[Robotflow-cvs] RobotFlow/Devices/src CANON_VCC4.cc, 1.8, 1.9 EVID30.cc, 1.10, 1.11 IMU400CC_200.cc, 1.3, 1.4 SNCRZ30RS232.cc, 1.9, 1.10

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

Update of /cvsroot/robotflow/RobotFlow/Devices/src
In directory sc8-pr-cvs9.sourceforge.net:/tmp/cvs-serv18544/Devices/src

Modified Files:
	CANON_VCC4.cc EVID30.cc IMU400CC_200.cc SNCRZ30RS232.cc 
Log Message:
fixed for gcc 4.1.2 and prefix configuration

Index: EVID30.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Devices/src/EVID30.cc,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** EVID30.cc	15 Nov 2005 13:19:08 -0000	1.10
--- EVID30.cc	4 Dec 2006 19:19:58 -0000	1.11
***************
*** 42,45 ****
--- 42,48 ----
  namespace RobotFlow {
  
+ void *receive_thread (void *sPTZ);
+ void *send_thread(void *sPTZ);
+ 
  class EVID30;
  

Index: CANON_VCC4.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Devices/src/CANON_VCC4.cc,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** CANON_VCC4.cc	15 Nov 2005 13:19:08 -0000	1.8
--- CANON_VCC4.cc	4 Dec 2006 19:19:58 -0000	1.9
***************
*** 40,43 ****
--- 40,46 ----
  namespace RobotFlow {
  
+ void *vcc4_receive_thread (void *sPTZ);
+ void *vcc4_send_thread(void *sPTZ);
+ 
  class CANON_VCC4;
  

Index: SNCRZ30RS232.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Devices/src/SNCRZ30RS232.cc,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** SNCRZ30RS232.cc	15 Nov 2005 13:19:08 -0000	1.9
--- SNCRZ30RS232.cc	4 Dec 2006 19:19:58 -0000	1.10
***************
*** 44,47 ****
--- 44,51 ----
  namespace RobotFlow {
  
+ void *sncrz30_receive_thread (void *sPTZ);
+ void *sncrz30_send_thread (void *sPTZ);
+ 
+ 
  class SNCRZ30RS232;
  

Index: IMU400CC_200.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Devices/src/IMU400CC_200.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** IMU400CC_200.cc	15 Nov 2005 13:19:08 -0000	1.3
--- IMU400CC_200.cc	4 Dec 2006 19:19:58 -0000	1.4
***************
*** 41,44 ****
--- 41,47 ----
  namespace RobotFlow {
  
+ void *imu400_recv_thread (void *sPTZ);
+ void *imu400_send_thread (void *sPTZ);
+ 
  class IMU400CC_200;
  
***************
*** 618,636 ****
      for (list<IMU400_DATA>::iterator iter = m_recv_list.begin();
  	 iter != m_recv_list.end(); iter++) {
!       //X 
!       m_x_vel += iter->m_x_accel * iter->m_time;
!       m_x_pos += m_x_vel * iter->m_time;
!       //Y
!       m_y_vel += iter->m_y_accel * iter->m_time;
!       m_y_pos += m_y_vel * iter->m_time;
!       //Z
!       m_z_vel += iter->m_z_accel * iter->m_time;
!       m_z_pos += m_z_vel * iter->m_time;
!       //YAW
!       m_yaw += iter->m_yaw_rate * iter->m_time;
!       //PITCH
!       m_pitch += iter->m_pitch_rate * iter->m_time;
!       //ROLL
!       m_roll += iter->m_roll_rate * iter->m_time;
      }
      
--- 621,666 ----
      for (list<IMU400_DATA>::iterator iter = m_recv_list.begin();
  	 iter != m_recv_list.end(); iter++) {
! 
! 	float delta_yaw = iter->m_yaw_rate * iter->m_time;
! 	float delta_pitch = iter->m_pitch_rate * iter->m_time;
! 	float delta_roll = iter->m_roll_rate * iter->m_time;
! 
! 	//X (SPEED & DELTA DISTANCE)
!       	m_x_vel += iter->m_x_accel * iter->m_time;	
! 	float delta_x = m_x_vel * iter->m_time;
! 
!  	//Y (SPEED & DELTA DISTANCE)
!         m_y_vel += iter->m_y_accel * iter->m_time;
!         float delta_y = m_y_vel * iter->m_time;
! 
! 	//Z (SPEED & DELTA DISTANCE)
!       	m_z_vel += iter->m_z_accel * iter->m_time;
! 	float delta_z = m_z_vel * iter->m_time;
! 
! 
! 	float norm = sqrt(delta_x * delta_x + delta_y * delta_y + delta_z * delta_z);
! 
! 	
!       
! 	//X POS
! 	m_x_pos += norm * cos(m_yaw * M_PI / 180.0 + delta_yaw* M_PI / 180.0 / 2.0) * cos(m_roll* M_PI / 180.0 + delta_roll* M_PI / 180.0 / 2.0);
! 
! 	//Y POS	
!     	m_y_pos += norm * cos(m_yaw * M_PI / 180.0 + delta_yaw* M_PI / 180.0 / 2.0) * sin(m_roll* M_PI / 180.0 + delta_roll* M_PI / 180.0 / 2.0);
! 
!         //Z POS
!         m_z_pos += norm * sin(m_yaw * M_PI / 180.0 + delta_yaw* M_PI / 180.0 / 2.0);
! 
!       	//YAW (INTEGRATION)
!       	m_yaw += delta_yaw;
!       
!       	//PITCH (INTEGRATION)
!       	m_pitch += delta_pitch;
!       
!       	//ROLL (INTEGRATION)
!       	m_roll += delta_roll;
! 
! 
! 
      }