[RoboComp-svn] SF.net SVN: robocomp:[824] Components/spatialComp/src/worker.cpp

[<pb...@us...>]

Revision: 824
          http://robocomp.svn.sourceforge.net/robocomp/?rev=824&view=rev
Author:   pbustos
Date:     2009-08-27 12:09:15 +0000 (Thu, 27 Aug 2009)

Log Message:
-----------


Modified Paths:
--------------
    Components/spatialComp/src/worker.cpp

Modified: Components/spatialComp/src/worker.cpp
===================================================================
--- Components/spatialComp/src/worker.cpp	2009-08-27 12:05:20 UTC (rev 823)
+++ Components/spatialComp/src/worker.cpp	2009-08-27 12:09:15 UTC (rev 824)
@@ -114,18 +114,8 @@
 	//Read data from RoimantComp
 	try
 	{
-		//CAMBIAR A ROIMANT
-	/*	_vision->getWholePyr(DOMINANT_CAMERA, pirLeft, this->visState);
-		for(level=0;level<camParams.pyrLevels-1;level++)
-		{
-			memcpy(imagenI[level],&pirLeft[posPyr],sizeLevel);
-			posPyr+=sizeLevel;
-			sizeLevel=sizeLevel/4;
-		}
-	*/	
 		roiListLeft.resize(0);
 		_roimant->getBothPyramidsAndLeftROIList(pirLeft, roiListLeft, pirRight, manState);	
-		//_roimant->getROIListAndVergencePyrAndStates(roiListLeft, pirRight, manState);
 		mRobot.setRT(this->manState.bState.x, this->manState.bState.z, this->manState.bState.alfa);
 		vergenceAngle=this->manState.hState.left.pos - this->manState.hState.right.pos;
 		posPyr=0;
@@ -138,8 +128,8 @@
 			sizeLevel=sizeLevel/4;
 		}
 
-		timer->setInterval(BASIC_PERIOD);
-		//this->timer->setInterval( estimateFreq() );	
+		//timer->setInterval(BASIC_PERIOD);
+		this->timer->setInterval( estimateFreq() );	
 		CHECKING = false;
 	}
 	catch(const Ice::Exception& ex) 
@@ -172,16 +162,11 @@
 		{
 			_roimant->setROIListSpatial(ROIListAct);
 		}
-		//this->timer->setInterval( estimateFreq() );	
-		this->timer->setInterval(BASIC_PERIOD);
-		CHECKING = false;
 		this->manStateAnt = this->manState;
 	}
 	catch(const Ice::Exception& ex)
 	{
 		std::cout  << "SpatialComp." << ex << " while talking to RoimantComp or CamMotion" << std::endl; 
-		timer->setInterval(CHECK_PERIOD);
-		CHECKING = true;
 	}
 	
 }
@@ -193,7 +178,7 @@
 	
 	QTime tCur = QTime::fromString(QString::fromStdString(this->manState.timeStamp), QString::fromStdString(this->manState.timeStampFormat));
 	int elapsed = tAnt.msecsTo( tCur );
-	qDebug() << elapsed;
+	//qDebug() << elapsed;
 	tAnt = tCur;
 	if ( elapsed > 200) elapsed = 200;
 	if (elapsed == 0) target ++;


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.