[Playerstage-commit] SF.net SVN: playerstage:[8604] code/gazebo/trunk/server/sensors

[natepak]

Revision: 8604
          http://playerstage.svn.sourceforge.net/playerstage/?rev=8604&view=rev
Author:   natepak
Date:     2010-03-31 22:43:07 +0000 (Wed, 31 Mar 2010)

Log Message:
-----------
Added an always on flag to sensors

Modified Paths:
--------------
    code/gazebo/trunk/server/sensors/Sensor.cc
    code/gazebo/trunk/server/sensors/Sensor.hh
    code/gazebo/trunk/server/sensors/ray/RaySensor.cc

Modified: code/gazebo/trunk/server/sensors/Sensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/Sensor.cc  2010-03-31 07:27:13 UTC (rev 
8603)
+++ code/gazebo/trunk/server/sensors/Sensor.cc  2010-03-31 22:43:07 UTC (rev 
8604)
@@ -53,6 +53,7 @@
 
   Param::Begin(&this->parameters);
   this->updateRateP = new ParamT<double>("updateRate", 0, 0);
+  this->alwaysActiveP = new ParamT<bool>("alwaysActive", false, 0);
   Param::End();
 }
 
@@ -61,6 +62,7 @@
 Sensor::~Sensor()
 {
   delete this->updateRateP;
+  delete this->alwaysActiveP;
 }
 
 
////////////////////////////////////////////////////////////////////////////////
@@ -69,6 +71,7 @@
 {
   this->nameP->Load(node);
   this->updateRateP->Load(node);
+  this->alwaysActiveP->Load(node);
 
   if (**(this->updateRateP) == 0)
     this->updatePeriod = 0.0;

Modified: code/gazebo/trunk/server/sensors/Sensor.hh
===================================================================
--- code/gazebo/trunk/server/sensors/Sensor.hh  2010-03-31 07:27:13 UTC (rev 
8603)
+++ code/gazebo/trunk/server/sensors/Sensor.hh  2010-03-31 22:43:07 UTC (rev 
8604)
@@ -112,6 +112,7 @@
     protected: bool active;
 
     protected: ParamT<double> *updateRateP;
+    protected: ParamT<bool> *alwaysActiveP;
     protected: Time updatePeriod;
     protected: Time lastUpdate;
     protected: std::string typeName;

Modified: code/gazebo/trunk/server/sensors/ray/RaySensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/ray/RaySensor.cc   2010-03-31 07:27:13 UTC 
(rev 8603)
+++ code/gazebo/trunk/server/sensors/ray/RaySensor.cc   2010-03-31 22:43:07 UTC 
(rev 8604)
@@ -196,6 +196,6 @@
 // Update the sensor information
 void RaySensor::UpdateChild()
 {
-  if (this->active)
+  if (this->active || (**this->alwaysActiveP))
     this->laserShape->Update();
 }


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