Revision: 6482
http://playerstage.svn.sourceforge.net/playerstage/?rev=6482&view=rev
Author: natepak
Date: 2008-06-06 13:04:53 -0700 (Fri, 06 Jun 2008)
Log Message:
-----------
Fixed the update rates, remove RenderEngine, added Gripper to the player
interfaces
Modified Paths:
--------------
code/gazebo/trunk/libgazebo/gazebo.h
code/gazebo/trunk/player/GazeboDriver.cc
code/gazebo/trunk/player/GripperInterface.cc
code/gazebo/trunk/player/GripperInterface.hh
code/gazebo/trunk/player/Position2dInterface.hh
code/gazebo/trunk/player/SConscript
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/Simulator.hh
code/gazebo/trunk/server/controllers/actarray/bandit/Bandit_Actarray.cc
code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
code/gazebo/trunk/server/gui/StatusBar.cc
code/gazebo/trunk/server/physics/HeightmapGeom.cc
code/gazebo/trunk/server/physics/TrimeshGeom.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.hh
code/gazebo/trunk/server/rendering/OgreVisual.cc
code/gazebo/trunk/server/rendering/SConscript
code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
code/gazebo/trunk/worlds/models/sonyvid30.model
code/gazebo/trunk/worlds/pioneer2dx.world
code/gazebo/trunk/worlds/pioneer2dx_camera.world
Removed Paths:
-------------
code/gazebo/trunk/server/rendering/RenderEngine.cc
code/gazebo/trunk/server/rendering/RenderEngine.hh
Modified: code/gazebo/trunk/libgazebo/gazebo.h
===================================================================
--- code/gazebo/trunk/libgazebo/gazebo.h 2008-06-06 19:16:27 UTC (rev
6481)
+++ code/gazebo/trunk/libgazebo/gazebo.h 2008-06-06 20:04:53 UTC (rev
6482)
@@ -1348,6 +1348,9 @@
/// Near clip distance in meters
public: float nearClip;
+ /// Horizontal field of view of the camera in radians
+ public: double hfov;
+
/// Left image size
public: unsigned int left_rgb_size;
@@ -1371,6 +1374,7 @@
/// Right disparity (float)
public: float right_disparity[GAZEBO_STEREO_CAMERA_MAX_DISPARITY_SIZE];
+
};
Modified: code/gazebo/trunk/player/GazeboDriver.cc
===================================================================
--- code/gazebo/trunk/player/GazeboDriver.cc 2008-06-06 19:16:27 UTC (rev
6481)
+++ code/gazebo/trunk/player/GazeboDriver.cc 2008-06-06 20:04:53 UTC (rev
6482)
@@ -38,6 +38,7 @@
#include "Position3dInterface.hh"
#include "ActarrayInterface.hh"
#include "PTZInterface.hh"
+#include "GripperInterface.hh"
/*
#include "PowerInterface.hh"
@@ -299,6 +300,11 @@
ifsrc = new PTZInterface( playerAddr, this, cf, section );
break;
+ case PLAYER_GRIPPER_CODE:
+ if (!player_quiet_startup) printf(" a gripper interface.\n");
+ ifsrc = new GripperInterface( playerAddr, this, cf, section );
+ break;
+
/* case PLAYER_POWER_CODE:
if (!player_quiet_startup) printf(" a power interface.\n");
ifsrc = new PowerInterface( playerAddr, this, cf, section );
@@ -308,12 +314,6 @@
if (!player_quiet_startup) printf(" a sonar interface.\n");
ifsrc = new SonarInterface( playerAddr, this, cf, section );
break;
-
- case PLAYER_GRIPPER_CODE:
- if (!player_quiet_startup) printf(" a gripper interface.\n");
- ifsrc = new GripperInterface( playerAddr, this, cf, section );
- break;
-
case PLAYER_TRUTH_CODE:
if (!player_quiet_startup) printf(" a truth interface.\n");
ifsrc = new TruthInterface( playerAddr, this, cf, section );
Modified: code/gazebo/trunk/player/GripperInterface.cc
===================================================================
--- code/gazebo/trunk/player/GripperInterface.cc 2008-06-06 19:16:27 UTC
(rev 6481)
+++ code/gazebo/trunk/player/GripperInterface.cc 2008-06-06 20:04:53 UTC
(rev 6482)
@@ -34,12 +34,15 @@
- PLAYER_GRIPPER_REQ_GET_GEOM
*/
+#include <iostream>
#include <math.h>
#include "gazebo.h"
#include "GazeboDriver.hh"
#include "GripperInterface.hh"
+using namespace gazebo;
+
///////////////////////////////////////////////////////////////////////////////
// Constructor
GripperInterface::GripperInterface(player_devaddr_t addr,
@@ -53,7 +56,7 @@
strcat(this->gz_id, cf->ReadString(section, "gz_id", ""));
// Allocate a Position Interface
- this->iface = gz_gripper_alloc();
+ this->iface = new GripperIface();
this->datatime = -1;
}
@@ -63,7 +66,7 @@
GripperInterface::~GripperInterface()
{
// Release this interface
- gz_gripper_free(this->iface);
+ delete this->iface;
}
///////////////////////////////////////////////////////////////////////////////
@@ -72,87 +75,80 @@
player_msghdr_t *hdr, void *data)
{
-// This code works with Player CVS
-#ifdef PLAYER_GRIPPER_CMD_OPEN
- if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
- PLAYER_GRIPPER_CMD_OPEN, this->device_addr))
+ if (this->iface->Lock(1))
{
- gz_gripper_lock(this->iface, 1);
- this->iface->data->cmd = GAZEBO_GRIPPER_CMD_OPEN;
- gz_gripper_unlock(this->iface);
- return 0;
- }
- else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
- PLAYER_GRIPPER_CMD_CLOSE, this->device_addr))
- {
- gz_gripper_lock(this->iface, 1);
- this->iface->data->cmd = GAZEBO_GRIPPER_CMD_CLOSE;
- gz_gripper_unlock(this->iface);
+ // This code works with Player CVS
+#ifdef PLAYER_GRIPPER_CMD_OPEN
+ if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
+ PLAYER_GRIPPER_CMD_OPEN, this->device_addr))
+ {
+ this->iface->data->cmd = GAZEBO_GRIPPER_CMD_OPEN;
+ return 0;
+ }
+ else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
+ PLAYER_GRIPPER_CMD_CLOSE, this->device_addr))
+ {
+ this->iface->data->cmd = GAZEBO_GRIPPER_CMD_CLOSE;
+ return 0;
+ }
+ else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
+ PLAYER_GRIPPER_CMD_STOP, this->device_addr))
+ {
+ this->iface->data->cmd = GAZEBO_GRIPPER_CMD_STOP;
+ return 0;
+ }
+ else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
+ PLAYER_GRIPPER_CMD_STORE, this->device_addr))
+ {
+ this->iface->data->cmd = GAZEBO_GRIPPER_CMD_STORE;
+ return 0;
+ }
+ else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
+ PLAYER_GRIPPER_CMD_RETRIEVE, this->device_addr))
+ {
+ this->iface->data->cmd = GAZEBO_GRIPPER_CMD_RETRIEVE;
+ return 0;
+ }
+ // is it a geometry request?
+ else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
+ PLAYER_GRIPPER_REQ_GET_GEOM,
+ this->device_addr))
+ {
+ // TODO: implement me
- return 0;
- }
- else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
- PLAYER_GRIPPER_CMD_STOP, this->device_addr))
- {
- gz_gripper_lock(this->iface, 1);
- this->iface->data->cmd = GAZEBO_GRIPPER_CMD_STOP;
- gz_gripper_unlock(this->iface);
+ player_gripper_geom_t pgeom;
- return 0;
- }
- else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
- PLAYER_GRIPPER_CMD_STORE, this->device_addr))
- {
- gz_gripper_lock(this->iface, 1);
- this->iface->data->cmd = GAZEBO_GRIPPER_CMD_STORE;
- gz_gripper_unlock(this->iface);
+ pgeom.pose.px = 0;
+ pgeom.pose.py = 0;
+ pgeom.pose.pz = 0;
+ pgeom.pose.proll = 0;
+ pgeom.pose.ppitch = 0;
+ pgeom.pose.pyaw = 0;
- return 0;
- }
- else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
- PLAYER_GRIPPER_CMD_RETRIEVE,
this->device_addr))
- {
- gz_gripper_lock(this->iface, 1);
- this->iface->data->cmd = GAZEBO_GRIPPER_CMD_RETRIEVE;
- gz_gripper_unlock(this->iface);
+ pgeom.outer_size.sw = 0;
+ pgeom.outer_size.sl = 0;
+ pgeom.outer_size.sh = 0;
- return 0;
- }
- // is it a geometry request?
- else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
- PLAYER_GRIPPER_REQ_GET_GEOM,
- this->device_addr))
- {
- // TODO: implement me
+ pgeom.inner_size.sw = 0;
+ pgeom.inner_size.sl = 0;
+ pgeom.inner_size.sh = 0;
- player_gripper_geom_t pgeom;
+ pgeom.num_beams = 2;
- pgeom.pose.px = 0;
- pgeom.pose.py = 0;
- pgeom.pose.pz = 0;
- pgeom.pose.proll = 0;
- pgeom.pose.ppitch = 0;
- pgeom.pose.pyaw = 0;
+ this->driver->Publish(this->device_addr, respQueue,
+ PLAYER_MSGTYPE_RESP_ACK,
+ PLAYER_GRIPPER_REQ_GET_GEOM,
+ (void*)&pgeom, sizeof(pgeom), NULL);
- pgeom.outer_size.sw = 0;
- pgeom.outer_size.sl = 0;
- pgeom.outer_size.sh = 0;
+ return 0;
+ }
+#endif
- pgeom.inner_size.sw = 0;
- pgeom.inner_size.sl = 0;
- pgeom.inner_size.sh = 0;
-
- pgeom.num_beams = 2;
-
- this->driver->Publish(this->device_addr, respQueue,
- PLAYER_MSGTYPE_RESP_ACK,
- PLAYER_GRIPPER_REQ_GET_GEOM,
- (void*)&pgeom, sizeof(pgeom), NULL);
-
- return 0;
+ this->iface->Unlock();
}
-#endif
+ else
+ this->Unsubscribe();
return -1;
}
@@ -165,15 +161,15 @@
player_gripper_data_t data;
struct timeval ts;
- gz_gripper_lock(this->iface, 1);
+ this->iface->Lock(1);
// Only Update when new data is present
- if (this->iface->data->time > this->datatime)
+ if (this->iface->data->head.time > this->datatime)
{
- this->datatime = this->iface->data->time;
+ this->datatime = this->iface->data->head.time;
- ts.tv_sec = (int) (this->iface->data->time);
- ts.tv_usec = (int) (fmod(this->iface->data->time, 1) * 1e6);
+ ts.tv_sec = (int) (this->iface->data->head.time);
+ ts.tv_usec = (int) (fmod(this->iface->data->head.time, 1) * 1e6);
memset(&data, 0, sizeof(data));
@@ -200,13 +196,13 @@
data.state = PLAYER_GRIPPER_STATE_ERROR;
#endif
- this->driver->Publish( this->device_addr, NULL,
+ this->driver->Publish( this->device_addr,
PLAYER_MSGTYPE_DATA,
PLAYER_GRIPPER_DATA_STATE,
(void*)&data, sizeof(data), &this->datatime );
}
- gz_gripper_unlock(this->iface);
+ this->iface->Unlock();
}
@@ -215,16 +211,21 @@
// GazeboDriver::Subscribe
void GripperInterface::Subscribe()
{
- // Open the interface
- if (gz_gripper_open(this->iface, GazeboClient::client, this->gz_id) != 0)
+ try
{
- printf("Error Subscribing to Gazebo Position Interface\n");
+ this->iface->Open( GazeboClient::client, this->gz_id);
}
+ catch (std::string e)
+ {
+ std::cerr << "Error subscribing to Gazebo Gripper Interface\n"
+ << e << "\n";
+ exit(0);
+ }
}
///////////////////////////////////////////////////////////////////////////////
// Close a SHM interface. This is called from GazeboDriver::Unsubscribe
void GripperInterface::Unsubscribe()
{
- gz_gripper_close(this->iface);
+ this->iface->Close();
}
Modified: code/gazebo/trunk/player/GripperInterface.hh
===================================================================
--- code/gazebo/trunk/player/GripperInterface.hh 2008-06-06 19:16:27 UTC
(rev 6481)
+++ code/gazebo/trunk/player/GripperInterface.hh 2008-06-06 20:04:53 UTC
(rev 6482)
@@ -29,41 +29,54 @@
#include "GazeboInterface.hh"
-// Forward declarations
-typedef struct gz_gripper gz_gripper_t;
-
-/// \brief Gripper interface
-class GripperInterface : public GazeboInterface
+namespace gazebo
{
- /// @brief Constructor
- public: GripperInterface(player_devaddr_t addr, GazeboDriver *driver,
- ConfigFile *cf, int section);
+ /// \addtogroup player_iface
+ /// \{
+ /// \defgroup gripper_player Gripper Interface
+ /// \brief Gripper Player interface
+ /// \{
+
+ class GripperIface;
+
+ /// \brief Gripper interface
+ class GripperInterface : public GazeboInterface
+ {
+ /// \brief Constructor
+ public: GripperInterface(player_devaddr_t addr, GazeboDriver *driver,
+ ConfigFile *cf, int section);
+
+ /// \brief Destructor
+ public: virtual ~GripperInterface();
+
+ /// \brief Handle all messages. This is called from GazeboDriver
+ public: virtual int ProcessMessage(QueuePointer &respQueue,
+ player_msghdr_t *hdr, void *data);
+
+ /// \brief Update this interface, publish new info.
+ public: virtual void Update();
+
+ /// \brief Open a SHM interface when a subscription is received. \
+ /// This is called fromGazeboDriver::Subscribe
+ public: virtual void Subscribe();
+
+ /// \brief Close a SHM interface. This is called from \
+ /// GazeboDriver::Unsubscribe
+ public: virtual void Unsubscribe();
+
+ private: GripperIface *iface;
+
+ /// \brief Gazebo id. This needs to match and ID in a Gazebo WorldFile
+ private: char *gz_id;
+
+ /// \brief Timestamp on last data update
+ private: double datatime;
+
+ };
+
+ /// \}
+ /// \}
+
+}
- /// @brief Destructor
- public: virtual ~GripperInterface();
-
- /// @brief Handle all messages. This is called from GazeboDriver
- public: virtual int ProcessMessage(QueuePointer &respQueue,
- player_msghdr_t *hdr, void *data);
-
- /// @brief Update this interface, publish new info.
- public: virtual void Update();
-
- /// @brief Open a SHM interface when a subscription is received. \
- /// This is called fromGazeboDriver::Subscribe
- public: virtual void Subscribe();
-
- /// @brief Close a SHM interface. This is called from \
- /// GazeboDriver::Unsubscribe
- public: virtual void Unsubscribe();
-
- private: gz_gripper_t *iface;
-
- /// @brief Gazebo id. This needs to match and ID in a Gazebo WorldFile
- private: char *gz_id;
-
- /// @brief Timestamp on last data update
- private: double datatime;
-
-};
#endif
Modified: code/gazebo/trunk/player/Position2dInterface.hh
===================================================================
--- code/gazebo/trunk/player/Position2dInterface.hh 2008-06-06 19:16:27 UTC
(rev 6481)
+++ code/gazebo/trunk/player/Position2dInterface.hh 2008-06-06 20:04:53 UTC
(rev 6482)
@@ -31,54 +31,54 @@
namespace gazebo
{
-
-/// \addtogroup player_iface
-/// \{
-/// \defgroup position2d_player Position2d Interface
-/// \brief Position2d Player interface
-/// \{
-
-// Forward declarations
-class PositionIface;
-
-/// \brief Position2d Player interface
-class Position2dInterface : public GazeboInterface
-{
- /// \brief Constructor
- public: Position2dInterface(player_devaddr_t addr, GazeboDriver *driver,
- ConfigFile *cf, int section);
-
- /// \brief Destructor
- public: virtual ~Position2dInterface();
-
- /// \brief Handle all messages. This is called from GazeboDriver
- public: virtual int ProcessMessage(QueuePointer &respQueue,
- player_msghdr_t *hdr, void *data);
-
- /// \brief Update this interface, publish new info.
- public: virtual void Update();
-
- /// \brief Open a SHM interface when a subscription is received.
- /// This is called fromGazeboDriver::Subscribe
- public: virtual void Subscribe();
-
- /// \brief Close a SHM interface. This is called from
- /// GazeboDriver::Unsubscribe
- public: virtual void Unsubscribe();
-
- private: PositionIface *iface;
-
- /// \brief Gazebo id. This needs to match and ID in a Gazebo WorldFile
- private: char *gz_id;
-
- /// \brief Timestamp on last data update
- private: double datatime;
-};
-
-/// \}
-/// \}
-
-
+
+ /// \addtogroup player_iface
+ /// \{
+ /// \defgroup position2d_player Position2d Interface
+ /// \brief Position2d Player interface
+ /// \{
+
+ // Forward declarations
+ class PositionIface;
+
+ /// \brief Position2d Player interface
+ class Position2dInterface : public GazeboInterface
+ {
+ /// \brief Constructor
+ public: Position2dInterface(player_devaddr_t addr, GazeboDriver *driver,
+ ConfigFile *cf, int section);
+
+ /// \brief Destructor
+ public: virtual ~Position2dInterface();
+
+ /// \brief Handle all messages. This is called from GazeboDriver
+ public: virtual int ProcessMessage(QueuePointer &respQueue,
+ player_msghdr_t *hdr, void *data);
+
+ /// \brief Update this interface, publish new info.
+ public: virtual void Update();
+
+ /// \brief Open a SHM interface when a subscription is received.
+ /// This is called fromGazeboDriver::Subscribe
+ public: virtual void Subscribe();
+
+ /// \brief Close a SHM interface. This is called from
+ /// GazeboDriver::Unsubscribe
+ public: virtual void Unsubscribe();
+
+ private: PositionIface *iface;
+
+ /// \brief Gazebo id. This needs to match and ID in a Gazebo WorldFile
+ private: char *gz_id;
+
+ /// \brief Timestamp on last data update
+ private: double datatime;
+ };
+
+ /// \}
+ /// \}
+
+
}
#endif
Modified: code/gazebo/trunk/player/SConscript
===================================================================
--- code/gazebo/trunk/player/SConscript 2008-06-06 19:16:27 UTC (rev 6481)
+++ code/gazebo/trunk/player/SConscript 2008-06-06 20:04:53 UTC (rev 6482)
@@ -14,12 +14,13 @@
'CameraInterface.cc',
'FiducialInterface.cc',
'PTZInterface.cc',
- 'ActarrayInterface.cc'
+ 'ActarrayInterface.cc',
+ 'GripperInterface.cc'
]
-# Position3dInterface.cc PowerInterface.cc SonarInterface.cc
GripperInterface.cc GpsInterface.cc ')
+# Position3dInterface.cc PowerInterface.cc SonarInterface.ccGpsInterface.cc ')
-playerEnv = env.Copy()
+playerEnv = env.Clone()
for cfg in parseConfigs:
print "Checking for ["+cfg+"]"
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2008-06-06 19:16:27 UTC (rev
6481)
+++ code/gazebo/trunk/server/Simulator.cc 2008-06-06 20:04:53 UTC (rev
6482)
@@ -39,12 +39,13 @@
#include "gazebo.h"
#include "PhysicsEngine.hh"
#include "OgreAdaptor.hh"
-#include "RenderEngine.hh"
#include "GazeboMessage.hh"
#include "Global.hh"
#include "Simulator.hh"
+#define MAX_FRAME_RATE 35
+
using namespace gazebo;
////////////////////////////////////////////////////////////////////////////////
@@ -146,7 +147,7 @@
try
{
OgreAdaptor::Instance()->Init(rootNode);
- this->renderEngine = (RenderEngine *) OgreAdaptor::Instance();
+ this->renderEngine = OgreAdaptor::Instance();
//this->renderEngine->Init();
}
catch (gazebo::GazeboError e)
@@ -204,23 +205,29 @@
{
gazebo::World::Instance()->Fini();
}
-/*
+
////////////////////////////////////////////////////////////////////////////////
/// Main simulation loop, when this loop ends the simulation finish
void Simulator::MainLoop()
{
- double step= World::Instance()->GetPhysicsEngine()->GetStepTime();
+ double step = World::Instance()->GetPhysicsEngine()->GetStepTime();
+ double physicsUpdateRate =
World::Instance()->GetPhysicsEngine()->GetUpdateRate();
+ double renderUpdateRate = OgreAdaptor::Instance()->GetUpdateRate();
+
double currTime;
double elapsedTime;
this->prevPhysicsTime = this->GetRealTime();
this->prevRenderTime = this->GetRealTime();
+
+ printf("Period Physics[%f] Render[%f]\n", physicsUpdateRate,
renderUpdateRate);
while (!this->userQuit)
{
currTime = this->GetRealTime();
- if ((currTime - this->prevPhysicsTime) >= step)
+ if (physicsUpdateRate == 0 ||
+ currTime - this->prevPhysicsTime >= 1.0/physicsUpdateRate)
{
this->simTime += step;
@@ -238,13 +245,14 @@
this->pause=true;
}
- World::Instance()->Update(); //physics
+ World::Instance()->Update();
this->prevPhysicsTime = this->GetRealTime();
}
// Update the rendering
- if (currTime - this->prevRenderTime > 0.02)
+ if (renderUpdateRate == 0 ||
+ currTime - this->prevRenderTime >= 1.0/renderUpdateRate)
{
this->GetRenderEngine()->Render();
this->prevRenderTime = this->GetRealTime();
@@ -253,110 +261,17 @@
// Update the gui
this->gui->Update();
- elapsedTime = (this->GetRealTime()-currTime)*2.0;
+ elapsedTime = (this->GetRealTime() - currTime);
// Wait if we're going too fast
- if ( elapsedTime < 0.02 )
+ if ( elapsedTime < 1.0/MAX_FRAME_RATE )
{
- usleep( (0.02 - elapsedTime) * 1e6 );
+ //printf("Too fast Elapsed Time[%f] [%f]\n",elapsedTime,
(int)((1.0/MAX_FRAME_RATE - elapsedTime) * 1e6));
+ usleep( (int)((1.0/MAX_FRAME_RATE - elapsedTime) * 1e6) );
}
}
}
-*/
-////////////////////////////////////////////////////////////////////////////////
-/// Main simulation loop, when this loop ends the simulation finish
-void Simulator::MainLoop()
-{
- double maxPhysicsUpdateTime =
World::Instance()->GetPhysicsEngine()->GetUpdateRate();
- double maxRenderUpdateTime = this->GetRenderEngine()->GetUpdateRate();
- double step = World::Instance()->GetPhysicsEngine()->GetStepTime();
-
- if (maxPhysicsUpdateTime == 0)
- gzmsg(2) << "updating the physics at full speed";
- else if (maxPhysicsUpdateTime > 0)
- gzmsg(2) << "updating the physics " << 1/maxPhysicsUpdateTime << " times
per second";
- else
- gzmsg(2) << "updating the physics after " << -1/maxPhysicsUpdateTime << "
visualization updates";
- if (maxRenderUpdateTime == 0)
- gzmsg(2) << "updating the visualization at full speed";
- else if (maxRenderUpdateTime > 0)
- gzmsg(2) << "updating the visualization " << 1/maxRenderUpdateTime << "
times per second";
- else
- gzmsg(2) << "updating the visualization after " << -1/maxRenderUpdateTime
<< " physics updates" << std::endl;
- std::cout.flush();
-
- while (!this->userQuit)
- {
- bool updated=false;
-
- //During 3 seconds we want to keep balance between how time pass and
update limits
- //this is a time slot. We don't want to make this too big so we keep
changing behaviour
- // in new circunstances, nor too small so we have a good measure.
- if ((this->checkpoint + 3 )< this->GetRealTime())
- {
- this->checkpoint = this->GetRealTime();
- this->physicsUpdates = 0;
- this->renderUpdates = 0;
- }
-
- // Update the physics engine
- // If maxPhysicsUpdateTime is positive, we will update when our time has
come
- // maxPhysicsUpdateTime * physicsUpdates means how much we have
_advanced_ in this time slot so far.
- // getRealTime - ckeckpoint means our _current point_ in the slot, we
only update if our current point has
- // surpassed what we have already advanced.
- // If maxPhysicsUpdateTime is negative, we update if we are below the times
rendering was updated * the multiplier of the userPause
- // note that the multiplier defined in the file is inverted when read so
for instance -2 will become -0.5
- if (((maxPhysicsUpdateTime >= 0) && ((this->GetRealTime() -
this->checkpoint) > (maxPhysicsUpdateTime * this->physicsUpdates))) || \
- ((maxPhysicsUpdateTime < 0) && (this->physicsUpdates <
(-maxPhysicsUpdateTime * this->renderUpdates))))
- {
-
- if ((!this->GetUserPause() && !this->GetUserStep()) ||
- (this->GetUserStep() && this->GetUserStepInc()))
- {
- this->simTime += step;
- ++this->iterations;
- this->pause=false;
- this->SetUserStepInc(!this->GetUserStepInc());
- }
- else
- {
- this->pauseTime += step;
- this->pause=true;
- }
-
- World::Instance()->Update(); //physics
-
- ++this->physicsUpdates;
- updated=true;
- }
-
- // Update the rendering and gui
- if (((maxRenderUpdateTime >= 0) && ((this->GetRealTime() -
this->checkpoint) > (maxRenderUpdateTime * this->renderUpdates))) || \
- ((maxRenderUpdateTime < 0) && (this->renderUpdates <
(-maxRenderUpdateTime * this->physicsUpdates))))
- {
- this->GetRenderEngine()->Render();
- this->gui->Update();
- ++this->renderUpdates;
- updated=true;
- }
-
- if (!updated)
- {
- double nextUpdate;
- nextUpdate=MIN(this->renderUpdates * maxRenderUpdateTime,
this->renderUpdates * maxPhysicsUpdateTime);
- double realStep = this->checkpoint + nextUpdate - this->GetRealTime();
- if (realStep > 0)
- {
- struct timespec waiting;
- waiting.tv_sec=0;
- waiting.tv_nsec=static_cast<long int>(realStep *1000000000);
//nanoseconds to seconds
- nanosleep(&waiting,0);
- }
- }
- }
-}
-
////////////////////////////////////////////////////////////////////////////////
/// Gets our current GUI interface
Gui *Simulator::GetUI() const
@@ -371,7 +286,7 @@
return this->gazeboConfig;
}
-RenderEngine *Simulator::GetRenderEngine() const
+OgreAdaptor *Simulator::GetRenderEngine() const
{
return this->renderEngine;
}
@@ -391,22 +306,7 @@
return this->iterations;
}
-/*
- These methods are needeD?
////////////////////////////////////////////////////////////////////////////////
-void Global::SetIterations(unsigned long count)
-{
-iterations = count;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-void Global::IncIterations()
-{
-iterations++;
-}
-*/
-
-////////////////////////////////////////////////////////////////////////////////
// Get the simulation time
double Simulator::GetSimTime() const
{
Modified: code/gazebo/trunk/server/Simulator.hh
===================================================================
--- code/gazebo/trunk/server/Simulator.hh 2008-06-06 19:16:27 UTC (rev
6481)
+++ code/gazebo/trunk/server/Simulator.hh 2008-06-06 20:04:53 UTC (rev
6482)
@@ -43,7 +43,7 @@
class XMLConfig;
class XMLConfigNode;
class GazeboConfig;
- class RenderEngine;
+ class OgreAdaptor;
/// \brief The World
/*
@@ -83,7 +83,7 @@
public: GazeboConfig *GetGazeboConfig() const;
/// \brief Gets our current GUI interface
- public: RenderEngine *GetRenderEngine() const;
+ public: OgreAdaptor *GetRenderEngine() const;
/// \brief Returns the state of the simulation true if paused
public: bool IsPaused() const;
@@ -150,7 +150,7 @@
/// Pointer to the selected Gui
private: Gui *gui;
- private: RenderEngine *renderEngine;
+ private: OgreAdaptor *renderEngine;
/// Pointer to the selected Gui
private: GazeboConfig *gazeboConfig;
Modified:
code/gazebo/trunk/server/controllers/actarray/bandit/Bandit_Actarray.cc
===================================================================
--- code/gazebo/trunk/server/controllers/actarray/bandit/Bandit_Actarray.cc
2008-06-06 19:16:27 UTC (rev 6481)
+++ code/gazebo/trunk/server/controllers/actarray/bandit/Bandit_Actarray.cc
2008-06-06 20:04:53 UTC (rev 6482)
@@ -107,25 +107,36 @@
for (unsigned int i=0; i<16; i++)
{
double cmdAngle = this->myIface->data->cmd_pos[i];
+ double cmdSpeed = this->myIface->data->cmd_speed[i];
+
joint = dynamic_cast<HingeJoint*>(this->joints[i]);
- if (cmdAngle > joint->GetHighStop())
+ if (this->myIface->data->joint_mode[i] ==
GAZEBO_ACTARRAY_JOINT_POSITION_MODE)
{
- cmdAngle = joint->GetHighStop();
- }
- else if (cmdAngle < joint->GetLowStop())
- {
- cmdAngle = joint->GetLowStop();
- }
+ if (cmdAngle > joint->GetHighStop())
+ {
+ cmdAngle = joint->GetHighStop();
+ }
+ else if (cmdAngle < joint->GetLowStop())
+ {
+ cmdAngle = joint->GetLowStop();
+ }
- angle = cmdAngle - joint->GetAngle();
+ angle = cmdAngle - joint->GetAngle();
- if (fabs(angle) > 0.01)
+ if (fabs(angle) > 0.01)
+ {
+ joint->SetParam( dParamVel, this->gains[i] * angle);
+ joint->SetParam( dParamFMax, this->forces[i] );
+ }
+ }
+ else if (this->myIface->data->joint_mode[i] ==
GAZEBO_ACTARRAY_JOINT_SPEED_MODE)
{
- joint->SetParam( dParamVel, this->gains[i] * angle);
+ joint->SetParam( dParamVel, cmdSpeed );
joint->SetParam( dParamFMax, this->forces[i] );
}
+
this->myIface->data->actuators[i].position = joint->GetAngle();
this->myIface->data->actuators[i].speed = joint->GetAngleRate();
}
Modified: code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
===================================================================
--- code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
2008-06-06 19:16:27 UTC (rev 6481)
+++ code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
2008-06-06 20:04:53 UTC (rev 6482)
@@ -136,6 +136,8 @@
stereo_data->farClip = this->myParent->GetFarClip();
stereo_data->nearClip = this->myParent->GetNearClip();
+ stereo_data->hfov = this->myParent->GetFOV();
+
//stereo_data->right_rgb_size = stereo_data->width * stereo_data->height * 3;
//stereo_data->left_rgb_size = stereo_data->width * stereo_data->height * 3;
Modified:
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
===================================================================
---
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
2008-06-06 19:16:27 UTC (rev 6481)
+++
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
2008-06-06 20:04:53 UTC (rev 6482)
@@ -160,7 +160,7 @@
this->odomVel[1] = 0.0;
this->odomVel[2] = da / params.stepTime;
- if (this->enableMotors)
+ //if (this->enableMotors)
{
this->joints[LEFT]->SetParam( dParamVel,
this->wheelSpeed[LEFT] / this->wheelDiam *
2.0 );
@@ -171,14 +171,14 @@
this->joints[RIGHT]->SetParam( dParamFMax, torque );
}
- else
+ /*else
{
this->joints[LEFT]->SetParam( dParamVel, 0 );
this->joints[RIGHT]->SetParam( dParamVel, 0 );
this->joints[LEFT]->SetParam( dParamFMax, 0 );
this->joints[RIGHT]->SetParam( dParamFMax, 0 );
- }
+ }*/
this->PutPositionData();
}
@@ -204,8 +204,8 @@
this->enableMotors = this->myIface->data->cmdEnableMotors > 0;
- this->wheelSpeed[LEFT] = vr + va * this->wheelSep / 2;
- this->wheelSpeed[RIGHT] = vr - va * this->wheelSep / 2;
+ this->wheelSpeed[LEFT] = vr - va * this->wheelSep / 2;
+ this->wheelSpeed[RIGHT] = vr + va * this->wheelSep / 2;
this->myIface->Unlock();
}
Modified: code/gazebo/trunk/server/gui/StatusBar.cc
===================================================================
--- code/gazebo/trunk/server/gui/StatusBar.cc 2008-06-06 19:16:27 UTC (rev
6481)
+++ code/gazebo/trunk/server/gui/StatusBar.cc 2008-06-06 20:04:53 UTC (rev
6482)
@@ -29,7 +29,7 @@
#include <FL/Fl_Output.H>
#include "Simulator.hh"
-#include "RenderEngine.hh"
+#include "OgreAdaptor.hh"
#include "StatusBar.hh"
using namespace gazebo;
Modified: code/gazebo/trunk/server/physics/HeightmapGeom.cc
===================================================================
--- code/gazebo/trunk/server/physics/HeightmapGeom.cc 2008-06-06 19:16:27 UTC
(rev 6481)
+++ code/gazebo/trunk/server/physics/HeightmapGeom.cc 2008-06-06 20:04:53 UTC
(rev 6482)
@@ -33,7 +33,7 @@
#include "GazeboError.hh"
#include "OgreAdaptor.hh"
#include "Simulator.hh"
-#include "RenderEngine.hh"
+#include "OgreAdaptor.hh"
#include "Global.hh"
#include "Body.hh"
#include "HeightmapGeom.hh"
@@ -52,7 +52,7 @@
// Destructor
HeightmapGeom::~HeightmapGeom()
{
- OgreAdaptor *ogreAdaptor = (OgreAdaptor *)
Simulator::Instance()->GetRenderEngine();
+ OgreAdaptor *ogreAdaptor = Simulator::Instance()->GetRenderEngine();
ogreAdaptor->sceneMgr->destroyQuery(this->rayQuery);
}
@@ -133,12 +133,7 @@
int tileSize;
OgreAdaptor *ogreAdaptor;
- if (Simulator::Instance()->GetRenderEngine()->GetType() != "ogre")
- {
- gzthrow("Heighmaps are only supported by the Ogre renderer");
- }
- else
- ogreAdaptor = (OgreAdaptor *)(Simulator::Instance()->GetRenderEngine());
+ ogreAdaptor = Simulator::Instance()->GetRenderEngine();
std::string imageFilename = node->GetString("image","",1);
std::string worldTexture = node->GetString("worldTexture","",0);
Modified: code/gazebo/trunk/server/physics/TrimeshGeom.cc
===================================================================
--- code/gazebo/trunk/server/physics/TrimeshGeom.cc 2008-06-06 19:16:27 UTC
(rev 6481)
+++ code/gazebo/trunk/server/physics/TrimeshGeom.cc 2008-06-06 20:04:53 UTC
(rev 6482)
@@ -32,7 +32,7 @@
#include "TrimeshGeom.hh"
#include "GazeboError.hh"
#include "Simulator.hh"
-#include "RenderEngine.hh"
+#include "OgreAdaptor.hh"
using namespace gazebo;
@@ -109,11 +109,6 @@
int vindex = 0;
int iindex = 0;
- if (Simulator::Instance()->GetRenderEngine()->GetType() != "ogre")
- {
- gzthrow("Heighmaps are only supported by the Ogre renderer");
- }
-
this->meshName = node->GetString("mesh","",1);
mesh =
Ogre::MeshManager::getSingleton().load(this->meshName,Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2008-06-06 19:16:27 UTC
(rev 6481)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2008-06-06 20:04:53 UTC
(rev 6482)
@@ -99,11 +99,7 @@
this->gravity = cnode->GetVector3("gravity",this->gravity);
this->stepTime = cnode->GetDouble("stepTime",this->stepTime);
- int maxUpdatesSecond = cnode->GetInt("updateRate",0);
- if (maxUpdatesSecond == 0)
- this->updateRate = 0.0;
- else
- this->updateRate = 1.0/maxUpdatesSecond;
+ this->updateRate = cnode->GetDouble("maxUpdateRate", 0, 0);
this->globalCFM = cnode->GetDouble("cfm",1e-5,0);
this->globalERP = cnode->GetDouble("erp",0.2,0);
}
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2008-06-06 19:16:27 UTC
(rev 6481)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2008-06-06 20:04:53 UTC
(rev 6482)
@@ -68,8 +68,8 @@
this->camera=NULL;
this->viewport=NULL;
this->root=NULL;
- this->type = "ogre";
+ this->updateRate = 0;
}
////////////////////////////////////////////////////////////////////////////////
@@ -124,13 +124,9 @@
{
gzthrow( "missing OGRE Rendering information" );
}
-
- int maxFPS = node->GetInt("updateRate", -3);
- if (maxFPS == 0)
- this->updateRate=0;
- else
- this->updateRate = 1.0/maxFPS;
+ this->updateRate = node->GetDouble("maxUpdateRate",0,0);
+
ambient.r = node->GetTupleDouble("ambient",0,1.0);
ambient.g = node->GetTupleDouble("ambient",1,1.0);
ambient.b = node->GetTupleDouble("ambient",2,1.0);
@@ -500,6 +496,7 @@
this->root->renderOneFrame();
}
+////////////////////////////////////////////////////////////////////////////////
float OgreAdaptor::GetAverageFPS() const
{
float lastFPS, avgFPS, bestFPS, worstFPS;
@@ -509,3 +506,9 @@
}
+////////////////////////////////////////////////////////////////////////////////
+/// Get the desired update rate
+double OgreAdaptor::GetUpdateRate()
+{
+ return this->updateRate;
+}
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.hh 2008-06-06 19:16:27 UTC
(rev 6481)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.hh 2008-06-06 20:04:53 UTC
(rev 6482)
@@ -31,7 +31,6 @@
#include <X11/Xutil.h>
#include "SingletonT.hh"
-#include "RenderEngine.hh"
namespace Ogre
{
@@ -64,7 +63,7 @@
class Entity;
/// \brief Adptor to Ogre3d
-class OgreAdaptor : RenderEngine, public SingletonT<OgreAdaptor>
+class OgreAdaptor : public SingletonT<OgreAdaptor>
{
/// \brief Constructor
@@ -91,8 +90,12 @@
/// \brief Resize the rendering window
public: void ResizeWindow(unsigned int w, unsigned int h);
+ /// \brief Get the average frame rate
public: float GetAverageFPS() const;
+ /// \brief Get the desired update rate
+ public: double GetUpdateRate();
+
private: void LoadPlugins();
private: void SetupResources();
private: void SetupRenderSystem(bool create);
@@ -137,7 +140,9 @@
//private: Vector3 terrainSize;
//private: unsigned int terrainVertSize;
//private: std::string terrainImage;
-
+
+ private: double updateRate;
+
private: friend class DestroyerT<OgreAdaptor>;
private: friend class SingletonT<OgreAdaptor>;
Modified: code/gazebo/trunk/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.cc 2008-06-06 19:16:27 UTC
(rev 6481)
+++ code/gazebo/trunk/server/rendering/OgreVisual.cc 2008-06-06 20:04:53 UTC
(rev 6482)
@@ -140,7 +140,7 @@
// Set the material of the mesh
- this->SetMaterial(node->GetString("material",std::string(),1));
+ this->SetMaterial(node->GetString("material",std::string(),0));
// Allow the mesh to cast shadows
this->SetCastShadows(node->GetBool("castShadows",true,0));
Deleted: code/gazebo/trunk/server/rendering/RenderEngine.cc
===================================================================
--- code/gazebo/trunk/server/rendering/RenderEngine.cc 2008-06-06 19:16:27 UTC
(rev 6481)
+++ code/gazebo/trunk/server/rendering/RenderEngine.cc 2008-06-06 20:04:53 UTC
(rev 6482)
@@ -1,51 +0,0 @@
-/*
- * Gazebo - Outdoor Multi-Robot Simulator
- * Copyright (C) 2003
- * Nate Koenig & Andrew Howard
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- */
-/* Desc: Middleman between Rendering engine and Gazebo
- * Author: Nate Koenig, Jordi Polo
- * Date: 02 Jun 2008
- */
-
-#include "RenderEngine.hh"
-
-using namespace gazebo;
-
-////////////////////////////////////////////////////////////////////////////////
-/// Constructor
-RenderEngine::RenderEngine()
-{
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Destructor
-RenderEngine::~RenderEngine()
-{
-}
-
-double RenderEngine::GetUpdateRate() const
-{
- return this->updateRate;
-}
-
-std::string RenderEngine::GetType() const
-{
- return this->type;
-}
-
Deleted: code/gazebo/trunk/server/rendering/RenderEngine.hh
===================================================================
--- code/gazebo/trunk/server/rendering/RenderEngine.hh 2008-06-06 19:16:27 UTC
(rev 6481)
+++ code/gazebo/trunk/server/rendering/RenderEngine.hh 2008-06-06 20:04:53 UTC
(rev 6482)
@@ -1,81 +0,0 @@
-/*
- * Gazebo - Outdoor Multi-Robot Simulator
- * Copyright (C) 2003
- * Nate Koenig & Andrew Howard
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- */
-/* Desc: Middleman between actual rendering engine and Gazebo
- * Author: Nate Koenig, Jordi Polo
- * Date: 02 Jun 2008
- */
-
-#ifndef RENDERENGINE
-#define RENDERENGINE
-
-#include <string>
-
-namespace gazebo
-{
-/// \addtogroup gazebo_rendering
-/// \{
-
-
-class XMLConfigNode;
-
-/// \brief Rendering engine for the simulation
-class RenderEngine
-{
-
- /// \brief Constructor
- public: RenderEngine();
-
- /// \brief Destructor
- public: virtual ~RenderEngine();
-
- /// \brief Closes the present rendering engine, frees the resources
- public: virtual void Close() = 0;
-
- /// \brief Default initialization.
- /// Let the rendering engine create the window and rendering context
- public: virtual void Init(XMLConfigNode *rootNode) = 0;
-
- /// \brief Save rendering engine settings
- public: virtual void Save(XMLConfigNode *node) = 0;
-
- /// \brief Render a single frame
- public: virtual void Render() = 0;
-
- /// \brief Resize the rendering window
- public: virtual void ResizeWindow(unsigned int w, unsigned int h) = 0;
-
- /// \brief Gets the average frame per second rate achieved
- public: virtual float GetAverageFPS() const = 0;
-
- /// \brief Gets the minimum time between renders, set by in the file to
limit Framerate
- public: double GetUpdateRate() const;
-
- /// \brief Gets the type (name) of this Rendering Engine
- public: std::string GetType() const;
-
- protected: double updateRate;
- protected: std::string type;
-
-
-};
-
-}
-#endif
Modified: code/gazebo/trunk/server/rendering/SConscript
===================================================================
--- code/gazebo/trunk/server/rendering/SConscript 2008-06-06 19:16:27 UTC
(rev 6481)
+++ code/gazebo/trunk/server/rendering/SConscript 2008-06-06 20:04:53 UTC
(rev 6482)
@@ -1,11 +1,19 @@
#Import variable
Import('env staticObjs sharedObjs headers')
-sources = Split('RenderEngine.cc OgreCreator.cc OgreAdaptor.cc
OgreFrameListener.cc OgreDynamicRenderable.cc OgreDynamicLines.cc
OgreSimpleShape.cc OgreHUD.cc MovableText.cc OgreVisual.cc')
+sources = ['OgreCreator.cc',
+ 'OgreAdaptor.cc',
+ 'OgreFrameListener.cc',
+ 'OgreDynamicRenderable.cc',
+ 'OgreDynamicLines.cc',
+ 'OgreSimpleShape.cc',
+ 'OgreHUD.cc',
+ 'MovableText.cc',
+ 'OgreVisual.cc'
+ ]
headers.append(
['#/server/rendering/MovableText.hh',
- '#/server/rendering/RenderEngine.hh',
'#/server/rendering/OgreAdaptor.hh',
'#/server/rendering/OgreCreator.hh',
'#/server/rendering/OgreDynamicLines.hh',
Modified: code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-06-06 19:16:27 UTC (rev 6481)
+++ code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-06-06 20:04:53 UTC (rev 6482)
@@ -186,9 +186,17 @@
Ogre::Viewport *vp = NULL;
Ogre::SceneManager *sceneMgr = adapt->sceneMgr;
Ogre::Pass *pass;
- Ogre::SceneNode *gridNode = sceneMgr->getSceneNode("__OGRE_GRID_NODE__");
+ Ogre::SceneNode *gridNode = NULL;
int i;
+ try
+ {
+ gridNode = sceneMgr->getSceneNode("__OGRE_GRID_NODE__");
+ }
+ catch (...)
+ {
+ }
+
CameraSensor::UpdateChild(params);
sceneMgr->_suppressRenderStateChanges(true);
Modified: code/gazebo/trunk/worlds/models/sonyvid30.model
===================================================================
--- code/gazebo/trunk/worlds/models/sonyvid30.model 2008-06-06 19:16:27 UTC
(rev 6481)
+++ code/gazebo/trunk/worlds/models/sonyvid30.model 2008-06-06 20:04:53 UTC
(rev 6482)
@@ -19,14 +19,15 @@
<rpy>0.0 0.0 0.0</rpy>
<geom:box name="camera_bottom_geom">
- <xyz>0.0 0.0 0.00</xyz>
+ <xyz>0.0 0.0 0.02</xyz>
<rpy>0 0 90</rpy>
<size>0.15 0.14 0.04</size>
<mass>0.01</mass>
<visual>
+ <rpy>0 0 -90</rpy>
<size>0.15 0.14 0.04</size>
- <mesh>unit_box</mesh>
+ <mesh>sonyvid30_bottom.mesh</mesh>
<material>Gazebo/Grey</material>
</visual>
</geom:box>
@@ -37,15 +38,16 @@
<rpy>0.0 0.0 0.0</rpy>
<geom:box name="camera_column_geom">
- <xyz>0.0 0.0 0.00</xyz>
+ <xyz>0.02 0.00 0.0</xyz>
<rpy>0 0 90</rpy>
- <size>0.04 0.04</size>
+ <size>0.11 0.11</size>
<mass>0.01</mass>
<visual>
- <size>0.04 0.04 0.04</size>
- <mesh>unit_cylinder</mesh>
- <material>Gazebo/White</material>
+ <rpy>0 0 -90</rpy>
+ <size>0.11 0.11 0.03</size>
+ <mesh>sonyvid30_mid.mesh</mesh>
+ <material>Gazebo/Black</material>
</visual>
</geom:box>
</body:box>
@@ -56,26 +58,28 @@
<rpy>0.0 0.0 0.0</rpy>
<geom:box name="camera_top_geom">
- <xyz>0.0 0.0 0.02</xyz>
<rpy>0 0 90</rpy>
- <size>0.12 0.12 0.05</size>
+ <size>0.12 0.119 0.03</size>
<mass>0.01</mass>
<visual>
- <size>0.12 0.12 0.05</size>
- <mesh>unit_box</mesh>
+ <xyz>0.0 0.06 -0.015</xyz>
+ <rpy>0 0 90</rpy>
+ <size>0.12 0.119 0.03</size>
+ <mesh>sonyvid30_top.mesh</mesh>
+ <!--<material>Gazebo/Grey</material>-->
<material>Gazebo/Grey</material>
</visual>
</geom:box>
<geom:cylinder name="camera_lens_geom">
- <xyz>0.042 0.00 0.02</xyz>
+ <xyz>0.045 -0.002 -0.002</xyz>
<rpy>0 90 0</rpy>
- <size>0.04 0.04</size>
+ <size>0.01 0.04</size>
<mass>0.01</mass>
<visual>
- <size>0.04 0.04 0.04</size>
+ <size>0.025 0.025 0.04</size>
<mesh>unit_cylinder</mesh>
<material>Gazebo/White</material>
</visual>
Modified: code/gazebo/trunk/worlds/pioneer2dx.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx.world 2008-06-06 19:16:27 UTC (rev
6481)
+++ code/gazebo/trunk/worlds/pioneer2dx.world 2008-06-06 20:04:53 UTC (rev
6482)
@@ -23,6 +23,7 @@
<gravity>0 0 -9.8</gravity>
<cfm>10e-5</cfm>
<erp>0.8</erp>
+ <maxUpdateRate>0</maxUpdateRate>
</physics:ode>
<rendering:gui>
@@ -36,6 +37,7 @@
<sky>
<material>Gazebo/CloudySky</material>
</sky>
+ <maxUpdateRate>0</maxUpdateRate>
</rendering:ogre>
<!-- Ground Plane -->
Modified: code/gazebo/trunk/worlds/pioneer2dx_camera.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx_camera.world 2008-06-06 19:16:27 UTC
(rev 6481)
+++ code/gazebo/trunk/worlds/pioneer2dx_camera.world 2008-06-06 20:04:53 UTC
(rev 6482)
@@ -140,14 +140,17 @@
<!-- White Directional light -->
<model:renderable name="directional_white">
+ <xyz>2.0 0 2.0</xyz>
<light>
- <type>directional</type>
- <direction>0 -0.6 -0.4</direction>
- <diffuseColor>1.0 1.0 1.0</diffuseColor>
- <specularColor>0.2 0.2 0.2</specularColor>
- <attenuation>1000 1.0 0.0 0</attenuation>
+ <type>spot</type>
+ <range>1000 1000 100</range>
+ <direction>-0.1 0 -0.9</direction>
+ <diffuseColor>0.8 0.8 0.8</diffuseColor>
+ <specularColor>0.1 0.1 0.1</specularColor>
+ <attenuation>10 1.0 0.0 0</attenuation>
</light>
</model:renderable>
+
</gazebo:world>
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