Revision: 6867
http://playerstage.svn.sourceforge.net/playerstage/?rev=6867&view=rev
Author: natepak
Date: 2008-07-14 23:19:11 -0700 (Mon, 14 Jul 2008)
Log Message:
-----------
preliminary addition of occupancy grids
Modified Paths:
--------------
code/gazebo/trunk/libgazebo/Client.cc
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/SConscript
Added Paths:
-----------
code/gazebo/trunk/server/physics/OccupancyGridGeom.cc
code/gazebo/trunk/server/physics/OccupancyGridGeom.hh
code/gazebo/trunk/worlds/occupancygrid.world
Modified: code/gazebo/trunk/libgazebo/Client.cc
===================================================================
--- code/gazebo/trunk/libgazebo/Client.cc 2008-07-15 06:06:08 UTC (rev
6866)
+++ code/gazebo/trunk/libgazebo/Client.cc 2008-07-15 06:19:11 UTC (rev
6867)
@@ -107,7 +107,7 @@
catch (std::string e)
{
std::cerr << "Error[" << e << "]\n";
- exit(0);
+ throw(e);
}
}
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2008-07-15 06:06:08 UTC (rev
6866)
+++ code/gazebo/trunk/server/physics/Body.cc 2008-07-15 06:19:11 UTC (rev
6867)
@@ -28,6 +28,7 @@
#include "GazeboMessage.hh"
#include "HeightmapGeom.hh"
+#include "OccupancyGridGeom.hh"
#include "OgreVisual.hh"
#include "Global.hh"
#include "Vector2.hh"
@@ -412,6 +413,10 @@
this->SetStatic(true);
geom = new HeightmapGeom(this);
}
+ else if (node->GetName() == "occupancy_grid")
+ {
+ geom = new OccupancyGridGeom(this);
+ }
else
{
gzthrow("Unknown Geometry
Type["+node->GetString("name",std::string(),0)+"]");
Added: code/gazebo/trunk/server/physics/OccupancyGridGeom.cc
===================================================================
--- code/gazebo/trunk/server/physics/OccupancyGridGeom.cc
(rev 0)
+++ code/gazebo/trunk/server/physics/OccupancyGridGeom.cc 2008-07-15
06:19:11 UTC (rev 6867)
@@ -0,0 +1,516 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/* Desc: OccupancyGrid geometry
+ * Author: Nate Koenig
+ * Date: 14 July 2008
+ * CVS: $Id:$
+ */
+
+#include <ode/ode.h>
+#include <Ogre.h>
+#include <iostream>
+#include <string.h>
+#include <math.h>
+
+#include "GazeboError.hh"
+#include "OgreAdaptor.hh"
+#include "Simulator.hh"
+#include "OgreAdaptor.hh"
+#include "Global.hh"
+#include "Body.hh"
+#include "OccupancyGridGeom.hh"
+
+using namespace gazebo;
+
+//////////////////////////////////////////////////////////////////////////////
+// Constructor
+OccupancyGridGeom::OccupancyGridGeom(Body *body)
+ : Geom(body)
+{
+}
+
+
+//////////////////////////////////////////////////////////////////////////////
+// Destructor
+OccupancyGridGeom::~OccupancyGridGeom()
+{
+}
+
+//////////////////////////////////////////////////////////////////////////////
+/// Update function.
+void OccupancyGridGeom::UpdateChild()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Load the heightmap
+void OccupancyGridGeom::LoadChild(XMLConfigNode *node)
+{
+ OgreAdaptor *ogreAdaptor;
+
+ ogreAdaptor = Simulator::Instance()->GetRenderEngine();
+
+ std::string imageFilename = node->GetString("image","",1);
+ this->mapSize = node->GetVector3("size",Vector3(10,10,10));
+
+ this->negative = node->GetBool("negative", 0);
+ this->threshold = node->GetDouble( "threshold", 200.0);
+
+ this->wallWidth = node->GetDouble( "width", 0.1, 0 );
+ this->wallHeight = node->GetDouble( "height", 1.0, 0 );
+
+ //this->color = node->GetColor( "color", GzColor(1.0, 1.0, 1.0) );
+
+ // Make sure they are ok
+ if (this->scale <= 0) this->scale = 0.1;
+ if (this->threshold <=0) this->threshold = 200;
+ if (this->wallWidth <=0) this->wallWidth = 0.1;
+ if (this->wallHeight <= 0) this->wallHeight = 1.0;
+ if (this->errBound <= 0) this->errBound = 0.0;
+
+
+ // Load the image
+ this->mapImage.load(imageFilename,
+ Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+
+
+ // Limit the format to 8-bit grayscale
+ if (this->mapImage.getFormat() != Ogre::PF_L8)
+ {
+ gzerr(0) << "Invalid image format[" << this->mapImage.getFormat() << "]\n";
+ }
+
+ // Create the 2d lines of the map
+ this->GenerateLines();
+ std::cout << "OccupancyGrid: found [%d] walls" << this->wallCount;
+
+ // Create the quad tree
+ /*this->tree = new SpaceTree();
+ tree->BuildTree( this->walls, this->wallCount,
+ this->mapWidth, this->mapHeight );
+
+ // Create the extruded geometry
+ this->GenerateGeometry();
+ */
+}
+
+//////////////////////////////////////////////////////////////////////////////
+// Get the 2d lines from an image file
+void OccupancyGridGeom::GenerateLines()
+{
+ unsigned int x, y;
+ unsigned char v;
+ MapPoint **map;
+ MapPoint *pt;
+ const unsigned char *imageData;
+ Ogre::ColourValue pixColor;
+
+ this->mapWidth = this->mapImage.getWidth();
+ this->mapHeight = this->mapImage.getHeight();
+
+ //imageData = this->mapImage->getData();
+
+ // We may need to change the position of the map
+ if (this->halign == "center")
+ this->pos.x -= this->mapWidth / 2.0 * this->scale;
+ if (this->valign == "center")
+ this->pos.y -= this->mapHeight / 2.0 * this->scale;
+
+ // Allocate on heap (some platforms have stack-size limit)
+ map = new MapPoint*[this->mapWidth * this->mapHeight];
+
+ for (y=0; y< this->mapHeight; y++)
+ {
+ for (x=0; x<this->mapWidth; x++)
+ {
+ // Compute the pixel value
+ pixColor = this->mapImage.getColourAt(x, y, 0);
+ v = (unsigned char)(255 * ((pixColor[0] + pixColor[1] + pixColor[2]) /
3.0));
+
+ if (this->negative)
+ v = 255 - v;
+
+ std::cout << "XY[" << x << " " << y << "] Color[" << pixColor[0] << " "
<< pixColor[1] << " " << pixColor[2] << "]";
+ printf("V[%d]\n",v);
+
+ // If the image data is beyond the threshold, then create a new map
+ // point
+ if (v >= this->threshold)
+ {
+ // Create the new point
+ map[r*this->mapWidth+c] = new MapPoint( c, r );
+
+ // Point to the North
+ if (r>0 && map[(r-1)*this->mapWidth+c] != NULL)
+ {
+ map[r*this->mapWidth+c]->arcs[0] = map[(r-1)*this->mapWidth+c];
+ map[r*this->mapWidth+c]->arcCount++;
+
+ map[(r-1)*this->mapWidth+c]->arcs[4] = map[r*this->mapWidth+c];
+ map[(r-1)*this->mapWidth+c]->arcCount++;
+ }
+
+ // Point the NorthWest
+ if (c>0 && r>0 && map[(r-1)*this->mapWidth+c-1] != NULL)
+ {
+ map[r*this->mapWidth+c]->arcs[7] = map[(r-1)*this->mapWidth+c-1];
+ map[r*this->mapWidth+c]->arcCount++;
+
+ map[(r-1)*this->mapWidth+c-1]->arcs[3] = map[r*this->mapWidth+c];
+ map[(r-1)*this->mapWidth+c-1]->arcCount++;
+ }
+
+ // Point to the West
+ if (c>0 && map[r*this->mapWidth+c-1] != NULL)
+ {
+ map[r*this->mapWidth+c]->arcs[6] = map[r*this->mapWidth+c-1];
+ map[r*this->mapWidth+c]->arcCount++;
+
+ map[r*this->mapWidth+c-1]->arcs[2] = map[r*this->mapWidth+c];
+ map[r*this->mapWidth+c-1]->arcCount++;
+ }
+
+ // Point to the NorthEast
+ if (c+1<this->mapWidth && r>0 && map[(r-1)*this->mapWidth+c+1] != NULL)
+ {
+ map[r*this->mapWidth+c]->arcs[1] = map[(r-1)*this->mapWidth+c+1];
+ map[r*this->mapWidth+c]->arcCount++;
+
+ map[(r-1)*this->mapWidth+c+1]->arcs[5] = map[r*this->mapWidth+c];
+ map[(r-1)*this->mapWidth+c+1]->arcCount++;
+ }
+
+ // Point to the East
+ // if (c+1<this->mapWidth && map[r*this->mapWidth+c+1] != NULL)
+ // {
+ // map[r*this->mapWidth+c]->arcs[2] = map[r*this->mapWidth+c+1];
+ // map[r*this->mapWidth+c]->arcCount++;
+
+ // map[r*this->mapWidth+c+1]->arcs[6] = map[r*this->mapWidth+c];
+ // map[r*this->mapWidth+c+1]->arcCount++;
+ // }
+
+ }
+ else
+ {
+ map[r*this->mapWidth+c] = NULL;
+ }
+
+ }
+ }
+ int i=0;
+
+ for (r=0; r<this->mapHeight; r++)
+ {
+ for (c=0; c<this->mapWidth; c++)
+ {
+ pt = map[r*this->mapWidth+c];
+
+ // If the map point is valid
+ if (pt != NULL && pt->arcCount < 8)
+ {
+ // Generate a line to the east
+ this->GenerateLine(pt,2);
+
+ // Generate a line to the south
+ this->GenerateLine(pt,4);
+
+ delete pt;
+ pt = NULL;
+ }
+ }
+ }
+
+ // Free the map data
+ delete [] map;
+
+ // Free the image
+ delete dataSet;
+
+ // If the user has specified an error bound, then reduce the graph.
+ // This will only reduce curved surefaces
+ if (this->errBound > 0)
+ {
+ ReduceLines();
+ }
+
+}
+/*
+//////////////////////////////////////////////////////////////////////////////
+// Create a single line starting from point pt in direction dir
+void OccupancyGridGeom::GenerateLine( MapPoint* pt, int dir )
+{
+ assert( dir>=0 && dir<=7 );
+
+ if (pt->arcs[dir] != NULL)
+ {
+ MapPoint* next = pt;
+ MapPoint* tmp;
+ //float err=0;
+
+ while (next->arcs[dir] != NULL && next->arcs[dir]->arcCount < 8)
+ {
+ tmp = next->arcs[dir];
+ next->arcCount=8;
+ next->arcs[dir] = NULL;
+ tmp->arcs[(dir+4)%8] = NULL;
+ next = tmp;
+ }
+
+ if (next != pt)
+ {
+ Line* newLine = new Line();
+ newLine->Set( *pt, *next );
+ this->AddWall( newLine );
+ }
+ }
+
+}
+
+
+//////////////////////////////////////////////////////////////////////////////
+// Reduce the number of lines in the map
+void OccupancyGridGeom::ReduceLines()
+{
+ int i,j;
+ Line *line1 = NULL;
+ Line *line2 = NULL;
+
+
+ // Loop through all the walls
+ for( i=0; i<this->wallCount; i++)
+ {
+ line1 = this->walls[i];
+
+ // Loop through all the walls
+ for (j=i + 1; j<this->wallCount; j++)
+ {
+ line2 = this->walls[j];
+
+ // If the end point of one line connects with the start point of
+ // another, then try to reduce
+ if ((line1->End() == line2->Start() &&
+ (fabs( line1->Start().x - line2->End().x ) +
+ fabs( line1->Start().y - line2->End().y ) <= this->errBound)))
+
+ {
+ line1->End( line2->End() );
+ this->EraseWall(j);
+ j--;
+ }
+
+ // If the start point of one line connects with the start point of
+ // another, then try to reduce
+ else if (i != j && (line1->Start() == line2->Start()) &&
+ (fabs( line1->End().x - line2->End().x ) +
+ fabs( line1->End().y - line2->End().y ) <= this->errBound))
+ {
+
+ line1->Set( line1->End(), line2->End() );
+ this->EraseWall(j);
+ j--;
+ }
+
+ // If the end point of one line connects with the end point of
+ // another, then try to reduce
+ else if (i != j && (line1->End() == line2->End()) &&
+ (fabs( line1->Start().x - line2->Start().x ) +
+ fabs( line1->Start().y - line2->Start().y ) <= this->errBound))
+ {
+ line1->End( line2->Start() );
+ this->EraseWall(j);
+ j--;
+ }
+ }
+
+ }
+
+}
+
+//////////////////////////////////////////////////////////////////////////////
+// Create the geometry from a list of 2d lines
+void OccupancyGridGeom::GenerateGeometry()
+{
+ // We are a space of fixed objects, and shouldnt collide with ourself
+ dGeomSetCategoryBits( (dGeomID) this->modelSpaceId, GZ_FIXED_COLLIDE );
+ dGeomSetCollideBits( (dGeomID) this->modelSpaceId, ~GZ_FIXED_COLLIDE );
+
+ this->tree->GetRoot()->GenerateGeoms( this->modelSpaceId, this->body,
+ this->wallWidth, this->wallHeight, this->pos,
+ this->scale, this->color, this->shadeModel, this->polygonMode);
+
+ this->AddSpaceGeoms(this->tree->GetRoot());
+}
+
+void OccupancyGridGeom::AddSpaceGeoms( SpaceNode *node)
+{
+ //int i = 0;
+ if (node==NULL)
+ return;
+
+ // FIX
+ //for (i=0; i<node->geomCount; i++)
+ //{
+ // this->AddGeom(node->geoms[i]);
+ //}
+
+ //for (i=0; i<4; i++)
+ //{
+ // this->AddSpaceGeoms(node->children[i]);
+ //}
+}
+
+
+//////////////////////////////////////////////////////////////////////////////
+// Calculates the shortest distance from a point to a line
+float OccupancyGridGeom::PointLineDist( const MapPoint &p1, const MapPoint
&p2,
+ const MapPoint &p )
+{
+ return fabs( (p2.x-p1.x)*(p1.y-p.y) - (p1.x-p.x)*(p2.y-p1.y) ) /
+ sqrt( (p2.x-p1.x)*(p2.x-p1.x) + (p2.y-p1.y)*(p2.y-p1.y) );
+}
+
+//////////////////////////////////////////////////////////////////////////////
+// Adds a wall
+void OccupancyGridGeom::AddWall( Line *line )
+{
+
+ if (this->wallCount >= this->wallMaxCount)
+ {
+ this->wallMaxCount += 10;
+ this->walls = (Line**) realloc(this->walls, this->wallMaxCount *
+ sizeof(this->walls[0]));
+
+ assert(this->walls);
+ }
+
+ this->walls[this->wallCount++] = line;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+// Deletes a wall segment
+void OccupancyGridGeom::EraseWall( int index )
+{
+ assert( index >=0 && index < this->wallCount );
+
+ delete this->walls[index];
+ this->walls[index] = 0;
+
+ this->wallCount--;
+
+ for (int i=index; i<this->wallCount; i++)
+ {
+ this->walls[i] = this->walls[i+1];
+ }
+
+}
+
+
+Line::Line()
+{
+}
+
+Line::~Line()
+{
+}
+
+bool Line::operator==( const Line& l )
+{
+ return this->start == l.start && this->end == l.end;
+}
+
+void Line::Set( const MapPoint &start, const MapPoint &end )
+{
+ this->start = start;
+ this->end = end;
+
+ this->Calc();
+}
+
+void Line::Start( const MapPoint &start )
+{
+ this->start = start;
+ this->Calc();
+}
+
+void Line::End( const MapPoint &end )
+{
+ this->end = end;
+ this->Calc();
+}
+
+const MapPoint& Line::Start() const
+{
+ return this->start;
+}
+
+const MapPoint& Line::End() const
+{
+ return this->end;
+}
+
+const MapPoint& Line::Mid() const
+{
+ return this->mid;
+}
+
+float Line::Length() const
+{
+ return this->length;
+}
+
+float Line::Angle() const
+{
+ return this->angle;
+}
+
+void Line::Calc()
+{
+
+ // The length of the line segment
+ this->length = sqrt( pow( this->start.x - this->end.x,2 ) +
+ pow(this->start.y - this->end.y,2 ) );
+
+ // The angle of the line segement
+ if (this->start.x == this->end.x)
+ this->angle = M_PI/2.0;
+ else
+ this->angle = atan2( (this->start.y - this->end.y),
+ (this->start.x - this->end.x) );
+
+ // Calc. the center x location
+ if (this->start.x - this->end.x <= 0)
+ {
+ this->mid.x = this->start.x + fabs( this->start.x - this->end.x ) / 2.0;
+ } else {
+ this->mid.x = this->start.x - fabs(this->start.x - this->end.x ) / 2.0;
+ }
+
+ // Calc. the center y location
+ if (this->start.y - this->end.y <= 0)
+ {
+ this->mid.y = this->start.y + fabs( this->start.y - this->end.y ) / 2.0;
+ } else {
+ this->mid.y = this->start.y - fabs( this->start.y - this->end.y ) / 2.0;
+ }
+}
+
+*/
Added: code/gazebo/trunk/server/physics/OccupancyGridGeom.hh
===================================================================
--- code/gazebo/trunk/server/physics/OccupancyGridGeom.hh
(rev 0)
+++ code/gazebo/trunk/server/physics/OccupancyGridGeom.hh 2008-07-15
06:19:11 UTC (rev 6867)
@@ -0,0 +1,183 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/* Desc: Occupancy grid geom
+ * Author: Nate Koenig
+ * Date: 14 Jly 2008
+ * CVS: $Id:$
+ */
+
+#ifndef OCCUPANCYGRIDGEOM_HH
+#define OCCUPANCYGRIDGEOM_HH
+
+#include <Ogre.h>
+
+#include "Vector2.hh"
+#include "Geom.hh"
+
+namespace gazebo
+{
+ /// \addtogroup gazebo_physics_geom
+ /// \{
+ /** \defgroup gazebo_occupancy_geom Occupancy grid geom
+ \brief Occupancy grid geom
+
+ \par Attributes
+ The following attributes are supported.
+
+ - image (string)
+ - Binary image that defines an occupancy grid
+ - Default: (empty)
+
+ - size (float tuple)
+ - Size of the height map
+ - Default: 0 0 0
+
+ \par Example
+ \verbatim
+ <geom:occupancygrid name="occ_geom">
+ <image>map.png</image>
+ <size>100 100 1.0</size>
+ </geom:occupancygrid>
+ \endverbatim
+ */
+ /// \}
+ /// \addtogroup gazebo_occupancy_geom
+ /// \{
+
+
+ class Line;
+ class MapPoint;
+
+ /// \brief Occupancy grid geom
+ class OccupancyGridGeom : public Geom
+ {
+ /// \brief Constructor
+ public: OccupancyGridGeom(Body *body);
+
+ /// \brief Destructor
+ public: virtual ~OccupancyGridGeom();
+
+ /// \brief Update function
+ public: void UpdateChild();
+
+ /// \brief Load the heightmap
+ protected: virtual void LoadChild(XMLConfigNode *node);
+
+ /// \brief Get the 2d lines from an image file
+ private: void GenerateLines();
+
+ private: Vector3 mapSize;
+
+ //private: Line **walls;
+ private: int wallCount;
+ private: int wallMaxCount;
+
+ // The scale factor to apply to the geoms
+ private: float scale;
+
+ // Alignment
+ private: std::string halign, valign;
+
+ // The position of the map
+ private: Vector3 pos;
+
+ // Negative image?
+ private: int negative;
+
+ // Image color threshold used for extrusion
+ private: float threshold;
+
+ // The width( thickness ) of the walls in meters
+ private: float wallWidth;
+
+ // The height of the walls in meters
+ private: float wallHeight;
+
+ // The color of the walls
+ //private: Vector3 color;
+
+ // The amount of acceptable error in the model
+ private: float errBound;
+
+ // The map dimensions
+ private: unsigned int mapWidth;
+ private: unsigned int mapHeight;
+
+ private: Ogre::Image mapImage;
+ };
+/*
+ class MapPoint
+ {
+ public: MapPoint() : x(0), y(0), arcCount(0)
+ {for (int i=0;i<8;i++) this->arcs[i] = NULL;}
+
+ public: MapPoint( float x,float y ) : x(x), y(y), arcCount(0)
+ {for (int i=0; i<8; i++) this->arcs[i] = NULL;}
+
+ public: MapPoint( const MapPoint &o) : x(o.x),y(o.y), arcCount(o.arcCount)
+ { for (int i=0; i<8; i++) this->arcs[i] = o.arcs[i]; }
+
+ public: bool operator==( const MapPoint &p ) const
+ { return p.x == this->x && p.y == this->y; }
+
+ public: MapPoint &operator= ( const MapPoint &p )
+ {this->x = p.x; this->y = p.y; this->arcCount = p.arcCount;
+ for (int i=0; i<8; i++) this->arcs[i] = p.arcs[i]; return *this;}
+
+ public: float x;
+ public: float y;
+
+ public: MapPoint *arcs[8];
+ public: unsigned short arcCount;
+ };
+
+ class Line
+ {
+ public: Line();
+ public: virtual ~Line();
+
+ public: bool operator==(const Line& l);
+
+ public: void Set( const MapPoint &start, const MapPoint &end );
+ public: void Start( const MapPoint &start );
+ public: void End( const MapPoint &end );
+
+ public: const MapPoint& Start() const;
+ public: const MapPoint& End() const;
+ public: const MapPoint& Mid() const;
+ public: float Length() const;
+ public: float Angle() const;
+
+ private: void Calc();
+
+ private: MapPoint start;
+ private: MapPoint end;
+ private: MapPoint mid;
+ private: float length;
+ private: float angle;
+ };
+ */
+
+
+ /// \}
+}
+
+#endif
Modified: code/gazebo/trunk/server/physics/SConscript
===================================================================
--- code/gazebo/trunk/server/physics/SConscript 2008-07-15 06:06:08 UTC (rev
6866)
+++ code/gazebo/trunk/server/physics/SConscript 2008-07-15 06:19:11 UTC (rev
6867)
@@ -6,7 +6,25 @@
for subdir in dirs :
SConscript('%s/SConscript' % subdir)
-sources = Split('BallJoint.cc Body.cc BoxGeom.cc ContactParams.cc
CylinderGeom.cc Geom.cc Hinge2Joint.cc HingeJoint.cc Joint.cc PhysicsEngine.cc
PlaneGeom.cc SliderJoint.cc SphereGeom.cc UniversalJoint.cc RayGeom.cc
TrimeshGeom.cc HeightmapGeom.cc')
+sources = ['BallJoint.cc',
+ 'Body.cc',
+ 'BoxGeom.cc',
+ 'ContactParams.cc',
+ 'CylinderGeom.cc',
+ 'Geom.cc',
+ 'Hinge2Joint.cc',
+ 'HingeJoint.cc',
+ 'Joint.cc',
+ 'PhysicsEngine.cc',
+ 'PlaneGeom.cc',
+ 'SliderJoint.cc',
+ 'SphereGeom.cc',
+ 'UniversalJoint.cc',
+ 'RayGeom.cc',
+ 'TrimeshGeom.cc',
+ 'HeightmapGeom.cc',
+ 'OccupancyGridGeom.cc',
+ ]
headers.append(
['server/physics/BallJoint.hh',
@@ -26,6 +44,7 @@
'server/physics/SphereGeom.hh',
'server/physics/TrimeshGeom.hh',
'server/physics/UniversalJoint.hh'
+ 'server/physics/OccupancyGridGeom.hh'
] )
staticObjs.append( env.StaticObject(sources) )
Added: code/gazebo/trunk/worlds/occupancygrid.world
===================================================================
--- code/gazebo/trunk/worlds/occupancygrid.world
(rev 0)
+++ code/gazebo/trunk/worlds/occupancygrid.world 2008-07-15 06:19:11 UTC
(rev 6867)
@@ -0,0 +1,108 @@
+<?xml version="1.0"?>
+
+<gazebo:world
+ xmlns:xi="http://www.w3.org/2001/XInclude";
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
+ xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window";
+ xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param";
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
+
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
+ xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui";
+
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering";
+
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics";
>
+
+ <verbosity>5</verbosity>
+
+ <physics:ode>
+ <stepTime>0.03</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ <cfm>10e-5</cfm>
+ <erp>0.8</erp>
+ <maxUpdateRate>0</maxUpdateRate>
+ </physics:ode>
+
+ <rendering:gui>
+ <size>800 600</size>
+ <pos>100 100</pos>
+ <frames>
+ <row height="50%">
+ <camera width="50%">
+ <xyz>-1 0 4</xyz>
+ <rpy>0 34 0</rpy>
+ </camera>
+ <camera width="50%">
+ <xyz>0 0 10</xyz>
+ <rpy>0 90 0</rpy>
+ </camera>
+ </row>
+ <row height="50%">
+ <camera width="50%">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ </camera>
+ <camera width="50%">
+ <xyz>10 0 1</xyz>
+ <rpy>0 0 90</rpy>
+ </camera>
+ </row>
+ </frames>
+ </rendering:gui>
+
+ <rendering:ogre>
+ <ambient>0.5 0.5 0.5 1.0</ambient>
+ <sky>
+ <material>Gazebo/CloudySky</material>
+ </sky>
+
+ <fog>
+ <color>1.0 1.0 1.0</color>
+ <linearStart>10</linearStart>
+ <linearEnd>100</linearEnd>
+ </fog>
+ </rendering:ogre>
+
+ <!-- Ground Plane -->
+ <model:physical name="plane1_model">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body:plane name="plane1_body">
+ <geom:plane name="plane1_geom">
+ <normal>0 0 1</normal>
+ <size>2000 2000</size>
+ <segments>10 10</segments>
+ <uvTile>100 100</uvTile>
+ <material>Gazebo/Grey</material>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+ <model:physical name="grid">
+ <body:occupancy_grid name="grid_body">
+
+ <geom:occupancy_grid name="grid_geom">
+ <image>map.png</image>
+ </geom:occupancy_grid>
+
+ </body:occupancy_grid>
+ </model:physical>
+
+ <!-- White Directional light -->
+ <model:renderable name="directional_white">
+ <light>
+ <type>directional</type>
+ <direction>0 -0.6 -0.4</direction>
+ <diffuseColor>1.0 1.0 1.0</diffuseColor>
+ <specularColor>0.2 0.2 0.2</specularColor>
+ <attenuation>1000 1.0 0.0 0</attenuation>
+ </light>
+ </model:renderable>
+
+
+</gazebo:world>
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