Revision: 6838
http://playerstage.svn.sourceforge.net/playerstage/?rev=6838&view=rev
Author: jeremy_asher
Date: 2008-07-10 15:28:34 -0700 (Thu, 10 Jul 2008)
Log Message:
-----------
Model worldfile documentation
Modified Paths:
--------------
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_load.cc
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2008-07-10 21:49:23 UTC (rev 6837)
+++ code/stage/trunk/libstage/model.cc 2008-07-10 22:28:34 UTC (rev 6838)
@@ -22,6 +22,8 @@
color "red"
color_rgba [ 0.0 0.0 0.0 1.0 ]
+ bitmap ""
+ ctrl ""
# determine how the model appears in various sensors
fiducial_return 0
@@ -35,14 +37,17 @@
# GUI properties
gui_nose 0
gui_grid 0
- gui_outline 1 ( was gui_boundary? )
- gui_movemask 0 top level or (STG_MOVE_TRANS | STG_MOVE_ROT);
+ gui_outline 1
+ gui_movemask <0 if top level or (STG_MOVE_TRANS | STG_MOVE_ROT)>;
+ blocks 0
+ block[0].points 0
+ block[0].point[0] [ 0.0 0.0 ]
+ block[0].z [ 0.0 1.0 ]
+ block[0].color "<color>"
+
boundary 0
- blocks -1
mass 10.0
- bitmap ""
- ctrl ""
map_resolution 0.1
say ""
alwayson 0
@@ -50,45 +55,46 @@
@endverbatim
@par Details
-- pose [x_pos:float y_pos:float heading:float]\n
-specify the pose of the model in its parent's coordinate system
-- size [x_size:float y_size:float]
-- specify the size of the model
-- origin [x_pos:float y_pos:float heading:float]
-- specify the position of the object's center, relative to its pose
-- velocity [x_speed:float y_speed:float rotation_speed:float]
-- specify the initial velocity of the model. Not that if the model hits an
obstacle, its velocity will be set to zero.
-- color [colorname:string]
-- specify the color of the object using a color name from the X11 database
(rgb.txt)
-- line_count [int]
-- specify the number of lines that make up the model's body- line[index]
[x1:float y1:float x2:float y2:float]
-- creates a line from (x1,y1) to (x2,y2). A set of line_count lines defines
the robot's body for the purposes of collision detection and rendering in the
GUI window.
-- bitmap [filename:string}
-- alternative way to set the model's line_count and lines. The file must be a
bitmap recognized by libgtkpixbuf (most popular formats are supported). The
file is opened and parsed into a set of lines. Unless the bitmap_resolution
option is used, the lines are scaled to fit inside the rectangle defined by the
model's current size.
-- gui_nose [bool]
-- if 1, draw a nose on the model showing its heading (positive X axis)
-- gui_grid [bool]
-- if 1, draw a scaling grid over the model
-- gui_movemask [int]
-- define how the model can be moved by the mouse in the GUI window
-- gui_boundary [bool]
-- if 1, draw a bounding box around the model, indicating its size
-- obstacle_return [bool]
-- if 1, this model can collide with other models that have this property set
-- blob_return [bool]
-- if 1, this model can be detected in the blob_finder (depending on its color)
-- ranger_return [bool]
-- if 1, this model can be detected by ranger sensors
-- laser_return [int]
-- if 0, this model is not detected by laser sensors. if 1, the model shows up
in a laser sensor with normal (0) reflectance. If 2, it shows up with high (1)
reflectance.
-- fiducial_return [fiducial_id:int]
-- if non-zero, this model is detected by fiducialfinder sensors. The value is
used as the fiducial ID.
-- fiducial_key [int]
-- models are only detected by fiducialfinders if the fiducial_key values of
model and fiducialfinder match. This allows you to have several independent
types of fiducial in the same environment, each type only showing up in
fiducialfinders that are "tuned" for it.
-- ranger_return [bool]
-- iff 1, this model can be detected by a ranger.
-- gripper_return [bool]
-- iff 1, this model can be gripped by a gripper and can be pushed around by
collisions with anything that has a non-zero obstacle_return.
+
+- pose [ x:<float> y:<float> z:<float> heading:<float> ] \n
+ specify the pose of the model in its parent's coordinate system
+- size [ x:<float> y:<float> z:<float> ]\n
+ specify the size of the model in each dimension
+- origin [ x:<float> y:<float> z:<float> heading:<float> ]\n
+ specify the position of the object's center, relative to its pose
+- velocity [ x:<float> y:<float> z:<float> heading:<float> omega:<float> ]\n
+ Specify the initial velocity of the model. Note that if the model hits an
obstacle, its velocity will be set to zero.
+
+- color <string>\n
+ specify the color of the object using a color name from the X11 database
(rgb.txt)
+- bitmap filename:<string>\n
+ Draw the model by interpreting the lines in a bitmap (bmp, jpeg, gif, png
supported). The file is opened and parsed into a set of lines. The lines are
scaled to fit inside the rectangle defined by the model's current size.
+- ctrl <string>\n
+ specify the controller module for the model
+
+- fiducial_return fiducial_id:<int>\n
+ if non-zero, this model is detected by fiducialfinder sensors. The value is
used as the fiducial ID.
+- fiducial_key <int>
+ models are only detected by fiducialfinders if the fiducial_key values of
model and fiducialfinder match. This allows you to have several independent
types of fiducial in the same environment, each type only showing up in
fiducialfinders that are "tuned" for it.
+- obstacle_return <int>\n
+ if 1, this model can collide with other models that have this property set
+- ranger_return <int>\n
+ if 1, this model can be detected by ranger sensors
+- blob_return <int>\n
+ if 1, this model can be detected in the blob_finder (depending on its color)
+- laser_return <int>\n
+ if 0, this model is not detected by laser sensors. if 1, the model shows up
in a laser sensor with normal (0) reflectance. If 2, it shows up with high (1)
reflectance.
+- gripper_return <int>\n
+ iff 1, this model can be gripped by a gripper and can be pushed around by
collisions with anything that has a non-zero obstacle_return.
+
+- gui_nose <int>\n
+ if 1, draw a nose on the model showing its heading (positive X axis)
+- gui_grid <int>\n
+ if 1, draw a scaling grid over the model
+- gui_outline <int>\n
+ if 1, draw a bounding box around the model, indicating its size
+- gui_movemask <int>\n
+ define how the model can be moved by the mouse in the GUI window
*/
Modified: code/stage/trunk/libstage/model_load.cc
===================================================================
--- code/stage/trunk/libstage/model_load.cc 2008-07-10 21:49:23 UTC (rev
6837)
+++ code/stage/trunk/libstage/model_load.cc 2008-07-10 22:28:34 UTC (rev
6838)
@@ -185,7 +185,7 @@
if( wf->PropertyExists( wf_entity, "blocks" ) )
{
- int blockcount = wf->ReadInt( wf_entity, "blocks", -1 );
+ int blockcount = wf->ReadInt( wf_entity, "blocks", 0 );
this->UnMap();
this->ClearBlocks();
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