Revision 0e0ef125

View differences:

scout/scoutsim/CMakeLists.txt
28 28
include_directories( ${wxWidgets_INCLUDE_DIRS} )
29 29

  
30 30
rosbuild_add_boost_directories()
31
rosbuild_add_executable(scoutsim_node src/scoutsim.cpp src/scout.cpp src/sim_frame.cpp)
31
rosbuild_add_executable(scoutsim_node src/scoutsim.cpp src/scout.cpp src/ghost_scout.cpp src/sim_frame.cpp)
32 32
rosbuild_link_boost(scoutsim_node thread)
33 33
target_link_libraries(scoutsim_node ${wxWidgets_LIBRARIES})
34 34

  
scout/scoutsim/src/sim_frame.cpp
245 245
                   scout_image, Vector2(x, y), &path_bitmap, angle));
246 246
        scouts[real_name] = t;
247 247

  
248
        ghost_scouts.push_back(new GhostScout(ros::NodeHandle(real_name),
249
                scout_image, Vector2(x, y), &path_bitmap, angle, name));
250

  
248 251
        ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",
249 252
                 real_name.c_str(), x, y, angle);
250 253

  
......
338 341
        {
339 342
            it->second->paint(dc);
340 343
        }
344
        for (unsigned int i=0; i<ghost_scouts.size(); ++i)
345
        {
346
            ghost_scouts.at(i)->paint(dc);
347
        }
341 348
    }
342 349

  
343 350
    bool SimFrame::fileExists(const std::string& filename)
......
512 519
                               state);
513 520
        }
514 521

  
522
        for (unsigned int i=0; i<ghost_scouts.size(); ++i)
523
        {
524
            ghost_scouts.at(i)->update(0.016, path_dc, sonar_dc,
525
                path_dc.GetBackground().GetColour(), state);
526
        }
527

  
515 528
        frame_count++;
516 529
    }
517 530

  
scout/scoutsim/src/sim_frame.h
62 62
#include <map>
63 63

  
64 64
#include "scout.h"
65
#include "ghost_scout.h"
65 66
#include "scoutsim_internal.h"
66 67
#include "messages/WirelessPacket.h"
67 68

  
......
163 164

  
164 165
            typedef std::map<std::string, ScoutPtr> M_Scout;
165 166
            M_Scout scouts;
167
            std::vector<GhostScout*> ghost_scouts;
166 168
            uint32_t id_counter;
167 169

  
168 170
            std::string images_path;

Also available in: Unified diff