[Personalrobots-commit] SF.net SVN: personalrobots:[21901] pkg/trunk

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

Revision: 21901
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21901&view=rev
Author:   isucan
Date:     2009-08-14 22:43:25 +0000 (Fri, 14 Aug 2009)

Log Message:
-----------
hopefully a fix for waitForMap bug

Modified Paths:
--------------
    pkg/trunk/highlevel/move_arm/src/move_arm_setup.cpp
    pkg/trunk/motion_planning/planning_environment/include/planning_environment/monitors/planning_monitor.h

Modified: pkg/trunk/highlevel/move_arm/src/move_arm_setup.cpp
===================================================================
--- pkg/trunk/highlevel/move_arm/src/move_arm_setup.cpp	2009-08-14 22:23:53 UTC (rev 21900)
+++ pkg/trunk/highlevel/move_arm/src/move_arm_setup.cpp	2009-08-14 22:43:25 UTC (rev 21901)
@@ -65,8 +65,10 @@
     else
 	ROS_INFO("Configuring action for '%s' (IK is %senabled)", group_.c_str(), perform_ik_ ? "" : "not ");
     
-    planningMonitor_->waitForState();
-    planningMonitor_->waitForMap();
+    if (planningMonitor_->getExpectedJointStateUpdateInterval() > 1e-3)
+	planningMonitor_->waitForState();
+    if (planningMonitor_->getExpectedMapUpdateInterval() > 1e-3)
+	planningMonitor_->waitForMap();
     
     if (!getControlJointNames(groupJointNames_))
 	return false;

Modified: pkg/trunk/motion_planning/planning_environment/include/planning_environment/monitors/planning_monitor.h
===================================================================
--- pkg/trunk/motion_planning/planning_environment/include/planning_environment/monitors/planning_monitor.h	2009-08-14 22:23:53 UTC (rev 21900)
+++ pkg/trunk/motion_planning/planning_environment/include/planning_environment/monitors/planning_monitor.h	2009-08-14 22:43:25 UTC (rev 21901)
@@ -158,6 +158,24 @@
 	    onCollisionContact_ = callback;
 	    maxCollisionContacts_ = maxContacts;
 	}
+
+	/** \brief Return the maximum amount of time that is allowed to pass between updates to the map. */
+	double getExpectedMapUpdateInterval(void) const
+	{
+	    return intervalCollisionMap_;
+	}
+
+	/** \brief Return the maximum amount of time that is allowed to pass between updates to the state. */
+	double getExpectedJointStateUpdateInterval(void) const
+	{
+	    return intervalState_;
+	}
+
+	/** \brief Return the maximum amount of time that is allowed to pass between updates to the pose. */
+	double getExpectedPoseUpdateInterval(void) const
+	{
+	    return intervalPose_;
+	}
 	
     protected:
 


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