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/*
* Player - One Hell of a Robot Server
* Copyright (C) 2004, 2005 Richard Vaughan
*
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/*
* Desc: A plugin driver for Player that gives access to Stage devices.
* Author: Richard Vaughan
* Date: 10 December 2004
* CVS: $Id: p_localize.cc,v 1.2 2006/01/22 04:16:57 rtv Exp $
*/
// DOCUMENTATION ------------------------------------------------------------
/** @addtogroup player
@par Localize interface
- PLAYER_LOCALIZE_DATA_HYPOTHS
*/
// CODE ----------------------------------------------------------------------
#include "p_driver.h"
InterfaceLocalize::InterfaceLocalize( player_devaddr_t addr,
StgDriver* driver,
ConfigFile* cf,
int section )
: InterfaceModel( addr, driver, cf, section, NULL )
{
}
void InterfaceLocalize::Publish( void )
{
player_localize_data_t loc;
memset( &loc, 0, sizeof(loc));
stg_pose_t pose;
stg_model_get_pose( this->mod, &pose );
// only 1 hypoth - it's the truth!
loc.hypoths_count = 1;
loc.hypoths[0].mean.px = pose.x;
loc.hypoths[0].mean.py = pose.y;
loc.hypoths[0].mean.pa = pose.a;
// Write localize data
this->driver->Publish(this->addr, NULL,
PLAYER_MSGTYPE_DATA,
PLAYER_LOCALIZE_DATA_HYPOTHS,
(void*)&loc, sizeof(loc), NULL);
}
int InterfaceLocalize::ProcessMessage(MessageQueue* resp_queue,
player_msghdr_t* hdr,
void* data)
{
// Don't know how to handle this message.
PRINT_WARN2( "stage localize doesn't support message %d:%d.",
hdr->type, hdr->subtype);
return(-1);
}
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