Update of /cvsroot/playerstage/code/stage/worlds
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv15242/worlds
Modified Files:
889.world map.inc
Added Files:
fasr.world
Log Message:
resource transport demo
Index: map.inc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/map.inc,v
retrieving revision 1.15
retrieving revision 1.16
diff -C2 -d -r1.15 -r1.16
*** map.inc 21 Feb 2008 05:57:43 -0000 1.15
--- map.inc 3 Mar 2008 06:02:26 -0000 1.16
***************
*** 19,20 ****
--- 19,29 ----
laser_return 1
)
+
+ define zone model
+ (
+ color "orange"
+ size3 [ 2 2 0.001 ]
+ obstacle_return 0
+ laser_return 0
+ ranger_return 0
+ )
--- NEW FILE: fasr.world ---
# FASR demo world
# Authors: Richard Vaughan
# $Id: fasr.world,v 1.1 2008/03/03 06:02:26 rtv Exp $
# defines Pioneer-like robots
include "pioneer.inc"
# defines 'map' object used for floorplans
include "map.inc"
# defines sick laser
include "sick.inc"
# 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
paused 0
# configure the GUI window
window
(
size [ 1100.000 724.000 ]
center [156.990 124.960]
rotate [ 0.000 0.000 ]
scale 39.806
)
# load an environment bitmap
floorplan
(
name "cave"
size3 [16 16 0.5]
pose [0.000 0.000 0.000]
bitmap "bitmaps/cave.png"
)
zone
(
color "green"
pose [ -7.000 -7.000 0.000 ]
name "source"
ctrl "source"
)
zone
(
color "red"
pose [ 7.000 7.000 0.000 ]
name "sink"
ctrl "sink"
)
define autorob pioneer2dx
(
color "red"
sicklaser(pose [ 0.040 0.000 0.000 ] samples 32 fov 180 )
ctrl "fasr"
)
autorob( pose [4.126 6.251 1.930] )
autorob( pose [6.635 6.458 -52.629] )
autorob( pose [6.668 5.238 -87.082] )
autorob( pose [6.540 4.245 170.536] )
autorob( pose [5.641 6.672 -10.539] )
autorob( pose [7.493 4.852 -156.719] )
autorob( pose [5.078 6.853 -37.549] )
autorob( pose [6.147 7.399 4.964] )
autorob( pose [4.477 4.990 125.796] )
autorob( pose [7.487 6.926 -40.634] )
#autorob( pose [-6.370 2.754 -113.456] )
#autorob( pose [0.402 -6.819 -1.177] )
#autorob( pose [-2.892 -0.583 46.585] )
#autorob( pose [2.284 5.478 135.162] )
#autorob( pose [-2.483 -1.567 -3.588] )
autorob( pose [6.714 7.447 -73.332] )
autorob( pose [5.582 5.724 -48.161] )
autorob( pose [3.778 7.160 -102.651] )
autorob( pose [5.539 4.594 23.582] )
autorob( pose [7.534 5.825 -70.230] )
Index: 889.world
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/889.world,v
retrieving revision 1.13
retrieving revision 1.14
diff -C2 -d -r1.13 -r1.14
*** 889.world 24 Feb 2008 20:13:57 -0000 1.13
--- 889.world 3 Mar 2008 06:02:26 -0000 1.14
***************
*** 19,23 ****
interval_sim 100 # simulation timestep in milliseconds
! interval_real 1 # real-time interval between simulation updates in
milliseconds
paused 0
--- 19,23 ----
interval_sim 100 # simulation timestep in milliseconds
! interval_real 25 # real-time interval between simulation updates in
milliseconds
paused 0
***************
*** 43,46 ****
--- 43,47 ----
color "red"
sicklaser( pose [ 0.040 0.000 0.000 ] samples 32 )
+ blobfinder()
ctrl "wander"
)
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