[Fawkes Git] branch/chenke/compare_ppgoto_and_relgoto: navgraph: Send the destination ori into the interface Pathplan

Christoph Henke christoph.henke at rwth-aachen.de
Wed Apr 13 11:16:25 CEST 2016


Changes have been pushed for the project "Fawkes Robotics Software Framework".

Gitweb: http://git.fawkesrobotics.org/fawkes.git
Trac:   http://trac.fawkesrobotics.org

The branch, chenke/compare_ppgoto_and_relgoto has been updated
        to  b97d57189cc4629fb3dd9bf20f0c73ef557c5917 (commit)
      from  14a33397eaa1f78f29677ca0921fead1368e6bd4 (commit)

http://git.fawkesrobotics.org/fawkes.git/chenke/compare_ppgoto_and_relgoto

Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.

- *Log* ---------------------------------------------------------------
commit b97d57189cc4629fb3dd9bf20f0c73ef557c5917
Author:     Christoph Henke <christoph.henke at rwth-aachen.de>
AuthorDate: Wed Apr 13 10:50:01 2016 +0200
Commit:     Christoph Henke <christoph.henke at rwth-aachen.de>
CommitDate: Wed Apr 13 10:50:01 2016 +0200

    navgraph: Send the destination ori into the interface Pathplan
    
    The destination ori (dest_ori) will now be send to the navigator
    interface Pathplan. It is used for the ppgoto_test.

http://git.fawkesrobotics.org/fawkes.git/commit/b97d571
http://trac.fawkesrobotics.org/changeset/b97d571

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -


- *Summary* -----------------------------------------------------------
 src/plugins/navgraph/navgraph_thread.cpp |    2 ++
 1 files changed, 2 insertions(+), 0 deletions(-)


- *Diffs* -------------------------------------------------------------

- *commit* b97d57189cc4629fb3dd9bf20f0c73ef557c5917 - - - - - - - - - -
Author:  Christoph Henke <christoph.henke at rwth-aachen.de>
Date:    Wed Apr 13 10:50:01 2016 +0200
Subject: navgraph: Send the destination ori into the interface Pathplan

 src/plugins/navgraph/navgraph_thread.cpp |    2 ++
 1 files changed, 2 insertions(+), 0 deletions(-)

_Diff for modified files_:
diff --git a/src/plugins/navgraph/navgraph_thread.cpp b/src/plugins/navgraph/navgraph_thread.cpp
index 3d528f6..ee6b6b9 100644
--- a/src/plugins/navgraph/navgraph_thread.cpp
+++ b/src/plugins/navgraph/navgraph_thread.cpp
@@ -232,6 +232,7 @@ NavGraphThread::loop()
       pp_nav_if_->set_msgid(msg->id());
       if (generate_plan(msg->x(), msg->y(), msg->orientation())) {
 	      optimize_plan();
+	      pp_nav_if_->set_dest_ori(msg->orientation());
 	      start_plan();
       } else {
 	      stop_motion();
@@ -256,6 +257,7 @@ NavGraphThread::loop()
       pp_nav_if_->set_msgid(msg->id());
       if (generate_plan(msg->place(), msg->orientation())) {
 	      optimize_plan();
+	      pp_nav_if_->set_dest_ori(msg->orientation());
 	      start_plan();
       } else {
 	      stop_motion();




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Fawkes Robotics Framework                 http://www.fawkesrobotics.org


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