Update of /cvsroot/playerstage/code/stage/worlds
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv31449
Modified Files:
everything.cfg everything.world
Added Files:
roomba.inc
Log Message:
added roomba to everything.world
Index: everything.world
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/everything.world,v
retrieving revision 1.85
retrieving revision 1.86
diff -C2 -d -r1.85 -r1.86
*** everything.world 29 Mar 2006 05:11:00 -0000 1.85
--- everything.world 26 Mar 2007 19:54:36 -0000 1.86
***************
*** 12,15 ****
--- 12,17 ----
include "pioneer.inc"
+ include "roomba.inc"
+
# defines 'map' object used for floorplans
include "map.inc"
***************
*** 169,170 ****
--- 171,177 ----
gripper_return 1
)
+
+ roomba(
+ name "roomba1"
+ pose [-9 0.5 0]
+ )
Index: everything.cfg
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/everything.cfg,v
retrieving revision 1.33
retrieving revision 1.34
diff -C2 -d -r1.33 -r1.34
*** everything.cfg 29 Mar 2006 05:11:00 -0000 1.33
--- everything.cfg 26 Mar 2007 19:54:36 -0000 1.34
***************
*** 70,71 ****
--- 70,78 ----
model "p6"
)
+
+ # robot 7
+ driver(
+ name "stage"
+ provides ["6672:position2d:0" "6672:bumper:0"]
+ model "roomba1"
+ )
--- NEW FILE: roomba.inc ---
define roomba position
(
size [0.33 0.33]
# this polygon approximates the circular shape of a Roomba
polygons 1
polygon[0].points 16
polygon[0].point[0] [ 0.225 0.000 ]
polygon[0].point[1] [ 0.208 0.086 ]
polygon[0].point[2] [ 0.159 0.159 ]
polygon[0].point[3] [ 0.086 0.208 ]
polygon[0].point[4] [ 0.000 0.225 ]
polygon[0].point[5] [ -0.086 0.208 ]
polygon[0].point[6] [ -0.159 0.159 ]
polygon[0].point[7] [ -0.208 0.086 ]
polygon[0].point[8] [ -0.225 0.000 ]
polygon[0].point[9] [ -0.208 -0.086 ]
polygon[0].point[10] [ -0.159 -0.159 ]
polygon[0].point[11] [ -0.086 -0.208 ]
polygon[0].point[12] [ -0.000 -0.225 ]
polygon[0].point[13] [ 0.086 -0.208 ]
polygon[0].point[14] [ 0.159 -0.159 ]
polygon[0].point[15] [ 0.208 -0.086 ]
# 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]
)
)
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