Revision: 6589
http://playerstage.svn.sourceforge.net/playerstage/?rev=6589&view=rev
Author: natepak
Date: 2008-06-16 13:04:26 -0700 (Mon, 16 Jun 2008)
Log Message:
-----------
Updated the gripper driver and interface
Modified Paths:
--------------
code/gazebo/trunk/player/GripperInterface.cc
code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
code/gazebo/trunk/server/physics/Geom.cc
code/gazebo/trunk/server/physics/SliderJoint.cc
code/gazebo/trunk/server/rendering/OgreCreator.cc
code/gazebo/trunk/server/rendering/OgreCreator.hh
code/gazebo/trunk/server/rendering/OgreVisual.cc
code/gazebo/trunk/server/rendering/OgreVisual.hh
code/gazebo/trunk/worlds/test.world
Modified: code/gazebo/trunk/player/GripperInterface.cc
===================================================================
--- code/gazebo/trunk/player/GripperInterface.cc 2008-06-16 19:59:31 UTC
(rev 6588)
+++ code/gazebo/trunk/player/GripperInterface.cc 2008-06-16 20:04:26 UTC
(rev 6589)
@@ -77,9 +77,6 @@
if (this->iface->Lock(1))
{
-
- // 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))
{
@@ -143,7 +140,6 @@
return 0;
}
-#endif
this->iface->Unlock();
}
Modified:
code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
===================================================================
--- code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
2008-06-16 19:59:31 UTC (rev 6588)
+++ code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
2008-06-16 20:04:26 UTC (rev 6589)
@@ -91,6 +91,34 @@
// Update the controller
void Pioneer2_Gripper::UpdateChild(UpdateParams ¶ms)
{
+ /*double leftPaddleHiStop = this->joints[LEFT]->GetParam(dParamHiStop);
+ double leftPaddleLoStop = this->joints[LEFT]->GetParam(dParamLoStop);
+ double rightPaddleHiStop = this->joints[RIGHT]->GetParam(dParamHiStop);
+ double rightPaddleLoStop = this->joints[RIGHT]->GetParam(dParamLoStop);
+
+ double leftPaddlePos = this->joints[LEFT]->GetPosition();
+ double rightPaddlePos = this->joints[RIGHT]->GetPosition();
+ */
+
+ this->myIface->Lock(1);
+
+ switch( this->myIface->data->cmd)
+ {
+ case GAZEBO_GRIPPER_CMD_OPEN:
+ this->joints[RIGHT]->SetParam(dParamVel,0.1);
+ this->joints[LEFT]->SetParam(dParamVel, -0.1);
+ break;
+
+ case GAZEBO_GRIPPER_CMD_CLOSE:
+ this->joints[RIGHT]->SetParam(dParamVel,-0.1);
+ this->joints[LEFT]->SetParam(dParamVel,0.1);
+ break;
+ }
+
+ this->joints[LEFT]->SetParam(dParamFMax,.01);
+ this->joints[RIGHT]->SetParam(dParamFMax,.01);
+
+ this->myIface->Unlock();
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2008-06-16 19:59:31 UTC (rev
6588)
+++ code/gazebo/trunk/server/physics/Geom.cc 2008-06-16 20:04:26 UTC (rev
6589)
@@ -27,7 +27,6 @@
#include <sstream>
#include "OgreVisual.hh"
-#include "OgreCreator.hh"
#include "Global.hh"
#include "GazeboMessage.hh"
#include "ContactParams.hh"
@@ -124,7 +123,7 @@
while (childNode)
{
OgreVisual *visual = new OgreVisual(this->visualNode);
- OgreCreator::CreateVisual(childNode,visual);
+ visual->Load(childNode);
this->visuals.push_back(visual);
childNode = childNode->GetNext("visual");
}
@@ -461,10 +460,22 @@
/// Set the visibility of the joints of this geometry
void Geom::ShowJoints(bool show)
{
+ std::vector<OgreVisual*>::iterator iter;
+
if (show)
- this->visualNode->SetTransparency(0.6);
+ {
+ for (iter = this->visuals.begin(); iter != this->visuals.end(); iter++)
+ {
+ (*iter)->SetTransparency(0.6);
+ }
+ }
else
- this->visualNode->SetTransparency(0);
+ {
+ for (iter = this->visuals.begin(); iter != this->visuals.end(); iter++)
+ {
+ (*iter)->SetTransparency(0.0);
+ }
+ }
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/physics/SliderJoint.cc
===================================================================
--- code/gazebo/trunk/server/physics/SliderJoint.cc 2008-06-16 19:59:31 UTC
(rev 6588)
+++ code/gazebo/trunk/server/physics/SliderJoint.cc 2008-06-16 20:04:26 UTC
(rev 6589)
@@ -51,7 +51,7 @@
this->SetAxis(node->GetVector3("axis",Vector3(0,0,1)));
double lowStop = node->GetDouble("lowStop",-DBL_MAX,0);
- double hiStop = node->GetDouble("hiStop",DBL_MAX,0);
+ double hiStop = node->GetDouble("highStop",DBL_MAX,0);
// Perform this three step ordering to ensure the parameters are set
// properly. This is taken from the ODE wiki.
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2008-06-16 19:59:31 UTC
(rev 6588)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2008-06-16 20:04:26 UTC
(rev 6589)
@@ -98,71 +98,7 @@
//return visual;
}
-void OgreCreator::CreateVisual(XMLConfigNode *node, OgreVisual *parent)
-{
- std::ostringstream stream;
- Pose3d pose;
- Vector3 size;
- Ogre::Vector3 meshSize;
- Ogre::MovableObject *obj = NULL;
- std::string meshName = node->GetString("mesh","",1);
-
- // Read the desired position and rotation of the mesh
- pose.pos = node->GetVector3("xyz", Vector3(0,0,0));
- pose.rot = node->GetRotation("rpy", Quatern());
-
- try
- {
- // Create the entity
- stream << parent->GetName() << "_ENTITY";
- obj =
(Ogre::MovableObject*)parent->GetSceneNode()->getCreator()->createEntity(stream.str(),
meshName);
- }
- catch (Ogre::Exception e)
- {
- std::cerr << "Ogre Error:" << e.getFullDescription() << "\n";
- gzthrow("Unable to create a mesh from " + meshName);
- }
-
- // Set the pose of the scene node
- parent->SetPose(pose);
-
- // Attach the entity to the node
- if (obj)
- {
- parent->AttachObject(obj);
- obj->setVisibilityFlags(GZ_ALL_CAMERA);
- meshSize = obj->getBoundingBox().getSize();
- }
-
- // Get the desired size of the mesh
- if (node->GetChild("size") != NULL)
- size = node->GetVector3("size",Vector3(1,1,1));
- else
- size = Vector3(meshSize.x, meshSize.y, meshSize.z);
-
- // Get and set teh desired scale of the mesh
- if (node->GetChild("scale") != NULL)
- {
- Vector3 scale = node->GetVector3("scale",Vector3(1,1,1));
- parent->SetScale(scale);
- }
- else
- {
- parent->SetScale(Vector3(size.x/meshSize.x, size.y/meshSize.y,
size.z/meshSize.z));
- }
-
-
- // Set the material of the mesh
- parent->SetMaterial(node->GetString("material",std::string(),1));
-
- // Allow the mesh to cast shadows
- parent->SetCastShadows(node->GetBool("castShadows",true,0));
-
- parent->SetXML(node);
-}
-
-
////////////////////////////////////////////////////////////////////////////////
/// Create a light source and attach it to the visual node
/// Note that the properties here are not modified afterwards and thus,
Modified: code/gazebo/trunk/server/rendering/OgreCreator.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.hh 2008-06-16 19:59:31 UTC
(rev 6588)
+++ code/gazebo/trunk/server/rendering/OgreCreator.hh 2008-06-16 20:04:26 UTC
(rev 6589)
@@ -63,9 +63,6 @@
///properties if needed, to avoid this create a child visual node for the
plane
public: static void CreatePlane(XMLConfigNode *node, OgreVisual *parent);
- ///\brief Create a visual entity
- public: static void CreateVisual(XMLConfigNode *node, OgreVisual *parent);
-
/// \brief Create a light source
public: static void CreateLight(XMLConfigNode *node, OgreVisual *parent);
Modified: code/gazebo/trunk/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.cc 2008-06-16 19:59:31 UTC
(rev 6588)
+++ code/gazebo/trunk/server/rendering/OgreVisual.cc 2008-06-16 20:04:26 UTC
(rev 6589)
@@ -76,10 +76,8 @@
}
-
////////////////////////////////////////////////////////////////////////////////
// Load the visual
-/*
void OgreVisual::Load(XMLConfigNode *node)
{
std::ostringstream stream;
@@ -130,7 +128,6 @@
if (node->GetChild("scale") != NULL)
{
Vector3 scale = node->GetVector3("scale",Vector3(1,1,1));
-
this->sceneNode->setScale(scale.x, scale.y, scale.z);
}
else
@@ -144,8 +141,9 @@
// Allow the mesh to cast shadows
this->SetCastShadows(node->GetBool("castShadows",true,0));
+
+ this->SetXML(node);
}
-*/
void OgreVisual::Save()
{
@@ -285,6 +283,7 @@
if (this->myMaterial.isNull())
{
gzmsg(0) << "The visual " << this->sceneNode->getName() << " can't set
transparency for this geom without a material\n";
+
return;
}
@@ -300,7 +299,7 @@
while (passIt.hasMoreElements ())
{
- sc = this->origMaterial->getTechnique (i)->getPass (j)->getDiffuse ();
+ sc = this->origMaterial->getTechnique(i)->getPass(j)->getDiffuse();
if (this->transparency >0.0)
passIt.peekNext ()->setDepthWriteEnabled (false);
@@ -315,14 +314,14 @@
dc.r -= sc.r * this->transparency;
dc.g -= sc.g * this->transparency;
dc.b -= sc.b * this->transparency;
- passIt.peekNext ()->setAmbient (Ogre::ColourValue::Black);
+ passIt.peekNext()->setAmbient(Ogre::ColourValue::Black);
break;
case Ogre::SBT_TRANSPARENT_ALPHA:
default:
dc = sc;
dc.a = sc.a * (1.0f - this->transparency);
- passIt.peekNext()->setAmbient(this->origMaterial->getTechnique
(i)->getPass (j)->getAmbient ());
+
passIt.peekNext()->setAmbient(this->origMaterial->getTechnique(i)->getPass(j)->getAmbient());
break;
}
passIt.peekNext ()->setDiffuse (dc);
@@ -351,7 +350,7 @@
//FIXME: Modifying selfIllumination is invasive to the material definition of
the user
// Choose other effect.
-
+/*
Ogre::Technique *t;
Ogre::Material::TechniqueIterator techniqueIt =
this->myMaterial->getTechniqueIterator();
while ( techniqueIt.hasMoreElements() )
@@ -372,6 +371,7 @@
passIt.moveNext ();
}
}
+ */
}
Modified: code/gazebo/trunk/server/rendering/OgreVisual.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.hh 2008-06-16 19:59:31 UTC
(rev 6588)
+++ code/gazebo/trunk/server/rendering/OgreVisual.hh 2008-06-16 20:04:26 UTC
(rev 6589)
@@ -48,6 +48,9 @@
/// \brief Destructor
public: virtual ~OgreVisual();
+ /// \brief Load the visual
+ public: void Load(XMLConfigNode *node);
+
/// \brief Attach a renerable object to the visual
public: void AttachObject( Ogre::MovableObject *obj);
Modified: code/gazebo/trunk/worlds/test.world
===================================================================
--- code/gazebo/trunk/worlds/test.world 2008-06-16 19:59:31 UTC (rev 6588)
+++ code/gazebo/trunk/worlds/test.world 2008-06-16 20:04:26 UTC (rev 6589)
@@ -38,7 +38,7 @@
</rendering:ogre>
<model:physical name="sphere1_model">
- <xyz>0 0 9.0</xyz>
+ <xyz>0 0 0.1</xyz>
<static>false</static>
<body:sphere name="sphere1_body">
<geom:sphere name="sphere1_geom">
@@ -54,17 +54,6 @@
</body:sphere>
</model:physical>
- <model:physical name="terrain_model">
- <body:heightmap name ="terrain_body">
- <geom:heightmap name="terrain_geom">
- <image>test.jpg</image>
- <worldTexture>test.jpg</worldTexture>
- <detailTexture>test.jpg</detailTexture>
- <size>17 17 1.0</size>
- </geom:heightmap>
- </body:heightmap>
- </model:physical>
-
<model:physical name="plane1_model">
<xyz>0 0 0</xyz>
<static>true</static>
@@ -81,8 +70,8 @@
</model:physical>
<model:physical name="cam2_model">
- <xyz>-1.62 10.92 0.77</xyz>
- <rpy>0 16 -79</rpy>
+ <xyz>-3.0 0 2.59</xyz>
+ <rpy>0 28 -2</rpy>
<static>true</static>
<body:empty name="cam2_body">
@@ -98,120 +87,4 @@
</body:empty>
</model:physical>
- <model:physical name="pioneer2dx_model1">
- <xyz>-12 0 0.145</xyz>
- <rpy>0.0 0.0 0.0</rpy>
-
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.34</wheelSeparation>
- <wheelDiameter>0.15</wheelDiameter>
- <torque>5</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
-
- <model:physical name="laser">
- <xyz>0.15 0 0.18</xyz>
-
- <attach>
- <parentBody>chassis_body</parentBody>
- <myBody>laser_body</myBody>
- </attach>
-
- <include embedded="true">
- <xi:include href="models/sicklms200.model" />
- </include>
- </model:physical>
-
- <!--
- The include should be last within a model. All previous statements
- will override those in the included file
- -->
- <include embedded="true">
- <xi:include href="models/pioneer2dx.model" />
- </include>
- </model:physical>
-
- <model:physical name="pioneer2dx_model2">
- <xyz>12 0 0.145</xyz>
- <rpy>0.0 0.0 180.0</rpy>
-
- <model:physical name="laser2">
- <xyz>0.15 0 0.18</xyz>
-
- <attach>
- <parentBody>chassis_body</parentBody>
- <myBody>laser_body</myBody>
- </attach>
-
- <include embedded="true">
- <xi:include href="models/sicklms200.model" />
- </include>
- </model:physical>
-
- <!--
- The include should be last within a model. All previous statements
- will override those in the included file
- -->
- <include embedded="true">
- <xi:include href="models/pioneer2dx.model" />
- </include>
- </model:physical>
-
-
- <model:physical name="pioneer2dx_model3">
- <xyz>0 5 0.145</xyz>
- <rpy>0.0 0.0 -90.0</rpy>
-
- <model:physical name="laser3">
- <xyz>0.15 0 0.18</xyz>
-
- <attach>
- <parentBody>chassis_body</parentBody>
- <myBody>laser_body</myBody>
- </attach>
-
- <include embedded="true">
- <xi:include href="models/sicklms200.model" />
- </include>
- </model:physical>
-
- <!--
- The include should be last within a model. All previous statements
- will override those in the included file
- -->
- <include embedded="true">
- <xi:include href="models/pioneer2dx.model" />
- </include>
- </model:physical>
-
- <model:physical name="pioneer2dx_model4">
- <xyz>0 -5 0.145</xyz>
- <rpy>0.0 0.0 90.0</rpy>
-
- <model:physical name="laser4">
- <xyz>0.15 0 0.18</xyz>
-
- <attach>
- <parentBody>chassis_body</parentBody>
- <myBody>laser_body</myBody>
- </attach>
-
- <include embedded="true">
- <xi:include href="models/sicklms200.model" />
- </include>
- </model:physical>
-
- <!--
- The include should be last within a model. All previous statements
- will override those in the included file
- -->
- <include embedded="true">
- <xi:include href="models/pioneer2dx.model" />
- </include>
- </model:physical>
-
-
-
</gazebo:world>
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