Update of /cvsroot/playerstage/code/stage/worlds
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv15041/worlds
Modified Files:
Tag: opengl
pioneer.inc simple.world
Log Message:
*drastically* simplified code by eliminating common data,cfg,cmd structures.
phew. a silly geometry bug remains
Index: pioneer.inc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/pioneer.inc,v
retrieving revision 1.27.4.7
retrieving revision 1.27.4.8
diff -C2 -d -r1.27.4.7 -r1.27.4.8
*** pioneer.inc 9 Jul 2007 00:03:24 -0000 1.27.4.7
--- pioneer.inc 17 Jul 2007 05:26:44 -0000 1.27.4.8
***************
*** 125,182 ****
# left wheel
block[4].points 4
! block[4].point[0] [ 0.083 0.177 ]
! block[4].point[1] [ -0.083 0.177 ]
! block[4].point[2] [ -0.083 0.140 ]
! block[4].point[3] [ 0.083 0.140 ]
! block[4].z [0 0.165 ]
block[4].color "gray10"
! # right wheel
block[5].points 4
! block[5].point[0] [ 0.083 -0.14 ]
! block[5].point[1] [ -0.083 -0.14 ]
! block[5].point[2] [ -0.083 -0.177 ]
! block[5].point[3] [ 0.083 -0.177 ]
! block[5].z [ 0 0.165 ]
block[5].color "gray10"
- # castor
- block[6].points 4
- block[6].point[3] [ -0.2475 0.012 ]
- block[6].point[2] [ -0.1825 0.012 ]
- block[6].point[1] [ -0.1825 -0.012 ]
- block[6].point[0] [ -0.2475 -0.012 ]
- block[6].z [ 0 0.065 ]
- block[6].color "gray10"
-
# lid
! block[3].points 22
! block[3].point[21] [ 0.174 0 ]
! block[3].point[20] [ 0.166 -0.056 ]
! block[3].point[19] [ 0.145 -0.107 ]
! block[3].point[18] [ 0.112 -0.155 ]
! block[3].point[17] [ 0.064 -0.190 ]
! block[3].point[16] [ -0.074 -0.190 ]
! block[3].point[15] [ -0.096 -0.160 ]
! block[3].point[14] [ -0.151 -0.160 ]
! block[3].point[13] [ -0.2 -0.155 ]
! block[3].point[12] [ -0.236 -0.107 ]
! block[3].point[11] [ -0.256 -0.056 ]
! block[3].point[10] [ -0.264 0 ]
! block[3].point[9] [ -0.256 0.056 ]
! block[3].point[8] [ -0.236 0.107 ]
! block[3].point[7] [ -0.2 0.155 ]
! block[3].point[6] [ -0.151 0.160 ]
! block[3].point[5] [ -0.096 0.160 ]
! block[3].point[4] [ -0.074 0.190 ]
! block[3].point[3] [ 0.064 0.190 ]
! block[3].point[2] [ 0.112 0.155 ]
! block[3].point[1] [ 0.145 0.107 ]
! block[3].point[0] [ 0.166 0.056 ]
! block[3].z [ 0.234 0.24 ]
# a dark top looks more realistic, but isn't very useful
# for a top-down view
! #block[3].color "gray10"
)
--- 125,182 ----
# left wheel
+ block[3].points 4
+ block[3].point[0] [ 0.083 0.177 ]
+ block[3].point[1] [ -0.083 0.177 ]
+ block[3].point[2] [ -0.083 0.140 ]
+ block[3].point[3] [ 0.083 0.140 ]
+ block[3].z [0 0.165 ]
+ block[3].color "gray10"
+
+ # right wheel
block[4].points 4
! block[4].point[0] [ 0.083 -0.14 ]
! block[4].point[1] [ -0.083 -0.14 ]
! block[4].point[2] [ -0.083 -0.177 ]
! block[4].point[3] [ 0.083 -0.177 ]
! block[4].z [ 0 0.165 ]
block[4].color "gray10"
! # castor
block[5].points 4
! block[5].point[3] [ -0.2475 0.012 ]
! block[5].point[2] [ -0.1825 0.012 ]
! block[5].point[1] [ -0.1825 -0.012 ]
! block[5].point[0] [ -0.2475 -0.012 ]
! block[5].z [ 0 0.065 ]
block[5].color "gray10"
# lid
! block[6].points 22
! block[6].point[21] [ 0.174 0 ]
! block[6].point[20] [ 0.166 -0.056 ]
! block[6].point[19] [ 0.145 -0.107 ]
! block[6].point[18] [ 0.112 -0.155 ]
! block[6].point[17] [ 0.064 -0.190 ]
! block[6].point[16] [ -0.074 -0.190 ]
! block[6].point[15] [ -0.096 -0.160 ]
! block[6].point[14] [ -0.151 -0.160 ]
! block[6].point[13] [ -0.2 -0.155 ]
! block[6].point[12] [ -0.236 -0.107 ]
! block[6].point[11] [ -0.256 -0.056 ]
! block[6].point[10] [ -0.264 0 ]
! block[6].point[9] [ -0.256 0.056 ]
! block[6].point[8] [ -0.236 0.107 ]
! block[6].point[7] [ -0.2 0.155 ]
! block[6].point[6] [ -0.151 0.160 ]
! block[6].point[5] [ -0.096 0.160 ]
! block[6].point[4] [ -0.074 0.190 ]
! block[6].point[3] [ 0.064 0.190 ]
! block[6].point[2] [ 0.112 0.155 ]
! block[6].point[1] [ 0.145 0.107 ]
! block[6].point[0] [ 0.166 0.056 ]
! block[6].z [ 0.234 0.24 ]
# a dark top looks more realistic, but isn't very useful
# for a top-down view
! #block[6].color "gray10"
)
Index: simple.world
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/simple.world,v
retrieving revision 1.64.2.21
retrieving revision 1.64.2.22
diff -C2 -d -r1.64.2.21 -r1.64.2.22
*** simple.world 13 Jul 2007 05:48:31 -0000 1.64.2.21
--- simple.world 17 Jul 2007 05:26:44 -0000 1.64.2.22
***************
*** 6,31 ****
include "pioneer.inc"
-
-
-
-
-
-
# defines 'map' object used for floorplans
include "map.inc"
-
# defines sick laser
include "sick.inc"
-
# size of the world in meters
size [16 16]
# set the resolution of the underlying raytrace model in meters
! resolution 0.05
interval_sim 100 # simulation timestep in milliseconds
! interval_real 100 # real-time interval between simulation updates in
milliseconds
# configure the GUI window
window
--- 6,23 ----
include "pioneer.inc"
# defines 'map' object used for floorplans
include "map.inc"
# defines sick laser
include "sick.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 # simulation timestep in milliseconds
! interval_real 10 # real-time interval between simulation updates in
milliseconds
# configure the GUI window
window
***************
*** 53,56 ****
--- 45,49 ----
(
fancy_sick_laser( pose [ 0.040 0.000 0.000 0.000 ] )
+ ranger( pose [1 0 0 0])
)
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