Revision: 6827
http://playerstage.svn.sourceforge.net/playerstage/?rev=6827&view=rev
Author: jeremy_asher
Date: 2008-07-09 13:29:43 -0700 (Wed, 09 Jul 2008)
Log Message:
-----------
Documentation work
Modified Paths:
--------------
code/stage/trunk/libstage/camera.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
code/stage/trunk/libstage/worldgui.cc
Modified: code/stage/trunk/libstage/camera.cc
===================================================================
--- code/stage/trunk/libstage/camera.cc 2008-07-09 01:00:59 UTC (rev 6826)
+++ code/stage/trunk/libstage/camera.cc 2008-07-09 20:29:43 UTC (rev 6827)
@@ -87,9 +87,9 @@
}
void StgPerspectiveCamera::Load( Worldfile* wf, int sec ) {
- float x_pos = wf->ReadTupleFloat(sec, "pcam_loc", 0, x() );
- float y_pos = wf->ReadTupleFloat(sec, "pcam_loc", 1, y() );
- float z_pos = wf->ReadTupleFloat(sec, "pcam_loc", 2, z() );
+ float x_pos = wf->ReadTupleLength(sec, "pcam_loc", 0, x() );
+ float y_pos = wf->ReadTupleLength(sec, "pcam_loc", 1, y() );
+ float z_pos = wf->ReadTupleLength(sec, "pcam_loc", 2, z() );
setPose( x_pos, y_pos, z_pos );
setPitch( wf->ReadTupleFloat( sec, "pcam_angle", 0, pitch() ) );
setYaw( wf->ReadTupleFloat( sec, "pcam_angle", 1, yaw() ) );
@@ -206,8 +206,8 @@
}
void StgOrthoCamera::Load( Worldfile* wf, int sec ) {
- float x_pos = wf->ReadTupleFloat(sec, "center", 0, x() );
- float y_pos = wf->ReadTupleFloat(sec, "center", 1, y() );
+ float x_pos = wf->ReadTupleLength(sec, "center", 0, x() );
+ float y_pos = wf->ReadTupleLength(sec, "center", 1, y() );
setPose( x_pos, y_pos );
setPitch( wf->ReadTupleFloat( sec, "rotate", 0, pitch() ) );
setYaw( wf->ReadTupleFloat( sec, "rotate", 1, yaw() ) );
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-07-09 01:00:59 UTC (rev 6826)
+++ code/stage/trunk/libstage/stage.hh 2008-07-09 20:29:43 UTC (rev 6827)
@@ -959,7 +959,7 @@
class Region;
class SuperRegion;
-/// StgWorld class
+/// %StgWorld class
class StgWorld : public StgAncestor
{
friend class StgModel; // allow access to private members
@@ -1141,7 +1141,7 @@
typedef int ctrlinit_t( StgModel* mod );
//typedef void ctrlupdate_t( StgModel* mod );
-/// StgModel class
+/// %StgModel class
class StgModel : public StgAncestor
{
friend class StgAncestor;
@@ -2063,7 +2063,7 @@
stg_meters_t range;
} stg_blobfinder_blob_t;
-/// StgModelBlobfinder class
+/// %StgModelBlobfinder class
class StgModelBlobfinder : public StgModel
{
private:
@@ -2173,7 +2173,7 @@
stg_radians_t fov;
} stg_laser_cfg_t;
-/// StgModelLaser class
+/// %StgModelLaser class
class StgModelLaser : public StgModel
{
private:
@@ -2346,7 +2346,7 @@
} stg_fiducial_t;
-/// StgModelFiducial class
+/// %StgModelFiducial class
class StgModelFiducial : public StgModel
{
private:
@@ -2399,7 +2399,7 @@
int ray_count;
} stg_ranger_sensor_t;
-/// StgModelRanger class
+/// %StgModelRanger class
class StgModelRanger : public StgModel
{
protected:
@@ -2459,7 +2459,7 @@
GLfloat x, y, z;
} ColoredVertex;
-/// StgModelCamera class
+/// %StgModelCamera class
class StgModelCamera : public StgModel
{
private:
@@ -2549,7 +2549,7 @@
} stg_position_drive_mode_t;
-/// StgModelPosition class
+/// %StgModelPosition class
class StgModelPosition : public StgModel
{
private:
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2008-07-09 01:00:59 UTC (rev 6826)
+++ code/stage/trunk/libstage/world.cc 2008-07-09 20:29:43 UTC (rev 6827)
@@ -11,27 +11,21 @@
@verbatim
-title "[defaults to worldfile filename]"
interval_real 100
interval_sim 100
-gui_interval 100
resolution 0.02
@endverbatim
@par Details
-- name [string]
-- the name of the world, as displayed in the window title bar. Defaults to the
worldfile file name.
-- interval_sim [milliseconds]
-- the length of each simulation update cycle in milliseconds.
-- interval_real [milliseconds]
-- the amount of real-world (wall-clock) time the siulator will attempt to
spend on each simulation cycle.
-- gui_interval [milliseconds]
-- the amount of real-world time between GUI updates
-- resolution [meters]
-- specifies the resolution of the underlying bitmap model. Larger values speed
up raytracing at the expense of fidelity in collision detection and sensing.
[EMAIL PROTECTED] More examples
+- interval_sim <int>\n
+the length of each simulation update cycle in milliseconds.
+- interval_real <int>\n
+the amount of real-world (wall-clock) time the siulator will attempt to spend
on each simulation cycle.
+- resolution <float>\n
+The resolution (in meters) of the underlying bitmap model. Larger values speed
up raytracing at the expense of fidelity in collision detection and sensing.
[EMAIL PROTECTED] More examples
The Stage source distribution contains several example world files in
<tt>(stage src)/worlds</tt> along with the worldfile properties
described on the manual page for each model type.
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2008-07-09 01:00:59 UTC (rev
6826)
+++ code/stage/trunk/libstage/worldgui.cc 2008-07-09 20:29:43 UTC (rev
6827)
@@ -27,80 +27,88 @@
@verbatim
window
(
- # gui properties
- center [0 0]
- size [700 740]
- scale 1.0
+ size [ 400 300 ]
+
+ # camera options
+ center [ 0 0 ]
+ rotate [ 0 0 ]
+ scale 1.0
+
+ # perspective camera options
+ pcam_loc [ 0 -4 2 ]
+ pcam_angle [ 70 0 ]
+ pcam_on 0
- # model properties do not apply to the gui window
+ # model properties do not apply to the gui window
)
@endverbatim
@par Details
- - title [string]
- - the string displayed in the window title bar. Defaults to the worldfile
file name.
- - size [width:int width:int]
- - size of the window in pixels
- - center [x:float y:float]
- - location of the center of the window in world coordinates (meters)
- - scale [?:double]
- - ratio of world to pixel coordinates (window zoom)
+ - size [ <width:int> <height:int> ]\n
+ size of the window in pixels
+ - center [ <x:float> <y:float> ]\n
+ location of the center of the window in world coordinates (meters)
+ - rotate [ <pitch:float> <yaw:float> ]\n
+ angle relative to straight up, angle of rotation (degrees)
+ - scale <float>\n
+ ratio of world to pixel coordinates (window zoom)
+ - pcam_loc [ <x:int> <y:int> <z:int> ]\n
+ location of the perspective camera (meters)
+ - pcam_angle [ <pitch:float> <yaw:float> ]\n
+ verticle and horizontal angle of the perspective camera
+ - pcam_on <int>\n
+ whether to start with the perspective camera enabled (0/1)
<h2>Using the Stage window</h2>
+
-
<h3>Scrolling the view</h3>
-
<p>Left-click and drag on the background to move your view of the world.
<h3>Zooming the view</h3>
-
- <p>Right-click and drag on the background to zoom your view of the
- world. When you press the right mouse button, a circle appears. Moving
- the mouse adjusts the size of the circle; the current view is scaled
- with the circle.
-
+ <p>Scroll the mouse wheel to zoom in or out on the mouse cursor.
+
<h3>Saving the world</h3>
-
<P>You can save the current pose of everything in the world, using the
File/Save menu item. <b>Warning: the saved poses overwrite the current
world file.</b> Make a copy of your world file before saving if you
- want to keep the old poses.
-
-
- <h3>Saving a screenshot</h3>
-
- <p> The File/Export menu allows you to export a screenshot of the
- current world view in JPEG or PNG format. The frame is saved in the
- current directory with filename in the format "stage-(frame
- number).(jpg/png)".
-
- You can also save sequences of screen shots. To start saving a
- sequence, select the desired time interval from the same menu, then
- select File/Export/Sequence of frames. The frames are saved in the
- current directory with filenames in the format "stage-(sequence
- number)-(frame number).(jpg/png)".
-
- The frame and sequence numbers are reset to zero every time you run
- Stage, so be careful to rename important frames before they are
- overwritten.
-
+ want to keep the old poses. Alternatively the File/Save As menu item
+ can be used to save to a new world file.
+
<h3>Pausing and resuming the clock</h3>
+ <p>The simulation can be paused or resumed by pressing the space key.
+
+ <h3>Selecting models</h3>
+ <p>Models can be selected by clicking on them with the left mouse button.
+ It is possible to select multiple models by holding the shift key and
+ clicking on multiple models. Selected models can be moved by dragging or
+ rotated by right click dragging. Selections can be cleared by clicking on
+ an empty location in the world. After clearing the selection, the last
+ single model selected will be saved as the target for several view options
+ described below which affect a particular model.
- <p>The Clock/Pause menu item allows you to stop the simulation clock,
- freezing the world. Selecting this item again re-starts the clock.
-
-
<h3>View options</h3>
+ <p>The View menu provides access to a number of features affecting how
+ the world is rendered. To the right of each option there is usually
+ a keyboard hotkey which can be pressed to quickly toggle the relevant
+ option.
+
+ <p>Sensor data visualizations can be toggled by the "Data" option.
+ The filter data option opens a dialog which provides the ability
+ to turn on and off visualizations of particular sensors. The "Visualize
All"
+ option in the dialog toggles whether sensor visualizations are enabled
+ for all models or only the currently selected ones.
+
+ <p>The "Follow" option keeps the view centered on the last selected model.
+
+ <p>The "Perspective camera" option switches from orthogonal viewing to
perspective viewing.
+
+ <h3>Saving a screenshot</h3>
+ <p> To save a sequence of screenshots of the world, select the "Save
+ screenshots" option from the view menu to start recording images and
+ then select the option from the menu again to stop.
- <p>The View menu allows you to toggle rendering of a 1m grid, to help
- you line up objects (View/Grid). You can control whether polygons are
- filled (View/Fill polygons); turning this off slightly improves
- graphics performance. The rest of the view menu contains options for
- rendering of data and configuration for each type of model, and a
- debug menu that enables visualization of some of the innards of Stage.
-
*/
#include <FL/Fl_Image.H>
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