Revision: 6874
http://playerstage.svn.sourceforge.net/playerstage/?rev=6874&view=rev
Author: natepak
Date: 2008-07-15 19:48:43 -0700 (Tue, 15 Jul 2008)
Log Message:
-----------
Added quadtree world
Modified Paths:
--------------
code/gazebo/trunk/worlds/occupancygrid.world
Added Paths:
-----------
code/gazebo/trunk/worlds/quadtree.world
Modified: code/gazebo/trunk/worlds/occupancygrid.world
===================================================================
--- code/gazebo/trunk/worlds/occupancygrid.world 2008-07-16 02:48:14 UTC
(rev 6873)
+++ code/gazebo/trunk/worlds/occupancygrid.world 2008-07-16 02:48:43 UTC
(rev 6874)
@@ -83,11 +83,14 @@
</body:plane>
</model:physical>
+
<model:physical name="grid">
+ <static>true</static>
<body:occupancy_grid name="grid_body">
<geom:occupancy_grid name="grid_geom">
- <image>map.png</image>
+ <image>willowMap.png</image>
+ <negative>true</negative>
</geom:occupancy_grid>
</body:occupancy_grid>
Added: code/gazebo/trunk/worlds/quadtree.world
===================================================================
--- code/gazebo/trunk/worlds/quadtree.world (rev 0)
+++ code/gazebo/trunk/worlds/quadtree.world 2008-07-16 02:48:43 UTC (rev
6874)
@@ -0,0 +1,111 @@
+<?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">
+ <static>true</static>
+ <body:occupancy_grid name="grid_body">
+
+ <geom:quadtree name="grid_geom">
+ <image>map.png</image>
+ <negative>true</negative>
+ </geom:quadtree>
+
+ </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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