Add the rest of the bumper patch.

I missed some files with the last bumper commit by mistake.  This commit
contains the rest of the bumper model code

libstage/CMakeLists.txt

@@ -16,6 +16,7 @@ set( stageSrcs
 	model_actuator.cc
 	model_blinkenlight.cc
 	model_blobfinder.cc
+	model_bumper.cc
 	model_callbacks.cc
 	model_camera.cc
 	model_draw.cc

libstage/stage.hh

@@ -2641,20 +2641,56 @@ namespace Stg
   };
 
 
-  // \todo BUMPER MODEL --------------------------------------------------------
 
-  //   typedef struct
-  //   {
-  //     Pose pose;
-  //     meters_t length;
-  //   } bumper_config_t;
-
-  //   typedef struct
-  //   {
-  //     Model* hit;
-  //     point_t hit_point;
-  //   } bumper_sample_t;
+  // BUMPER MODEL --------------------------------------------------------
+  /// %ModelBumper class
+  class ModelBumper : public Model
+  {
+  public:
+    class BumperConfig
+    {
+     public:
+     Pose pose;
+     meters_t length;
+    };
+
+   class BumperSample
+   {
+    public:
+    Model* hit;
+    point_t hit_point;
+   };
+
+
+  public:
+    ModelBumper( World* world,
+    Model* parent,
+    const std::string& type );
+    virtual ~ModelBumper();
 
+    virtual void Load();
+
+    uint32_t bumper_count;
+    BumperConfig* bumpers;
+    BumperSample* samples;
+
+  protected:
+    virtual void Startup();
+    virtual void Shutdown();
+    virtual void Update();
+    virtual void Print (char *prefix);
+
+    class BumperVis : public Visualizer
+    {
+    public:
+      BumperVis();
+      virtual ~BumperVis();
+      virtual void Visualize( Model* mod, Camera* cam);
+    } bumpervis;
+
+  private:
+   static Option showBumperData;
+  };
 
   // FIDUCIAL MODEL --------------------------------------------------------
 

libstage/typetable.cc

@@ -23,6 +23,7 @@ void Stg::RegisterModels()
   Register( "actuator",       Creator<ModelActuator> );
   Register( "blinkenlight",   Creator<ModelBlinkenlight> );
   Register( "blobfinder",     Creator<ModelBlobfinder> );
+  Register( "bumper",         Creator<ModelBumper> );
   Register( "camera",         Creator<ModelCamera> );
   Register( "fiducial",       Creator<ModelFiducial> );
   Register( "gripper",        Creator<ModelGripper> );

libstageplugin/CMakeLists.txt

@@ -10,6 +10,7 @@ set( stagepluginSrcs
 	     p_blobfinder.cc
 	     p_camera.cc
 	     p_gripper.cc
+	     p_bumper.cc
 	     p_simulation.cc
 	     p_fiducial.cc
 	     p_position.cc

libstageplugin/p_driver.cc

@@ -478,10 +478,9 @@ StgDriver::StgDriver(ConfigFile* cf, int section)
 //  	  ifsrc = new InterfacePtz( player_addr,  this, cf, section );
 //  	  break;
 
-// 	case PLAYER_BUMPER_CODE:
-// 	  ifsrc = new InterfaceBumper( player_addr,  this, cf, section );
-// 	  break;
-
+ 	case PLAYER_BUMPER_CODE:
+ 	  ifsrc = new InterfaceBumper( player_addr,  this, cf, section );
+ 	  break;
 
 	default:
 	  PRINT_ERR1( "error: stage driver doesn't support interface type %d\n",

worlds/irobot.inc

@@ -25,11 +25,12 @@ define roomba position
   )
 
   # this bumper array VERY crudely approximates the Roomba's bumpers
-#  bumper( bcount 2  
-#	  blength 0.33
-#          bpose[0] [0.12  0.12  45]
-#          bpose[1] [0.12 -0.12 -45] 
-#        )
+  bumper( size [.01 .01 .01 0]
+          bcount 2  
+          blength .33
+          bpose[0] [0.12  0.12 .02  45]
+          bpose[1] [0.12 -0.12 .02 -45] 
+        )
 
   color "gray50"
 )

worlds/roomba.cfg

@@ -1,8 +1,7 @@
-
 # Desc: Player sample configuration file for controlling Stage devices
-# Author:  Richard Vaughan
-# Date: 1 December 2004
-
+#       Based on simple.cfg
+# Author:  Rich Mattes
+# Date: 12 December 2012
 
 # load the Stage plugin simulation driver
 driver
@@ -15,12 +14,12 @@ driver
   worldfile "roomba.world"	
 )
 
-# Create a Stage driver and attach position2d and laser interfaces 
-# to the model "r0"
+# Create a Stage driver that connects the roomba's sensors
+# to Player interfaces
 driver
 ( 
   name "stage"
   provides [ "position2d:0" "bumper:0" ]
-  model "r0" 
+  model "roomba0" 
 )
 

worlds/roomba.world

@@ -1,6 +1,6 @@
-# simple.world - basic world file example
-# Authors: Richard Vaughan
-# $Id$
+# Desc: Sample Stage world file with a simulated Roomba, based on simple.world
+# Author:  Rich Mattes
+# Date: 12 December 2012
 
 include "irobot.inc"
 include "map.inc"