[Personalrobots-commit] SF.net SVN: personalrobots:[10469] pkg/trunk

[<ge...@us...>]

Revision: 10469
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=10469&view=rev
Author:   gerkey
Date:     2009-02-03 06:24:40 +0000 (Tue, 03 Feb 2009)

Log Message:
-----------
Build fixes for OS X

Modified Paths:
--------------
    pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_dynamics_controller.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_position_controller.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/src/head_pan_tilt_controller.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/src/head_servoing_controller.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_arm_dynamics_controller.cpp
    pkg/trunk/util/realtime_tools/src/realtime_tools.cpp

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_dynamics_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_dynamics_controller.cpp	2009-02-03 05:55:06 UTC (rev 10468)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_dynamics_controller.cpp	2009-02-03 06:24:40 UTC (rev 10469)
@@ -110,7 +110,7 @@
 void ArmDynamicsController::setJointCmd(const std::vector<double> &j_values, const std::vector<double> &j_values_dot,  const std::vector<double> &j_values_dot_dot, const std::vector<std::string> & j_names)
 {
   assert(j_values.size() == j_names.size());
-  for(uint i = 0; i < j_values.size(); ++i)
+  for(unsigned int i = 0; i < j_values.size(); ++i)
   {
     const std::string & name = j_names[i];
     const int id = getJointControllerByName(name);

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_position_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_position_controller.cpp	2009-02-03 05:55:06 UTC (rev 10468)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_position_controller.cpp	2009-02-03 06:24:40 UTC (rev 10469)
@@ -80,7 +80,7 @@
 void ArmPositionController::setJointPosCmd(const std::vector<double> &j_values, const std::vector<std::string> & j_names)
 {
   assert(j_values.size() == j_names.size());
-  for(uint i=0;i<j_values.size();++i)
+  for(unsigned int i=0;i<j_values.size();++i)
   {
     const std::string & name = j_names[i];
     const int id = getJointControllerPosByName(name);
@@ -97,7 +97,7 @@
 void ArmPositionController::setJointPosCmd(const std::vector<double> &j_values)
 {
   assert(j_values.size() == joint_position_controllers_.size());
-  for(uint i=0;i<j_values.size();++i)
+  for(unsigned int i=0;i<j_values.size();++i)
   {
       goals_[i] = j_values[i];
       error_margins_[i] = -1;
@@ -125,10 +125,10 @@
 {
   assert(cmd.get_names_size()==cmd.get_positions_size());
 
-  for(uint i=0;i<error_margins_.size();++i)
+  for(unsigned int i=0;i<error_margins_.size();++i)
     error_margins_[i]=-1;
 
-  for(uint i=0;i<cmd.get_names_size();++i)
+  for(unsigned int i=0;i<cmd.get_names_size();++i)
   {
     const std::string & name = cmd.names[i];
     const int id = getJointControllerPosByName(name);

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/head_pan_tilt_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/head_pan_tilt_controller.cpp	2009-02-03 05:55:06 UTC (rev 10468)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/head_pan_tilt_controller.cpp	2009-02-03 06:24:40 UTC (rev 10469)
@@ -85,7 +85,7 @@
 void HeadPanTiltController::setJointCmd(const std::vector<double> &j_values, const std::vector<std::string> & j_names)
 {
   assert(j_values.size() == j_names.size());
-  for(uint i = 0; i < j_values.size(); ++i)
+  for(unsigned int i = 0; i < j_values.size(); ++i)
   {
     const std::string & name = j_names[i];
     const int id = getJointControllerByName(name);

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/head_servoing_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/head_servoing_controller.cpp	2009-02-03 05:55:06 UTC (rev 10468)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/head_servoing_controller.cpp	2009-02-03 06:24:40 UTC (rev 10469)
@@ -107,7 +107,7 @@
 void HeadServoingController::setJointCmd(const std::vector<double> &j_values, const std::vector<std::string> & j_names)
 {
   assert(j_values.size() == j_names.size());
-  for(uint i = 0; i < j_values.size(); ++i)
+  for(unsigned int i = 0; i < j_values.size(); ++i)
   {
     const std::string & name = j_names[i];
     const int id = getJointControllerByName(name);

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_arm_dynamics_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_arm_dynamics_controller.cpp	2009-02-03 05:55:06 UTC (rev 10468)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/pr2_arm_dynamics_controller.cpp	2009-02-03 06:24:40 UTC (rev 10469)
@@ -114,7 +114,7 @@
 void PR2ArmDynamicsController::setJointCmd(const std::vector<double> &j_values, const std::vector<double> &j_values_dot,  const std::vector<double> &j_values_dot_dot, const std::vector<std::string> & j_names)
 {
   assert(j_values.size() == j_names.size());
-  for(uint i = 0; i < j_values.size(); ++i)
+  for(unsigned int i = 0; i < j_values.size(); ++i)
   {
     const std::string & name = j_names[i];
     const int id = getJointControllerByName(name);

Modified: pkg/trunk/util/realtime_tools/src/realtime_tools.cpp
===================================================================
--- pkg/trunk/util/realtime_tools/src/realtime_tools.cpp	2009-02-03 05:55:06 UTC (rev 10468)
+++ pkg/trunk/util/realtime_tools/src/realtime_tools.cpp	2009-02-03 06:24:40 UTC (rev 10469)
@@ -28,6 +28,7 @@
  */
 
 #if defined(__APPLE__)
+#include <sys/time.h>
 #define HAS_XENOMAI 0
 #else
 #define HAS_XENOMAI 1
@@ -193,7 +194,14 @@
 #endif
   {
     struct timespec n;
+#if defined(__APPLE__)
+    struct timeval t;
+    gettimeofday(&t, NULL);
+    n.tv_sec = t.tv_sec;
+    n.tv_nsec = t.tv_usec * 1000;
+#else
     clock_gettime(CLOCK_REALTIME, &n);
+#endif
     now = double(n.tv_nsec) / 1e9 + n.tv_sec;
   }
 


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