Revision 0e0ef125
ID | 0e0ef125acb739b01d83438a12f5a9f51f0d4268 |
Changes to add ghost scout to sim frame and make it show up on the simulator.
Currently the functionality for killing scouts does not kill the ghost scout. That needs to be fixed eventually.
scout/scoutsim/src/sim_frame.cpp | ||
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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 |
{ |
|
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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) |
|
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{ |
|
524 |
ghost_scouts.at(i)->update(0.016, path_dc, sonar_dc, |
|
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path_dc.GetBackground().GetColour(), state); |
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} |
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527 |
|
|
515 | 528 |
frame_count++; |
516 | 529 |
} |
517 | 530 |
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