Update of /cvsroot/playerstage/code/stage/docsrc
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv492/docsrc
Modified Files:
header.html stage.dox stage.txt
Removed Files:
help.txt
Log Message:
major revisions to documentation, which was very out of date
Index: stage.dox
===================================================================
RCS file: /cvsroot/playerstage/code/stage/docsrc/stage.dox,v
retrieving revision 1.16
retrieving revision 1.17
diff -C2 -d -r1.16 -r1.17
*** stage.dox 13 Dec 2007 22:54:11 -0000 1.16
--- stage.dox 24 Feb 2008 23:24:40 -0000 1.17
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*** 24,28 ****
# if some version control system is used.
! PROJECT_NUMBER = 2.1.0
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INPUT = stage.txt \
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Index: stage.txt
===================================================================
RCS file: /cvsroot/playerstage/code/stage/docsrc/stage.txt,v
retrieving revision 1.19
retrieving revision 1.20
diff -C2 -d -r1.19 -r1.20
*** stage.txt 15 Jan 2008 01:25:42 -0000 1.19
--- stage.txt 24 Feb 2008 23:24:40 -0000 1.20
***************
*** 30,36 ****
Stage is a robot simulator. It provides a virtual world populated by
mobile robots and sensors, along with various objects for the robots
! to sense and manipulate. It is usually used to provide simulated
! devices to the Player robot server, but it can also be used as a
! stand-alone robot simulation library.
\section Models
--- 30,49 ----
Stage is a robot simulator. It provides a virtual world populated by
mobile robots and sensors, along with various objects for the robots
! to sense and manipulate.
!
! There are three ways to use Stage:
!
! <ol>
! <li> The "stage" program: a standalone robot simulation program
! that loads your robot control program from a library that you provide.
!
! <li> The Stage plugin for Player (libstageplugin) - provides a
! population of virtual robots for the popular Player networked robot
! interface system.
!
! <li> Write your own simulator: the "libstage" C++ library makes it
! easy to create, run and customize a Stage simulation from inside your
! own programs.
! </ol>
\section Models
***************
*** 109,113 ****
"Stage". When Player is used with its 3D ODE-based simulation backend,
Gazebo, it's called Player/Gazebo. Gazebo without Player is just
! "Gazebo". All this software is part of the "Player/Stage Project".
\section Support
--- 122,126 ----
"Stage". When Player is used with its 3D ODE-based simulation backend,
Gazebo, it's called Player/Gazebo. Gazebo without Player is just
! "Gazebo". All this software is part of the "Player Project".
\section Support
***************
*** 226,237 ****
email.
- \page faq FAQ: Frequently Asked Questions
-
- <b>There are no questions about the 2.0 release yet. If you have a question,
<a href="group__help.html">follow the advice here</a></b>.
-
- <ol>
- <li> [none]
- </ol>
-
\page install Installation
--- 239,242 ----
***************
*** 283,299 ****
</ol>
- <h2>Using Player/Stage</h2>
! Unlike some earlier versions, this version of Stage is not a program
! that you run standalone, and there is no binary called
! "Stage". Instead, Stage provides a Player extension, or "plugin",
! which adds simulated robots to Player. To use the Player/Stage system,
! you run the "player" program with appropriate configuration files.
! See the documentation [EMAIL PROTECTED] player] for details and
! examples.
You can also create your own custom robot simulations independently of
! Player by using the libstage C library directly in your code. See the
! documentation [EMAIL PROTECTED] libstage] for details.
<h2>Customized installations</h2>
--- 288,317 ----
</ol>
! <h2>Player/Stage</h2>
!
! Stage can provide a population of simulated devices for the Player
! robot server. Player client programs can use the virtual Stage devices
! as if they were real Player robots. To do this, Stage provides the
! dynamically-loadable Player plugin driver "libstageplugin". Player
! using libstageplugin is known as "the Player/Stage system", or
! "Player/Stage", and often abbreviated to "P/S".
!
! To use Player/Stage, you run the "player" program with appropriate
! configuration files. See the documentation [EMAIL PROTECTED] player] for
details
! and examples.
!
! <h2>Stage program</h2>
!
! Stage also provides the executable program "stage", which allows you
! to run Stage simulations without Player. There are pros and cons of
! using Player, so be sure to read the documentation [EMAIL PROTECTED] stage]
and
! [EMAIL PROTECTED] player] to determine what's best for your project.
!
! <h2>libstage C++ library</h2>
You can also create your own custom robot simulations independently of
! Player by using the libstage C++ library directly in your code. See
! the documentation [EMAIL PROTECTED] libstage] for details.
<h2>Customized installations</h2>
***************
*** 345,346 ****
--- 363,609 ----
*/
+
+
+ /* Stage plugin documentation file - parsed by Doxygen for the user
+ * manual
+ * $Id$
+ */
+
+ /**
+ @mainpage The Stage Robot Simulator
+
+ <p>Copyright Richard Vaughan and contributors 1998-2005.
+ <p>Part of the Player/Stage Project [http://playerstage.sourceforge.net]
+
+ \section License
+
+ <p>Stage sourcecode and documentation is released under the terms of
+ the GNU General Public License v2. A copy of the license is included
+ with the sourcecode in the file 'COPYING". Copying and redistribution
+ is permitted only under the terms of the license.
+
+ <hr>
+ <small>
+ Richard Vaughan <tt>([EMAIL PROTECTED])</tt> \$Id$
+ </small>
+ */
+
+
+ /**
+ @ingroup stage
+ @defgroup help Getting Help
+
+ If you're having problems and you can't find what you need in this manual,
there are several places to find help.
+
+ First, please check the <a
+ href=http://playerstage.sourceforge.net/doc/doc.html>online
+ documentation page</a> to make sure you have the latest
+ documentation. In particular, check the <a
+ href=http://playerstage.sourceforge.net/doc/stage_user/faq.html>latest
+ online latest FAQ page</a>.
+
+ Next, you should search <a
+ href=http://sourceforge.net/mailarchive/forum.php?forum_id=8201>the
+ playerstage_users mailing list archive</a> to
+ see if your questions have already been answered.
+
+ Next, you should probably spend a few minutes with <a
+ href=http://www.google.com>Google</a>. This often works well, as it
+ picks up P/S conversations from all over the place.
+
+ If you still need help, you can send email to the mailing list
+ [EMAIL PROTECTED] and a user or developer may
+ reply to you. <b>Remember that these mails go to hundreds of people</b>, so
+ please be polite and give as much information as you can in your
+ email.
+
+ */
+
+
+ /**
+ @ingroup stage
+ @defgroup refs References
+
+ [1] Brian Gerkey, Richard Vaughan, Kasper Stoy, Andrew Howard, Gaurav
+ Sukhatme, Maja Mataric (2001) "Most Valuable Player: A Robot Device
+ Server for Distributed Control", Proc. IEEE Int. Conf. Intelligent
+ Robotic Systems, Maui, Hawaii. (IROS'01)
+
+ [2] Richard Vaughan, Brian Gerkey, Andrew Howard (2003) "On device
+ abstractions for portable, resuable robot code", IEEE/RSJ
+ International Conference on Intelligent Robot Systems, Las Vegas,
+ Nevada, USA. (IROS2003)
+
+ [3] Brian Gerkey, Richard Vaughan, Andrew Howard (2003) "The
+ Player/Stage Project: Tools for Multi-Robot and Distributed Sensor
+ Systems", 11th International Conference on Advanced Robotics, Coimbra,
+ Portugal (ICAR'03).
+
+ [4] Nick Jakobi (1997) "Evolutionary Robotics and the Radical Envelope
+ of Noise Hypothesis", Adaptive Behavior Volume 6, Issue 2. pp.325 -
+ 368 .
+
+ [5] Stuart Wilson (1985) "Knowledge Growth in an Artificial Animal",
+ Proceedings of the First International Conference on Genetic Agorithms
+ and Their Applications. Hillsdale, New Jersey. pp.16-23.
+
+ */
+
+ /**
+ @ingroup stage
+ @defgroup install Installation
+
+ <b>Important: Stage is an extension to Player; Player must be properly
+ installed before you can install Stage.</b>
+
+ <h2>Quick start</h2>
+
+ Install Player first, then Stage, using the standard GNU autotools
+ build system: download and extract the tarballs, then <tt>./configure
+ ; make install</tt>.
+
+ <h2>Standard install procedure</h2>
+
+ <p>To install Stage in the default location, follow these steps:
+
+ <ol>
+
+ <li>Make sure Player is installed and working. See the Player
+ documentation for instructions.
+
+ <li>Download the latest Stage source tarball (stage-src-\<version\>.tgz)
+ from <a href=http:playerstage.sf.net>http://playerstage.sf.net</a>
+
+ <li>Uncompress and expand the tarball: <br>
+ <tt>$ tar xzvf stage-\<version\>.tgz</tt>
+
+ <li>`cd' into Stage's source directory:<br>
+ <tt>$ cd stage-\<version\></tt>
+
+ <li>To configure Stage with default settings:<br>
+ <tt>$ ./configure</tt><br>
+
+ <li>Compile Stage:<br>
+ <tt>$ make</tt>
+
+ <li>Install Stage. By default, Stage will be installed in
+ <tt>/usr/local</tt> so you need to become root for this step. Remember
+ to return to your normal user ID afterwards. <br>
+ <tt>$ make install</tt>
+
+ </ol>
+
+ <h2>Customized installations</h2>
+
+ <p>Stage follows the standard GNU autotools conventions for build and
+ install options. To see a list of all the available configuration
+ options, do this:
+
+ <p><tt>./configure --help</tt>
+
+ <p>The most important option is <tt>--prefix</tt>, used
+ to change the installation directory from the default (which varies
+ from system to system, but is usually <tt>/usr/local</tt>). In
+ general, Stage should get the same prefix you used to install Player.
Prefixes must be absolute paths, i.e. a complete path starting with a '/'.
+
+ <p>For example, you might want to install Stage your home directory
+ because you don't have root access:
+
+ <p><tt>$./configure --prefix=/home/harrison/PS</tt>
+
+ <p><b>Remember: these instructions assume that Player was configured with the
+ same prefix.</b> The command line to do this is probably the same, but you
+ should check the Player instructions just in case.
+
+ */
+
+
+ /**
+ @page release Release Notes
+
+ <h2>Version 1.6.1</h2>
+
+ This is a bug-fix release that replaces 1.6.0.
+
+ - Fixes several GUI bugs, including the [View/Fill Polygons] menu item.
+
+ - Some code clean-up and thread-safety fixes
+
+ <h2>Version 1.6.0</h2>
+
+ This release of Stage is the first after a major rewrite. There are
+ bound to be bugs and teething troubles, but the <a
+ href=http://www.cs.sfu.ca/research/groups/autonomy>Autonomy Lab</a>
+ has been using this code for serious work for a few months now and we
+ think it's useful and usable.
+
+ <h3>Significant changes visible to the user</h3>
+
+ <ol>
+
+ <li>Stage is now a Player plugin, instead of an executable. The key
+ benefit of this is that <b>all Player drivers are now available for
+ use directly with Stage</b>, including sophisticated drivers like
+ AMCL, without needing passthrough drivers.
+
+ <li>Stage depends on Player 1.6 or newer.
+
+ <li>Worldfile syntax has a changed, so you need to edit your existing
+ worlds to get them to work. Look at the example worlds in <tt>(stage
+ src)/worlds</tt> to get the idea.
+
+ <li>Any object can now have its shape specified by a bitmap file
+
+ <li>Several bitmap file formats are supported, using a third-party
+ library. Load maps and robot bodies from JPG, PNG, etc. No more PNM
+ troubles.
+
+ <li>Worlds can now be very large (thousands of meters square).
+
+ <li>Several models are missing from this release - notably the gripper
+ and puck. These will be available soon. Meanwhile, enjoy the full
+ power of Player with the basic laser, sonar, position, fiducial and
+ blobfinder models.
+
+ <li>Stage no longer depends on libRTK.
+
+ <li>Some models from previous versions may not yet be available in
+ this release (e.g. gripper & puck), but we're working on them. Let us
+ know which ones you need.
+
+ </ol>
+
+ <h3>Significant changes under the hood</h3>
+
+ <ol>
+
+ <li>The Stage simulation engine is now a library rather than an
+ application. The library can be used to write custom robot
+ simulations. This is very useful if you need to do synchronous control
+ of robots (e.g for perfectly repeatable experiments), or dynamically
+ create and destroy robots or other objects. You can't (yet) do this
+ though Player. Refer to the <a
+ href=http://playerstage.sf.net/doc/stage_reference>libstage reference
+ manual</a> for the API and developer docs.</a>.
+
+ <li>Stage is now mostly written in C. A simple object-oriented system
+ allows one level of inheritance for writing polymorphic model code.
+
+ <li>The underlying occupancy grid model has changed from a simple
+ fixed-size array to a sparse array of (almost) unlimited size
+ (implemented with a hash table). To compensate for the performance hit
+ of raytracing in the hash table, a three-level multiple-resolution
+ approach is used. Raytracing is now usually <i>much</i> faster than in
+ Stage-1.3. To get an idea how this works, select the
+ View/Debug/Raytrace menu item while a laser or ranger is producing
+ data.
+
+ <li>Most home-rolled data structures have been replaced by glib
+ versions.
+
+ </ol>
+
+ */
+
+
+
Index: header.html
===================================================================
RCS file: /cvsroot/playerstage/code/stage/docsrc/header.html,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** header.html 15 Jan 2008 01:25:42 -0000 1.4
--- header.html 24 Feb 2008 23:24:40 -0000 1.5
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*** 76,82 ****
! #sidebar { position: absolute; left:0px; padding:2em; top:0em; width:9em;}
! #content { position: absolute; left:10em; top:0em; padding-left:3em;
padding-right:3em; padding-bottom:2em; margin-top:1em; margin-right:2em; }
div.box { background-color:#EEE; border: 1px solid #000; padding: 0.5ex 0.4em
0.5ex 0.6em; margin:1em; }
--- 76,82 ----
! #sidebar { position: absolute; left:0px; padding:2em; top:0em; width:11em;}
! #content { position: absolute; left:12em; top:0em; padding-left:3em;
padding-right:3em; padding-bottom:2em; margin-top:1em; margin-right:2em; }
div.box { background-color:#EEE; border: 1px solid #000; padding: 0.5ex 0.4em
0.5ex 0.6em; margin:1em; }
***************
*** 115,121 ****
<li class=menu><a href="install.html">Installation</a>
<li class=menu><a href="help.html">Help</a>
- <li class=menu><a href="faq.html">FAQ</a>
- <hr>
- <li class=menu><a href="group__player.html">Player plugin</a>
<hr>
--- 115,118 ----
***************
*** 123,136 ****
<li class=menu><a href="group__world.html">World</a>
! <li class=menu><a href="group__window.html">Window</a>
<li class=menu><a href="group__model.html">Model</a>
<ul class=menu1>
<li class=menu><a href="group__model__blobfinder.html">blobfinder</a></li>
- <li class=menu><a href="group__model__bumper.html">bumper</a></li>
<li class=menu><a href="group__model__fiducial.html">fiducial</a></li>
- <li class=menu><a href="group__model__gripper.html">gripper</a></li>
<li class=menu><a href="group__model__laser.html">laser</a></li>
<li class=menu><a href="group__model__position.html">position</a></li>
<li class=menu><a href="group__model__ranger.html">ranger</a></li>
</ul>
--- 120,136 ----
<li class=menu><a href="group__world.html">World</a>
! <li class=menu><a href="group__worldgui.html">WorldGUI</a>
<li class=menu><a href="group__model.html">Model</a>
<ul class=menu1>
<li class=menu><a href="group__model__blobfinder.html">blobfinder</a></li>
<li class=menu><a href="group__model__fiducial.html">fiducial</a></li>
<li class=menu><a href="group__model__laser.html">laser</a></li>
<li class=menu><a href="group__model__position.html">position</a></li>
<li class=menu><a href="group__model__ranger.html">ranger</a></li>
+ <!--
+ TODO
+ <li class=menu><a href="group__model__gripper.html">gripper</a></li>
+ <li class=menu><a href="group__model__bumper.html">bumper</a></li>
+ -->
</ul>
***************
*** 138,141 ****
--- 138,147 ----
<div class=box>
+ <div class="title">Player</div>
+ <li class=menu><a href="group__player.html">libstageplugin</a>
+ </div>
+
+
+ <div class=box>
<div class="title">Developer</div>
<a href="group__libstage.html">libstage</a>
***************
*** 146,149 ****
--- 152,156 ----
<div class="title">Online</div>
<a href="http://playerstage.sourceforge.net";>Homepage</a><br>
+ <a href="http://playerstage.sourceforge.net/wiki/Basic_FAQ";>FAQ (Wiki)</a><br>
<a
href="http://sourceforge.net/project/showfiles.php?group_id=42445";>Download</a><br>
<a href="http://sourceforge.net/projects/playerstage";>Project</a><br>
--- help.txt DELETED ---
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