Revision: 8212
http://playerstage.svn.sourceforge.net/playerstage/?rev=8212&view=rev
Author: rtv
Date: 2009-08-20 22:59:06 +0000 (Thu, 20 Aug 2009)
Log Message:
-----------
fixed stageplugin
Modified Paths:
--------------
code/stage/trunk/libstageplugin/p_actarray.cc
code/stage/trunk/libstageplugin/p_blobfinder.cc
code/stage/trunk/libstageplugin/p_driver.cc
code/stage/trunk/libstageplugin/p_driver.h
code/stage/trunk/libstageplugin/p_fiducial.cc
code/stage/trunk/libstageplugin/p_graphics.cc
code/stage/trunk/libstageplugin/p_gripper.cc
code/stage/trunk/libstageplugin/p_laser.cc
code/stage/trunk/libstageplugin/p_position.cc
code/stage/trunk/libstageplugin/p_sonar.cc
code/stage/trunk/libstageplugin/p_speech.cc
code/stage/trunk/webstage/webstage.cc
Modified: code/stage/trunk/libstageplugin/p_actarray.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_actarray.cc 2009-08-20 21:42:09 UTC
(rev 8211)
+++ code/stage/trunk/libstageplugin/p_actarray.cc 2009-08-20 22:59:06 UTC
(rev 8212)
@@ -46,7 +46,7 @@
ConfigFile* cf,
int section )
- : InterfaceModel( addr, driver, cf, section, Stg::MODEL_TYPE_ACTUATOR )
+ : InterfaceModel( addr, driver, cf, section, "actuator" )
{
//puts( "InterfacePosition constructor" );
}
Modified: code/stage/trunk/libstageplugin/p_blobfinder.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_blobfinder.cc 2009-08-20 21:42:09 UTC
(rev 8211)
+++ code/stage/trunk/libstageplugin/p_blobfinder.cc 2009-08-20 22:59:06 UTC
(rev 8212)
@@ -42,7 +42,7 @@
StgDriver* driver,
ConfigFile* cf,
int section )
- : InterfaceModel( addr, driver, cf, section, MODEL_TYPE_BLOBFINDER )
+ : InterfaceModel( addr, driver, cf, section, "blobfinder" )
{
// nothing to do for now
}
Modified: code/stage/trunk/libstageplugin/p_driver.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_driver.cc 2009-08-20 21:42:09 UTC (rev
8211)
+++ code/stage/trunk/libstageplugin/p_driver.cc 2009-08-20 22:59:06 UTC (rev
8212)
@@ -227,7 +227,7 @@
StgDriver* driver,
ConfigFile* cf,
int section,
-
stg_model_type_t type )
+
const std::string& type )
: Interface( addr, driver, cf, section )
{
char* model_name = (char*)cf->ReadString(section, "model", NULL );
@@ -426,7 +426,7 @@
Model* StgDriver::LocateModel( char* basename,
player_devaddr_t* addr,
- stg_model_type_t type )
+ const std::string& type )
{
//printf( "attempting to find a model under model \"%s\" of type [%d]\n",
// basename, type );
@@ -440,7 +440,7 @@
return NULL;
}
- if( type == MODEL_TYPE_PLAIN ) // if we don't care what type the model is
+ if( type == "" ) // if we don't care what type the model is
return base_model;
// printf( "found base model %s\n", base_model->Token() );
Modified: code/stage/trunk/libstageplugin/p_driver.h
===================================================================
--- code/stage/trunk/libstageplugin/p_driver.h 2009-08-20 21:42:09 UTC (rev
8211)
+++ code/stage/trunk/libstageplugin/p_driver.h 2009-08-20 22:59:06 UTC (rev
8212)
@@ -45,7 +45,7 @@
Stg::Model* LocateModel( char* basename,
player_devaddr_t* addr,
-
Stg::stg_model_type_t type );
+ const
std::string& type );
protected:
@@ -102,7 +102,7 @@
StgDriver* driver,
ConfigFile* cf,
int section,
- Stg::stg_model_type_t type );
+ const std::string& type );
Stg::Model* mod;
Modified: code/stage/trunk/libstageplugin/p_fiducial.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_fiducial.cc 2009-08-20 21:42:09 UTC
(rev 8211)
+++ code/stage/trunk/libstageplugin/p_fiducial.cc 2009-08-20 22:59:06 UTC
(rev 8212)
@@ -52,7 +52,7 @@
StgDriver* driver,
ConfigFile* cf,
int section )
- : InterfaceModel( addr, driver, cf, section, MODEL_TYPE_FIDUCIAL )
+ : InterfaceModel( addr, driver, cf, section, "fiducial" )
{
}
Modified: code/stage/trunk/libstageplugin/p_graphics.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_graphics.cc 2009-08-20 21:42:09 UTC
(rev 8211)
+++ code/stage/trunk/libstageplugin/p_graphics.cc 2009-08-20 22:59:06 UTC
(rev 8212)
@@ -181,7 +181,7 @@
InterfaceGraphics2d::InterfaceGraphics2d(player_devaddr_t addr,
StgDriver* driver, ConfigFile* cf, int section) :
- InterfaceModel(addr, driver, cf, section, Stg::MODEL_TYPE_PLAIN) {
+ InterfaceModel(addr, driver, cf, section, "") {
vis = new PlayerGraphics2dVis;
mod->AddVisualizer( vis, true );
}
@@ -275,7 +275,7 @@
InterfaceGraphics3d::InterfaceGraphics3d(player_devaddr_t addr,
StgDriver* driver, ConfigFile* cf, int section) :
- InterfaceModel(addr, driver, cf, section, Stg::MODEL_TYPE_PLAIN) {
+ InterfaceModel(addr, driver, cf, section, "") {
vis = new PlayerGraphics3dVis;
mod->AddVisualizer( vis, true );
}
Modified: code/stage/trunk/libstageplugin/p_gripper.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_gripper.cc 2009-08-20 21:42:09 UTC
(rev 8211)
+++ code/stage/trunk/libstageplugin/p_gripper.cc 2009-08-20 22:59:06 UTC
(rev 8212)
@@ -45,7 +45,7 @@
StgDriver* driver,
ConfigFile* cf,
int section )
- : InterfaceModel( addr, driver, cf, section, MODEL_TYPE_GRIPPER )
+ : InterfaceModel( addr, driver, cf, section, "gripper" )
{
// nothing to do
}
Modified: code/stage/trunk/libstageplugin/p_laser.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_laser.cc 2009-08-20 21:42:09 UTC (rev
8211)
+++ code/stage/trunk/libstageplugin/p_laser.cc 2009-08-20 22:59:06 UTC (rev
8212)
@@ -45,7 +45,7 @@
StgDriver* driver,
ConfigFile* cf,
int section )
- : InterfaceModel( addr, driver, cf, section, MODEL_TYPE_LASER )
+ : InterfaceModel( addr, driver, cf, section, "laser" )
{
this->scan_id = 0;
}
Modified: code/stage/trunk/libstageplugin/p_position.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_position.cc 2009-08-20 21:42:09 UTC
(rev 8211)
+++ code/stage/trunk/libstageplugin/p_position.cc 2009-08-20 22:59:06 UTC
(rev 8212)
@@ -50,7 +50,7 @@
ConfigFile* cf,
int section )
- : InterfaceModel( addr, driver, cf, section, MODEL_TYPE_POSITION )
+ : InterfaceModel( addr, driver, cf, section, "position" )
{
//puts( "InterfacePosition constructor" );
}
Modified: code/stage/trunk/libstageplugin/p_sonar.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_sonar.cc 2009-08-20 21:42:09 UTC (rev
8211)
+++ code/stage/trunk/libstageplugin/p_sonar.cc 2009-08-20 22:59:06 UTC (rev
8212)
@@ -47,7 +47,7 @@
StgDriver* driver,
ConfigFile* cf,
int section )
- : InterfaceModel( id, driver, cf, section, MODEL_TYPE_RANGER )
+ : InterfaceModel( id, driver, cf, section, "ranger" )
{
//this->data_len = sizeof(player_sonar_data_t);
//this->cmd_len = 0;
Modified: code/stage/trunk/libstageplugin/p_speech.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_speech.cc 2009-08-20 21:42:09 UTC (rev
8211)
+++ code/stage/trunk/libstageplugin/p_speech.cc 2009-08-20 22:59:06 UTC (rev
8212)
@@ -41,7 +41,7 @@
ConfigFile* cf,
int section )
- : InterfaceModel( addr, driver, cf, section, MODEL_TYPE_PLAIN )
+ : InterfaceModel( addr, driver, cf, section, "" )
{
// nothing to do
}
Modified: code/stage/trunk/webstage/webstage.cc
===================================================================
--- code/stage/trunk/webstage/webstage.cc 2009-08-20 21:42:09 UTC (rev
8211)
+++ code/stage/trunk/webstage/webstage.cc 2009-08-20 22:59:06 UTC (rev
8212)
@@ -194,10 +194,8 @@
Model*mod = world->GetModel( name.c_str() );
if(mod){
stg_model_type_t type = mod->GetModelType();
- if(type == MODEL_TYPE_POSITION){
-
-
-
+ if(type == "position") {
+
websim::Pose p;
websim::Velocity v;
websim::Acceleration a;
@@ -218,7 +216,7 @@
- }else if(type == MODEL_TYPE_LASER){
+ }else if(type == "laser"){
uint32_t resolution;
double fov;
@@ -241,7 +239,7 @@
WebSim::GetLaserData(name, t, resolution, fov, p, ranges,
format, response, xmlparent);
- }else if(type == MODEL_TYPE_RANGER){
+ }else if(type == "ranger"){
std::vector<websim::Pose> p;
std::vector<double> ranges;
@@ -270,7 +268,7 @@
WebSim::GetRangerData(name, t, p, ranges, format, response,
xmlparent);
- }else if(type == MODEL_TYPE_FIDUCIAL){
+ }else if(type == "fiducial"){
ModelFiducial::Fiducial* fids;
unsigned int n=0;
@@ -312,37 +310,7 @@
return true;
}
- bool GetModelType(const std::string& name,
- std::string& type )
- {
-
- Model*mod = world->GetModel( name.c_str() );
- if(mod)
- {
- switch( mod->GetModelType() )
- {
- case MODEL_TYPE_POSITION:
- type = "Position";
- break;
- case MODEL_TYPE_LASER:
- type = "Laser";
- break;
- case MODEL_TYPE_RANGER:
- type = "Ranger";
- break;
- case MODEL_TYPE_FIDUCIAL:
- type = "Fiducial";
- break;
- default:
- type = "";
- }
- return true;
- }
- return false;
-}
-
-
virtual bool SetModelPVA(const std::string& name,
const
websim::Pose& p,
const
websim::Velocity& v,
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