[TeamTalk 99]: [636] moast-bth: 1) Changed robot positions in DM-Mapping to be both next to the car.

[tk@edam.speech.cs.cmu.edu]

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Modified: moast-bth/TeamTalkSimulator/TeamTalkSimulator.cc
===================================================================
--- moast-bth/TeamTalkSimulator/TeamTalkSimulator.cc	2007-06-12 02:23:01 UTC (rev 635)
+++ moast-bth/TeamTalkSimulator/TeamTalkSimulator.cc	2007-06-15 22:49:34 UTC (rev 636)
@@ -47,7 +47,7 @@
 #endif
 
 #define THIS_PROCESS "sectShell"
-static const char* MAP_DUMP = "/tmp/SectMobPLDispOutput.ppm";
+static string MAP_DUMP;
 
 char nml_file_default[] = DEFAULT_NML_FILE;
 char *nml_file_env;
@@ -166,7 +166,7 @@
 }
 
 void readMapData() {
-  ifstream f(MAP_DUMP);
+  ifstream f(MAP_DUMP.c_str());
   if(!f) {
     error << "<TeamTalkSimulator::readMapData> can't open map" << endl;
     return;
@@ -255,7 +255,7 @@
   dump.serial_number = sectMobPLSetPtr->echo_serial_number + 1;
   dump.skip = 5;
   dump.dumpContinuous = true;
-  strcpy(dump.fileName, MAP_DUMP);
+  MAP_DUMP.copy(dump.fileName, MOAST_FILE_NAME_LEN);
   sectMobPLCfgBuf->write(&dump);
 }
 
@@ -372,6 +372,12 @@
   //register sigint handler
   signal(SIGINT, sigint_handler);
 
+  {
+    ostringstream o;
+    o << "/tmp/" << getuid() << "-SectMobPLDispOutput.ppm";
+    MAP_DUMP = o.str();
+  }
+
   string name = "tester";
   string peerfile;
   for(int i=1; i<argc; i++) {

Modified: moast-bth/moast/etc/moast.ini
===================================================================
--- moast-bth/moast/etc/moast.ini	2007-06-12 02:23:01 UTC (rev 635)
+++ moast-bth/moast/etc/moast.ini	2007-06-15 22:49:34 UTC (rev 636)
@@ -363,7 +363,8 @@
 UTM_ZONE = 18
 UTM_START_POSE_COUNT = 2
 UTM_START_POSE_1 = .748 -7.28 -.446 0 0 0
-UTM_START_POSE_2 = 3.63 10.8 -.446 0 0 0
+#UTM_START_POSE_2 = 3.63 10.8 -.446 0 0 0
+UTM_START_POSE_2 = 1.78 -6.28 -.446 0 0 0
 
 [DM-TallTestWorld_250]
 UNREAL_UTM_OFFSET = 0. 0. 0