Update of /cvsroot/playerstage/code/stage/worlds
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27311
Added Files:
audio.cfg audio.world
Log Message:
added audio model sample world and cfg file
--- NEW FILE: audio.world ---
# A Sample world file using audio model
# CVS: $Id: audio.world,v 1.1 2006/07/27 02:35:47 pooya Exp $
# defines 'map' object used for floorplans
include "map.inc"
# size of the world in meters
size [16 16]
# set the resolution of the underlying raytrace model in meters
resolution 0.02
interval_sim 100 # milliseconds per update step
interval_real 100 # real-time milliseconds per update step
# update the screen every 10ms (we need fast update for the stest demo)
gui_interval 20
# configure the GUI window
window
(
size [ 591.000 638.000 ]
center [-0.010 -0.040]
scale 0.028
)
# load an environment bitmap
# this is the only object in world with audio_return=1.
# The set of important audio refraction/defraction points will be built only
# for this model. This model should be fixed and not move.
# map_resolution should be equal/more than raytracing resolution.
#
map
(
# bitmap "bitmaps/cave.png"
bitmap "bitmaps/autolab.png"
size [16 16]
name "floorplan"
map_resolution 0.05
audio_return 1
)
# define a simple robot
define testbot position
(
size [0.4 0.4]
polygons 1
polygon[0].points 10
polygon[0].point[0] [ 0.1 0.03 ]
polygon[0].point[1] [ 0.23 0.05 ]
polygon[0].point[2] [ 0.15 0.15 ]
polygon[0].point[3] [ -0.15 0.15 ]
polygon[0].point[4] [ -0.23 0.05 ]
polygon[0].point[5] [ -0.23 -0.05 ]
polygon[0].point[6] [ -0.15 -0.15 ]
polygon[0].point[7] [ 0.15 -0.15 ]
polygon[0].point[8] [ 0.23 -0.05 ]
polygon[0].point[9] [ 0.1 -0.03 ]
laser ( size [ 0.1 0.1 ])
)
# create an audio equipped robot
testbot
(
name "robot1"
color "red"
pose [-6.5 6.5 45]
audio (
say "Robot 1"
say_period 350
)
)
# create another robot
testbot
(
name "robot2"
color "blue"
pose [-3.5 -3.0 90]
audio (
say "Robot 2"
say_period 1000
)
)
# create another robot
testbot
(
name "robot3"
color "green"
pose [3 1.5 0]
audio (
say "Robot 3"
say_period 2700
)
)
# create another robot
testbot
(
name "robot4"
color "orange"
pose [6.0 -3.0 0]
audio ()
)
--- NEW FILE: audio.cfg ---
# Desc: Player sample configuration file using Stage audio model
# CVS: $Id: audio.cfg,v 1.1 2006/07/27 02:35:47 pooya Exp $
# load the Stage plugin simulation driver
driver
(
name "stage"
provides ["simulation:0" ]
plugin "libstageplugin"
# load the named file into the simulator
worldfile "audio.world"
)
# Create a Stage driver and attach position2d and audio interfaces
# to the model "robot1"
driver
(
name "stage"
provides ["7665:position2d:0" "7665:opaque:0" ]
model "robot1"
alwayson 1
)
# Create a Stage driver and attach position2d and audio interfaces
# to the model "robot2"
driver
(
name "stage"
provides ["7666:position2d:0" "7666:opaque:0" ]
model "robot2"
alwayson 1
)
# Create a Stage driver and attach position2d and audio interfaces
# to the model "robot3"
driver
(
name "stage"
provides ["7667:position2d:0" "7667:opaque:0" ]
model "robot3"
alwayson 1
)
# Create a Stage driver and attach position2d and audio interfaces
# to the model "robot4"
driver
(
name "stage"
provides ["7668:position2d:0" "7668:opaque:0" ]
model "robot4"
alwayson 1
)
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