[Robotflow-cvs] RobotFlow/Player/src PlayerVelocity.cc,1.9,1.10

[Dominic L. <ma...@us...>]

Update of /cvsroot/robotflow/RobotFlow/Player/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv2669

Modified Files:
	PlayerVelocity.cc 
Log Message:
units changed to meters and rads

Index: PlayerVelocity.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Player/src/PlayerVelocity.cc,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** PlayerVelocity.cc	2 Jun 2004 18:39:35 -0000	1.9
--- PlayerVelocity.cc	2 Jun 2004 19:37:49 -0000	1.10
***************
*** 121,125 ****
         // write commands to robot
         if (m_lastVelocity != vel || m_lastHeading != rot){
!          m_positionProxy->SetSpeed(vel,rot);
           m_lastVelocity = vel;
           m_lastHeading = rot;
--- 121,125 ----
         // write commands to robot
         if (m_lastVelocity != vel || m_lastHeading != rot){
!          m_positionProxy->SetSpeed((double)vel / 1000.0 ,(double) rot * M_PI / 180.0);
           m_lastVelocity = vel;
           m_lastHeading = rot;
***************
*** 130,134 ****
         // write commands to robot
         if (m_lastHeading != rot){
!          m_positionProxy->SetSpeed(0,rot);
           m_lastHeading = rot;
         }
--- 130,134 ----
         // write commands to robot
         if (m_lastHeading != rot){
!          m_positionProxy->SetSpeed(0,(double)rot * M_PI / 180.0);
           m_lastHeading = rot;
         }
***************
*** 138,142 ****
         // write commands to robot
         if (m_lastVelocity != vel){
!          m_positionProxy->SetSpeed(vel,0);
           m_lastVelocity = vel;
         }
--- 138,142 ----
         // write commands to robot
         if (m_lastVelocity != vel){
!          m_positionProxy->SetSpeed((double)vel / 1000.0,0);
           m_lastVelocity = vel;
         }
***************
*** 149,171 ****
         }
       }
- /**** old
-      if (!VelocityValue->isNil() && !HeadingValue->isNil()) {
-        int vel = dereference_cast<int>(VelocityValue);
-        int rot = dereference_cast<int>(HeadingValue);
-        // write commands to robot
-        m_positionProxy->SetSpeed(vel,rot);
-      }
- 
-      else if (VelocityValue->isNil() && !HeadingValue->isNil()) {
-        int rot = dereference_cast<int>(HeadingValue);
-        // write commands to robot
-        m_positionProxy->SetSpeed(0,rot);
-      }
-      else if (!VelocityValue->isNil() && HeadingValue->isNil()) {
-        int vel = dereference_cast<int>(VelocityValue);
-        // write commands to robot
-        m_positionProxy->SetSpeed(vel,0);
-      }
- ***/
  
       //write output
--- 149,152 ----