Update of /cvsroot/playerstage/code/stage/worlds
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5949/worlds
Modified Files:
Tag: opengl
simple.world worldgen.sh
Log Message:
vastly improved worldfile loading time. can run 10000 robots no problem.
Index: worldgen.sh
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/worldgen.sh,v
retrieving revision 1.1
retrieving revision 1.1.6.1
diff -C2 -d -r1.1 -r1.1.6.1
*** worldgen.sh 8 May 2005 05:07:27 -0000 1.1
--- worldgen.sh 26 Nov 2007 06:28:16 -0000 1.1.6.1
***************
*** 1,11 ****
#!/bin/bash
for (( INDEX=0 ; $INDEX < $1 ; INDEX++ )) ; do
! X=$(($RANDOM % $2))
! Y=$(($RANDOM % $3))
A=$(($RANDOM % 360))
! X=$(($X - $2 / 2))
! Y=$(($Y - $3 / 2))
! echo "pioneer2dx( name \"robot$INDEX\" pose [$X $Y $A] laser() blobfinder()
)"
done
\ No newline at end of file
--- 1,18 ----
#!/bin/bash
+ X=10
+ Y=20
+
for (( INDEX=0 ; $INDEX < $1 ; INDEX++ )) ; do
! X=$(($RANDOM))
! Y=$(($RANDOM))
A=$(($RANDOM % 360))
!
! #P=$(bc <<< "scale=4; ($X * ( $2 / 32767.0 )) - $2/2.0")
! #Q=$(bc <<< "scale=4; ($Y * ( $3 / 32767.0 )) - $3/2.0")
! P=$(bc <<< "scale=4; ($X * ( $2 / 32767.0 )) + $4")
! Q=$(bc <<< "scale=4; ($Y * ( $3 / 32767.0 )) + $5")
!
! echo "robot( name \"r$INDEX\" pose [ $P $Q $A ] )"
done
\ No newline at end of file
Index: simple.world
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/simple.world,v
retrieving revision 1.64.2.27
retrieving revision 1.64.2.28
diff -C2 -d -r1.64.2.27 -r1.64.2.28
*** simple.world 22 Nov 2007 01:42:48 -0000 1.64.2.27
--- simple.world 26 Nov 2007 06:28:16 -0000 1.64.2.28
***************
*** 22,26 ****
interval_sim 100 # simulation timestep in milliseconds
! interval_real 100 # real-time interval between simulation updates in
milliseconds
# configure the GUI window
window
--- 22,26 ----
interval_sim 100 # simulation timestep in milliseconds
! interval_real 10 # real-time interval between simulation updates in
milliseconds
# configure the GUI window
window
***************
*** 51,128 ****
)
- # create a robot
- 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] )
--- 51,61 ----
)
! pioneer2dx
(
! name "r0"
color "red"
! pose [-2.551 -0.281 -39.206]
! sick_laser( pose [ 0.040 0.000 0.000 ] )
)
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