[Playerstage-commit] SF.net SVN: playerstage:[7728] code/stage/trunk/webstage/webstage.cc

[<as...@us...>]

Revision: 7728
          http://playerstage.svn.sourceforge.net/playerstage/?rev=7728&view=rev
Author:   asadat
Date:     2009-05-27 19:39:57 +0000 (Wed, 27 May 2009)

Log Message:
-----------
a method was added to get the extent of the world and the models

Modified Paths:
--------------
    code/stage/trunk/webstage/webstage.cc

Modified: code/stage/trunk/webstage/webstage.cc
===================================================================
--- code/stage/trunk/webstage/webstage.cc	2009-05-27 15:10:05 UTC (rev 7727)
+++ code/stage/trunk/webstage/webstage.cc	2009-05-27 19:39:57 UTC (rev 7728)
@@ -257,7 +257,9 @@
   }					   
   virtual bool GetRangerData(const std::string& name,
 									websim::Time& t,
-									std::vector<double>& ranges,									    std::string& response){
+									std::vector<websim::Pose>& p,
+									std::vector<double>& ranges,
+  								        std::string& response){
 	 t = GetTime();
 
 	 Model* mod = world->GetModel( name.c_str() );
@@ -271,43 +273,7 @@
 						for(unsigned int i=0;i<count;i++)
 							ranges.push_back(ranger->samples[i]);
 					//std::copy(ranger->samples,ranger->samples+ranger->sensor_count,ranges.begin());
-				
-		     }else{
-
-				printf( "Warning: attempt to get ranger data for unrecognized ranger model of model \"%s\"\n",
-				  name.c_str() );
-  				return false;
-
-
-		          }
-	         	  
-		}
-	 else{
-		printf( "Warning: attempt to get ranger data for unrecognized model \"%s\"\n",
-				  name.c_str() );
-  		return false;
-	     }
-
-  return true;
-
-}
-
-   virtual bool GetRangerCfgData(const std::string& name,
-									websim::Time& t,
-									std::vector<websim::Pose>& p,
-									std::string& response)
-   {
-
-	
-	 t = GetTime();
-
-	 Model* mod = world->GetModel( name.c_str() );
-	 if( mod )
-		{
-                     ModelRanger* ranger = (ModelRanger*)mod->GetModel("ranger:0");  		
-                     
-		     if(ranger){
-					uint32_t count = ranger->sensor_count;
+					
 					if(ranger->sensors)
 						for(unsigned int i=0;i<count;i++){
 							websim::Pose pos;
@@ -322,7 +288,7 @@
 				
 		     }else{
 
-				printf( "Warning: attempt to get ranger Cfg data for unrecognized ranger model of model \"%s\"\n",
+				printf( "Warning: attempt to get ranger data for unrecognized ranger model of model \"%s\"\n",
 				  name.c_str() );
   				return false;
 
@@ -331,16 +297,49 @@
 	         	  
 		}
 	 else{
-		printf( "Warning: attempt to get ranger Cfg data for unrecognized model \"%s\"\n",
+		printf( "Warning: attempt to get ranger data for unrecognized model \"%s\"\n",
 				  name.c_str() );
   		return false;
 	     }
 
-  	return true;
+  return true;
 
+}
+   virtual bool GetModelExtent(const std::string& name,
+									double& x,
+									double& y,
+									double& z,
+									std::string& response)
+  {
+	if(name == "sim"){
+	
+		stg_bounds3d_t ext = world->GetExtent();
+    	
+		x = ext.x.max - ext.x.min;
+		y = ext.y.max - ext.y.min;
+		z = ext.z.max - ext.z.min;
 
-   }
+	}
+	else
+	{
+		Model* mod = world->GetModel(name.c_str());
+		if(mod){
+			Geom ext = mod->GetGeom();
+    	
+			x = ext.size.x;
+			y = ext.size.y;
+			z = ext.size.z;
+		}
+		else
+		{
+		  printf("Warning: attemp ti get the extent of unrecognized model \"%s\"\n", name.c_str());
+		  return false;		
+		}
+	}
 
+	return true;
+  }
+
   virtual websim::Time GetTime()
   {
 	 stg_usec_t stgtime = world->SimTimeNow();


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