Update of /cvsroot/playerstage/code/stage/worlds
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4664/worlds
Modified Files:
Tag: opengl
pioneer.inc simple.world test.world
Log Message:
fixing up autoconf
Index: simple.world
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/simple.world,v
retrieving revision 1.64.2.26
retrieving revision 1.64.2.27
diff -C2 -d -r1.64.2.26 -r1.64.2.27
*** simple.world 4 Oct 2007 01:17:04 -0000 1.64.2.26
--- simple.world 22 Nov 2007 01:42:48 -0000 1.64.2.27
***************
*** 6,15 ****
--- 6,18 ----
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 10]
***************
*** 19,32 ****
interval_sim 100 # simulation timestep in milliseconds
! interval_real 0 # real-time interval between simulation updates in
milliseconds
# configure the GUI window
window
(
! size [ 547.000 543.000 ]
! center [0.990 -1.040]
rotate [ 0.000 0.000 ]
! scale 30.806
! show_bboxes 0
! show_grid 1
)
--- 22,40 ----
interval_sim 100 # simulation timestep in milliseconds
! interval_real 100 # real-time interval between simulation updates in
milliseconds
# configure the GUI window
window
(
! size [ 572.000 555.000 ]
! center [-8.010 -6.040]
rotate [ 0.000 0.000 ]
! scale 29.806
!
! #show_grid 1
! #show_data 0
! #show_blocks 1
! #show_follow 0
! #show_tree 0
! #show_clock 0
)
***************
*** 46,80 ****
define laserpioneer pioneer2dx
(
! fancy_sick_laser( pose [ 0.040 0.000 0.000 0.000 ] )
)
laserpioneer
(
! name "redrobot"
color "red"
! pose [3.650 -5.994 0.000 -4.708]
)
laserpioneer
(
! name "greenrobot"
color "green"
! pose [-0.783 -4.851 0.000 -384.190]
)
laserpioneer
(
! name "bluerobot"
color "LightBlue"
! pose [-1.731 -4.803 0.000 414.558]
)
! #model
! #(
! # name "little bitmap"
! # size [1 1 0.2]
! # bitmap "bitmaps/space_invader.png"
! # color "purple"
! # pose [ -3.521 -6.347 0.000 0.000]
! #)
--- 54,128 ----
define laserpioneer pioneer2dx
(
! sick_laser( pose [ 0.040 0.000 0.000 0.000 ] )
)
+ define brownpioneer laserpioneer( color "brown" )
+ define greenpioneer laserpioneer( color "green" )
+ define purplepioneer laserpioneer( color "purple" )
+ define bluepioneer laserpioneer( color "blue" )
+ define orangepioneer laserpioneer( color "orange" )
+
laserpioneer
(
! name "r00"
color "red"
! pose [-2.551 -0.281 0.000 -39.206]
)
laserpioneer
(
! name "r01"
color "green"
! pose [-1.651 -5.621 0.000 176.566]
)
laserpioneer
(
! name "r02"
color "LightBlue"
! pose [-3.383 -4.781 0.000 -132.172]
)
! #brownpioneer( name "r00" pose [-1.731 -4.803 0.000 54.558] )
! #brownpioneer( name "r01" pose [-1.731 -4.803 0.000 54.558] )
! #brownpioneer( name "r02" pose [-1.731 -4.803 0.000 54.558] )
! brownpioneer( name "r03" pose [-6.675 7.282 0.000 43.480] )
! brownpioneer( name "r04" pose [-7.413 7.283 0.000 -101.231] )
! brownpioneer( name "r05" pose [-7.114 6.798 0.000 -57.925] )
! brownpioneer( name "r06" pose [-6.560 6.379 0.000 -66.074] )
! brownpioneer( name "r07" pose [-5.825 6.097 0.000 -59.973] )
! brownpioneer( name "r08" pose [-7.357 6.214 0.000 20.840] )
! brownpioneer( name "r09" pose [-6.819 5.771 0.000 -46.914] )
+ orangepioneer( name "r10" pose [-3.455 5.078 0.000 -0.989] )
+ orangepioneer( name "r11" pose [-1.873 5.426 0.000 -125.036] )
+ orangepioneer( name "r12" pose [-2.085 4.095 0.000 -69.624] )
+ orangepioneer( name "r13" pose [-0.661 6.763 0.000 3.686] )
+ orangepioneer( name "r14" pose [-1.060 7.116 0.000 -15.328] )
+ orangepioneer( name "r15" pose [-3.032 6.263 0.000 -48.642] )
+ orangepioneer( name "r16" pose [-1.573 2.505 0.000 -73.683] )
+ orangepioneer( name "r17" pose [-3.410 5.744 0.000 -55.314] )
+ orangepioneer( name "r18" pose [-2.101 6.437 0.000 -86.619] )
+ orangepioneer( name "r19" pose [-1.746 7.091 0.000 -70.091] )
+
+ greenpioneer( name "r20" pose [-6.132 1.953 0.000 -82.892] )
+ greenpioneer( name "r21" pose [-5.281 4.268 0.000 -79.434] )
+ greenpioneer( name "r22" pose [-5.998 2.927 0.000 -94.437] )
+ greenpioneer( name "r23" pose [-6.691 1.420 0.000 -81.293] )
+ greenpioneer( name "r24" pose [-5.524 -0.199 0.000 -86.044] )
+ greenpioneer( name "r25" pose [-5.263 1.784 0.000 -63.546] )
+ greenpioneer( name "r26" pose [-6.168 0.455 0.000 -76.684] )
+ greenpioneer( name "r27" pose [-6.922 2.700 0.000 -86.839] )
+ greenpioneer( name "r28" pose [-4.211 0.491 0.000 -38.003] )
+ greenpioneer( name "r29" pose [-4.855 1.027 0.000 -42.091] )
+
+ purplepioneer( name "r30" pose [-7.189 5.280 0.000 -62.388] )
+ purplepioneer( name "r31" pose [-6.098 5.531 0.000 -91.188] )
+ purplepioneer( name "r32" pose [-6.715 4.555 0.000 -101.809] )
+ purplepioneer( name "r33" pose [-7.071 3.551 0.000 -55.258] )
+ purplepioneer( name "r34" pose [-5.152 5.719 0.000 -21.781] )
+ purplepioneer( name "r35" pose [-5.658 4.849 0.000 -36.223] )
+ purplepioneer( name "r36" pose [-5.762 3.699 0.000 -86.429] )
+ purplepioneer( name "r37" pose [-6.209 4.311 0.000 -57.884] )
+ purplepioneer( name "r38" pose [-4.071 5.482 0.000 75.347] )
+ purplepioneer( name "r39" pose [-4.900 5.195 0.000 -43.787] )
Index: pioneer.inc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/pioneer.inc,v
retrieving revision 1.27.4.10
retrieving revision 1.27.4.11
diff -C2 -d -r1.27.4.10 -r1.27.4.11
*** pioneer.inc 18 Jul 2007 06:39:10 -0000 1.27.4.10
--- pioneer.inc 22 Nov 2007 01:42:48 -0000 1.27.4.11
***************
*** 14,33 ****
# define the pose of each transducer [xpos ypos heading]
! spose[0] [ 0.0075 0.0130 90 ]
! spose[1] [ 0.0115 0.0115 50 ]
! spose[2] [ 0.0150 0.0080 30 ]
! spose[3] [ 0.0170 0.0025 10 ]
! spose[4] [ 0.0170 -0.0025 -10 ]
! spose[5] [ 0.0150 -0.0080 -30 ]
! spose[6] [ 0.0115 -0.0115 -50 ]
! spose[7] [ 0.0075 -0.0130 -90 ]
! spose[8] [ -0.0155 -0.0130 -90 ]
! spose[9] [ -0.0195 -0.0115 -130 ]
! spose[10] [ -0.0230 -0.0080 -150 ]
! spose[11] [ -0.0250 -0.0025 -170 ]
! spose[12] [ -0.0250 0.0025 170 ]
! spose[13] [ -0.0230 0.0080 150 ]
! spose[14] [ -0.0195 0.0115 130 ]
! spose[15] [ -0.0155 0.0130 90 ]
# define the field of view of each transducer [range_min range_max
view_angle]
--- 14,33 ----
# define the pose of each transducer [xpos ypos heading]
! spose[0] [ 0.075 0.130 90 ]
! spose[1] [ 0.115 0.115 50 ]
! spose[2] [ 0.150 0.080 30 ]
! spose[3] [ 0.170 0.025 10 ]
! spose[4] [ 0.170 -0.025 -10 ]
! spose[5] [ 0.150 -0.080 -30 ]
! spose[6] [ 0.115 -0.115 -50 ]
! spose[7] [ 0.075 -0.130 -90 ]
! spose[8] [ -0.155 -0.130 -90 ]
! spose[9] [ -0.195 -0.115 -130 ]
! spose[10] [ -0.230 -0.080 -150 ]
! spose[11] [ -0.250 -0.025 -170 ]
! spose[12] [ -0.250 0.025 170 ]
! spose[13] [ -0.230 0.080 150 ]
! spose[14] [ -0.195 0.115 130 ]
! spose[15] [ -0.155 0.130 90 ]
# define the field of view of each transducer [range_min range_max
view_angle]
***************
*** 38,43 ****
)
!
! # a Pioneer 2 or 3 in standard configuration
define pioneer2dx position
(
--- 38,42 ----
)
!
define pioneer2dx position
(
***************
*** 60,64 ****
drive "diff"
! # this set of blocks approximates the shape of a pioneer
# The geometry is from the Webots v5.3.0 manual. Thanks to Webots
--- 59,80 ----
drive "diff"
! # this polygon approximates the shape of a pioneer
! blocks 1
! block[0].points 8
! block[0].point[0] [ 0.23 0.05 ]
! block[0].point[1] [ 0.15 0.15 ]
! block[0].point[2] [ -0.15 0.15 ]
! block[0].point[3] [ -0.23 0.05 ]
! block[0].point[4] [ -0.23 -0.05 ]
! block[0].point[5] [ -0.15 -0.15 ]
! block[0].point[6] [ 0.15 -0.15 ]
! block[0].point[7] [ 0.23 -0.05 ]
! block[0].z [0 0.45]
! )
!
! # a Pioneer 2 or 3 in standard configuration
! define fancypioneer2dx pioneer2dx
! (
! # this set of blocks approximates the shape of a real Pioneer
# The geometry is from the Webots v5.3.0 manual. Thanks to Webots
Index: test.world
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/test.world,v
retrieving revision 1.45.6.4
retrieving revision 1.45.6.5
diff -C2 -d -r1.45.6.4 -r1.45.6.5
*** test.world 31 Oct 2007 03:55:11 -0000 1.45.6.4
--- test.world 22 Nov 2007 01:42:48 -0000 1.45.6.5
***************
*** 5,9 ****
# size of the world in meters
! size [18 18 10]
# set the resolution of the underlying raytrace model in meters
--- 5,9 ----
# size of the world in meters
! size [40 20 10]
# set the resolution of the underlying raytrace model in meters
***************
*** 16,387 ****
window
(
! size [ 547.000 543.000 ]
! center [0.990 -1.040]
rotate [ 0.000 0.000 ]
! scale 30.806
#show_bboxes 0
#show_grid 1
! redraw_interval 10
)
include "map.inc"
!
!
include "sick.inc"
-
-
floorplan
(
! size [16 16 0.6]
! bitmap "bitmaps/cave.png"
! #bitmap "bitmaps/hospital_section.png"
)
! define grobot model
(
! fancy_sick_laser( samples 1 )
!
! size [0.5 0.5 0.3]
!
! velocity [0 0 0 0]
!
! color "red"
!
! blocks 7
! # main body
! block[0].points 8
! block[0].point[7] [ -0.215 -0.1 ]
! block[0].point[6] [ -0.215 0.1 ]
! block[0].point[5] [ -0.185 0.135 ]
! block[0].point[4] [ 0.095 0.135 ]
! block[0].point[3] [ 0.11 0.08 ]
! block[0].point[2] [ 0.11 -0.08 ]
! block[0].point[1] [ 0.095 -0.135 ]
! block[0].point[0] [ -0.185 -0.135 ]
! block[0].z [ 0.059 0.234 ]
!
!
! # sonar case
! block[1].points 9
! block[1].point[0] [ -0.135 0.136 ]
! block[1].point[1] [ -0.185 0.136 ]
! block[1].point[2] [ -0.223 0.101 ]
! block[1].point[3] [ -0.248 0.054 ]
! block[1].point[4] [ -0.258 0 ]
! block[1].point[5] [ -0.248 -0.054 ]
! block[1].point[6] [ -0.223 -0.101 ]
! block[1].point[7] [ -0.185 -0.136 ]
! block[1].point[8] [ -0.135 -0.136 ]
! block[1].z [ 0.184 0.234 ]
!
! #sonar case
! block[2].points 9
! block[2].point[0] [ 0.046 -0.136 ]
! block[2].point[1] [ 0.096 -0.136 ]
! block[2].point[2] [ 0.134 -0.101 ]
! block[2].point[3] [ 0.159 -0.054 ]
! block[2].point[4] [ 0.168 0 ]
! block[2].point[5] [ 0.159 0.054 ]
! block[2].point[6] [ 0.134 0.101 ]
! block[2].point[7] [ 0.096 0.136 ]
! block[2].point[8] [ 0.046 0.136 ]
! block[2].z [ 0.184 0.234 ]
!
! # 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"
)
!
! define robot position
(
! debug 0
!
! #fancy_sick_laser( samples 361 )
! laser( samples 180 debug 0 pose [0.00 0.000 0.000 0.000 ] )
!
! size [0.5 0.5 0.3]
!
! velocity [0 0 0 0]
!
! color "red"
)
! define blubot robot
! ( color "purple" )
!
! blubot( name "han" pose [ 1.946 -6.796 0.000 -30.510 ] )
! #blubot( pose [ 4.090 -3.116 0.000 -132.679 ] )
! #blubot( pose [ -7.141 -4.317 0.000 -124.084 ] )
! #blubot( pose [ -7.466 -5.389 0.000 -132.679 ] )
! #blubot( pose [ -1.555 6.742 0.000 -56.293 ] )
! #blubot( pose [ 0.452 6.796 0.000 21.056 ] )
! #blubot( pose [ 1.609 6.634 0.000 3.868 ] )
! #blubot( pose [ -5.513 -5.640 0.000 64.028 ] )
! #blubot( pose [ -5.947 -6.724 0.000 21.056 ] )
! #blubot( pose [ -3.886 -6.037 0.000 -106.896 ] )
! #blubot( pose [ 2.404 6.995 0.000 -124.084 ] )
! #blubot( pose [ 3.543 5.549 0.000 55.434 ] )
!
! #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"
! #)
!
! #model
! #(
! # pose [3.496 4.521 0.000 0.000]
! # color "blue"
! #)
!
! #model
! #(
! # pose [6.000 0.000 0.000 0.000]
! # color "purple"
! #)
\ No newline at end of file
--- 16,73 ----
window
(
! size [ 1135.000 611.000 ]
! center [1.990 -6.040]
rotate [ 0.000 0.000 ]
! scale 26.603
#show_bboxes 0
#show_grid 1
! redraw_interval 50
)
include "map.inc"
! include "pioneer.inc"
include "sick.inc"
floorplan
(
! size [40 20 0.6]
! #bitmap "bitmaps/cave.png"
! bitmap "bitmaps/hospital_section.png"
)
! define robot pioneer2dx
(
! debug 0
! sick_laser( pose [0.05 0.000 0.000 0.000 ] )
! )
! robot( pose [ -3.737 -4.760 0.000 -29.237 ] )
! robot( pose [ 9.432 -4.207 0.000 -26.879 ] )
! robot( pose [ -10.695 -0.712 0.000 154.516 ] )
! robot( pose [ -3.139 4.589 0.000 -99.979 ] )
! robot( pose [ -13.753 3.035 0.000 -119.470 ] )
! robot( pose [ 2.949 3.604 0.000 -14.544 ] )
! robot( pose [ 0.095 3.028 0.000 -59.432 ] )
! robot( pose [ -6.288 1.818 0.000 -105.872 ] )
! robot( pose [ -6.403 3.043 0.000 110.256 ] )
! robot( pose [ -5.662 5.675 0.000 65.404 ] )
! model
! (
! pose [-3.861 -8.920 0.000 0.000]
! color "cyan"
)
! model
(
! pose [-2.400 -8.921 0.000 0.000]
! color "yellow"
)
! model
! (
! pose [-5.278 -8.871 0.000 0.000]
! color "magenta"
! )
\ No newline at end of file
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