Revision: 6850
http://playerstage.svn.sourceforge.net/playerstage/?rev=6850&view=rev
Author: jeremy_asher
Date: 2008-07-11 13:32:47 -0700 (Fri, 11 Jul 2008)
Log Message:
-----------
Reformatting release notes
Modified Paths:
--------------
code/stage/trunk/RELEASE
Modified: code/stage/trunk/RELEASE
===================================================================
--- code/stage/trunk/RELEASE 2008-07-11 20:28:48 UTC (rev 6849)
+++ code/stage/trunk/RELEASE 2008-07-11 20:32:47 UTC (rev 6850)
@@ -27,39 +27,40 @@
Richard Vaughan (rtv) [EMAIL PROTECTED] 2006.2.26
### New Features
+
Significant user-level changes include:
- - Stage is now implemented as the C library
- libstage. Using libstage, your programs can include a
- sophisticated robot simulator with a few lines of code. The
- Player plugin libstageplugin is a wrapper for libstage
- that provides simulation services to Player. Player with
- libstageplugin is the Player/Stage system.
+- Stage is now implemented as the C library
+ libstage. Using libstage, your programs can include a
+ sophisticated robot simulator with a few lines of code. The
+ Player plugin libstageplugin is a wrapper for libstage
+ that provides simulation services to Player. Player with
+ libstageplugin is the Player/Stage system.
- - Player clients can draw directly in the Stage window using the
- graphics2d interface. libstage programs can use the internal
- user graphics API.
+- Player clients can draw directly in the Stage window using the
+ graphics2d interface. libstage programs can use the internal
+ user graphics API.
- - Configurable odometry error in position model
+- Configurable odometry error in position model
- - Gripper model that can pick up anything. Any object can be made
- grippable/pushable by setting the the gripper_return property.
-
- - Pan-tilt-zoom (PTZ) model.
+- Gripper model that can pick up anything. Any object can be made
+ grippable/pushable by setting the the gripper_return property.
- - More and improved visualizations, including models leaving trails
- over time
+- Pan-tilt-zoom (PTZ) model.
- - Any object can now have its shape specified by a bitmap file (JPG,
- PNG, etc.).
+- More and improved visualizations, including models leaving trails
+ over time
- - Worldfile syntax has changed slightly, so you may need to edit your existing
-worlds to get them to work. Look at the example worlds in <tt>(stage
-src)/worlds</tt> to get the idea.
+- Any object can now have its shape specified by a bitmap file (JPG,
+ PNG, etc.).
- - Worlds can be very large (thousands of meters square).
+- Worldfile syntax has changed slightly, so you may need to edit your
+ existing worlds to get them to work. Look at the example worlds in
+ <stage src>/worlds to get the idea.
+- Worlds can be very large (thousands of meters square).
+
Version 1.6.1
-------------
This is a bug-fix release that replaces 1.6.0.
@@ -80,58 +81,57 @@
### Significant changes visible to the user
1. Stage is now a Player plugin, instead of an executable. The key
-benefit of this is that all Player drivers are now available for
-use directly with Stage, including sophisticated drivers like
-AMCL, without needing passthrough drivers.
+ benefit of this is that all Player drivers are now available for
+ use directly with Stage, including sophisticated drivers like
+ AMCL, without needing passthrough drivers.
2. Stage depends on Player 1.6 or newer.
3. Worldfile syntax has a changed, so you need to edit your existing
-worlds to get them to work. Look at the example worlds in <stage
-src>/worlds to get the idea.
+ worlds to get them to work. Look at the example worlds in <stage
+ src>/worlds to get the idea.
4. Any object can now have its shape specified by a bitmap file
5. Several bitmap file formats are supported, using a third-party
-library. Load maps and robot bodies from JPG, PNG, etc. No more PNM
-troubles.
+ library. Load maps and robot bodies from JPG, PNG, etc. No more PNM
+ troubles.
6. Worlds can now be very large (thousands of meters square).
7. Several models are missing from this release - notably the gripper
-and puck. These will be available soon. Meanwhile, enjoy the full
-power of Player with the basic laser, sonar, position, fiducial and
-blobfinder models.
+ and puck. These will be available soon. Meanwhile, enjoy the full
+ power of Player with the basic laser, sonar, position, fiducial and
+ blobfinder models.
8. Stage no longer depends on libRTK.
9. Some models from previous versions may not yet be available in
-this release (e.g. gripper & puck), but we're working on them. Let us
-know which ones you need.
+ this release (e.g. gripper & puck), but we're working on them. Let us
+ know which ones you need.
### Significant changes under the hood
1. The Stage simulation engine is now a library rather than an
-application. The library can be used to write custom robot
-simulations. This is very useful if you need to do synchronous control
-of robots (e.g for perfectly repeatable experiments), or dynamically
-create and destroy robots or other objects. You can't (yet) do this
-though Player. Refer to the libstage reference manual
-(http://playerstage.sf.net/doc/stage_reference) for the API and
-developer docs.
+ application. The library can be used to write custom robot
+ simulations. This is very useful if you need to do synchronous control
+ of robots (e.g for perfectly repeatable experiments), or dynamically
+ create and destroy robots or other objects. You can't (yet) do this
+ though Player. Refer to the libstage reference manual
+ (http://playerstage.sf.net/doc/stage_reference) for the API and
+ developer docs.
2. Stage is now mostly written in C. A simple object-oriented system
-allows one level of inheritance for writing polymorphic model code.
+ allows one level of inheritance for writing polymorphic model code.
3. The underlying occupancy grid model has changed from a simple
-fixed-size array to a sparse array of (almost) unlimited size
-(implemented with a hash table). To compensate for the performance hit
-of raytracing in the hash table, a three-level multiple-resolution
-approach is used. Raytracing is now usually _much_ faster than in
-Stage-1.3. To get an idea how this works, select the
-View/Debug/Raytrace menu item while a laser or ranger is producing
-data.
+ fixed-size array to a sparse array of (almost) unlimited size
+ (implemented with a hash table). To compensate for the performance hit
+ of raytracing in the hash table, a three-level multiple-resolution
+ approach is used. Raytracing is now usually _much_ faster than in
+ Stage-1.3. To get an idea how this works, select the
+ View/Debug/Raytrace menu item while a laser or ranger is producing
+ data.
-4. Most home-rolled data structures have been replaced by glib
-versions.
+4. Most home-rolled data structures have been replaced by glib versions.
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