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[Personalrobots-commit] SF.net SVN: personalrobots:[4791] pkg/trunk
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From: <tf...@us...> - 2008-09-29 23:11:57
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Revision: 4791
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4791&view=rev
Author: tfoote
Date: 2008-09-29 23:11:18 +0000 (Mon, 29 Sep 2008)
Log Message:
-----------
2dnav-gazebo is now stl msg compliant
Modified Paths:
--------------
pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_position_controller.cpp
pkg/trunk/drivers/cam/axis_cam/src/axis_cam/axis_cam.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_Stereo_Camera.cc
pkg/trunk/highlevel/highlevel_controllers/src/MoveArm.cpp
pkg/trunk/highlevel/highlevel_controllers/src/MoveEndEffector.cpp
pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp
pkg/trunk/motion_planning/kinematic_planning/include/RKPBasicRequest.h
pkg/trunk/motion_planning/kinematic_planning/src/motion_validator.cpp
pkg/trunk/trajectory_rollout/src/governor_node.cpp
pkg/trunk/vision/scan_utils/include/octree.h
pkg/trunk/vision/scan_utils/src/listen_node/scanListenNode.cpp
pkg/trunk/vision/scan_utils/src/smartScan.cpp
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/planning_visualizer.cpp
pkg/trunk/visualization/wx_camera_panel/src/wx_camera_panel/CameraPanel.cpp
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_position_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_position_controller.cpp 2008-09-29 23:08:57 UTC (rev 4790)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_position_controller.cpp 2008-09-29 23:11:18 UTC (rev 4791)
@@ -304,7 +304,7 @@
bool ArmPositionControllerNode::setJointPosSingle(const pr2_mechanism_controllers::JointPosCmd & cmd)
{
- for(unsigned int i=0;i<cmd.positions_size;++i)
+ for(unsigned int i=0;i<cmd.get_positions_size();++i)
std::cout<<cmd.positions[i]<<' ';
std::cout<<std::flush;
c_->setJointPosCmd(cmd);
@@ -332,14 +332,14 @@
// msg
std::cout<<"waypoint "<<std::flush;
- for(unsigned int i=0;i<cmd.positions_size;++i)
+ for(unsigned int i=0;i<cmd.get_positions_size();++i)
std::cout << cmd.names[i] << "==" << cmd.positions[i] <<' ';
std::cout<<std::flush;
std::cout<<" headless"<<std::endl;
// Removes any error margin info so that the controller returns true on target reached and frees any blocking call
- cmd.set_margins_size(cmd.positions_size);
- for(unsigned int i=0;i<cmd.positions_size;++i)
+ cmd.set_margins_size(cmd.get_positions_size());
+ for(unsigned int i=0;i<cmd.get_positions_size();++i)
cmd.margins[i]=-1;
c_->setJointPosCmd(cmd);
Modified: pkg/trunk/drivers/cam/axis_cam/src/axis_cam/axis_cam.cpp
===================================================================
--- pkg/trunk/drivers/cam/axis_cam/src/axis_cam/axis_cam.cpp 2008-09-29 23:08:57 UTC (rev 4790)
+++ pkg/trunk/drivers/cam/axis_cam/src/axis_cam/axis_cam.cpp 2008-09-29 23:11:18 UTC (rev 4791)
@@ -103,7 +103,7 @@
}
images.images[0].set_data_size(jpeg_size);
- memcpy(images.images[0].data, jpeg, jpeg_size);
+ memcpy(&images.images[0].data[0], jpeg, jpeg_size);
images.images[0].compression = "jpeg";
@@ -159,7 +159,7 @@
images.images[0].set_data_size(jpeg_size);
- memcpy(images.images[0].data, jpeg, jpeg_size);
+ memcpy(&images.images[0].data[0], jpeg, jpeg_size);
images.images[0].compression = "jpeg";
if (!codec->inflate_header())
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_Stereo_Camera.cc
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_Stereo_Camera.cc 2008-09-29 23:08:57 UTC (rev 4790)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_Stereo_Camera.cc 2008-09-29 23:11:18 UTC (rev 4791)
@@ -355,7 +355,9 @@
uint32_t buf_size = (width) * (height) * (depth);
this->imageMsg[camera].set_data_size(buf_size);
- this->imageMsg[camera].data = (unsigned char*)rgb_src;
+ ///\todo FIXME checkme John
+ memcpy(&(this->imageMsg[camera].data[0]), rgb_src, buf_size);
+ // this->imageMsg[camera].data = (unsigned char*)rgb_src;
// publish to ros
if (camera==0)
Modified: pkg/trunk/highlevel/highlevel_controllers/src/MoveArm.cpp
===================================================================
--- pkg/trunk/highlevel/highlevel_controllers/src/MoveArm.cpp 2008-09-29 23:08:57 UTC (rev 4790)
+++ pkg/trunk/highlevel/highlevel_controllers/src/MoveArm.cpp 2008-09-29 23:11:18 UTC (rev 4791)
@@ -198,7 +198,7 @@
req.start_state.set_vals_size(45);
//initializing full value state
- for (unsigned int i = 0 ; i < req.start_state.vals_size ; ++i) {
+ for (unsigned int i = 0 ; i < req.start_state.get_vals_size() ; ++i) {
req.start_state.vals[i] = 0.0;
}
Modified: pkg/trunk/highlevel/highlevel_controllers/src/MoveEndEffector.cpp
===================================================================
--- pkg/trunk/highlevel/highlevel_controllers/src/MoveEndEffector.cpp 2008-09-29 23:08:57 UTC (rev 4790)
+++ pkg/trunk/highlevel/highlevel_controllers/src/MoveEndEffector.cpp 2008-09-29 23:11:18 UTC (rev 4791)
@@ -192,7 +192,7 @@
req.start_state.set_vals_size(45);
//initializing full value state
- for (unsigned int i = 0 ; i < req.start_state.vals_size ; ++i) {
+ for (unsigned int i = 0 ; i < req.start_state.get_vals_size() ; ++i) {
req.start_state.vals[i] = 0.0;
}
Modified: pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp
===================================================================
--- pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp 2008-09-29 23:08:57 UTC (rev 4790)
+++ pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp 2008-09-29 23:11:18 UTC (rev 4791)
@@ -247,7 +247,7 @@
assert(mc_->model_.joints_.size() == publisher_.msg_.get_joint_states_size());
for (unsigned int i = 0; i < mc_->model_.joints_.size(); ++i)
{
- mechanism_control::JointState *out = publisher_.msg_.joint_states + i;
+ mechanism_control::JointState *out = &publisher_.msg_.joint_states[i];
mechanism::JointState *in = &mc_->state_->joint_states_[i];
out->name = mc_->model_.joints_[i]->name_;
out->position = in->position_;
@@ -258,7 +258,7 @@
for (unsigned int i = 0; i < mc_->hw_->actuators_.size(); ++i)
{
- mechanism_control::ActuatorState *out = publisher_.msg_.actuator_states + i;
+ mechanism_control::ActuatorState *out = &publisher_.msg_.actuator_states[i];
ActuatorState *in = &mc_->hw_->actuators_[i]->state_;
out->name = mc_->hw_->actuators_[i]->name_;
out->encoder_count = in->encoder_count_;
Modified: pkg/trunk/motion_planning/kinematic_planning/include/RKPBasicRequest.h
===================================================================
--- pkg/trunk/motion_planning/kinematic_planning/include/RKPBasicRequest.h 2008-09-29 23:08:57 UTC (rev 4790)
+++ pkg/trunk/motion_planning/kinematic_planning/include/RKPBasicRequest.h 2008-09-29 23:11:18 UTC (rev 4791)
@@ -132,7 +132,7 @@
if (model->groupID >= 0)
{
/* set the pose of the whole robot */
- model->kmodel->computeTransforms(start_state.vals);
+ model->kmodel->computeTransforms(&start_state.vals[0]);
model->collisionSpace->updateRobotModel(model->collisionSpaceID);
/* extract the components needed for the start state of the desired group */
Modified: pkg/trunk/motion_planning/kinematic_planning/src/motion_validator.cpp
===================================================================
--- pkg/trunk/motion_planning/kinematic_planning/src/motion_validator.cpp 2008-09-29 23:08:57 UTC (rev 4790)
+++ pkg/trunk/motion_planning/kinematic_planning/src/motion_validator.cpp 2008-09-29 23:11:18 UTC (rev 4791)
@@ -165,7 +165,7 @@
if (model->groupID >= 0)
{
/* set the pose of the whole robot */
- model->kmodel->computeTransforms(req.start_state.vals);
+ model->kmodel->computeTransforms(&req.start_state.vals[0]);
model->collisionSpace->updateRobotModel(model->collisionSpaceID);
/* extract the components needed for the start state of the desired group */
Modified: pkg/trunk/trajectory_rollout/src/governor_node.cpp
===================================================================
--- pkg/trunk/trajectory_rollout/src/governor_node.cpp 2008-09-29 23:08:57 UTC (rev 4790)
+++ pkg/trunk/trajectory_rollout/src/governor_node.cpp 2008-09-29 23:11:18 UTC (rev 4791)
@@ -83,7 +83,7 @@
//update the global plan from the message
vector<std_msgs::Point2DFloat32> plan;
- for(unsigned int i = 0; i < plan_msg_.plan.path_size; ++i){
+ for(unsigned int i = 0; i < plan_msg_.plan.get_path_size(); ++i){
plan.push_back(plan_msg_.plan.path[i]);
}
tc_.updatePlan(plan);
Modified: pkg/trunk/vision/scan_utils/include/octree.h
===================================================================
--- pkg/trunk/vision/scan_utils/include/octree.h 2008-09-29 23:08:57 UTC (rev 4790)
+++ pkg/trunk/vision/scan_utils/include/octree.h 2008-09-29 23:11:18 UTC (rev 4791)
@@ -805,11 +805,11 @@
if (msg.uses_timestamps) mUsesTimestamps = true;
else mUsesTimestamps = false;
- memcpy((char*)&mEmptyValue, msg.empty_value, sizeof(mEmptyValue) );
+ memcpy((char*)&mEmptyValue, &msg.empty_value[0], sizeof(mEmptyValue) );
unsigned int size = msg.get_structure_data_size();
char *data = new char[size];
- memcpy(data, msg.structure_data, size);
+ memcpy(data, &msg.structure_data[0], size);
bool result = deserialize(data,size);
delete[] data;
if (!result) {
@@ -836,13 +836,13 @@
else msg.uses_timestamps = 0;
msg.set_empty_value_size(sizeof(mEmptyValue));
- memcpy(msg.empty_value, (char*)&mEmptyValue, sizeof(mEmptyValue));
+ memcpy(&msg.empty_value[0], (char*)&mEmptyValue, sizeof(mEmptyValue));
unsigned int size;
char *data;
serialize(&data, &size);
msg.set_structure_data_size(size);
- memcpy(msg.structure_data, data, size);
+ memcpy(&msg.structure_data[0], data, size);
delete [] data;
}
Modified: pkg/trunk/vision/scan_utils/src/listen_node/scanListenNode.cpp
===================================================================
--- pkg/trunk/vision/scan_utils/src/listen_node/scanListenNode.cpp 2008-09-29 23:08:57 UTC (rev 4790)
+++ pkg/trunk/vision/scan_utils/src/listen_node/scanListenNode.cpp 2008-09-29 23:11:18 UTC (rev 4791)
@@ -86,7 +86,7 @@
}
SmartScan *retScan = new SmartScan();
- retScan->setPoints( cloud.get_pts_size(), cloud.pts);
+ retScan->setPoints( cloud.get_pts_size(), &cloud.pts[0]);
return retScan;
}
Modified: pkg/trunk/vision/scan_utils/src/smartScan.cpp
===================================================================
--- pkg/trunk/vision/scan_utils/src/smartScan.cpp 2008-09-29 23:08:57 UTC (rev 4790)
+++ pkg/trunk/vision/scan_utils/src/smartScan.cpp 2008-09-29 23:11:18 UTC (rev 4791)
@@ -164,7 +164,7 @@
void SmartScan::setFromRosCloud(const std_msgs::PointCloudFloat32 &cloud)
{
//for the moment we ignore intensity values
- setPoints( cloud.get_pts_size(), cloud.pts);
+ setPoints( cloud.get_pts_size(), &cloud.pts[0]);
}
/*! Returns the SmartScan as a ROS PointCloudFloat32 message.
Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/planning_visualizer.cpp
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/planning_visualizer.cpp 2008-09-29 23:08:57 UTC (rev 4790)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/planning_visualizer.cpp 2008-09-29 23:11:18 UTC (rev 4791)
@@ -204,7 +204,7 @@
current_state_ = -1;
current_state_time_ = state_display_time_ + 1.0f;
- kinematic_model_->computeTransforms(displaying_kinematic_path_message_.start_state.vals);
+ kinematic_model_->computeTransforms(&displaying_kinematic_path_message_.start_state.vals[0]);
robot_->update( kinematic_model_, target_frame_ );
}
@@ -221,7 +221,7 @@
if ( (size_t)current_state_ < displaying_kinematic_path_message_.path.get_states_size() )
{
int group_id = kinematic_model_->getGroupID( displaying_kinematic_path_message_.model_name );
- kinematic_model_->computeTransforms(displaying_kinematic_path_message_.path.states[ current_state_ ].vals, group_id);
+ kinematic_model_->computeTransforms(&displaying_kinematic_path_message_.path.states[ current_state_ ].vals[0], group_id);
robot_->update( kinematic_model_, target_frame_ );
causeRender();
Modified: pkg/trunk/visualization/wx_camera_panel/src/wx_camera_panel/CameraPanel.cpp
===================================================================
--- pkg/trunk/visualization/wx_camera_panel/src/wx_camera_panel/CameraPanel.cpp 2008-09-29 23:08:57 UTC (rev 4790)
+++ pkg/trunk/visualization/wx_camera_panel/src/wx_camera_panel/CameraPanel.cpp 2008-09-29 23:11:18 UTC (rev 4791)
@@ -368,7 +368,7 @@
delete [] image_data_;
const uint32_t dataSize = image_message_.get_data_size();
image_data_ = new uint8_t[ dataSize ];
- memcpy( image_data_, image_message_.data, dataSize );
+ memcpy( image_data_, &image_message_.data[0], dataSize );
delete image_;
wxMemoryInputStream memoryStream( image_data_, dataSize );
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