Update of /cvsroot/playerstage/code/stage/worlds
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv20563/worlds
Modified Files:
Tag: opengl
test.world
Log Message:
working on ztest for raytracing
Index: test.world
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/test.world,v
retrieving revision 1.45.6.2
retrieving revision 1.45.6.3
diff -C2 -d -r1.45.6.2 -r1.45.6.3
*** test.world 22 Oct 2007 02:36:33 -0000 1.45.6.2
--- test.world 30 Oct 2007 01:22:44 -0000 1.45.6.3
***************
*** 5,9 ****
# size of the world in meters
! size [16 16 10]
# set the resolution of the underlying raytrace model in meters
--- 5,9 ----
# size of the world in meters
! size [18 18 10]
# set the resolution of the underlying raytrace model in meters
***************
*** 11,15 ****
interval_sim 100 # simulation timestep in milliseconds
! interval_real 100 # real-time interval between simulation updates in
milliseconds
# configure the GUI window
--- 11,15 ----
interval_sim 100 # simulation timestep in milliseconds
! interval_real 0 # real-time interval between simulation updates in
milliseconds
# configure the GUI window
***************
*** 25,30 ****
--- 25,32 ----
include "map.inc"
+
include "sick.inc"
+
floorplan
(
***************
*** 34,38 ****
)
! define robot model
(
fancy_sick_laser( samples 1 )
--- 36,40 ----
)
! define grobot model
(
fancy_sick_laser( samples 1 )
***************
*** 142,265 ****
!
!
!
! define grobot model
(
! fancy_sick_laser( samples 1 )
! #laser( samples 64 )
size [0.5 0.5 0.3]
! velocity [0 0 0 20]
color "red"
)
! robot( pose [-2.059 0.153 0.000 0.000] )
! robot( pose [1.976 4.378 0.000 0.000] )
! robot( pose [-1.945 -1.030 0.000 0.000] )
! robot( pose [-5.699 0.426 0.000 0.000] )
! robot( pose [-4.504 1.332 0.000 0.000] )
! robot( pose [1.956 2.877 0.000 128.916] )
! robot( pose [-1.462 2.059 0.000 0.000] )
! robot( pose [-7.362 7.323 0.000 0.000] )
! robot( pose [-1.958 -2.313 0.000 0.000] )
! robot( pose [-4.195 0.254 0.000 0.000] )
! robot( pose [0.210 -1.088 0.000 0.000] )
! robot( pose [-2.052 3.998 0.000 0.000] )
! robot( pose [-3.256 5.417 0.000 0.000] )
! robot( pose [-6.366 3.777 0.000 0.000] )
! robot( pose [-0.229 3.038 0.000 0.000] )
! robot( pose [-0.159 -1.879 0.000 0.000] )
! robot( pose [-2.682 -1.602 0.000 0.000] )
! robot( pose [-6.702 1.687 0.000 0.000] )
! robot( pose [-6.132 -0.360 0.000 0.000] )
! robot( pose [-3.241 0.483 0.000 0.000] )
! robot( pose [-2.479 -0.508 0.000 0.000] )
! robot( pose [-1.347 -2.123 0.000 0.000] )
! robot( pose [-2.847 -2.631 0.000 0.000] )
! robot( pose [-7.507 -0.754 0.000 0.000] )
! robot( pose [-1.970 5.467 0.000 0.000] )
! robot( pose [0.877 3.140 0.000 0.000] )
! robot( pose [-6.648 6.973 0.000 0.000] )
! robot( pose [1.438 -1.719 0.000 0.000] )
! robot( pose [2.580 -1.602 0.000 0.000] )
! robot( pose [1.042 -1.003 0.000 0.000] )
! robot( pose [-7.508 -2.877 0.000 0.000] )
! robot( pose [-7.323 -1.881 0.000 0.000] )
! robot( pose [-6.128 -2.014 0.000 0.000] )
! robot( pose [-1.979 -3.322 0.000 0.000] )
! robot( pose [-3.078 -3.810 0.000 0.000] )
! robot( pose [-3.411 -2.010 0.000 0.000] )
! robot( pose [-1.513 1.246 0.000 0.000] )
! robot( pose [-2.669 1.004 0.000 0.000] )
! robot( pose [-2.352 2.479 0.000 0.000] )
! robot( pose [-3.508 -0.191 0.000 0.000] )
! robot( pose [-0.826 -1.360 0.000 0.000] )
! robot( pose [-5.963 -3.587 0.000 0.000] )
! robot( pose [0.127 2.263 0.000 0.000] )
! robot( pose [-2.873 1.780 0.000 0.000] )
! robot( pose [-1.386 3.165 0.000 0.000] )
! robot( pose [-3.369 -0.877 0.000 0.000] )
! robot( pose [-0.750 -0.610 0.000 0.000] )
! robot( pose [-6.570 6.237 0.000 0.000] )
! robot( pose [-6.156 4.985 0.000 0.000] )
! robot( pose [-6.030 1.937 0.000 0.000] )
! robot( pose [-6.762 2.900 0.000 0.000] )
! robot( pose [-5.812 1.137 0.000 0.000] )
! robot( pose [-6.525 0.262 0.000 0.000] )
! robot( pose [-6.075 -1.062 0.000 0.000] )
! robot( pose [-7.425 1.450 0.000 0.000] )
! robot( pose [-7.412 3.025 0.000 0.000] )
! robot( pose [-5.612 3.825 0.000 0.000] )
! robot( pose [-6.425 4.362 0.000 0.000] )
! robot( pose [-1.387 0.537 0.000 0.000] )
! robot( pose [0.787 -1.825 0.000 0.000] )
! robot( pose [0.937 2.287 0.000 0.000] )
! robot( pose [-1.662 4.712 0.000 0.000] )
! robot( pose [-5.300 3.212 0.000 0.000] )
! robot( pose [-5.425 5.225 0.000 0.000] )
! robot( pose [-3.975 5.600 0.000 0.000] )
! robot( pose [-4.712 5.625 0.000 0.000] )
! robot( pose [-2.650 5.612 0.000 0.000] )
! robot( pose [-2.225 6.050 0.000 0.000] )
! robot( pose [-3.000 6.150 0.000 0.000] )
! robot( pose [-5.237 5.912 0.000 0.000] )
! robot( pose [-5.937 5.675 0.000 0.000] )
! robot( pose [-6.550 5.475 0.000 0.000] )
! robot( pose [-3.650 1.374 0.000 0.000] )
! robot( pose [-5.116 1.761 0.000 0.000] )
! robot( pose [-6.745 1.037 0.000 0.000] )
! robot( pose [-6.151 -2.795 0.000 0.000] )
! robot( pose [-6.776 -1.356 0.000 0.000] )
! robot( pose [-6.728 -3.323 0.000 0.000] )
! robot( pose [-6.812 -2.439 0.000 0.000] )
! robot( pose [-7.403 6.744 0.000 0.000] )
! robot( pose [-6.039 3.010 0.000 0.000] )
! robot( pose [-6.607 7.600 0.000 0.000] )
! robot( pose [-4.734 4.907 0.000 0.000] )
! robot( pose [-7.246 5.984 0.000 0.000] )
! robot( pose [-7.296 5.162 0.000 0.000] )
! robot( pose [2.329 3.508 0.000 0.000] )
! robot( pose [-7.062 2.262 0.000 0.000] )
! robot( pose [-4.800 0.637 0.000 0.000] )
! robot( pose [-4.962 -0.125 0.000 0.000] )
! robot( pose [-6.825 -0.475 0.000 0.000] )
! robot( pose [-7.287 0.300 0.000 0.000] )
! robot( pose [-6.962 3.825 0.000 0.000] )
! robot( pose [-5.412 4.600 0.000 0.000] )
! robot( pose [-2.450 4.800 0.000 0.000] )
! robot( pose [-7.162 4.550 0.000 0.000] )
! robot( pose [-1.475 -0.400 0.000 0.000] )
! robot( pose [-0.762 2.225 0.000 0.000] )
! robot( pose [-2.212 3.287 0.000 0.000] )
! robot( pose [-4.012 4.975 0.000 0.000] )
! robot( pose [-5.562 2.462 0.000 0.000] )
model
(
! pose [-4.378 -4.784 0.000 0.000]
color "green"
)
--- 144,371 ----
! define robot model
(
! debug 1
!
! #fancy_sick_laser( samples 361 )
! laser( samples 361 debug 0 pose [0.500 0.000 0.000 0.000 ] )
size [0.5 0.5 0.3]
! velocity [0 0 0 10]
color "red"
)
+ define blubot robot
+ ( color "purple" )
! blubot( pose [ 1.946 -6.796 0.000 -114.000 ] )
! blubot( pose [ 4.090 -3.116 0.000 -114.000 ] )
! blubot( pose [ -7.141 -4.317 0.000 -114.000 ] )
! blubot( pose [ -7.466 -5.389 0.000 -114.000 ] )
!
! #blubot( pose [ -1.555 6.742 0.000 -114.000 ] )
! #blubot( pose [ 0.452 6.796 0.000 -114.000 ] )
! #blubot( pose [ 1.609 6.634 0.000 -114.000 ] )
! #blubot( pose [ -5.513 -5.640 0.000 -114.000 ] )
! #blubot( pose [ -5.947 -6.724 0.000 -114.000 ] )
! #blubot( pose [ -3.886 -6.037 0.000 -114.000 ] )
! #blubot( pose [ 2.404 6.995 0.000 -114.000 ] )
! #blubot( pose [ 3.543 5.549 0.000 -114.000 ] )
! #blubot( pose [ 4.067 6.489 0.000 -114.000 ] )
! #blubot( pose [ 4.302 7.429 0.000 -114.000 ] )
! #blubot( pose [ 6.019 7.574 0.000 -114.000 ] )
! #blubot( pose [ 5.079 6.543 0.000 -114.000 ] )
! #blubot( pose [ 6.796 6.724 0.000 -114.000 ] )
! #blubot( pose [ 6.453 5.820 0.000 -114.000 ] )
! #blubot( pose [ 4.664 4.718 0.000 -114.000 ] )
! #blubot( pose [ 5.658 4.754 0.000 -114.000 ] )
! #blubot( pose [ 7.429 4.718 0.000 -114.000 ] )
! #blubot( pose [ 7.483 3.886 0.000 -114.000 ] )
! #blubot( pose [ 6.742 3.977 0.000 -114.000 ] )
! #blubot( pose [ 5.585 3.940 0.000 -114.000 ] )
! #blubot( pose [ 4.465 3.832 0.000 -114.000 ] )
! #blubot( pose [ 7.501 3.037 0.000 -114.000 ] )
! #blubot( pose [ 6.688 3.127 0.000 -114.000 ] )
! #blubot( pose [ 5.784 3.055 0.000 -114.000 ] )
! #blubot( pose [ 3.145 3.380 0.000 -114.000 ] )
! #blubot( pose [ 2.494 2.314 0.000 -114.000 ] )
! #blubot( pose [ 7.483 2.169 0.000 -114.000 ] )
! #blubot( pose [ 6.616 2.259 0.000 -114.000 ] )
! #blubot( pose [ 3.760 -1.157 0.000 -114.000 ] )
! #blubot( pose [ 4.501 -1.211 0.000 -114.000 ] )
! #blubot( pose [ 5.368 -1.356 0.000 -114.000 ] )
! #blubot( pose [ 7.483 -1.536 0.000 -114.000 ] )
! #blubot( pose [ 7.501 -2.458 0.000 -114.000 ] )
! #blubot( pose [ 7.538 -3.254 0.000 -114.000 ] )
! #blubot( pose [ 6.399 -2.531 0.000 -114.000 ] )
! #blubot( pose [ 3.362 -2.097 0.000 -114.000 ] )
! #blubot( pose [ 4.157 -2.024 0.000 -114.000 ] )
! #blubot( pose [ 5.043 -2.169 0.000 -114.000 ] )
! #blubot( pose [ 3.073 -2.928 0.000 -114.000 ] )
! #blubot( pose [ 4.953 -3.073 0.000 -114.000 ] )
! #blubot( pose [ 5.730 -3.109 0.000 -114.000 ] )
! #blubot( pose [ 6.616 -3.308 0.000 -114.000 ] )
! #blubot( pose [ 7.465 -4.157 0.000 -114.000 ] )
! #blubot( pose [ 6.688 -4.230 0.000 -114.000 ] )
! #blubot( pose [ 5.802 -4.157 0.000 -114.000 ] )
! #blubot( pose [ 4.935 -3.940 0.000 -114.000 ] )
! #blubot( pose [ 3.398 -3.742 0.000 -114.000 ] )
! #blubot( pose [ 2.747 -4.555 0.000 -114.000 ] )
! #blubot( pose [ 4.121 -4.139 0.000 -114.000 ] )
! #blubot( pose [ 3.579 -5.025 0.000 -114.000 ] )
! #blubot( pose [ 3.868 -5.766 0.000 -114.000 ] )
! #blubot( pose [ 3.832 -6.670 0.000 -114.000 ] )
! #blubot( pose [ 3.886 -7.538 0.000 -114.000 ] )
! #blubot( pose [ -5.242 -4.013 0.000 -114.000 ] )
! #blubot( pose [ -7.284 -7.465 0.000 -114.000 ] )
! #blubot( pose [ -6.363 -7.519 0.000 -114.000 ] )
! #blubot( pose [ -5.296 -7.447 0.000 -114.000 ] )
! #blubot( pose [ -4.465 -7.339 0.000 -114.000 ] )
! #blubot( pose [ -3.850 -6.796 0.000 -114.000 ] )
! #blubot( pose [ -3.434 -7.574 0.000 -114.000 ] )
! #blubot( pose [ -3.145 -5.802 0.000 -114.000 ] )
! #blubot( pose [ -2.675 -4.356 0.000 -114.000 ] )
! #blubot( pose [ -4.085 -3.850 0.000 -114.000 ] )
! #blubot( pose [ -5.079 -4.790 0.000 -114.000 ] )
! #blubot( pose [ -4.139 -4.591 0.000 -114.000 ] )
! #blubot( pose [ -4.465 -5.441 0.000 -114.000 ] )
! #blubot( pose [ -2.296 -5.513 0.000 -114.000 ] )
! #blubot( pose [ -2.874 -6.616 0.000 -114.000 ] )
! #blubot( pose [ -2.531 -7.501 0.000 -114.000 ] )
! #blubot( pose [ -1.880 -6.399 0.000 -114.000 ] )
! #blubot( pose [ -1.301 -5.549 0.000 -114.000 ] )
! #blubot( pose [ -0.578 -5.115 0.000 -114.000 ] )
! #blubot( pose [ 0.343 -4.772 0.000 -114.000 ] )
! #blubot( pose [ -0.362 -6.453 0.000 -114.000 ] )
! #blubot( pose [ 2.187 -4.989 0.000 -114.000 ] )
! #blubot( pose [ 1.103 -5.278 0.000 -114.000 ] )
! #blubot( pose [ 6.655 4.967 0.000 -114.000 ] )
! #blubot( pose [ 2.986 6.297 0.000 -114.000 ] )
! #blubot( pose [ 5.973 -1.948 0.000 -114.000 ] )
! #blubot( pose [ -6.687 -5.681 0.000 -114.000 ] )
! #blubot( pose [ -6.038 -4.739 0.000 -114.000 ] )
! #blubot( pose [ -2.458 6.959 0.000 -114.000 ] )
! #blubot( pose [ -0.560 6.959 0.000 -114.000 ] )
! #blubot( pose [ -1.247 7.556 0.000 -114.000 ] )
! #blubot( pose [ -3.272 -4.971 0.000 -114.000 ] )
! #blubot( pose [ -7.176 -6.489 0.000 -114.000 ] )
! #blubot( pose [ -4.953 -6.290 0.000 -114.000 ] )
! #blubot( pose [ 1.988 5.423 0.000 -114.000 ] )
! #blubot( pose [ 1.139 7.447 0.000 -114.000 ] )
! #blubot( pose [ 4.356 5.622 0.000 -114.000 ] )
! #blubot( pose [ 3.525 7.104 0.000 -114.000 ] )
! #blubot( pose [ 5.242 7.610 0.000 -114.000 ] )
! #blubot( pose [ 6.923 7.574 0.000 -114.000 ] )
! #blubot( pose [ 5.893 6.598 0.000 -114.000 ] )
! #blubot( pose [ 7.357 5.838 0.000 -114.000 ] )
! #blubot( pose [ 5.206 5.585 0.000 -114.000 ] )
!
!
! #robot( pose [-2.059 0.153 0.000 -114.000] )
! #robot( pose [1.976 4.378 0.000 -114.000] )
! #robot( pose [-1.945 -1.030 0.000 -114.000] )
! #robot( pose [-5.699 0.426 0.000 -114.000] )
! #robot( pose [-4.504 1.332 0.000 -114.000] )
! #robot( pose [1.956 2.877 0.000 14.916] )
! #robot( pose [-1.462 2.059 0.000 -114.000] )
! #robot( pose [-7.362 7.323 0.000 -114.000] )
! #robot( pose [-1.958 -2.313 0.000 -114.000] )
! #robot( pose [-4.195 0.254 0.000 -114.000] )
! #robot( pose [0.210 -1.088 0.000 -114.000] )
! #robot( pose [-2.305 4.052 0.000 -114.000] )
! #robot( pose [-3.256 5.417 0.000 -114.000] )
! #robot( pose [-6.366 3.777 0.000 -114.000] )
! #robot( pose [-0.229 3.038 0.000 -114.000] )
! #robot( pose [-0.159 -1.879 0.000 -114.000] )
! #robot( pose [-2.682 -1.602 0.000 -114.000] )
! #robot( pose [-6.702 1.687 0.000 -114.000] )
! #robot( pose [-6.132 -0.360 0.000 -114.000] )
! #robot( pose [-3.241 0.483 0.000 -114.000] )
! #robot( pose [-2.479 -0.508 0.000 -114.000] )
! #robot( pose [-1.347 -2.123 0.000 -114.000] )
! #robot( pose [-2.847 -2.631 0.000 -114.000] )
! #robot( pose [-7.507 -0.754 0.000 -114.000] )
! #robot( pose [-1.825 5.810 0.000 -114.000] )
! #robot( pose [0.877 3.140 0.000 -114.000] )
! #robot( pose [-6.648 6.973 0.000 -114.000] )
! #robot( pose [1.438 -1.719 0.000 -114.000] )
! #robot( pose [2.580 -1.602 0.000 -114.000] )
! #robot( pose [1.042 -1.003 0.000 -114.000] )
! #robot( pose [-7.508 -2.877 0.000 -114.000] )
! #robot( pose [-7.323 -1.881 0.000 -114.000] )
! #robot( pose [-6.128 -2.014 0.000 -114.000] )
! #robot( pose [-1.979 -3.322 0.000 -114.000] )
! #robot( pose [-3.078 -3.810 0.000 -114.000] )
! #robot( pose [-3.411 -2.010 0.000 -114.000] )
! #robot( pose [-1.513 1.246 0.000 -114.000] )
! #robot( pose [-2.669 1.004 0.000 -114.000] )
! #robot( pose [-2.352 2.479 0.000 -114.000] )
! #robot( pose [-3.508 -0.191 0.000 -114.000] )
! #robot( pose [-0.826 -1.360 0.000 -114.000] )
! #robot( pose [-5.963 -3.587 0.000 -114.000] )
! #robot( pose [0.127 2.263 0.000 -114.000] )
! #robot( pose [-2.873 1.780 0.000 -114.000] )
! #robot( pose [-1.404 2.930 0.000 -114.000] )
! #robot( pose [-3.369 -0.877 0.000 -114.000] )
! #robot( pose [-0.750 -0.610 0.000 -114.000] )
! #robot( pose [-6.570 6.237 0.000 -114.000] )
! #robot( pose [-6.156 4.985 0.000 -114.000] )
! #robot( pose [-6.030 1.937 0.000 -114.000] )
! #robot( pose [-6.762 2.900 0.000 -114.000] )
! #robot( pose [-5.812 1.137 0.000 -114.000] )
! #robot( pose [-6.525 0.262 0.000 -114.000] )
! #robot( pose [-6.075 -1.062 0.000 -114.000] )
! #robot( pose [-7.425 1.450 0.000 -114.000] )
! #robot( pose [-7.412 3.025 0.000 -114.000] )
! #robot( pose [-5.612 3.825 0.000 -114.000] )
! #robot( pose [-6.425 4.362 0.000 -114.000] )
! #robot( pose [-1.387 0.537 0.000 -114.000] )
! #robot( pose [0.787 -1.825 0.000 -114.000] )
! #robot( pose [0.937 2.287 0.000 -114.000] )
! #robot( pose [-1.662 4.712 0.000 -114.000] )
! #robot( pose [-5.300 3.212 0.000 -114.000] )
! #robot( pose [-5.425 5.225 0.000 -114.000] )
! #robot( pose [-3.975 5.600 0.000 -114.000] )
! #robot( pose [-4.712 5.625 0.000 -114.000] )
! #robot( pose [-2.650 5.612 0.000 -114.000] )
! #robot( pose [-1.538 3.827 0.000 -114.000] )
! #robot( pose [-3.000 6.150 0.000 -114.000] )
! #robot( pose [-5.237 5.912 0.000 -114.000] )
! #robot( pose [-5.937 5.675 0.000 -114.000] )
! #robot( pose [-6.550 5.475 0.000 -114.000] )
! #robot( pose [-3.650 1.374 0.000 -114.000] )
! #robot( pose [-5.116 1.761 0.000 -114.000] )
! #robot( pose [-6.745 1.037 0.000 -114.000] )
! #robot( pose [-6.151 -2.795 0.000 -114.000] )
! #robot( pose [-6.776 -1.356 0.000 -114.000] )
! #robot( pose [-6.728 -3.323 0.000 -114.000] )
! #robot( pose [-6.812 -2.439 0.000 -114.000] )
! #robot( pose [-7.403 6.744 0.000 -114.000] )
! #robot( pose [-6.039 3.010 0.000 -114.000] )
! #robot( pose [-6.607 7.600 0.000 -114.000] )
! #robot( pose [-4.734 4.907 0.000 -114.000] )
! #robot( pose [-7.246 5.984 0.000 -114.000] )
! #robot( pose [-7.296 5.162 0.000 -114.000] )
! #robot( pose [2.329 3.508 0.000 -114.000] )
! #robot( pose [-7.062 2.262 0.000 -114.000] )
! #robot( pose [-4.800 0.637 0.000 -114.000] )
! #robot( pose [-4.962 -0.125 0.000 -114.000] )
! #robot( pose [-6.825 -0.475 0.000 -114.000] )
! #robot( pose [-7.287 0.300 0.000 -114.000] )
! #robot( pose [-6.962 3.825 0.000 -114.000] )
! #robot( pose [-5.412 4.600 0.000 -114.000] )
! #robot( pose [-2.450 4.800 0.000 -114.000] )
! #robot( pose [-7.162 4.550 0.000 -114.000] )
! #robot( pose [-1.475 -0.400 0.000 -114.000] )
! #robot( pose [-0.762 2.225 0.000 -114.000] )
! #robot( pose [-2.266 3.179 0.000 -114.000] )
! #robot( pose [-4.012 4.975 0.000 -114.000] )
! #robot( pose [-5.562 2.462 0.000 -114.000] )
model
(
! pose [3.539 0.693 0.000 0.000]
color "green"
)
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