[Playerstage-commit] SF.net SVN: playerstage: [6399] code/player/trunk/server/drivers/planner/ wavefront

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

Revision: 6399
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6399&view=rev
Author:   gerkey
Date:     2008-05-07 09:39:01 -0700 (Wed, 07 May 2008)

Log Message:
-----------
added build of standalone planning library; once stable, it will likely migrate to Gearbox

Modified Paths:
--------------
    code/player/trunk/server/drivers/planner/wavefront/CMakeLists.txt
    code/player/trunk/server/drivers/planner/wavefront/plan.c
    code/player/trunk/server/drivers/planner/wavefront/plan_waypoint.c

Modified: code/player/trunk/server/drivers/planner/wavefront/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/planner/wavefront/CMakeLists.txt	2008-05-04 02:12:02 UTC (rev 6398)
+++ code/player/trunk/server/drivers/planner/wavefront/CMakeLists.txt	2008-05-07 16:39:01 UTC (rev 6399)
@@ -3,4 +3,8 @@
     wavefront_includeDir wavefront_libDir wavefront_linkFlags wavefront_cFlags)
 PLAYERDRIVER_ADD_DRIVER (wavefront build_wavefront
     "${wavefront_includeDir}" "${wavefront_libDir}" "${wavefront_linkFlags}" "${wavefront_cFlags}"
-    plan.c plan_plan.c plan_waypoint.c wavefront.cc heap.c plan_control.c)
\ No newline at end of file
+    plan.c plan_plan.c plan_waypoint.c wavefront.cc heap.c plan_control.c)
+
+# Also build and install standalone non-Player lib
+PLAYER_ADD_LIBRARY (wavefront_standalone plan.c plan_plan.c plan_waypoint.c heap.c plan_control.c)
+PLAYER_INSTALL_HEADERS (standalone_drivers plan.h heap.h)

Modified: code/player/trunk/server/drivers/planner/wavefront/plan.c
===================================================================
--- code/player/trunk/server/drivers/planner/wavefront/plan.c	2008-05-04 02:12:02 UTC (rev 6398)
+++ code/player/trunk/server/drivers/planner/wavefront/plan.c	2008-05-07 16:39:01 UTC (rev 6399)
@@ -350,7 +350,7 @@
   float* p;
   plan_cell_t *cell, *ncell;
 
-  PLAYER_MSG0(2,"Generating C-space....");
+  puts("Generating C-space....");
 
   for (j = plan->min_y; j <= plan->max_y; j++)
   {
@@ -381,6 +381,7 @@
   }
 }
 
+#if 0
 #include <gdk-pixbuf/gdk-pixbuf.h>
 
 void
@@ -541,6 +542,7 @@
   gdk_pixbuf_unref(pixbuf);
   free(pixels);
 }
+#endif
 
 // Construct the configuration space from the occupancy grid.
 // This treats both occupied and unknown cells as bad.
@@ -585,7 +587,6 @@
   draw_cspace(plan,"plan_cspace.png");
 #endif
 }
-#endif
 
 #if HAVE_OPENSSL_MD5_H && HAVE_LIBCRYPTO
 // Write the cspace occupancy distance values to a file, one per line.
@@ -717,6 +718,8 @@
 }
 #endif // HAVE_OPENSSL_MD5_H && HAVE_LIBCRYPTO
 
+#endif // if 0
+
 double 
 static get_time(void)
 {

Modified: code/player/trunk/server/drivers/planner/wavefront/plan_waypoint.c
===================================================================
--- code/player/trunk/server/drivers/planner/wavefront/plan_waypoint.c	2008-05-04 02:12:02 UTC (rev 6398)
+++ code/player/trunk/server/drivers/planner/wavefront/plan_waypoint.c	2008-05-07 16:39:01 UTC (rev 6399)
@@ -129,7 +129,7 @@
       lastj = (int)floor(j);
       if(!PLAN_VALID(plan,lasti,lastj))
       {
-        PLAYER_WARN("stepped off the map!");
+        //PLAYER_WARN("stepped off the map!");
         return(0);
       }
       if(plan->cells[PLAN_INDEX(plan,lasti,lastj)].occ_dist <


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