Revision: 6775
http://playerstage.svn.sourceforge.net/playerstage/?rev=6775&view=rev
Author: rtv
Date: 2008-07-05 20:19:58 -0700 (Sat, 05 Jul 2008)
Log Message:
-----------
cleaning up worldfile loading
Modified Paths:
--------------
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_load.cc
code/stage/trunk/libstage/worldfile.cc
code/stage/trunk/libstage/worldgui.cc
code/stage/trunk/worlds/everything.world
code/stage/trunk/worlds/fasr.world
code/stage/trunk/worlds/map.inc
code/stage/trunk/worlds/pioneer.inc
code/stage/trunk/worlds/roomba.inc
code/stage/trunk/worlds/sick.inc
code/stage/trunk/worlds/simple.world
code/stage/trunk/worlds/swarmbenchmark/cave.world
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2008-07-05 01:33:02 UTC (rev 6774)
+++ code/stage/trunk/libstage/canvas.cc 2008-07-06 03:19:58 UTC (rev 6775)
@@ -157,7 +157,8 @@
glEnable(GL_BLEND);
glClearColor ( 0.7, 0.7, 0.8, 1.0);
- Screenshot();
+ // useful for debugging the picker
+ //Screenshot();
return mod;
}
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2008-07-05 01:33:02 UTC (rev 6774)
+++ code/stage/trunk/libstage/model.cc 2008-07-06 03:19:58 UTC (rev 6775)
@@ -141,9 +141,9 @@
// static members
uint32_t StgModel::count = 0;
-
GHashTable* StgModel::modelsbyid = g_hash_table_new( NULL, NULL );
+
// constructor
StgModel::StgModel( StgWorld* world,
StgModel* parent,
@@ -203,21 +203,20 @@
this->blob_return = DEFAULT_BLOBRETURN;
this->laser_return = DEFAULT_LASERRETURN;
this->gripper_return = DEFAULT_GRIPPERRETURN;
+ this->fiducial_return = 0;
+ this->fiducial_key = 0;
+
this->boundary = DEFAULT_BOUNDARY;
this->color = DEFAULT_COLOR;
this->map_resolution = DEFAULT_MAP_RESOLUTION; // meters
+
this->gui_nose = DEFAULT_NOSE;
this->gui_grid = DEFAULT_GRID;
this->gui_outline = DEFAULT_OUTLINE;
this->gui_mask = this->parent ? 0 : DEFAULT_MASK;
- this->fiducial_return = 0;
- this->fiducial_key = 0;
-
this->callbacks = g_hash_table_new( g_int_hash, g_int_equal );
-
this->flag_list = NULL;
-
this->blinkenlights = g_ptr_array_new();
bzero( &this->velocity, sizeof(velocity));
@@ -740,7 +739,8 @@
stg_pose_t gpose = GetGlobalPose();
char buf[64];
- snprintf( buf, 63, "%s [%.2f,%.2f,%.2f]", token, gpose.x, gpose.y,
rtod(gpose.a) );
+ snprintf( buf, 63, "%s [%.2f %.2f %.2f %.2f]",
+ token, gpose.x, gpose.y, gpose.z, rtod(gpose.a)
);
PushColor( 0,0,0,1 ); // text color black
gl_draw_string( 0.5,0.5,0.5, buf );
Modified: code/stage/trunk/libstage/model_load.cc
===================================================================
--- code/stage/trunk/libstage/model_load.cc 2008-07-05 01:33:02 UTC (rev
6774)
+++ code/stage/trunk/libstage/model_load.cc 2008-07-06 03:19:58 UTC (rev
6775)
@@ -46,63 +46,36 @@
stg_geom_t geom = GetGeom();
geom.pose.x = wf->ReadTupleLength(wf_entity, "origin", 0, geom.pose.x );
geom.pose.y = wf->ReadTupleLength(wf_entity, "origin", 1, geom.pose.y );
- geom.pose.a = wf->ReadTupleAngle(wf_entity, "origin", 2, geom.pose.a );
+ geom.pose.z = wf->ReadTupleLength(wf_entity, "origin", 2, geom.pose.z );
+ geom.pose.a = wf->ReadTupleAngle(wf_entity, "origin", 3, geom.pose.a );
this->SetGeom( geom );
}
- if( wf->PropertyExists( wf_entity, "origin4" ) )
- {
- stg_geom_t geom = GetGeom();
- geom.pose.x = wf->ReadTupleLength(wf_entity, "origin4", 0, geom.pose.x );
- geom.pose.y = wf->ReadTupleLength(wf_entity, "origin4", 1, geom.pose.y );
- geom.pose.z = wf->ReadTupleLength(wf_entity, "origin4", 2, geom.pose.z );
- geom.pose.a = wf->ReadTupleAngle(wf_entity, "origin4", 3, geom.pose.a );
- this->SetGeom( geom );
- }
-
if( wf->PropertyExists( wf_entity, "size" ) )
{
stg_geom_t geom = GetGeom();
geom.size.x = wf->ReadTupleLength(wf_entity, "size", 0, geom.size.x );
geom.size.y = wf->ReadTupleLength(wf_entity, "size", 1, geom.size.y );
+ geom.size.z = wf->ReadTupleLength(wf_entity, "size", 2, geom.size.z );
this->SetGeom( geom );
}
- if( wf->PropertyExists( wf_entity, "size3" ) )
- {
- stg_geom_t geom = GetGeom();
- geom.size.x = wf->ReadTupleLength(wf_entity, "size3", 0, geom.size.x );
- geom.size.y = wf->ReadTupleLength(wf_entity, "size3", 1, geom.size.y );
- geom.size.z = wf->ReadTupleLength(wf_entity, "size3", 2, geom.size.z );
- this->SetGeom( geom );
- }
-
if( wf->PropertyExists( wf_entity, "pose" ))
{
stg_pose_t pose = GetPose();
pose.x = wf->ReadTupleLength(wf_entity, "pose", 0, pose.x );
pose.y = wf->ReadTupleLength(wf_entity, "pose", 1, pose.y );
- pose.z = 0.0;
- pose.a = wf->ReadTupleAngle(wf_entity, "pose", 2, pose.a );
+ pose.z = wf->ReadTupleLength(wf_entity, "pose", 2, pose.z );
+ pose.a = wf->ReadTupleAngle(wf_entity, "pose", 3, pose.a );
this->SetPose( pose );
}
- if( wf->PropertyExists( wf_entity, "pose4" ))
- {
- stg_pose_t pose = GetPose();
- pose.x = wf->ReadTupleLength(wf_entity, "pose4", 0, pose.x );
- pose.y = wf->ReadTupleLength(wf_entity, "pose4", 1, pose.y );
- pose.z = wf->ReadTupleLength(wf_entity, "pose4", 2, pose.z );
- pose.a = wf->ReadTupleAngle( wf_entity, "pose4", 3, pose.a );
-
- this->SetPose( pose );
- }
-
if( wf->PropertyExists( wf_entity, "velocity" ))
{
stg_velocity_t vel = GetVelocity();
vel.x = wf->ReadTupleLength(wf_entity, "velocity", 0, vel.x );
vel.y = wf->ReadTupleLength(wf_entity, "velocity", 1, vel.y );
+ vel.z = wf->ReadTupleLength(wf_entity, "velocity", 2, vel.z );
vel.a = wf->ReadTupleAngle(wf_entity, "velocity", 3, vel.a );
this->SetVelocity( vel );
@@ -110,15 +83,6 @@
world->StartUpdatingModel( this );
}
- if( wf->PropertyExists( wf_entity, "velocity4" ))
- {
- stg_velocity_t vel = GetVelocity();
- vel.x = wf->ReadTupleLength(wf_entity, "velocity4", 0, vel.x );
- vel.y = wf->ReadTupleLength(wf_entity, "velocity4", 1, vel.y );
- vel.z = wf->ReadTupleLength(wf_entity, "velocity4", 2, vel.z );
- vel.a = wf->ReadTupleAngle(wf_entity, "velocity4", 3, vel.a );
- this->SetVelocity( vel );
- }
if( wf->PropertyExists( wf_entity, "boundary" ))
{
@@ -376,15 +340,28 @@
this->pose.y,
this->pose.a );
- // right now we only save poses
- wf->WriteTupleLength( wf_entity, "pose", 0, this->pose.x);
- wf->WriteTupleLength( wf_entity, "pose", 1, this->pose.y);
- wf->WriteTupleAngle( wf_entity, "pose", 2, this->pose.a);
+ if( wf->PropertyExists( wf_entity, "pose" ) )
+ {
+ wf->WriteTupleLength( wf_entity, "pose", 0, this->pose.x);
+ wf->WriteTupleLength( wf_entity, "pose", 1, this->pose.y);
+ wf->WriteTupleLength( wf_entity, "pose", 2, this->pose.z);
+ wf->WriteTupleAngle( wf_entity, "pose", 3, this->pose.a);
+ }
+
+ if( wf->PropertyExists( wf_entity, "size" ) )
+ {
+ wf->WriteTupleLength( wf_entity, "size", 0, this->geom.size.x);
+ wf->WriteTupleLength( wf_entity, "size", 1, this->geom.size.y);
+ wf->WriteTupleLength( wf_entity, "size", 2, this->geom.size.z);
+ }
- wf->WriteTupleLength( wf_entity, "pose4", 0, this->pose.x);
- wf->WriteTupleLength( wf_entity, "pose4", 1, this->pose.y);
- wf->WriteTupleLength( wf_entity, "pose4", 2, this->pose.z);
- wf->WriteTupleAngle( wf_entity, "pose4", 3, this->pose.a);
+ if( wf->PropertyExists( wf_entity, "origin" ) )
+ {
+ wf->WriteTupleLength( wf_entity, "origin", 0,
this->geom.pose.x);
+ wf->WriteTupleLength( wf_entity, "origin", 1,
this->geom.pose.y);
+ wf->WriteTupleLength( wf_entity, "origin", 2,
this->geom.pose.z);
+ wf->WriteTupleAngle( wf_entity, "origin", 3, this->geom.pose.a);
+ }
// call any type-specific save callbacks
this->CallCallbacks( &this->save_hook );
Modified: code/stage/trunk/libstage/worldfile.cc
===================================================================
--- code/stage/trunk/libstage/worldfile.cc 2008-07-05 01:33:02 UTC (rev
6774)
+++ code/stage/trunk/libstage/worldfile.cc 2008-07-06 03:19:58 UTC (rev
6775)
@@ -1500,9 +1500,15 @@
// Write a float
void Worldfile::WriteFloat(int entity, const char *name, double value)
{
- char default_str[64];
- snprintf(default_str, sizeof(default_str), "%.3f", value);
- WriteString(entity, name, default_str);
+ if( fabs(value) < 0.001 ) // nearly 0
+ WriteString(entity, name, "0" ); // compact zeros make the file
+
// more readable
+ else
+ {
+ char default_str[64];
+ snprintf(default_str, sizeof(default_str), "%.3f", value);
+ WriteString(entity, name, default_str);
+ }
}
@@ -1531,9 +1537,17 @@
// Write a length (includes units conversion)
void Worldfile::WriteLength(int entity, const char *name, double value)
{
- char default_str[64];
- snprintf(default_str, sizeof(default_str), "%.3f", value /
this->unit_length);
- WriteString(entity, name, default_str);
+ value /= this->unit_length;
+
+ if( fabs(value) < 0.001 ) // nearly 0
+ WriteString(entity, name, "0" ); // compact zeros make the file
+
// more readable
+ else
+ {
+ char default_str[64];
+ snprintf(default_str, sizeof(default_str), "%.3f", value );
+ WriteString(entity, name, default_str);
+ }
}
@@ -1687,9 +1701,14 @@
void Worldfile::WriteTupleFloat(int entity, const char *name,
int index, double value)
{
- char default_str[64];
- snprintf(default_str, sizeof(default_str), "%.3f", value);
- WriteTupleString(entity, name, index, default_str);
+ if( fabs(value) < 0.001 ) // nearly 0
+ WriteTupleString(entity, name, index, "0" );
+ else
+ {
+ char default_str[64];
+ snprintf(default_str, sizeof(default_str), "%.3f", value);
+ WriteTupleString(entity, name, index, default_str);
+ }
}
@@ -1710,12 +1729,18 @@
void Worldfile::WriteTupleLength(int entity, const char *name,
int index, double value)
{
- char default_str[64];
- snprintf(default_str, sizeof(default_str), "%.3f", value /
this->unit_length);
- WriteTupleString(entity, name, index, default_str);
+ value /= this->unit_length;
+
+ if( fabs(value) < 0.001 ) // nearly 0
+ WriteTupleString(entity, name, index, "0" );
+ else
+ {
+ char default_str[64];
+ snprintf(default_str, sizeof(default_str), "%.3f", value );
+ WriteTupleString(entity, name, index, default_str);
+ }
}
-
///////////////////////////////////////////////////////////////////////////
// Read an angle from a tuple (includes unit conversion)
double Worldfile::ReadTupleAngle(int entity, const char *name,
@@ -1733,9 +1758,16 @@
void Worldfile::WriteTupleAngle(int entity, const char *name,
int index, double value)
{
- char default_str[64];
- snprintf(default_str, sizeof(default_str), "%.3f", value / this->unit_angle);
- WriteTupleString(entity, name, index, default_str);
+ value /= this->unit_angle;
+
+ if( fabs(value) < 0.001 ) // nearly 0
+ WriteTupleString(entity, name, index, "0" );
+ else
+ {
+ char default_str[64];
+ snprintf(default_str, sizeof(default_str), "%.3f", value );
+ WriteTupleString(entity, name, index, default_str);
+ }
}
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2008-07-05 01:33:02 UTC (rev
6774)
+++ code/stage/trunk/libstage/worldgui.cc 2008-07-06 03:19:58 UTC (rev
6775)
@@ -324,7 +324,7 @@
if( paused == true )
- status_stream << " --PAUSED--";
+ status_stream << " [ PAUSED ]";
return status_stream.str();
Modified: code/stage/trunk/worlds/everything.world
===================================================================
--- code/stage/trunk/worlds/everything.world 2008-07-05 01:33:02 UTC (rev
6774)
+++ code/stage/trunk/worlds/everything.world 2008-07-06 03:19:58 UTC (rev
6775)
@@ -13,7 +13,6 @@
include "map.inc"
include "sick.inc"
-
gui_disable 0
window(
@@ -26,9 +25,9 @@
bitmap "bitmaps/hospital_section.png"
#bitmap "bitmaps/hospital.png"
map_resolution 0.02
- size3d [40 18 0.5]
+ size [40 18 0.6]
- #size [160 60]
+ #size [160 60 0.6]
name "hospital"
color "gray50"
gui_outline 1
@@ -37,7 +36,7 @@
# a block for gripping
define puck model(
- size [ 0.08 0.08 ]
+ size [ 0.08 0.08 0.1 ]
gripper_return 1
gui_movemask 3
gui_nose 0
@@ -45,23 +44,18 @@
)
-puck( pose [-9.114 2.467 -105.501 ] color "red" )
-puck( pose [-9.045 2.624 -37.717 ] color "purple" )
-puck( pose [-8.959 2.752 -101.643 ] color "orange" )
+puck( pose [-9.114 2.467 0 -105.501 ] color "red" )
+puck( pose [-9.045 2.624 0 -37.717 ] color "purple" )
+puck( pose [-8.959 2.752 0 -101.643 ] color "orange" )
-ranger( alwayson 1 )
-
- sicklaser( pose [0.030 0.000 0.000 ] alwayson 1 )
-
-
# extend the pioneer2dx definition from pioneer.inc
#
define trickedoutpioneer pioneer2dx
(
ranger( alwayson 1 )
- sicklaser( pose [0.030 0.000 0.000 ] alwayson 1 )
+ sicklaser( pose [0.030 0.000 0 0.000 ] alwayson 1 )
fiducial( range_max 8 range_max_id 5 )
@@ -84,9 +78,9 @@
trickedoutpioneer
(
name "robot1"
- pose [-10.071 3.186 -2.333]
+ pose [-10.071 3.186 0 -2.333]
- #gripper( pose [0.23 0.000 0.000] color "gray" )
+ #gripper( pose [0.23 0.000 0 0.000] color "gray" )
#speech()
)
@@ -105,42 +99,42 @@
fiducial_return 18
color "blue"
name "p2"
- pose [-6.009 2.481 165.780]
+ pose [-6.009 2.481 0 165.780]
)
trickedoutpioneer
(
color "green"
name "p3"
- pose [-6.492 2.156 160.219]
+ pose [-6.492 2.156 0 160.219]
)
trickedoutpioneer
(
color "cyan"
name "p4"
- pose [-7.641 3.989 -127.216]
+ pose [-7.641 3.989 0 -127.216]
)
trickedoutpioneer
(
color "yellow"
name "p5"
- pose [-6.759 3.634 -110.414]
+ pose [-6.759 3.634 0 -110.414]
)
trickedoutpioneer
(
color "magenta"
name "p6"
- pose [-6.232 3.440 -135.449]
+ pose [-6.232 3.440 0 -135.449]
)
# a silly object to look at
define silly position (
- size3d [0.3 0.3 0.5]
+ size [1 1 0.5]
fiducial_return 22
laser_return 2
gui_outline 1
@@ -150,7 +144,7 @@
silly(
name "invader"
- pose3d [-6.754 0.791 0.3 0]
+ pose [-6.754 0.791 0 0]
color "green"
bitmap "bitmaps/space_invader.png"
)
@@ -158,12 +152,12 @@
silly(
name "ghost"
- pose3d [-6.060 0.794 0.6 0]
+ pose [-6.060 0.794 0 0]
color "blue"
bitmap "bitmaps/ghost.png"
)
roomba(
name "roomba1"
- pose [-9.000 0.500 0.000]
+ pose [-9.000 0.500 0 0.000]
)
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2008-07-05 01:33:02 UTC (rev 6774)
+++ code/stage/trunk/worlds/fasr.world 2008-07-06 03:19:58 UTC (rev 6775)
@@ -21,9 +21,9 @@
# configure the GUI window
window
(
- size [ 833.000 605.000 ]
- center [0.000 0.000]
- rotate [ -45.500 4.000 ]
+ size [ 601.000 605.000 ]
+ center [ 0 0 ]
+ rotate [ 0 0 ]
scale 32.344
show_data 0
@@ -34,15 +34,15 @@
floorplan
(
name "cave"
- size3 [16 16 0.6]
- pose [0.000 0.000 0.000]
+ size [16.000 16.000 0.600]
+ pose [0 0 0 0]
bitmap "bitmaps/cave.png"
)
zone
(
color "green"
- pose [ -7.000 -7.000 0.000 ]
+ pose [ -7.000 -7.000 0 0 ]
name "source"
ctrl "source"
)
@@ -50,43 +50,39 @@
zone
(
color "red"
- pose [ 7.000 7.000 0.000 ]
+ pose [ 7.000 7.000 0 0 ]
name "sink"
ctrl "sink"
)
define autorob pioneer2dx
(
- color "red"
-
- sicklaser( pose [ 0.040 0.000 0.000 ] samples 30 range_max 5 laser_return 2
-
- camera( pose [ 0.000 0.000 0.000 ] width 100 height 100 horizfov 70 vertfov
40 yaw 0 )
- )
+ sicklaser( pose [ 0.040 0 0.220 0 ] samples 30 range_max 5 laser_return 2 )
ctrl "fasr"
-# say "Autolab"
+ #camera( pose [ 0 0 0 0 ] width 100 height 100 horizfov 70 vertfov 40 yaw 0 )
+ #say "Autolab"
)
-autorob( pose [3.273 4.908 1.930] )
-#autorob( pose [6.635 6.458 -52.629] )
-#autorob( pose [6.385 5.805 -87.082] )
-#autorob( pose [7.004 5.327 170.536] )
-#autorob( pose [5.770 6.492 -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 [4.058 5.283 125.796] )
-#autorob( pose [7.487 6.926 -40.634] )
+autorob( pose [3.273 4.908 0 1.930] )
+autorob( pose [6.635 6.458 0 -52.629] )
+autorob( pose [6.385 5.805 0 -87.082] )
+autorob( pose [7.004 5.327 0 170.536] )
+autorob( pose [5.770 6.492 0 -10.539] )
+autorob( pose [7.493 4.852 0 -156.719] )
+autorob( pose [5.078 6.853 0 -37.549] )
+autorob( pose [6.147 7.399 0 4.964] )
+autorob( pose [4.058 5.283 0 125.796] )
+autorob( pose [7.487 6.926 0 -40.634] )
-#autorob( pose [4.530 7.367 -113.456] )
-#autorob( pose [6.071 5.138 -1.177] )
-#autorob( pose [6.591 4.622 -68.007] )
-#autorob( pose [5.454 7.540 135.162] )
-#autorob( pose [4.707 5.855 -3.588] )
-#autorob( pose [6.714 7.447 -73.332] )
-#autorob( pose [5.582 5.724 -48.161] )
-#autorob( pose [3.958 6.851 -102.651] )
-#autorob( pose [5.127 5.109 23.582] )
-#autorob( pose [7.534 5.825 -70.230] )
+autorob( pose [4.530 7.367 0 -113.456] )
+autorob( pose [6.071 5.138 0 -1.177] )
+autorob( pose [6.591 4.622 0 -68.007] )
+autorob( pose [5.454 7.540 0 135.162] )
+autorob( pose [4.707 5.855 0 -3.588] )
+autorob( pose [6.714 7.447 0 -73.332] )
+autorob( pose [5.582 5.724 0 -48.161] )
+autorob( pose [3.958 6.851 0 -102.651] )
+autorob( pose [5.127 5.109 0 23.582] )
+autorob( pose [7.534 5.825 0 -70.230] )
Modified: code/stage/trunk/worlds/map.inc
===================================================================
--- code/stage/trunk/worlds/map.inc 2008-07-05 01:33:02 UTC (rev 6774)
+++ code/stage/trunk/worlds/map.inc 2008-07-06 03:19:58 UTC (rev 6775)
@@ -1,6 +1,6 @@
# map.inc - useful setup for a floorplan bitmap
# Authors: Richard Vaughan
-# $id$
+# $Id$
define floorplan model
(
@@ -22,7 +22,7 @@
define zone model
(
color "orange"
- size3 [ 2 2 0.02 ]
+ size [ 2 2 0.02 ]
obstacle_return 0
laser_return 0
ranger_return 0
Modified: code/stage/trunk/worlds/pioneer.inc
===================================================================
--- code/stage/trunk/worlds/pioneer.inc 2008-07-05 01:33:02 UTC (rev 6774)
+++ code/stage/trunk/worlds/pioneer.inc 2008-07-06 03:19:58 UTC (rev 6775)
@@ -37,10 +37,10 @@
define pioneer2dx position
(
# actual size
- size3 [0.44 0.38 0.22] # sizes from MobileRobots' web site
+ size [0.44 0.38 0.22] # sizes from MobileRobots' web site
# the pioneer's center of rotation is offset from its center of area
- origin3 [-0.04 0 0 0]
+ origin [-0.04 0 0 0]
# draw a nose on the robot so we can see which way it points
gui_nose 1
@@ -51,7 +51,7 @@
# use the sonar array defined above with a small vertical offset to
# drop the sensors into the robot body
- #p2dx_sonar( pose4 [0.04 0 -0.03 0] )
+ #p2dx_sonar( pose [0.04 0 -0.03 0] )
# differential steering model
drive "diff"
@@ -192,7 +192,7 @@
define amigobot position
(
- size [.330 .280 0.25]
+ size [0.330 0.280 0.25]
origin [0 0 0 0] # what should this value be? send email to [EMAIL PROTECTED]
amigo_sonar()
)
Modified: code/stage/trunk/worlds/roomba.inc
===================================================================
--- code/stage/trunk/worlds/roomba.inc 2008-07-05 01:33:02 UTC (rev 6774)
+++ code/stage/trunk/worlds/roomba.inc 2008-07-06 03:19:58 UTC (rev 6775)
@@ -1,7 +1,7 @@
define roomba position
(
- size [0.33 0.33]
+ size [0.33 0.33 0.1]
# this polygon approximates the circular shape of a Roomba
polygons 1
@@ -29,4 +29,6 @@
# bpose[0] [0.12 0.12 45]
# bpose[1] [0.12 -0.12 -45]
# )
+
+ color "gray90"
)
Modified: code/stage/trunk/worlds/sick.inc
===================================================================
--- code/stage/trunk/worlds/sick.inc 2008-07-05 01:33:02 UTC (rev 6774)
+++ code/stage/trunk/worlds/sick.inc 2008-07-06 03:19:58 UTC (rev 6775)
@@ -13,8 +13,7 @@
# generic model properties
color "blue"
- size3 [ 0.156 0.155 0.19 ] # dimensions from LMS200 data sheet
- pose [ 0 0 0 ]
+ size [ 0.156 0.155 0.19 ] # dimensions from LMS200 data sheet
)
define fancysicklaser sicklaser
Modified: code/stage/trunk/worlds/simple.world
===================================================================
--- code/stage/trunk/worlds/simple.world 2008-07-05 01:33:02 UTC (rev
6774)
+++ code/stage/trunk/worlds/simple.world 2008-07-06 03:19:58 UTC (rev
6775)
@@ -28,14 +28,14 @@
floorplan
(
name "cave"
- size3 [16 16 1.5]
+ size [16 16 1.5]
bitmap "bitmaps/cave.png"
)
pioneer2dx
(
- pose [ -6.5 -6.5 45 ]
- sicklaser( )#pose [ 0.040 0.000 0.000 ] )
+ pose [ -6.5 -6.5 0 45 ]
+ sicklaser( pose [ 0.04 0 0 0 ] )
# can refer to the robot by this name
name "r0"
Modified: code/stage/trunk/worlds/swarmbenchmark/cave.world
===================================================================
--- code/stage/trunk/worlds/swarmbenchmark/cave.world 2008-07-05 01:33:02 UTC
(rev 6774)
+++ code/stage/trunk/worlds/swarmbenchmark/cave.world 2008-07-06 03:19:58 UTC
(rev 6775)
@@ -16,7 +16,7 @@
(
size [ 701.000 694.000 ]
center [0.068 -0.129]
- rotate [ 0.000 0.000 ]
+ rotate [ 0 0 ]
scale 38.592
interval 10
)
@@ -24,8 +24,8 @@
floorplan
(
name "cave"
- size3 [16 16 1.5]
- pose [0.000 0.000 0.000]
+ size [16.000 16.000 1.500]
+ pose [0 0 0 0]
bitmap "../bitmaps/cave.png"
)
@@ -37,7 +37,7 @@
# alternative laser with more complex polygons
# fancysicklaser( pose [ 0.040 0.000 0.000 ] samples 180 )
- ranger( pose4 [ 0 0 -0.05 0 ] )
+ ranger( pose [ 0 0 0.170 0 ] )
ctrl "expand"
)
@@ -54,114 +54,114 @@
define goldrob rob( color "gold" )
define darkredrob rob( color "DarkRed" )
-redrob( pose [-5.285 4.915 150.459] )
-redrob( pose [-4.432 5.655 -85.494] )
-redrob( pose [-5.518 4.157 -10.236] )
-redrob( pose [-6.007 5.008 144.441] )
-redrob( pose [-5.599 3.365 -172.038] )
-redrob( pose [-6.852 3.655 4.679] )
-redrob( pose [-7.483 4.049 -12.199] )
-redrob( pose [-4.393 4.938 114.269] )
-redrob( pose [-6.277 4.252 -97.494] )
-redrob( pose [-5.202 5.566 -89.743] )
+redrob( pose [-5.285 4.915 0 150.459] )
+redrob( pose [-4.432 5.655 0 -85.494] )
+redrob( pose [-5.518 4.157 0 -10.236] )
+redrob( pose [-6.007 5.008 0 144.441] )
+redrob( pose [-5.599 3.365 0 -172.038] )
+redrob( pose [-6.852 3.655 0 4.679] )
+redrob( pose [-7.483 4.049 0 -12.199] )
+redrob( pose [-4.393 4.938 0 114.269] )
+redrob( pose [-6.277 4.252 0 -97.494] )
+redrob( pose [-5.202 5.566 0 -89.743] )
-bluerob( pose [-7.014 6.409 -103.088] )
-bluerob( pose [-6.139 5.649 -29.509] )
-bluerob( pose [-6.315 6.277 -35.740] )
-bluerob( pose [-7.527 6.162 -18.380] )
-bluerob( pose [-6.897 5.544 -2.394] )
-bluerob( pose [-7.535 6.860 11.282] )
-bluerob( pose [-7.332 5.061 -0.348] )
-bluerob( pose [-6.810 4.727 -41.884] )
-bluerob( pose [-7.415 7.485 -14.803] )
-bluerob( pose [-6.722 7.120 -70.950] )
+bluerob( pose [-7.014 6.409 0 -103.088] )
+bluerob( pose [-6.139 5.649 0 -29.509] )
+bluerob( pose [-6.315 6.277 0 -35.740] )
+bluerob( pose [-7.527 6.162 0 -18.380] )
+bluerob( pose [-6.897 5.544 0 -2.394] )
+bluerob( pose [-7.535 6.860 0 11.282] )
+bluerob( pose [-7.332 5.061 0 -0.348] )
+bluerob( pose [-6.810 4.727 0 -41.884] )
+bluerob( pose [-7.415 7.485 0 -14.803] )
+bluerob( pose [-6.722 7.120 0 -70.950] )
-greenrob( pose [-2.686 6.660 -20.602] )
-greenrob( pose [-3.274 5.174 63.058] )
-greenrob( pose [-2.477 6.075 -93.720] )
-greenrob( pose [-3.473 5.829 -57.467] )
-greenrob( pose [-2.462 7.492 -65.482] )
-greenrob( pose [-1.836 6.835 -59.739] )
-greenrob( pose [-1.654 6.043 -171.672] )
-greenrob( pose [-0.519 7.392 -67.052] )
-greenrob( pose [-0.563 6.815 -106.072] )
-greenrob( pose [-1.404 7.436 -110.338] )
+greenrob( pose [-2.686 6.660 0 -20.602] )
+greenrob( pose [-3.274 5.174 0 63.058] )
+greenrob( pose [-2.477 6.075 0 -93.720] )
+greenrob( pose [-3.473 5.829 0 -57.467] )
+greenrob( pose [-2.462 7.492 0 -65.482] )
+greenrob( pose [-1.836 6.835 0 -59.739] )
+greenrob( pose [-1.654 6.043 0 -171.672] )
+greenrob( pose [-0.519 7.392 0 -67.052] )
+greenrob( pose [-0.563 6.815 0 -106.072] )
+greenrob( pose [-1.404 7.436 0 -110.338] )
-magentarob( pose [1.731 7.249 -92.107] )
-magentarob( pose [2.586 6.521 -100.329] )
-magentarob( pose [3.001 5.447 -46.977] )
-magentarob( pose [3.611 7.214 -116.841] )
-magentarob( pose [2.625 7.473 -48.982] )
-magentarob( pose [3.660 6.559 -74.307] )
-magentarob( pose [3.434 5.808 -83.857] )
-magentarob( pose [0.624 7.277 -40.753] )
-magentarob( pose [2.017 6.083 -52.575] )
-magentarob( pose [0.561 6.752 4.367] )
+magentarob( pose [1.731 7.249 0 -92.107] )
+magentarob( pose [2.586 6.521 0 -100.329] )
+magentarob( pose [3.001 5.447 0 -46.977] )
+magentarob( pose [3.611 7.214 0 -116.841] )
+magentarob( pose [2.625 7.473 0 -48.982] )
+magentarob( pose [3.660 6.559 0 -74.307] )
+magentarob( pose [3.434 5.808 0 -83.857] )
+magentarob( pose [0.624 7.277 0 -40.753] )
+magentarob( pose [2.017 6.083 0 -52.575] )
+magentarob( pose [0.561 6.752 0 4.367] )
-yellowrob( pose [-7.548 3.117 12.515] )
-yellowrob( pose [-6.811 2.501 83.166] )
-yellowrob( pose [-7.475 2.119 -0.137] )
-yellowrob( pose [-7.052 1.708 -48.147] )
-yellowrob( pose [-6.352 3.226 -146.472] )
-yellowrob( pose [-6.323 1.862 -155.344] )
-yellowrob( pose [-5.966 2.552 -75.391] )
-yellowrob( pose [-5.358 1.495 -128.137] )
-yellowrob( pose [-5.279 2.419 32.326] )
-yellowrob( pose [-4.698 1.671 -113.009] )
+yellowrob( pose [-7.548 3.117 0 12.515] )
+yellowrob( pose [-6.811 2.501 0 83.166] )
+yellowrob( pose [-7.475 2.119 0 -0.137] )
+yellowrob( pose [-7.052 1.708 0 -48.147] )
+yellowrob( pose [-6.352 3.226 0 -146.472] )
+yellowrob( pose [-6.323 1.862 0 -155.344] )
+yellowrob( pose [-5.966 2.552 0 -75.391] )
+yellowrob( pose [-5.358 1.495 0 -128.137] )
+yellowrob( pose [-5.279 2.419 0 32.326] )
+yellowrob( pose [-4.698 1.671 0 -113.009] )
-goldrob( pose [5.834 7.276 -74.706] )
-goldrob( pose [7.335 7.494 -146.899] )
-goldrob( pose [6.407 5.942 -91.539] )
-goldrob( pose [7.258 6.175 -116.576] )
-goldrob( pose [5.541 6.778 -92.857] )
-goldrob( pose [6.564 6.902 -120.722] )
-goldrob( pose [4.799 7.285 -75.638] )
-goldrob( pose [5.271 6.005 -74.373] )
-goldrob( pose [4.769 6.595 -86.730] )
-goldrob( pose [4.340 5.941 -65.977] )
+goldrob( pose [5.834 7.276 0 -74.706] )
+goldrob( pose [7.335 7.494 0 -146.899] )
+goldrob( pose [6.407 5.942 0 -91.539] )
+goldrob( pose [7.258 6.175 0 -116.576] )
+goldrob( pose [5.541 6.778 0 -92.857] )
+goldrob( pose [6.564 6.902 0 -120.722] )
+goldrob( pose [4.799 7.285 0 -75.638] )
+goldrob( pose [5.271 6.005 0 -74.373] )
+goldrob( pose [4.769 6.595 0 -86.730] )
+goldrob( pose [4.340 5.941 0 -65.977] )
-darkredrob( pose [-7.630 0.425 -15.747] )
-darkredrob( pose [-7.571 1.112 1.397] )
-darkredrob( pose [-6.158 1.168 32.866] )
-darkredrob( pose [-4.509 0.635 4.689] )
-darkredrob( pose [-7.549 -0.241 1.423] )
-darkredrob( pose [-6.728 0.180 -22.542] )
-darkredrob( pose [-6.824 0.826 -11.285] )
-darkredrob( pose [-6.015 0.257 -2.367] )
-darkredrob( pose [-5.195 0.771 -64.592] )
-darkredrob( pose [-5.483 -0.245 70.044] )
+darkredrob( pose [-7.630 0.425 0 -15.747] )
+darkredrob( pose [-7.571 1.112 0 1.397] )
+darkredrob( pose [-6.158 1.168 0 32.866] )
+darkredrob( pose [-4.509 0.635 0 4.689] )
+darkredrob( pose [-7.549 -0.240 0 1.000 1.423] )
+darkredrob( pose [-6.728 0.180 0 -22.542] )
+darkredrob( pose [-6.824 0.826 0 -11.285] )
+darkredrob( pose [-6.015 0.257 0 -2.367] )
+darkredrob( pose [-5.195 0.771 0 -64.592] )
+darkredrob( pose [-5.483 -0.245 0 70.044] )
-cyanrob( pose [-2.544 4.684 -134.461] )
-cyanrob( pose [-0.366 3.260 -44.509] )
-cyanrob( pose [-1.760 4.277 -118.276] )
-cyanrob( pose [-2.211 5.401 -160.089] )
-cyanrob( pose [-2.281 3.871 17.255] )
-cyanrob( pose [-1.440 3.502 -67.215] )
-cyanrob( pose [-2.532 2.902 -6.938] )
-cyanrob( pose [-1.919 2.877 -13.437] )
-cyanrob( pose [-1.725 1.970 -17.763] )
-cyanrob( pose [-1.483 5.050 8.818] )
+cyanrob( pose [-2.544 4.684 0 -134.461] )
+cyanrob( pose [-0.366 3.260 0 -44.509] )
+cyanrob( pose [-1.760 4.277 0 -118.276] )
+cyanrob( pose [-2.211 5.401 0 -160.089] )
+cyanrob( pose [-2.281 3.871 0 17.255] )
+cyanrob( pose [-1.440 3.502 0 -67.215] )
+cyanrob( pose [-2.532 2.902 0 -6.938] )
+cyanrob( pose [-1.919 2.877 0 -13.437] )
+cyanrob( pose [-1.725 1.970 0 -17.763] )
+cyanrob( pose [-1.483 5.050 0 8.818] )
-orangerob( pose [-7.652 -2.012 -0.754] )
-orangerob( pose [-6.934 -2.155 -40.701] )
-orangerob( pose [-6.798 -1.520 -93.732] )
-orangerob( pose [-7.525 -0.994 -9.450] )
-orangerob( pose [-6.679 -0.670 -70.140] )
-orangerob( pose [-7.611 -3.107 -51.626] )
-orangerob( pose [-6.656 -3.665 -70.493] )
-orangerob( pose [-6.139 -3.326 -90.309] )
-orangerob( pose [-6.163 -1.853 -115.649] )
-orangerob( pose [-6.026 -0.817 -11.811] )
+orangerob( pose [-7.652 -2.012 0 -0.754] )
+orangerob( pose [-6.934 -2.155 0 -40.701] )
+orangerob( pose [-6.798 -1.520 0 -93.732] )
+orangerob( pose [-7.525 -0.994 0 -9.450] )
+orangerob( pose [-6.679 -0.670 0 -70.140] )
+orangerob( pose [-7.611 -3.107 0 -51.626] )
+orangerob( pose [-6.656 -3.665 0 -70.493] )
+orangerob( pose [-6.139 -3.326 0 -90.309] )
+orangerob( pose [-6.163 -1.853 0 -115.649] )
+orangerob( pose [-6.026 -0.817 0 -11.811] )
-purplerob( pose [-3.863 1.615 -84.575] )
-purplerob( pose [-2.826 1.856 -44.148] )
-purplerob( pose [-3.889 1.094 -50.194] )
-purplerob( pose [-3.124 1.034 -72.759] )
-purplerob( pose [-3.878 0.244 -74.604] )
-purplerob( pose [-2.846 0.345 -36.704] )
-purplerob( pose [-3.651 -0.504 -8.212] )
-purplerob( pose [-2.736 -0.851 -45.703] )
-purplerob( pose [-2.477 1.234 -50.431] )
-purplerob( pose [-4.471 -0.104 26.367] )
+purplerob( pose [-3.863 1.615 0 -84.575] )
+purplerob( pose [-2.826 1.856 0 -44.148] )
+purplerob( pose [-3.889 1.094 0 -50.194] )
+purplerob( pose [-3.124 1.034 0 -72.759] )
+purplerob( pose [-3.878 0.244 0 -74.604] )
+purplerob( pose [-2.846 0.345 0 -36.704] )
+purplerob( pose [-3.651 -0.504 0 -8.212] )
+purplerob( pose [-2.736 -0.851 0 -45.703] )
+purplerob( pose [-2.477 1.234 0 -50.431] )
+purplerob( pose [-4.471 -0.104 0 26.367] )
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