- this->radiusP->GetValue());
+ this->SetGeom( dCreateSphere(0, this->radiusP->GetValue()), true);
// Create the sphere geometry
@@ -205,27 +206,18 @@
+
}
- //////////////////////////////////////////////////////////////////////////////
+ ////////////////////////////////////////////////////////////////////////////////
Index: server/physics/BoxGeom.cc
===================================================================
---- server/physics/BoxGeom.cc (revision 6981)
+--- server/physics/BoxGeom.cc (revision 7016)
+++ server/physics/BoxGeom.cc (working copy)
-@@ -54,16 +54,25 @@
- {
- this->sizeP->Load(node);
+@@ -66,9 +66,18 @@
+ this->sizeP->SetValue( size );
-- // Initialize box mass matrix
-- dMassSetBoxTotal(&this->mass, this->massP->GetValue(),
-- this->sizeP->GetValue().x,
-- this->sizeP->GetValue().y,
+ // Initialize box mass matrix
+- dMassSetBoxTotal(&this->mass, this->massP->GetValue(),
+- this->sizeP->GetValue().x, this->sizeP->GetValue().y,
- this->sizeP->GetValue().z);
--
- // Create a box geometry with box mass matrix
- this->SetGeom(dCreateBox( 0, this->sizeP->GetValue().x,
- this->sizeP->GetValue().y,
- this->sizeP->GetValue().z), true );
-+
-+ // Initialize box mass matrix
+ // set mass matrix if user provides some info
+ // pending a tag <massMatrix>true</massMatrix> in geom:
+ if (this->customMassMatrix)
@@ -234,80 +226,72 @@
+ this->ixx,this->iyy,this->izz,
+ this->ixy,this->ixz,this->iyz);
+ else
-+ dMassSetBoxTotal(&this->mass, this->massP->GetValue(),
-+ this->sizeP->GetValue().x,
-+ this->sizeP->GetValue().y,
++ // Initialize box mass matrix
++ dMassSetBoxTotal(&this->mass, this->massP->GetValue(),
++ this->sizeP->GetValue().x, this->sizeP->GetValue().y,
+ this->sizeP->GetValue().z);
-+
- }
- //////////////////////////////////////////////////////////////////////////////
+
+ // Create a box geometry with box mass matrix
Index: server/physics/Geom.hh
===================================================================
---- server/physics/Geom.hh (revision 6981)
+--- server/physics/Geom.hh (revision 7016)
+++ server/physics/Geom.hh (working copy)
-@@ -168,6 +168,20 @@
+@@ -171,6 +171,20 @@
/// Mass as a double
- protected: Param<double> *massP;
+ protected: ParamT<double> *massP;
+ /// User specified Mass Matrix
-+ protected: Param<bool> *customMassMatrixP;
-+ protected: Param<double> *cxP ;
-+ protected: Param<double> *cyP ;
-+ protected: Param<double> *czP ;
-+ protected: Param<double> *ixxP;
-+ protected: Param<double> *iyyP;
-+ protected: Param<double> *izzP;
-+ protected: Param<double> *ixyP;
-+ protected: Param<double> *ixzP;
-+ protected: Param<double> *iyzP;
++ protected: ParamT<bool> *customMassMatrixP;
++ protected: ParamT<double> *cxP ;
++ protected: ParamT<double> *cyP ;
++ protected: ParamT<double> *czP ;
++ protected: ParamT<double> *ixxP;
++ protected: ParamT<double> *iyyP;
++ protected: ParamT<double> *izzP;
++ protected: ParamT<double> *ixyP;
++ protected: ParamT<double> *ixzP;
++ protected: ParamT<double> *iyzP;
+ protected: bool customMassMatrix;
+ protected: double cx,cy,cz,ixx,iyy,izz,ixy,ixz,iyz;
+
- private: Param<Vector3> *xyzP;
- private: Param<Quatern> *rpyP;
+ private: ParamT<Vector3> *xyzP;
+ private: ParamT<Quatern> *rpyP;
Index: server/physics/Body.hh
===================================================================
---- server/physics/Body.hh (revision 6981)
+--- server/physics/Body.hh (revision 7016)
+++ server/physics/Body.hh (working copy)
-@@ -170,6 +170,7 @@
+@@ -180,6 +180,7 @@
- private: Param<Vector3> *xyzP;
- private: Param<Quatern> *rpyP;
-+ private: Param<bool> *turnGravityOffP;
+ private: ParamT<Vector3> *xyzP;
+ private: ParamT<Quatern> *rpyP;
++ private: ParamT<bool> *turnGravityOffP;
};
/// \}
Index: server/physics/HingeJoint.hh
===================================================================
---- server/physics/HingeJoint.hh (revision 6981)
+--- server/physics/HingeJoint.hh (revision 7016)
+++ server/physics/HingeJoint.hh (working copy)
@@ -126,6 +126,7 @@
- private: Param<Vector3> *axisP;
- private: Param<Angle> *loStopP;
- private: Param<Angle> *hiStopP;
-+ private: Param<Vector3> *anchorOffsetP;
+ private: ParamT<Vector3> *axisP;
+ private: ParamT<Angle> *loStopP;
+ private: ParamT<Angle> *hiStopP;
++ private: ParamT<Vector3> *anchorOffsetP;
};
/// \}
Index: server/physics/CylinderGeom.cc
===================================================================
---- server/physics/CylinderGeom.cc (revision 6981)
+--- server/physics/CylinderGeom.cc (revision 7016)
+++ server/physics/CylinderGeom.cc (working copy)
-@@ -51,13 +51,22 @@
- {
- this->sizeP->Load(node);
+@@ -64,11 +64,21 @@
+ this->sizeP->SetValue( size );
-- // Initialize mass matrix
+ // Initialize mass matrix
- dMassSetCylinderTotal(&this->mass, this->massP->GetValue(), 3,
- this->sizeP->GetValue().x, this->sizeP->GetValue().y);
--
-+ // create a cylinder geometry
- this->SetGeom( dCreateCylinder( 0, this->sizeP->GetValue().x,
- this->sizeP->GetValue().y ), true );
-
-+ // Initialize mass matrix
+ // pending a tag <massMatrix>true</massMatrix> in geom:
+ if (this->customMassMatrix)
+ dMassSetParameters(&this->mass, this->massP->GetValue(),
@@ -315,8 +299,12 @@
+ this->ixx,this->iyy,this->izz,
+ this->ixy,this->ixz,this->iyz);
+ else
++ // Initialize mass matrix
+ dMassSetCylinderTotal(&this->mass, this->massP->GetValue(), 3,
+ this->sizeP->GetValue().x, this->sizeP->GetValue().y);
+
+ this->SetGeom( dCreateCylinder( 0, this->sizeP->GetValue().x,
+ this->sizeP->GetValue().y ), true );
+
+
}
@@ -324,27 +312,27 @@
//////////////////////////////////////////////////////////////////////////////
Index: server/physics/Geom.cc
===================================================================
---- server/physics/Geom.cc (revision 6981)
+--- server/physics/Geom.cc (revision 7016)
+++ server/physics/Geom.cc (working copy)
-@@ -66,6 +66,17 @@
- this->rpyP = new Param<Quatern>("rpy", Quatern(), 0);
- this->laserFiducialIdP = new Param<int>("laserFiducialId",-1,0);
- this->laserRetroP = new Param<float>("laserRetro",-1,0);
+@@ -73,6 +73,17 @@
+
+ this->laserFiducialIdP = new ParamT<int>("laserFiducialId",-1,0);
+ this->laserRetroP = new ParamT<float>("laserRetro",-1,0);
+
-+ this->customMassMatrixP = new Param<bool>("massMatrix",false,0);
-+ this->cxP = new Param<double>("cx",0.0,0);
-+ this->cyP = new Param<double>("cy",0.0,0);
-+ this->czP = new Param<double>("cz",0.0,0);
-+ this->ixxP = new Param<double>("ixx",1e-6,0);
-+ this->iyyP = new Param<double>("iyy",1e-6,0);
-+ this->izzP = new Param<double>("izz",1e-6,0);
-+ this->ixyP = new Param<double>("ixy",0.0,0);
-+ this->ixzP = new Param<double>("ixz",0.0,0);
-+ this->iyzP = new Param<double>("iyz",0.0,0);
++ this->customMassMatrixP = new ParamT<bool>("massMatrix",false,0);
++ this->cxP = new ParamT<double>("cx",0.0,0);
++ this->cyP = new ParamT<double>("cy",0.0,0);
++ this->czP = new ParamT<double>("cz",0.0,0);
++ this->ixxP = new ParamT<double>("ixx",1e-6,0);
++ this->iyyP = new ParamT<double>("iyy",1e-6,0);
++ this->izzP = new ParamT<double>("izz",1e-6,0);
++ this->ixyP = new ParamT<double>("ixy",0.0,0);
++ this->ixzP = new ParamT<double>("ixz",0.0,0);
++ this->iyzP = new ParamT<double>("iyz",0.0,0);
+ Param::End();
}
- ////////////////////////////////////////////////////////////////////////////////
-@@ -91,6 +102,16 @@
+@@ -99,6 +110,16 @@
delete this->rpyP;
delete this->laserFiducialIdP;
delete this->laserRetroP;
@@ -361,7 +349,7 @@
}
////////////////////////////////////////////////////////////////////////////////
-@@ -115,6 +136,30 @@
+@@ -123,6 +144,30 @@
this->massP->SetValue( 0.001 );
}
@@ -392,7 +380,7 @@
this->contact->Load(node);
this->LoadChild(node);
-@@ -393,18 +438,21 @@
+@@ -401,18 +446,21 @@
if (!this->placeable)
return NULL;
@@ -418,17 +406,17 @@
dMassRotate(&this->bodyMass, r);
Index: server/physics/Body.cc
===================================================================
---- server/physics/Body.cc (revision 6981)
+--- server/physics/Body.cc (revision 7016)
+++ server/physics/Body.cc (working copy)
-@@ -66,6 +66,7 @@
+@@ -70,6 +70,7 @@
- this->xyzP = new Param<Vector3>("xyz", Vector3(), 0);
- this->rpyP = new Param<Quatern>("rpy", Quatern(), 0);
-+ this->turnGravityOffP = new Param<bool>("turnGravityOff", false, 0);
+ this->rpyP = new ParamT<Quatern>("rpy", Quatern(), 0);
+ this->rpyP->Callback( &Body::SetRotation, this );
++ this->turnGravityOffP = new ParamT<bool>("turnGravityOff", false, 0);
+ Param::End();
}
-
-@@ -102,6 +103,7 @@
+@@ -107,6 +108,7 @@
this->nameP->Load(node);
this->xyzP->Load(node);
this->rpyP->Load(node);
@@ -436,7 +424,7 @@
Pose3d initPose;
initPose.pos = **(this->xyzP);
-@@ -129,8 +131,9 @@
+@@ -134,8 +136,9 @@
}
// If no geoms are attached, then don't let gravity affect the body.
@@ -449,17 +437,17 @@
Index: server/physics/HingeJoint.cc
===================================================================
---- server/physics/HingeJoint.cc (revision 6981)
+--- server/physics/HingeJoint.cc (revision 7016)
+++ server/physics/HingeJoint.cc (working copy)
-@@ -43,6 +43,7 @@
- this->axisP = new Param<Vector3>("axis",Vector3(0,1,0), 1);
- this->loStopP = new Param<Angle>("lowStop",-M_PI,0);
- this->hiStopP = new Param<Angle>("highStop",M_PI,0);
-+ this->anchorOffsetP = new Param<Vector3>("anchorOffset",Vector3(0,0,0),0);
+@@ -44,6 +44,7 @@
+ this->axisP = new ParamT<Vector3>("axis",Vector3(0,1,0), 1);
+ this->loStopP = new ParamT<Angle>("lowStop",-M_PI,0);
+ this->hiStopP = new ParamT<Angle>("highStop",M_PI,0);
++ this->anchorOffsetP = new ParamT<Vector3>("anchorOffset",Vector3(0,0,0),0);
+ Param::End();
}
-
-@@ -62,6 +63,7 @@
+@@ -64,6 +65,7 @@
this->axisP->Load(node);
this->loStopP->Load(node);
this->hiStopP->Load(node);
@@ -467,7 +455,7 @@
// Perform this three step ordering to ensure the parameters are set
// properly. This is taken from the ODE wiki.
-@@ -131,7 +133,7 @@
+@@ -133,7 +135,7 @@
// Set the anchor point
void HingeJoint::SetAnchor( const Vector3 &anchor )
{
@@ -478,29 +466,29 @@
Index: server/physics/ode/ODEPhysics.hh
===================================================================
---- server/physics/ode/ODEPhysics.hh (revision 6981)
+--- server/physics/ode/ODEPhysics.hh (revision 7016)
+++ server/physics/ode/ODEPhysics.hh (working copy)
@@ -133,6 +133,7 @@
- private: Param<double> *globalCFMP;
- private: Param<double> *globalERPP;
-+ private: Param<bool> *quickStepP;
+ private: ParamT<double> *globalCFMP;
+ private: ParamT<double> *globalERPP;
++ private: ParamT<bool> *quickStepP;
};
/** \}*/
Index: server/physics/ode/ODEPhysics.cc
===================================================================
---- server/physics/ode/ODEPhysics.cc (revision 6981)
+--- server/physics/ode/ODEPhysics.cc (revision 7016)
+++ server/physics/ode/ODEPhysics.cc (working copy)
-@@ -69,6 +69,7 @@
-
- this->globalCFMP = new Param<double>("cfm", 10e-5, 0);
- this->globalERPP = new Param<double>("erp", 0.2, 0);
-+ this->quickStepP = new Param<bool>("quickStep", false, 0);
+@@ -70,6 +70,7 @@
+ Param::Begin(&this->parameters);
+ this->globalCFMP = new ParamT<double>("cfm", 10e-5, 0);
+ this->globalERPP = new ParamT<double>("erp", 0.2, 0);
++ this->quickStepP = new ParamT<bool>("quickStep", false, 0);
+ Param::End();
}
- ////////////////////////////////////////////////////////////////////////////////
-@@ -86,6 +87,7 @@
+@@ -88,6 +89,7 @@
delete this->globalCFMP;
delete this->globalERPP;
@@ -508,7 +496,7 @@
}
////////////////////////////////////////////////////////////////////////////////
-@@ -101,6 +103,7 @@
+@@ -103,6 +105,7 @@
this->updateRateP->Load(cnode);
this->globalCFMP->Load(cnode);
this->globalERPP->Load(cnode);
@@ -516,7 +504,7 @@
}
////////////////////////////////////////////////////////////////////////////////
-@@ -113,6 +116,7 @@
+@@ -115,6 +118,7 @@
stream << prefix << " " << *(this->updateRateP) << "\n";
stream << prefix << " " << *(this->globalCFMP) << "\n";
stream << prefix << " " << *(this->globalERPP) << "\n";
@@ -524,7 +512,7 @@
stream << prefix << "</physics:ode>\n";
}
-@@ -135,8 +139,10 @@
+@@ -137,8 +141,10 @@
dSpaceCollide( this->spaceId, this, CollisionCallback );
// Update the dynamical model
@@ -537,7 +525,7 @@
// Very important to clear out the contact group
dJointGroupEmpty( this->contactGroup );
-@@ -264,15 +270,16 @@
+@@ -266,15 +272,16 @@
contact.surface.mode = dContactSlip1 | dContactSlip2 |
dContactSoftERP | dContactSoftCFM |
dContactBounce | dContactMu2 | dContactApprox1;
@@ -558,9 +546,9 @@
contact.surface.mu2 = MIN(geom1->contact->mu2, geom2->contact->mu2);
Index: server/physics/TrimeshGeom.cc
===================================================================
---- server/physics/TrimeshGeom.cc (revision 6981)
+--- server/physics/TrimeshGeom.cc (revision 7016)
+++ server/physics/TrimeshGeom.cc (working copy)
-@@ -206,7 +206,13 @@
+@@ -208,7 +208,13 @@
this->geomId = dCreateTriMesh( this->spaceId, this->odeData,0,0,0 );
@@ -577,7 +565,7 @@
this->SetGeom(this->geomId, true);
Index: server/sensors/Sensor.hh
===================================================================
---- server/sensors/Sensor.hh (revision 6981)
+--- server/sensors/Sensor.hh (revision 7016)
+++ server/sensors/Sensor.hh (working copy)
@@ -70,6 +70,7 @@
@@ -597,9 +585,9 @@
#endif
Index: server/sensors/ray/RaySensor.cc
===================================================================
---- server/sensors/ray/RaySensor.cc (revision 6981)
+--- server/sensors/ray/RaySensor.cc (revision 7016)
+++ server/sensors/ray/RaySensor.cc (working copy)
-@@ -271,7 +271,7 @@
+@@ -273,7 +273,7 @@
// Update the sensor information
void RaySensor::UpdateChild()
{
@@ -610,7 +598,7 @@
Pose3d poseDelta;
Index: server/sensors/Sensor.cc
===================================================================
---- server/sensors/Sensor.cc (revision 6981)
+--- server/sensors/Sensor.cc (revision 7016)
+++ server/sensors/Sensor.cc (working copy)
@@ -33,6 +33,7 @@
#include "ControllerFactory.hh"
@@ -620,7 +608,7 @@
using namespace gazebo;
-@@ -69,6 +70,14 @@
+@@ -71,6 +72,14 @@
this->LoadController( node->GetChildByNSPrefix("controller") );
this->LoadChild(node);
@@ -635,7 +623,7 @@
}
////////////////////////////////////////////////////////////////////////////////
-@@ -183,4 +192,11 @@
+@@ -185,4 +194,11 @@
this->active = value;
}
@@ -649,7 +637,7 @@
+
Index: server/Simulator.cc
===================================================================
---- server/Simulator.cc (revision 6981)
+--- server/Simulator.cc (revision 7016)
+++ server/Simulator.cc (working copy)
@@ -72,6 +72,7 @@
timeout(-1),
@@ -670,7 +658,7 @@
currTime - this->prevPhysicsTime >= physicsUpdatePeriod)
{
@@ -315,6 +319,9 @@
- this->prevPhysicsTime = this->GetRealTime();
+ World::Instance()->Update();
}
+ //double tmpT2 = this->GetWallTime();
@@ -681,7 +669,7 @@
currTime - this->prevRenderTime >= renderUpdatePeriod)
Index: server/XMLConfig.cc
===================================================================
---- server/XMLConfig.cc (revision 6981)
+--- server/XMLConfig.cc (revision 7016)
+++ server/XMLConfig.cc (working copy)
@@ -513,29 +513,59 @@
///////////////////////////////////////////////////////////////////////////
@@ -759,7 +747,7 @@
Index: server/GazeboConfig.cc
===================================================================
---- server/GazeboConfig.cc (revision 6981)
+--- server/GazeboConfig.cc (revision 7016)
+++ server/GazeboConfig.cc (working copy)
@@ -67,31 +67,34 @@
this->gazeboPaths.push_back(gazebo_resource_path);
@@ -835,7 +823,7 @@
}
Index: server/gui/StatusBar.cc
===================================================================
---- server/gui/StatusBar.cc (revision 6981)
+--- server/gui/StatusBar.cc (revision 7016)
+++ server/gui/StatusBar.cc (working copy)
@@ -25,6 +25,7 @@
*/
@@ -847,7 +835,7 @@
#include <FL/Fl_Button.H>
Index: server/gui/GLWindow.cc
===================================================================
---- server/gui/GLWindow.cc (revision 6981)
+--- server/gui/GLWindow.cc (revision 7016)
+++ server/gui/GLWindow.cc (working copy)
@@ -227,21 +227,10 @@
}
@@ -877,7 +865,7 @@
{
Index: server/World.hh
===================================================================
---- server/World.hh (revision 6981)
+--- server/World.hh (revision 7016)
+++ server/World.hh (working copy)
@@ -92,6 +92,26 @@
/// \return Pointer to the physics engine
@@ -918,7 +906,7 @@
};
Index: server/controllers/camera/generic/Generic_Camera.cc
===================================================================
---- server/controllers/camera/generic/Generic_Camera.cc (revision 6981)
+--- server/controllers/camera/generic/Generic_Camera.cc (revision 7016)
+++ server/controllers/camera/generic/Generic_Camera.cc (working copy)
@@ -86,7 +86,24 @@
// Update the controller
@@ -948,9 +936,9 @@
////////////////////////////////////////////////////////////////////////////////
Index: server/controllers/Controller.cc
===================================================================
---- server/controllers/Controller.cc (revision 6981)
+--- server/controllers/Controller.cc (revision 7016)
+++ server/controllers/Controller.cc (working copy)
-@@ -73,11 +73,15 @@
+@@ -75,11 +75,15 @@
this->typeName = node->GetName();
this->nameP->Load(node);
@@ -971,9 +959,9 @@
// Create the interfaces
Index: server/controllers/ptz/generic/Generic_PTZ.cc
===================================================================
---- server/controllers/ptz/generic/Generic_PTZ.cc (revision 6981)
+--- server/controllers/ptz/generic/Generic_PTZ.cc (revision 7016)
+++ server/controllers/ptz/generic/Generic_PTZ.cc (working copy)
-@@ -68,10 +68,10 @@
+@@ -70,10 +70,10 @@
// Destructor
Generic_PTZ::~Generic_PTZ()
{
@@ -990,7 +978,7 @@
this->tiltJoint = NULL;
Index: server/World.cc
===================================================================
---- server/World.cc (revision 6981)
+--- server/World.cc (revision 7016)
+++ server/World.cc (working copy)
@@ -27,6 +27,7 @@
#include <assert.h>
@@ -1112,7 +1100,7 @@
int World::LoadEntities(XMLConfigNode *node, Model *parent)
Index: SConstruct
===================================================================
---- SConstruct (revision 6981)
+--- SConstruct (revision 7016)
+++ SConstruct (working copy)
@@ -22,8 +22,9 @@
# 3rd party packages
@@ -1125,7 +1113,7 @@
'fltk-config --cflags --libs --ldflags --use-gl --use-images',
'pkg-config --cflags --libs xft'
]
-@@ -80,7 +81,7 @@
+@@ -81,7 +82,7 @@
rcconfig = env.RCConfig(target='gazeborc', source=Value(install_prefix))
# DEFAULT list of subdirectories to build
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Ros_PTZ.hh
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Ros_PTZ.hh 2008-09-09 22:31:20 UTC (rev 4125)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Ros_PTZ.hh 2008-09-09 23:14:57 UTC (rev 4126)
@@ -114,13 +114,13 @@
private: float cmdTilt;
private: float cmdPan;
- private: Param<double> *motionGainP;
- private: Param<double> *forceP;
+ private: ParamT<double> *motionGainP;
+ private: ParamT<double> *forceP;
- private: Param<std::string> *panJointNameP;
- private: Param<std::string> *tiltJointNameP;
- private: Param<std::string> *commandTopicNameP;
- private: Param<std::string> *stateTopicNameP;
+ private: ParamT<std::string> *panJointNameP;
+ private: ParamT<std::string> *tiltJointNameP;
+ private: ParamT<std::string> *commandTopicNameP;
+ private: ParamT<std::string> *stateTopicNameP;
// pointer to ros node
private: ros::node *rosnode;
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_PTZ.cc
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_PTZ.cc 2008-09-09 22:31:20 UTC (rev 4125)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_PTZ.cc 2008-09-09 23:14:57 UTC (rev 4126)
@@ -59,12 +59,14 @@
this->panJoint = NULL;
this->tiltJoint = NULL;
- this->panJointNameP = new Param<std::string>("panJoint", "", 1);
- this->tiltJointNameP = new Param<std::string>("tiltJoint", "", 1);
- this->motionGainP = new Param<double>("motionGain",2,0);
- this->forceP = new Param<double>("force",10,0);
- this->commandTopicNameP = new Param<std::string>("commandTopicName","PTZ_cmd",0);
- this->stateTopicNameP = new Param<std::string>("stateTopicName","PTZ_state",0);
+ Param::Begin(&this->parameters);
+ this->panJointNameP = new ParamT<std::string>("panJoint", "", 1);
+ this->tiltJointNameP = new ParamT<std::string>("tiltJoint", "", 1);
+ this->motionGainP = new ParamT<double>("motionGain",2,0);
+ this->forceP = new ParamT<double>("force",10,0);
+ this->commandTopicNameP = new ParamT<std::string>("commandTopicName","PTZ_cmd",0);
+ this->stateTopicNameP = new ParamT<std::string>("stateTopicName","PTZ_state",0);
+ Param::End();
rosnode = ros::g_node; // comes from where?
int argc = 0;
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