[Personalrobots-commit] SF.net SVN: personalrobots:[9599] pkg/trunk

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

Revision: 9599
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=9599&view=rev
Author:   isucan
Date:     2009-01-17 01:01:34 +0000 (Sat, 17 Jan 2009)

Log Message:
-----------
fix some deprecation warnings

Modified Paths:
--------------
    pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp
    pkg/trunk/motion_planning/kinematic_planning/src/motion_validator.cpp
    pkg/trunk/world_models/robot_models/planning_models/src/kinematic.cpp
    pkg/trunk/world_models/robot_models/robot_model/include/robot_model/knode.h

Modified: pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp
===================================================================
--- pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp	2009-01-17 00:57:31 UTC (rev 9598)
+++ pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp	2009-01-17 01:01:34 UTC (rev 9599)
@@ -148,10 +148,10 @@
 							robot_model::NodeCollisionModel(dynamic_cast<ros::node*>(this),
 											       robot_model)
     {
-	advertise_service("plan_kinematic_path_state", &KinematicPlanning::planToState);
-	advertise_service("plan_kinematic_path_named", &KinematicPlanning::planToStateNamed);
-	advertise_service("plan_kinematic_path_position", &KinematicPlanning::planToPosition);
-	advertise_service("plan_joint_state_names", &KinematicPlanning::planJointNames);
+	advertiseService("plan_kinematic_path_state", &KinematicPlanning::planToState);
+	advertiseService("plan_kinematic_path_named", &KinematicPlanning::planToStateNamed);
+	advertiseService("plan_kinematic_path_position", &KinematicPlanning::planToPosition);
+	advertiseService("plan_joint_state_names", &KinematicPlanning::planJointNames);
 	advertise<std_msgs::String>("planning_statistics", 10);
     }
     

Modified: pkg/trunk/motion_planning/kinematic_planning/src/motion_validator.cpp
===================================================================
--- pkg/trunk/motion_planning/kinematic_planning/src/motion_validator.cpp	2009-01-17 00:57:31 UTC (rev 9598)
+++ pkg/trunk/motion_planning/kinematic_planning/src/motion_validator.cpp	2009-01-17 01:01:34 UTC (rev 9599)
@@ -130,7 +130,7 @@
 						      robot_model::NodeCollisionModel(dynamic_cast<ros::node*>(this),
 											     robot_model)
     {
-	advertise_service("validate_path", &MotionValidator::validatePath);
+	advertiseService("validate_path", &MotionValidator::validatePath);
     }
     
     /** Free the memory */

Modified: pkg/trunk/world_models/robot_models/planning_models/src/kinematic.cpp
===================================================================
--- pkg/trunk/world_models/robot_models/planning_models/src/kinematic.cpp	2009-01-17 00:57:31 UTC (rev 9598)
+++ pkg/trunk/world_models/robot_models/planning_models/src/kinematic.cpp	2009-01-17 01:01:34 UTC (rev 9599)
@@ -666,7 +666,12 @@
     for (unsigned int i = 0 ; i < l.size() ; ++i)
     {
 	int gid = getGroupID(l[i]);
-	out << "Group " << l[i] << " has " << groupChainStart[gid].size() << " roots" << std::endl;
+	out << "Group " << l[i] << " has " << groupChainStart[gid].size() << " roots: ";
+	for (unsigned int j = 0 ; j < groupChainStart[gid].size() ; ++j)
+       	    out << parameterNames[groupChainStart[gid][j]->name] << " ";
+	for (unsigned int j = 0 ; j < groupChainStart[gid].size() ; ++j)
+	    out << groupChainStart[gid][j]->name << " ";
+	out << std::endl;
 	out << "The state components for this group are: ";
 	for (unsigned int j = 0 ; j < groupStateIndexList[gid].size() ; ++j)
 	    out << groupStateIndexList[gid][j] << " ";

Modified: pkg/trunk/world_models/robot_models/robot_model/include/robot_model/knode.h
===================================================================
--- pkg/trunk/world_models/robot_models/robot_model/include/robot_model/knode.h	2009-01-17 00:57:31 UTC (rev 9598)
+++ pkg/trunk/world_models/robot_models/robot_model/include/robot_model/knode.h	2009-01-17 01:01:34 UTC (rev 9599)
@@ -174,7 +174,7 @@
 	    if (!m_robotModelName.empty() && m_robotModelName != "-")
 	    {
 		std::string content;
-		if (m_node->get_param(m_robotModelName, content))
+		if (m_node->getParam(m_robotModelName, content))
 		    setRobotDescriptionFromData(content.c_str());
 		else
 		    fprintf(stderr, "Robot model '%s' not found!\n", m_robotModelName.c_str());


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