fixed up merge and changed version to 5.0

Author: rtv

CMakeLists.txt

@@ -1,8 +1,8 @@
 cmake_minimum_required( VERSION 2.8.7 FATAL_ERROR )
 PROJECT(Stage)
 
-SET( V_MAJOR 4 )
-SET( V_MINOR 2 )
+SET( V_MAJOR 5 )
+SET( V_MINOR 1 )
 SET( V_BUGFIX 1 )
 
 SET( VERSION ${V_MAJOR}.${V_MINOR}.${V_BUGFIX} )

config.h.in

@@ -3,7 +3,7 @@
 
 #define PROJECT "@PROJECT_NAME@"
 #define VERSION "@VERSION@"
-#define FULL_VERSION @V_MAJOR@@V_MINOR@@V_BUGFIX@
+#define FULL_VERSION @V_MAJOR@-@V_MINOR@-@V_BUGFIX@
 #define APIVERSION "@APIVERSION@"
 #define INSTALL_PREFIX "@CMAKE_INSTALL_PREFIX@"
 #define PLUGIN_PATH "@CMAKE_INSTALL_PREFIX@/@PROJECT_PLUGIN_DIR@"

libstage/blockgroup.cc

@@ -113,14 +113,22 @@ void BlockGroup::CalcSize()
 
 void BlockGroup::Map(unsigned int layer)
 {
+ static size_t count = 0;
+ printf( "BlockGroup::Map %lu (%lu)\n", ++count, blocks.size() );
+    
   FOR_EACH (it, blocks)
-    it->Map(layer);
+      it->Map(layer);
 }
 
 void BlockGroup::UnMap(unsigned int layer)
 {
+ static size_t count = 0;
+ printf( "BlockGroup::UnMap %lu (%lu)\n", ++count, blocks.size() );
+  
   FOR_EACH (it, blocks)
     it->UnMap(layer);
+
+
 }
 
 void BlockGroup::DrawSolid(const Geom &geom)

libstage/model.cc

@@ -288,6 +288,9 @@ Model::Model(World *world, Model *parent, const std::string &type, const std::st
     gui.move = true;
   }
 
+  //static size_t count=0;
+  //printf( "basic %lu\n", ++count );
+
   // now we can add the basic square shape
   AddBlockRect(-0.5, -0.5, 1.0, 1.0, 1.0);
 
@@ -376,8 +379,13 @@ void Model::LoadBlock(Worldfile *wf, int entity)
 
 void Model::AddBlockRect(meters_t x, meters_t y, meters_t dx, meters_t dy, meters_t dz)
 {
-  UnMap();
+  static size_t count=0;
+  printf( "abr %lu\n", ++count );
 
+  puts( "unmap start" );
+  UnMap();
+  puts( "unmap done" );
+  
   std::vector<point_t> pts(4);
   pts[0].x = x;
   pts[0].y = y;
@@ -390,7 +398,9 @@ void Model::AddBlockRect(meters_t x, meters_t y, meters_t dx, meters_t dy, meter
 
   blockgroup.AppendBlock(Block(&blockgroup, pts, Bounds(0, dz)));
 
+  puts( "map start" );
   Map();
+  puts( "map done\n" );
 }
 
 // convert a global pose into the model's local coordinate system
@@ -639,22 +649,19 @@ void Model::AddToPose(const Pose &pose)
   AddToPose(pose.x, pose.y, pose.z, pose.a);
 }
 
-bool Model::PlaceInFreeSpace(meters_t xmin, meters_t xmax, meters_t ymin, meters_t ymax,
-                             size_t max_iter)
+
+bool Model::RandomPoseInFreeSpace(meters_t xmin, meters_t xmax,
+				  meters_t ymin, meters_t ymax,
+                                  size_t max_iter)
 {
+  SetPose(Pose::Random(xmin, xmax, ymin, ymax));
+
   size_t i = 0;
   while (TestCollision() && (max_iter <= 0 || i++ < max_iter))
     SetPose(Pose::Random(xmin, xmax, ymin, ymax));
   return i <= max_iter; // return true if a free pose was found within max iterations
 }
 
-bool Model::RandomPoseInFreeSpace(meters_t xmin, meters_t xmax, meters_t ymin, meters_t ymax,
-                                  size_t max_iter)
-{
-  SetPose(Pose::Random(xmin, xmax, ymin, ymax));
-  return PlaceInFreeSpace(xmin, xmax, ymin, ymax, max_iter);
-}
-
 void Model::AppendTouchingModels(std::set<Model *> &touchers)
 {
   blockgroup.AppendTouchingModels(touchers);
@@ -1363,6 +1370,8 @@ void Model::Load()
 
       const Size size(b.x.max - b.x.min, b.y.max - b.y.min, b.z.max - b.z.min);
 
+      //static size_t count=0;
+      //printf( "boundaries %lu\n", ++count );
       AddBlockRect(b.x.min, b.y.min, epsilon, size.y, size.z);
       AddBlockRect(b.x.min, b.y.min, size.x, epsilon, size.z);
       AddBlockRect(b.x.min, b.y.max - epsilon, size.x, epsilon, size.z);

libstage/model_blobfinder.cc

@@ -84,15 +84,15 @@ static const unsigned int DEFAULT_BLOBFINDERSCANHEIGHT = 60;
 */
 
 ModelBlobfinder::ModelBlobfinder(World *world, Model *parent, const std::string &type)
-    : Model(world, parent, type), blob_vis(world), blobs(), colors(), fov(DEFAULT_BLOBFINDERFOV),
+    : Model(world, parent, type), vis(world), blobs(), colors(), fov(DEFAULT_BLOBFINDERFOV),
       pan(DEFAULT_BLOBFINDERPAN), range(DEFAULT_BLOBFINDERRANGE),
       scan_height(DEFAULT_BLOBFINDERSCANHEIGHT), scan_width(DEFAULT_BLOBFINDERSCANWIDTH)
 {
   PRINT_DEBUG2("Constructing ModelBlobfinder %u (%s)\n", id, type.c_str());
 
   ClearBlocks();
 
-  AddVisualizer(&this->blob_vis, true);
+  AddVisualizer(&this->vis, true);
 }
 
 ModelBlobfinder::~ModelBlobfinder(void)

libstage/model_ranger.cc

@@ -100,7 +100,7 @@ Option ModelRanger::Vis::showFov("Ranger FOV", "show_ranger_fov", "", false, NUL
 // false, NULL );
 
 ModelRanger::ModelRanger(World *world, Model *parent, const std::string &type)
-    : Model(world, parent, type), ranger_vis(world)
+    : Model(world, parent, type), vis(world)
 {
  PRINT_DEBUG2("Constructing ModelRanger %u (%s)\n", id, type.c_str());
 
@@ -114,7 +114,7 @@ ModelRanger::ModelRanger(World *world, Model *parent, const std::string &type)
 
   this->SetGeom(Geom(Pose(), RANGER_SIZE));
 
-  AddVisualizer(&ranger_vis, true);
+  AddVisualizer(&vis, true);
 }
 
 ModelRanger::~ModelRanger()

libstage/stage.cc

@@ -14,11 +14,6 @@ const char *Stg::Version()
   return VERSION;
 }
 
-unsigned int Stg::FullVersion()
-{
-  return FULL_VERSION;
-}
-
 void Stg::Init(int *argc, char **argv[])
 {
   PRINT_DEBUG("Stg::Init()");