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From: <ei...@us...> - 2009-04-01 02:22:39
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Revision: 13209
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=13209&view=rev
Author: eitanme
Date: 2009-04-01 01:37:58 +0000 (Wed, 01 Apr 2009)
Log Message:
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r20082@cib: eitan | 2009-03-25 10:01:33 -0700
Put scaling factor back in now that window problem is fixed
Modified Paths:
--------------
pkg/trunk/nav/trajectory_rollout/src/voxel_grid_model.cpp
Property Changed:
----------------
pkg/trunk/
Property changes on: pkg/trunk
___________________________________________________________________
Modified: svk:merge
- 637b03a7-42c1-4bbd-8d43-e365e379942c:/prfilters:13971
637b03a7-42c1-4bbd-8d43-e365e379942c:/rosTF_to_tf:9746
920d6130-5740-4ec1-bb1a-45963d5fd813:/costmap_rework_branch:20003
920d6130-5740-4ec1-bb1a-45963d5fd813:/frameidpr:7015
920d6130-5740-4ec1-bb1a-45963d5fd813:/users/josh-pr:11755
920d6130-5740-4ec1-bb1a-45963d5fd813:/wgpkgtrunk:5865
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/branches/josh:10136
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/branches/rosbus:261
+ 637b03a7-42c1-4bbd-8d43-e365e379942c:/prfilters:13971
637b03a7-42c1-4bbd-8d43-e365e379942c:/rosTF_to_tf:9746
920d6130-5740-4ec1-bb1a-45963d5fd813:/costmap_rework_branch:20082
920d6130-5740-4ec1-bb1a-45963d5fd813:/frameidpr:7015
920d6130-5740-4ec1-bb1a-45963d5fd813:/users/josh-pr:11755
920d6130-5740-4ec1-bb1a-45963d5fd813:/wgpkgtrunk:5865
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/branches/josh:10136
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/branches/rosbus:261
Modified: pkg/trunk/nav/trajectory_rollout/src/voxel_grid_model.cpp
===================================================================
--- pkg/trunk/nav/trajectory_rollout/src/voxel_grid_model.cpp 2009-04-01 01:33:19 UTC (rev 13208)
+++ pkg/trunk/nav/trajectory_rollout/src/voxel_grid_model.cpp 2009-04-01 01:37:58 UTC (rev 13209)
@@ -233,8 +233,7 @@
double distance = dist(ox, oy, oz, wpx, wpy, wpz);
double scaling_fact = raytrace_range / distance;
- //scaling_fact = scaling_fact > 1 ? 1 : scaling_fact;
- scaling_fact = 1.0;
+ scaling_fact = scaling_fact > 1.0 ? 1.0 : scaling_fact;
wpx = scaling_fact * (wpx - ox) + ox;
wpy = scaling_fact * (wpy - oy) + oy;
wpz = scaling_fact * (wpz - oz) + oz;
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