robomon: Added jaws actuator visualization.

[eurobot/public.git] / src / robomon / RobomonAtlantis.cpp

diff --git a/src/robomon/RobomonAtlantis.cpp b/src/robomon/RobomonAtlantis.cpp
index 7351c3b6cba3ea34d298cae56902ef4db9f78892..f2e9a5ff5a6cce3909b3ba46b387b57d643687a3 100644 (file)
--- a/src/robomon/RobomonAtlantis.cpp
+++ b/src/robomon/RobomonAtlantis.cpp
@@ -573,9 +573,12 @@ bool RobomonAtlantis::event(QEvent *event)
                case QEVENT(QEV_HOKUYO_SCAN):
                        hokuyoScan->newScan(&orte.hokuyo_scan);
                        break;
-//             case QEVENT(QEV_VIDLE_CMD):
-//                     robotEstPosBest->setVidle(orte.vidle_cmd.req_pos);
-//                     break;
+               case QEVENT(QEV_JAWS_CMD):
+                       robotEstPosBest->setJaws(orte.jaws_cmd.req_pos.left);
+                       robotRefPos->setJaws(orte.jaws_cmd.req_pos.left);
+                       robotEstPosIndepOdo->setJaws(orte.jaws_cmd.req_pos.left);
+                       robotEstPosOdo->setJaws(orte.jaws_cmd.req_pos.left);
+                       break;
                case QEVENT(QEV_REFERENCE_POSITION):
                        emit actualPositionReceivedSignal();
                        break;
@@ -784,8 +787,8 @@ void RobomonAtlantis::createOrte()
                        generic_rcv_cb, new OrteCallbackInfo(this, QEV_ESTIMATED_POSITION_BEST));
        robottype_subscriber_hokuyo_scan_create(&orte,
                        generic_rcv_cb, new OrteCallbackInfo(this, QEV_HOKUYO_SCAN));
-       //robottype_subscriber_vidle_cmd_create(&orte,
-         //              generic_rcv_cb, new OrteCallbackInfo(this, QEV_VIDLE_CMD));
+       robottype_subscriber_jaws_cmd_create(&orte,
+                      generic_rcv_cb, new OrteCallbackInfo(this, QEV_JAWS_CMD));
        robottype_subscriber_fsm_main_create(&orte,
                                             rcv_fsm_main_cb, this);
        robottype_subscriber_fsm_motion_create(&orte,