Update of /cvsroot/playerstage/code/stage/examples/ctrl
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4662/examples/ctrl
Modified Files:
fasr.cc sink.cc source.cc
Log Message:
resource transport demo
Index: sink.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/examples/ctrl/sink.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** sink.cc 3 Mar 2008 06:02:25 -0000 1.1
--- sink.cc 3 Mar 2008 07:01:12 -0000 1.2
***************
*** 2,6 ****
using namespace Stg;
! const int INTERVAL = 100;
int Update( StgModel* mod, void* dummy );
--- 2,6 ----
using namespace Stg;
! const int INTERVAL = 50;
int Update( StgModel* mod, void* dummy );
Index: fasr.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/examples/ctrl/fasr.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** fasr.cc 3 Mar 2008 06:02:25 -0000 1.1
--- fasr.cc 3 Mar 2008 07:01:12 -0000 1.2
***************
*** 9,12 ****
--- 9,15 ----
const bool verbose = false;
const int avoidduration = 10;
+ const int workduration = 20;
+ const int payload = 4;
+
double have[4][4] = {
***************
*** 14,23 ****
{ 90, -90, 0, -90 },
{ 90, 90, 180, 90 },
! { 0, 0, 0, 45}
};
double need[4][4] = {
{ -120, -180, 180, 180 },
! { -90, -90, 180, 180 },
{ -90, -90, 180, 180 },
{ -90, -180, -90, -90 }
--- 17,26 ----
{ 90, -90, 0, -90 },
{ 90, 90, 180, 90 },
! { 0, 45, 0, 45}
};
double need[4][4] = {
{ -120, -180, 180, 180 },
! { -90, -120, 180, 180 },
{ -90, -90, 180, 180 },
{ -90, -180, -90, -90 }
***************
*** 36,40 ****
int avoidcount, randcount;
! int latch;
} robot_t;
--- 39,43 ----
int avoidcount, randcount;
! int work_get, work_put;
} robot_t;
***************
*** 47,51 ****
{
robot_t* robot = new robot_t;
! robot->latch = 0;
//robot->flag = new StgFlag( stg_color_pack( 1,1,0,0.5 ), 3 );
--- 50,55 ----
{
robot_t* robot = new robot_t;
! robot->work_get = 0;
! robot->work_put = 0;
//robot->flag = new StgFlag( stg_color_pack( 1,1,0,0.5 ), 3 );
***************
*** 151,176 ****
stg_pose_t pose = robot->pos->GetPose();
! if( --robot->latch < 1 )
{
! //printf( "Pose: [%.2f %.2f %.2f %.2f]\n",
! // pose.x, pose.y, pose.z, pose.a );
!
! if( hypot( -7-pose.x, -7-pose.y ) < 2.0 )
{
- //puts( "collecting" );
robot->pos->PushFlag( robot->source->PopFlag() );
! }
!
! if( hypot( 7-pose.x, 7-pose.y ) < 1.0 )
{
//puts( "dropping" );
// transfer a chunk between robot and goal
robot->sink->PushFlag( robot->pos->PopFlag() );
}
-
- robot->latch = 20;
}
!
!
return 0; // run again
}
--- 155,182 ----
stg_pose_t pose = robot->pos->GetPose();
! //printf( "Pose: [%.2f %.2f %.2f %.2f]\n",
! // pose.x, pose.y, pose.z, pose.a );
!
! if( robot->pos->GetFlagCount() < payload &&
! hypot( -7-pose.x, -7-pose.y ) < 2.0 )
{
! if( ++robot->work_get > workduration )
{
robot->pos->PushFlag( robot->source->PopFlag() );
! robot->work_get = 0;
! }
! }
!
! if( hypot( 7-pose.x, 7-pose.y ) < 1.0 )
! {
! if( ++robot->work_put > workduration )
{
//puts( "dropping" );
// transfer a chunk between robot and goal
robot->sink->PushFlag( robot->pos->PopFlag() );
+ robot->work_put = 0;
}
}
!
return 0; // run again
}
Index: source.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/examples/ctrl/source.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** source.cc 3 Mar 2008 06:02:25 -0000 1.1
--- source.cc 3 Mar 2008 07:01:12 -0000 1.2
***************
*** 2,6 ****
using namespace Stg;
! const int INTERVAL = 100;
int Update( StgModel* mod, void* dummy );
--- 2,6 ----
using namespace Stg;
! const int INTERVAL = 50;
int Update( StgModel* mod, void* dummy );
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