[Personalrobots-commit] SF.net SVN: personalrobots:[17850] pkg/trunk/motion_planning/ planning_environment

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

Revision: 17850
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17850&view=rev
Author:   isucan
Date:     2009-06-29 02:02:36 +0000 (Mon, 29 Jun 2009)

Log Message:
-----------
a getter for the box scale + another check

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

Modified: pkg/trunk/motion_planning/planning_environment/include/planning_environment/collision_space_monitor.h
===================================================================
--- pkg/trunk/motion_planning/planning_environment/include/planning_environment/collision_space_monitor.h	2009-06-29 01:48:17 UTC (rev 17849)
+++ pkg/trunk/motion_planning/planning_environment/include/planning_environment/collision_space_monitor.h	2009-06-29 02:02:36 UTC (rev 17850)
@@ -86,6 +86,7 @@
 		delete attachedBodyNotifier_;
 	}
 
+	/** \brief Return the instance of the environment model maintained */
 	collision_space::EnvironmentModel* getEnvironmentModel(void) const
 	{
 	    return collisionSpace_;
@@ -102,6 +103,14 @@
 	{
 	    return tf_;
 	}
+
+	/** \brief Return the scaling employed when creating spheres
+	    from boxes in a collision map. The radius of a sphere is
+	    this scaling multiplied by the largest extent of the box */
+	double getBoxScale(void) const
+	{
+	    return boxScale_;
+	}
 	
 	/** \brief Define a callback for before updating a map */
 	void setOnBeforeMapUpdateCallback(const boost::function<void(const robot_msgs::CollisionMapConstPtr)> &callback)

Modified: pkg/trunk/motion_planning/planning_environment/src/collision_space_monitor.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_environment/src/collision_space_monitor.cpp	2009-06-29 01:48:17 UTC (rev 17849)
+++ pkg/trunk/motion_planning/planning_environment/src/collision_space_monitor.cpp	2009-06-29 02:02:36 UTC (rev 17850)
@@ -73,12 +73,13 @@
     nh_.param<std::string>("~bounding_planes", planes, std::string());
     std::stringstream ss(planes);
     std::vector<double> planeValues;
-    while (ss.good() && !ss.eof())
-    {
-	double value;
-	ss >> value;
-	planeValues.push_back(value);
-    }
+    if (!planes.empty())
+	while (ss.good() && !ss.eof())
+	{
+	    double value;
+	    ss >> value;
+	    planeValues.push_back(value);
+	}
     if (planeValues.size() % 4 != 0)
 	ROS_WARN("~bounding_planes must be a list of 4-tuples (a b c d) that define planes ax+by+cz+d=0");
     else


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