Robomon: not finished updated to the new MCL

diff --git a/src/robomon/src2/MclPainter.h b/src/robomon/src2/MclPainter.h
index 37802cb0c6bcba5bcaf6f00261c5a4c0ea8403a3..5de91704ab5e942c3c7549554f28fcc63592b13f 100644 (file)
--- a/src/robomon/src2/MclPainter.h
+++ b/src/robomon/src2/MclPainter.h
@@ -21,7 +21,7 @@ class QPaintEvent;
 class MclPainter : public Painter
 {
 public:
-       MclPainter(struct mcl_model *mcl, int *displayCount);
+       MclPainter(struct mcl_laser *mcl, int *displayCount);
        ~MclPainter();
 
 public:

diff --git a/src/robomon/src2/SimMcl.cpp b/src/robomon/src2/SimMcl.cpp
index 6e0b1835de31f9873ce75a2daa93276989d35422..4452ca9e37fa05764e7c29f0bc601f7a16737345 100644 (file)
--- a/src/robomon/src2/SimMcl.cpp
+++ b/src/robomon/src2/SimMcl.cpp
@@ -469,7 +469,7 @@ void SimMcl::setAliasing(int state)
 
 void SimMcl::initPaintElements()
 {
-       mclPainter = new MclPainter(&mcl, &displayCount);
+       mclPainter = new MclPainter(&laser, &displayCount);
        mclPainter->setSize(610, 425);
        mclPainterInitialized = true;
        widgetInitialized = false;

diff --git a/src/robomon/src2/SimMcl.h b/src/robomon/src2/SimMcl.h
index d7ea53cb91c1d160baeec59c36167c9c4468322f..079a7500a2d4de6db39c744481bf0aae9f78e61e 100644 (file)
--- a/src/robomon/src2/SimMcl.h
+++ b/src/robomon/src2/SimMcl.h
@@ -13,7 +13,7 @@
 #define SIM_MCL_H
 
 #include <QDialog>
-#include <mcl.h>
+#include <mcl_laser.h>
 #include <robomath.h>
 
 #include "PlaygroundScene.h"
@@ -208,7 +208,7 @@ private:
 
        #define ANGLE_FREQ_COUNT 360
        #define LAS_CNT 12
-       struct mcl_angles measuredAngles;
+       struct mcl_laser_measurement measuredAngles;
        struct angles_freq measuredAnglesFreq[ANGLE_FREQ_COUNT];
        struct angles_freq estimatedAnglesFreq[ANGLE_FREQ_COUNT];
 
@@ -220,9 +220,10 @@ private:
        void updateMcl();
 
        bool mclInitialized;
-       struct mcl_model mcl;
-       struct mcl_particle measPos;
-       struct mcl_particle est_pos;
+       struct mcl_model *mcl;
+       struct mcl_laser mcl_laser;
+       struct mcl_laser_state measPos;
+       struct mcl_robot_pos est_pos;
        double measuredPosition[3];
 };