[Personalrobots-commit] SF.net SVN: personalrobots:[17824] pkg/trunk/motion_planning/ planning_environment

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

Revision: 17824
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17824&view=rev
Author:   isucan
Date:     2009-06-27 21:45:10 +0000 (Sat, 27 Jun 2009)

Log Message:
-----------
fixed parameter loading

Modified Paths:
--------------
    pkg/trunk/motion_planning/planning_environment/include/planning_environment/planning_monitor.h
    pkg/trunk/motion_planning/planning_environment/src/planning_monitor.cpp

Modified: pkg/trunk/motion_planning/planning_environment/include/planning_environment/planning_monitor.h
===================================================================
--- pkg/trunk/motion_planning/planning_environment/include/planning_environment/planning_monitor.h	2009-06-27 21:37:12 UTC (rev 17823)
+++ pkg/trunk/motion_planning/planning_environment/include/planning_environment/planning_monitor.h	2009-06-27 21:45:10 UTC (rev 17824)
@@ -56,12 +56,12 @@
 	
 	PlanningMonitor(CollisionModels *cm, std::string frame_id) : CollisionSpaceMonitor(static_cast<CollisionModels*>(cm), frame_id)
 	{
-	    nh_.param<double>("~refresh_interval_collision_map", intervalCollisionMap_, 0.0);
-	    nh_.param<double>("~refresh_interval_kinematic_state", intervalState_, 0.0);
+	    loadParams();
 	}
 	
 	PlanningMonitor(CollisionModels *cm) : CollisionSpaceMonitor(static_cast<CollisionModels*>(cm))
 	{
+	    loadParams();
 	}
 	
 	virtual ~PlanningMonitor(void)
@@ -96,7 +96,10 @@
 	bool transformJointToFrame(motion_planning_msgs::KinematicJoint &kj, const std::string &target) const;
 	
     protected:
-	
+
+	/** \brief Load ROS parameters */
+	void loadParams(void);
+
 	/** \brief Transform the joint parameters (if needed) to a target frame */
 	bool transformJoint(const std::string &name, unsigned int index, std::vector<double> &params, roslib::Header &header, const std::string& target) const;
 	

Modified: pkg/trunk/motion_planning/planning_environment/src/planning_monitor.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_environment/src/planning_monitor.cpp	2009-06-27 21:37:12 UTC (rev 17823)
+++ pkg/trunk/motion_planning/planning_environment/src/planning_monitor.cpp	2009-06-27 21:45:10 UTC (rev 17824)
@@ -38,6 +38,12 @@
 #include "planning_environment/kinematic_state_constraint_evaluator.h"
 #include <boost/scoped_ptr.hpp>
 
+void planning_environment::PlanningMonitor::loadParams(void)
+{
+    nh_.param<double>("~refresh_interval_collision_map", intervalCollisionMap_, 0.0);
+    nh_.param<double>("~refresh_interval_kinematic_state", intervalState_, 0.0);
+}
+
 bool planning_environment::PlanningMonitor::isEnvironmentSafe(void) const
 {
     if (!isMapUpdated(intervalCollisionMap_))


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