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qrobosdk: コミット


コミットメタ情報

リビジョン1687 (tree)
日時2010-02-11 14:26:50
作者satofumi

ログメッセージ

doxyHtmlUpdate.rb で RSS, RDF が登録されなかったのを修正

変更サマリ

差分

--- trunk/doxes/urg_dox/forge_conf.txt (revision 1686)
+++ trunk/doxes/urg_dox/forge_conf.txt (revision 1687)
@@ -4,12 +4,12 @@
44 HistoryLogFile urg_dox/history_log.txt
55
66 # RSS の出力設定
7-RssBaseUrl http://www.hokuyo-aut.co.jp/cgi-bin/urg_programs/
7+RssBaseUrl http://www.hokuyo-aut.co.jp/02sensor/07scanner/download/urg_programs/
88 RssTitle URG プログラミングガイド
99 RssDescription URG 用プログラム作成のチュートリアル
1010
11-OutputRss10 urg_programs/scip_guide.rdf
12-OutputRss20 urg_programs/scip_guide.xml
11+OutputRss10 urg_programs/urg_programs.rdf
12+OutputRss20 urg_programs/urg_programs.xml
1313
1414 # RSS を埋め込むか
1515 InsertRss yes
--- trunk/scripts/doxyHtmlUpdate.rb (revision 1686)
+++ trunk/scripts/doxyHtmlUpdate.rb (revision 1687)
@@ -9,7 +9,6 @@
99 require 'find'
1010 require 'kconv'
1111 require "rss"
12-#$KCODE = 'SJIS'
1312 $KCODE = 'UTF8'
1413
1514
@@ -315,7 +314,7 @@
315314 end
316315 }
317316
318- '<table class="main" border="0" cellpadding="0" cellspacing="0" width="100%">' + "\n" + '<tbody><tr><td><strong>' + '更新履歴' + '</strong><div class="log_frame">' + out + '<br><br><br><br><br><br><br><br><br><br><br><br> </td></tr></tbody></table>'
317+ '<table class="main" border="0" cellpadding="0" cellspacing="0" width="100%">' + '<tbody><tr><td><strong>' + '更新履歴' + '</strong><div class="log_frame">' + out + '<br><br><br><br><br><br><br><br><br><br><br><br> </td></tr></tbody></table>'
319318 end
320319
321320
@@ -390,7 +389,7 @@
390389 # Doxygen 処理後は、"&lt;twocolumn&gt;<ul>" になっている
391390 if (! first_detected) && (line =~ /TWOCOLUMN/)
392391 first_detected = true
393- replace_lines += "<table width=\"100%\"><tbody><tr valign=\"top\"><td valign=\"top\" width=\"60%\">\n"
392+ replace_lines += "<table width=\"100%\"><tbody><tr valign=\"top\"><td valign=\"top\" width=\"60%\">"
394393 line = '';
395394 end
396395
@@ -397,18 +396,18 @@
397396 # TWOCOLUMN_END までの行を生成ページの末尾と判断する
398397 if line =~ /TWOCOLUMN_END/ && first_detected
399398 line.sub!(/TWOCOLUMN_END/, '')
400- replace_lines += "</td><td valign=\"top\" width=\"40%\">\n"
399+ replace_lines += "</td><td valign=\"top\" width=\"40%\">"
401400
402401 # 更新メッセージの追加
403- replace_lines += insertUpdateMemo(configs.log_file, configs.line_size_max) + "\n"
402+ replace_lines += insertUpdateMemo(configs.log_file, configs.line_size_max)
404403
405404 # ページ更新履歴の追加
406405 if configs.history_max > 0
407406 # 項目を表示する可能性があるならば、表示させる
408407 replace_lines += '<br><br>'
409- replace_lines += insertUpdateHistory(configs.history_max, configs.find_dox_directory) + "\n"
408+ replace_lines += insertUpdateHistory(configs.history_max, configs.find_dox_directory)
410409 end
411- replace_lines += "</td></tr></tbody></table>\n"
410+ replace_lines += "</td></tr></tbody></table>"
412411 end
413412 replace_lines += line.chomp
414413 }
@@ -424,13 +423,13 @@
424423 if configs.rss_10_file
425424 createRss('1.0', configs.rss_10_file, rss_settings)
426425 if configs.rss_insert
427- replace_lines.sub!(/<\/title>\n/, "</title>\n" + '<link rel="alternate" type="application/rss+xml" title="RSS 1.0" href="' + rss_settings['base'] + File.basename(configs.rss_10_file) + '">' + "\n")
426+ replace_lines.sub!(/<\/title>/, "</title>" + '<link rel="alternate" type="application/rss+xml" title="RSS 1.0" href="' + rss_settings['base'] + File.basename(configs.rss_10_file) + '">')
428427 end
429428 end
430429 if configs.rss_20_file
431430 createRss('2.0', configs.rss_20_file, rss_settings)
432431 if configs.rss_insert
433- replace_lines.sub!(/<\/title>\n/, "</title>\n" + '<link rel="alternate" type="application/rss+xml" title="RSS 2.0" href="' + rss_settings['base'] + File.basename(configs.rss_20_file) + '">' + "\n")
432+ replace_lines.sub!(/<\/title>/, "</title>" + '<link rel="alternate" type="application/rss+xml" title="RSS 2.0" href="' + rss_settings['base'] + File.basename(configs.rss_20_file) + '">')
434433 end
435434 end
436435
--- trunk/libs/simulator/beego_drive/serial_connection.cpp (revision 1686)
+++ trunk/libs/simulator/beego_drive/serial_connection.cpp (revision 1687)
@@ -13,6 +13,9 @@
1313 #include "TcpipAccepter.h"
1414 #include "TcpipSocket.h"
1515
16+//#include <cstdio>
17+//#include <cctype>
18+
1619 using namespace qrk;
1720
1821
--- trunk/libs/simulator/beego_drive/motor_control.cpp (revision 1686)
+++ trunk/libs/simulator/beego_drive/motor_control.cpp (revision 1687)
@@ -53,9 +53,8 @@
5353 int encoder_count)
5454 {
5555 static_cast<void>(encoder_count);
56- static_cast<void>(motor);
5756
58- // encoder_count と motor に関係なく、指定速度でモータを回転させる
57+ // encoder_count に関係なく、指定速度でモータを回転させる
5958 char id = motor->id;
6059 model_->setMotorVelocity(id, count_per_msec);
6160 }
--- trunk/libs/simulator/samples/scanSample/simulation_settings.lua (revision 1686)
+++ trunk/libs/simulator/samples/scanSample/simulation_settings.lua (revision 1687)
@@ -3,18 +3,19 @@
33 -- $Id$
44
55 -- 利用デバイスの初期化
6---DeviceManager():createDevice("/dev/ttyUSB0", "BeegoDrive", "run")
76 DeviceManager():createDevice("/dev/ttyACM0", "UrgDevice", "urg")
87
8+
99 -- デバイスを作成
10---local run = DeviceManager():device("run"):activate()
1110 DeviceManager():device("urg"):activate()
1211
12+
1313 -- デバイス位置を設定
1414 local urg = DeviceManager():model("urg")
15--- !!! 動作しないので、仮にコメントアウト
15+-- !!! luabind-0.9 では動作しないためコメントアウト中
1616 --urg:setPosition(Position(0, 0, deg(0)), nil, false)
1717
18+
1819 -- 障害物を配置
1920 local box = Box(300, 400, 500, 1.0)
2021 box:setPosition(Position(1000, 0, deg(30)), nil, false)
--- trunk/libs/simulator/samples/moveSample/simulation_settings.lua (revision 1686)
+++ trunk/libs/simulator/samples/moveSample/simulation_settings.lua (revision 1687)
@@ -5,6 +5,7 @@
55 -- 利用デバイスの初期化
66 DeviceManager():createDevice("/dev/ttyUSB0", "BeegoDrive", "run")
77
8+
89 -- デバイスを作成
910 DeviceManager():device("run"):activate()
1011
@@ -11,7 +12,8 @@
1112
1213 -- デバイス位置を設定
1314 local run = DeviceManager():model("run")
14-run:setPosition(Position(0, 0, deg(0)), nil, false)
15+-- !!! luabind-0.9 では動作しないためコメントアウト中
16+--run:setPosition(Position(0, 0, deg(0)), nil, false)
1517
1618
1719 -- 障害物を配置
--- trunk/libs/simulator/samples/moveSample/moveSample.cpp (revision 1686)
+++ trunk/libs/simulator/samples/moveSample/moveSample.cpp (revision 1687)
@@ -59,7 +59,12 @@
5959 // 直線追従
6060 cout << "followLine()" << endl;
6161 run.followLine(Position<long>(0, 0, deg(45)));
62- delay(3000);
62+ //delay(3000);
63+ for (int i = 0; i < 100; ++i) {
64+ Position<long> position = run.position();
65+ fprintf(stderr, "%ld, ", position.x);
66+ delay(30);
67+ }
6368 #endif
6469
6570 #if 0
--- trunk/libs/running/beego_drive/packet_handler.c (revision 1686)
+++ trunk/libs/running/beego_drive/packet_handler.c (revision 1687)
@@ -146,7 +146,8 @@
146146 packet_size_ = buffer_[PacketSize];
147147
148148 // !!! 最初の３文字のチェックと、チェックサムを確認すべき
149- // !!! チェックに失敗したら、static 変数を初期化し、通信を再開できるようにする
149+ // !!! チェックに失敗したら、static 変数を初期化し、
150+ // !!! 通信を再開できるようにする
150151 // !!! 最初の３文字を探すルーチンに入るように調整すべき
151152
152153 header_received_ = 1;
--- trunk/libs/running/beego_drive/dumpStruct.c (revision 1686)
+++ trunk/libs/running/beego_drive/dumpStruct.c (revision 1687)
@@ -2,6 +2,11 @@
22 \file
33 \brief 構造体オフセットの出力
44
5+ sh-elf-gdb ./dumpStruct
6+ target sim
7+ load
8+ run
9+
510 \author Satofumi KAMIMURA
611
712 $Id$
--- trunk/libs/running/beego_drive/robot_control.c (revision 1686)
+++ trunk/libs/running/beego_drive/robot_control.c (revision 1687)
@@ -21,9 +21,7 @@
2121 #include "follow_control.h"
2222 #include "direct_handler.h"
2323
24-#include <stdio.h>
2524
26-
2725 static robot_t* robot_ = 0x0;
2826
2927
--- trunk/libs/running/beego_drive/struct_offset.txt (revision 1686)
+++ trunk/libs/running/beego_drive/struct_offset.txt (revision 1687)
@@ -11,34 +11,34 @@
1111 robot.motor_0.reset, 32, 1, char
1212 robot.motor_0.gain_p, 36, 4, long
1313 robot.motor_0.gain_i, 40, 4, long
14-robot.motor_1.reset, 44, 1, char
15-robot.motor_1.gain_p, 48, 4, long
16-robot.motor_1.gain_i, 52, 4, long
17-robot.body.reset, 72, 1, char
18-robot.body.rotate_coeffecient, 76, 4, long
19-robot.position.reset, 80, 1, char
20-robot.position.mm_0, 84, 4, long
21-robot.position.mm_1, 88, 4, long
22-robot.position.dir16, 92, 2, unsigned short
23-robot.follow_position.reset, 116, 1, char
24-robot.follow_position.mm_0, 120, 4, long
25-robot.follow_position.mm_1, 124, 4, long
26-robot.follow_position.dir16, 128, 2, unsigned short
27-robot.path.reset, 152, 1, char
28-robot.path.reset_offset, 153, 1, char
29-robot.path.mode, 156, 4, PathMode
30-robot.path.rotate_direction, 164, 4, long
31-robot.path.circle_radius, 168, 4, long
32-robot.straight.reset, 172, 1, char
33-robot.straight.is_stable, 173, 1, char
34-robot.straight.target_velocity, 176, 4, long
35-robot.straight.control_velocity, 180, 4, long
36-robot.straight.control_acceleration, 184, 4, long
37-robot.rotate.reset, 188, 1, char
38-robot.rotate.is_stable, 189, 1, char
39-robot.rotate.target_velocity, 192, 4, long
40-robot.rotate.control_velocity, 196, 4, long
41-robot.rotate.control_acceleration, 200, 4, long
42-robot.direct.reset, 204, 1, char
43-robot.direct.wheel_0.target_velocity, 212, 4, long
44-robot.direct.wheel_1.target_velocity, 228, 4, long
14+robot.motor_1.reset, 48, 1, char
15+robot.motor_1.gain_p, 52, 4, long
16+robot.motor_1.gain_i, 56, 4, long
17+robot.body.reset, 80, 1, char
18+robot.body.rotate_coeffecient, 84, 4, long
19+robot.position.reset, 88, 1, char
20+robot.position.mm_0, 92, 4, long
21+robot.position.mm_1, 96, 4, long
22+robot.position.dir16, 100, 2, unsigned short
23+robot.follow_position.reset, 124, 1, char
24+robot.follow_position.mm_0, 128, 4, long
25+robot.follow_position.mm_1, 132, 4, long
26+robot.follow_position.dir16, 136, 2, unsigned short
27+robot.path.reset, 160, 1, char
28+robot.path.reset_offset, 161, 1, char
29+robot.path.mode, 164, 4, PathMode
30+robot.path.rotate_direction, 172, 4, long
31+robot.path.circle_radius, 176, 4, long
32+robot.straight.reset, 180, 1, char
33+robot.straight.is_stable, 181, 1, char
34+robot.straight.target_velocity, 184, 4, long
35+robot.straight.control_velocity, 188, 4, long
36+robot.straight.control_acceleration, 192, 4, long
37+robot.rotate.reset, 196, 1, char
38+robot.rotate.is_stable, 197, 1, char
39+robot.rotate.target_velocity, 200, 4, long
40+robot.rotate.control_velocity, 204, 4, long
41+robot.rotate.control_acceleration, 208, 4, long
42+robot.direct.reset, 212, 1, char
43+robot.direct.wheel_0.target_velocity, 220, 4, long
44+robot.direct.wheel_1.target_velocity, 236, 4, long
--- trunk/libs/running/PacketAccess.cpp (revision 1686)
+++ trunk/libs/running/PacketAccess.cpp (revision 1687)
@@ -247,7 +247,7 @@
247247
248248 void robot_motor_1_reset_set(std::vector<char>& packet, char value)
249249 {
250- packet.push_back(44);
250+ packet.push_back(48);
251251 size_t byte_size = sizeof(char);
252252 packet.push_back(byte_size);
253253 setValue(packet, value, byte_size);
@@ -264,7 +264,7 @@
264264
265265 void robot_motor_1_gain_p_set(std::vector<char>& packet, long value)
266266 {
267- packet.push_back(48);
267+ packet.push_back(52);
268268 size_t byte_size = sizeof(long);
269269 packet.push_back(byte_size);
270270 setValue(packet, value, byte_size);
@@ -281,7 +281,7 @@
281281
282282 void robot_motor_1_gain_i_set(std::vector<char>& packet, long value)
283283 {
284- packet.push_back(52);
284+ packet.push_back(56);
285285 size_t byte_size = sizeof(long);
286286 packet.push_back(byte_size);
287287 setValue(packet, value, byte_size);
@@ -298,7 +298,7 @@
298298
299299 void robot_body_reset_set(std::vector<char>& packet, char value)
300300 {
301- packet.push_back(72);
301+ packet.push_back(80);
302302 size_t byte_size = sizeof(char);
303303 packet.push_back(byte_size);
304304 setValue(packet, value, byte_size);
@@ -315,7 +315,7 @@
315315
316316 void robot_body_rotate_coeffecient_set(std::vector<char>& packet, long value)
317317 {
318- packet.push_back(76);
318+ packet.push_back(84);
319319 size_t byte_size = sizeof(long);
320320 packet.push_back(byte_size);
321321 setValue(packet, value, byte_size);
@@ -332,7 +332,7 @@
332332
333333 void robot_position_reset_set(std::vector<char>& packet, char value)
334334 {
335- packet.push_back(80);
335+ packet.push_back(88);
336336 size_t byte_size = sizeof(char);
337337 packet.push_back(byte_size);
338338 setValue(packet, value, byte_size);
@@ -349,7 +349,7 @@
349349
350350 void robot_position_mm_0_set(std::vector<char>& packet, long value)
351351 {
352- packet.push_back(84);
352+ packet.push_back(92);
353353 size_t byte_size = sizeof(long);
354354 packet.push_back(byte_size);
355355 setValue(packet, value, byte_size);
@@ -366,7 +366,7 @@
366366
367367 void robot_position_mm_1_set(std::vector<char>& packet, long value)
368368 {
369- packet.push_back(88);
369+ packet.push_back(96);
370370 size_t byte_size = sizeof(long);
371371 packet.push_back(byte_size);
372372 setValue(packet, value, byte_size);
@@ -383,7 +383,7 @@
383383
384384 void robot_position_dir16_set(std::vector<char>& packet, unsigned short value)
385385 {
386- packet.push_back(92);
386+ packet.push_back(100);
387387 size_t byte_size = sizeof(unsigned short);
388388 packet.push_back(byte_size);
389389 setValue(packet, value, byte_size);
@@ -400,7 +400,7 @@
400400
401401 void robot_follow_position_reset_set(std::vector<char>& packet, char value)
402402 {
403- packet.push_back(116);
403+ packet.push_back(124);
404404 size_t byte_size = sizeof(char);
405405 packet.push_back(byte_size);
406406 setValue(packet, value, byte_size);
@@ -417,7 +417,7 @@
417417
418418 void robot_follow_position_mm_0_set(std::vector<char>& packet, long value)
419419 {
420- packet.push_back(120);
420+ packet.push_back(128);
421421 size_t byte_size = sizeof(long);
422422 packet.push_back(byte_size);
423423 setValue(packet, value, byte_size);
@@ -434,7 +434,7 @@
434434
435435 void robot_follow_position_mm_1_set(std::vector<char>& packet, long value)
436436 {
437- packet.push_back(124);
437+ packet.push_back(132);
438438 size_t byte_size = sizeof(long);
439439 packet.push_back(byte_size);
440440 setValue(packet, value, byte_size);
@@ -451,7 +451,7 @@
451451
452452 void robot_follow_position_dir16_set(std::vector<char>& packet, unsigned short value)
453453 {
454- packet.push_back(128);
454+ packet.push_back(136);
455455 size_t byte_size = sizeof(unsigned short);
456456 packet.push_back(byte_size);
457457 setValue(packet, value, byte_size);
@@ -468,7 +468,7 @@
468468
469469 void robot_path_reset_set(std::vector<char>& packet, char value)
470470 {
471- packet.push_back(152);
471+ packet.push_back(160);
472472 size_t byte_size = sizeof(char);
473473 packet.push_back(byte_size);
474474 setValue(packet, value, byte_size);
@@ -485,7 +485,7 @@
485485
486486 void robot_path_reset_offset_set(std::vector<char>& packet, char value)
487487 {
488- packet.push_back(153);
488+ packet.push_back(161);
489489 size_t byte_size = sizeof(char);
490490 packet.push_back(byte_size);
491491 setValue(packet, value, byte_size);
@@ -502,7 +502,7 @@
502502
503503 void robot_path_mode_set(std::vector<char>& packet, PathMode value)
504504 {
505- packet.push_back(156);
505+ packet.push_back(164);
506506 size_t byte_size = sizeof(PathMode);
507507 packet.push_back(byte_size);
508508 setValue(packet, value, byte_size);
@@ -519,7 +519,7 @@
519519
520520 void robot_path_rotate_direction_set(std::vector<char>& packet, long value)
521521 {
522- packet.push_back(164);
522+ packet.push_back(172);
523523 size_t byte_size = sizeof(long);
524524 packet.push_back(byte_size);
525525 setValue(packet, value, byte_size);
@@ -536,7 +536,7 @@
536536
537537 void robot_path_circle_radius_set(std::vector<char>& packet, long value)
538538 {
539- packet.push_back(168);
539+ packet.push_back(176);
540540 size_t byte_size = sizeof(long);
541541 packet.push_back(byte_size);
542542 setValue(packet, value, byte_size);
@@ -553,7 +553,7 @@
553553
554554 void robot_straight_reset_set(std::vector<char>& packet, char value)
555555 {
556- packet.push_back(172);
556+ packet.push_back(180);
557557 size_t byte_size = sizeof(char);
558558 packet.push_back(byte_size);
559559 setValue(packet, value, byte_size);
@@ -570,7 +570,7 @@
570570
571571 void robot_straight_is_stable_set(std::vector<char>& packet, char value)
572572 {
573- packet.push_back(173);
573+ packet.push_back(181);
574574 size_t byte_size = sizeof(char);
575575 packet.push_back(byte_size);
576576 setValue(packet, value, byte_size);
@@ -587,7 +587,7 @@
587587
588588 void robot_straight_target_velocity_set(std::vector<char>& packet, long value)
589589 {
590- packet.push_back(176);
590+ packet.push_back(184);
591591 size_t byte_size = sizeof(long);
592592 packet.push_back(byte_size);
593593 setValue(packet, value, byte_size);
@@ -604,7 +604,7 @@
604604
605605 void robot_straight_control_velocity_set(std::vector<char>& packet, long value)
606606 {
607- packet.push_back(180);
607+ packet.push_back(188);
608608 size_t byte_size = sizeof(long);
609609 packet.push_back(byte_size);
610610 setValue(packet, value, byte_size);
@@ -621,7 +621,7 @@
621621
622622 void robot_straight_control_acceleration_set(std::vector<char>& packet, long value)
623623 {
624- packet.push_back(184);
624+ packet.push_back(192);
625625 size_t byte_size = sizeof(long);
626626 packet.push_back(byte_size);
627627 setValue(packet, value, byte_size);
@@ -638,7 +638,7 @@
638638
639639 void robot_rotate_reset_set(std::vector<char>& packet, char value)
640640 {
641- packet.push_back(188);
641+ packet.push_back(196);
642642 size_t byte_size = sizeof(char);
643643 packet.push_back(byte_size);
644644 setValue(packet, value, byte_size);
@@ -655,7 +655,7 @@
655655
656656 void robot_rotate_is_stable_set(std::vector<char>& packet, char value)
657657 {
658- packet.push_back(189);
658+ packet.push_back(197);
659659 size_t byte_size = sizeof(char);
660660 packet.push_back(byte_size);
661661 setValue(packet, value, byte_size);
@@ -672,7 +672,7 @@
672672
673673 void robot_rotate_target_velocity_set(std::vector<char>& packet, long value)
674674 {
675- packet.push_back(192);
675+ packet.push_back(200);
676676 size_t byte_size = sizeof(long);
677677 packet.push_back(byte_size);
678678 setValue(packet, value, byte_size);
@@ -689,7 +689,7 @@
689689
690690 void robot_rotate_control_velocity_set(std::vector<char>& packet, long value)
691691 {
692- packet.push_back(196);
692+ packet.push_back(204);
693693 size_t byte_size = sizeof(long);
694694 packet.push_back(byte_size);
695695 setValue(packet, value, byte_size);
@@ -706,7 +706,7 @@
706706
707707 void robot_rotate_control_acceleration_set(std::vector<char>& packet, long value)
708708 {
709- packet.push_back(200);
709+ packet.push_back(208);
710710 size_t byte_size = sizeof(long);
711711 packet.push_back(byte_size);
712712 setValue(packet, value, byte_size);
@@ -723,7 +723,7 @@
723723
724724 void robot_direct_reset_set(std::vector<char>& packet, char value)
725725 {
726- packet.push_back(204);
726+ packet.push_back(212);
727727 size_t byte_size = sizeof(char);
728728 packet.push_back(byte_size);
729729 setValue(packet, value, byte_size);
@@ -740,7 +740,7 @@
740740
741741 void robot_direct_wheel_0_target_velocity_set(std::vector<char>& packet, long value)
742742 {
743- packet.push_back(212);
743+ packet.push_back(220);
744744 size_t byte_size = sizeof(long);
745745 packet.push_back(byte_size);
746746 setValue(packet, value, byte_size);
@@ -757,7 +757,7 @@
757757
758758 void robot_direct_wheel_1_target_velocity_set(std::vector<char>& packet, long value)
759759 {
760- packet.push_back(228);
760+ packet.push_back(236);
761761 size_t byte_size = sizeof(long);
762762 packet.push_back(byte_size);
763763 setValue(packet, value, byte_size);
--- trunk/libs/range_finder/ScipHandler.cpp (revision 1686)
+++ trunk/libs/range_finder/ScipHandler.cpp (revision 1687)
@@ -506,7 +506,7 @@
506506 }
507507
508508 // ME で "まとめる数" 設定以上のデータが返されるバグに対処
509- size_t expected_n = settings.capture_last * ((type == ME) ? 2 : 1);
509+ size_t expected_n = settings.capture_last * ((type == ME) ? 2 : 1) + 1;
510510 if (expected_n < data.size()) {
511511 //fprintf(stderr, "data.size: %d, %d\n", data.size(), expected_n);
512512 data.erase(data.begin() + expected_n, data.end());
--- trunk/libs/packages/qrk/src/simulator/mtu_control.cpp (nonexistent)
+++ trunk/libs/packages/qrk/src/simulator/mtu_control.cpp (revision 1687)
@@ -0,0 +1 @@
1+link ../../../../simulator/beego_drive/mtu_control.cpp
\ No newline at end of file
Added: svn:special
## -0,0 +1 ##
+*
\ No newline at end of property
--- trunk/libs/packages/qrk/src/simulator/Makefile.am (revision 1686)
+++ trunk/libs/packages/qrk/src/simulator/Makefile.am (revision 1687)
@@ -48,6 +48,7 @@
4848 mCameraDevice.cpp \
4949 LogNameHolder.cpp \
5050 MonitorDataHandler.cpp \
51+ mtu_control.cpp \
5152 motor_control.cpp \
5253 packet_handler.cpp \
5354 path_manage.cpp \
--- trunk/libs/packages/qrk/src/target/beego_drive/Makefile.am (revision 1686)
+++ trunk/libs/packages/qrk/src/target/beego_drive/Makefile.am (revision 1687)
@@ -4,4 +4,4 @@
44
55 libbeego_drive_include_HEADERS = \
66 body_t.h encoder_t.h path_t.h system_t.h beego_drive.h follow_t.h position_t.h wheel_t.h direct_t.h pwm_t.h motor_t.h robot_t.h robot_control.h packet_handler.h serial_connection.h \
7-motor_control.h encoder_control.h robot_macro.h system_handler.h mtu_control.h pwm_control.h wheel_control.h body_control.h position_calculate.h path_manage.h follow_control.h direct_handler.h isincos.h isqrt.h math_utils.h iatan2.h
7+mtu_control.h motor_control.h encoder_control.h robot_macro.h system_handler.h pwm_control.h wheel_control.h body_control.h position_calculate.h path_manage.h follow_control.h direct_handler.h isincos.h isqrt.h math_utils.h iatan2.h
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