Revision: 6826
http://playerstage.svn.sourceforge.net/playerstage/?rev=6826&view=rev
Author: rtv
Date: 2008-07-08 18:00:59 -0700 (Tue, 08 Jul 2008)
Log Message:
-----------
libstageplugin currently broken
Modified Paths:
--------------
code/stage/trunk/libstage/model_load.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstageplugin/p_position.cc
code/stage/trunk/worlds/simple.cfg
code/stage/trunk/worlds/simple.world
Modified: code/stage/trunk/libstage/model_load.cc
===================================================================
--- code/stage/trunk/libstage/model_load.cc 2008-07-08 23:41:30 UTC (rev
6825)
+++ code/stage/trunk/libstage/model_load.cc 2008-07-09 01:00:59 UTC (rev
6826)
@@ -9,12 +9,15 @@
#include "stage_internal.hh"
+#define DEBUG 1
+
void StgModel::Load()
{
assert( wf );
assert( wf_entity );
PRINT_DEBUG1( "Model \"%s\" loading...", token );
+
if( wf->PropertyExists( wf_entity, "debug" ) )
{
@@ -27,16 +30,13 @@
{
char *name = (char*)wf->ReadString(wf_entity, "name", NULL );
if( name )
- {
- //printf( "changed %s to %s\n", this->token, token );
- this->token = strdup( name );
- world->AddModel( this ); // add this name to the world's table
- }
+ {
+ printf( "adding name %s to %s\n", name, this->token );
+ this->token = strdup( name );
+ world->AddModel( this ); // add this name to the
world's table
+ }
else
- PRINT_ERR1( "Name blank for model %s. Check your worldfile\n",
this->token );
-
- // add this name to the table
-
+ PRINT_ERR1( "Name blank for model %s. Check your
worldfile\n", this->token );
}
//PRINT_WARN1( "%s::Load", token );
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-07-08 23:41:30 UTC (rev 6825)
+++ code/stage/trunk/libstage/stage.hh 2008-07-09 01:00:59 UTC (rev 6826)
@@ -1653,10 +1653,12 @@
and has the type indicated by the string */
StgModel* GetUnsubscribedModelOfType( stg_model_type_t type );
- // iff true, model may output some debugging visualizations and other
info
+ // Iff true, model may output some debugging visualizations and other info
//bool debug;
- bool stalled(){ return this->stall; }
+ /** Returns the value of the model's stall boolean, which is true
+ iff the model has crashed into another model */
+ bool Stalled(){ return this->stall; }
};
// BLOCKS
Modified: code/stage/trunk/libstageplugin/p_position.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_position.cc 2008-07-08 23:41:30 UTC
(rev 6825)
+++ code/stage/trunk/libstageplugin/p_position.cc 2008-07-09 01:00:59 UTC
(rev 6826)
@@ -293,7 +293,7 @@
ppd.vel.pa = v.a;
// etc
- ppd.stall = this->mod->Stall();
+ ppd.stall = this->mod->Stalled();
// publish this data
this->driver->Publish( this->addr,
Modified: code/stage/trunk/worlds/simple.cfg
===================================================================
--- code/stage/trunk/worlds/simple.cfg 2008-07-08 23:41:30 UTC (rev 6825)
+++ code/stage/trunk/worlds/simple.cfg 2008-07-09 01:00:59 UTC (rev 6826)
@@ -10,7 +10,7 @@
driver
(
name "stage"
- provides ["simulation:0" ]
+ provides [ "simulation:0" ]
plugin "libstageplugin"
# load the named file into the simulator
@@ -22,18 +22,7 @@
driver
(
name "stage"
- provides ["position2d:0" "laser:0" "sonar:0"]
+ provides [ "position2d:0" "sonar:0" ]
model "r0"
)
-
-# Demonstrates use of a Player "abstract driver": one that doesn't
-# interface directly with hardware, but only with other Player devices.
-# The VFH driver attempts to drive to commanded positions without
-# bumping into obstacles.
-driver
-(
- name "vfh"
- provides ["position2d:1"]
- requires ["position2d:0" "laser:0" ]
-)
Modified: code/stage/trunk/worlds/simple.world
===================================================================
--- code/stage/trunk/worlds/simple.world 2008-07-08 23:41:30 UTC (rev
6825)
+++ code/stage/trunk/worlds/simple.world 2008-07-09 01:00:59 UTC (rev
6826)
@@ -1,16 +1,11 @@
# simple.world - basic world file example
# Authors: Richard Vaughan
-# $id$
+# $Id$
-# defines Pioneer-like robots
-include "pioneer.inc"
+include "pioneer.inc" # defines Pioneer-like robots
+include "map.inc" # defines 'floorplan' object used for obstacle maps
+include "sick.inc" # defines sick laser
-# defines 'map' object used for floorplans
-include "map.inc"
-
-# defines sick laser
-include "sick.inc"
-
interval_sim 100 # simulation timestep in milliseconds
interval_real 20 # real-time interval between simulation updates in
milliseconds
@@ -34,26 +29,13 @@
pioneer2dx
(
- pose [ -6.5 -6.5 0 45 ]
- sicklaser( pose [0.04 0 0 0]
-
-# model( size [0.1 0.1 0.1 ] color "red"
-# model ( size [0.1 0.1 0.1 ] color "green"
-# model (size [0.1 0.1 0.1 ] color "blue" pose [0 0 0.03 0 ]
-# model (size [0.1 0.1 0.1 ] color "magenta"
-# )
-# )
-# )
-# )
- )
-
- #pose [ 0.04 0 0 0 ] )
-
# can refer to the robot by this name
name "r0"
- # remove this if you're using Player to control the robot
- ctrl "wander"
+ pose [ -6.5 -6.5 0 45 ]
+ sicklaser( pose [0.04 0 0 0] )
+ # remove this if you're using Player to control the robot
+ # ctrl "wander"
)
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