Revision: 6915
http://playerstage.svn.sourceforge.net/playerstage/?rev=6915&view=rev
Author: natepak
Date: 2008-07-23 16:52:14 +0000 (Wed, 23 Jul 2008)
Log Message:
-----------
Output entity name, pos, and rot when selected
Modified Paths:
--------------
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/Simulator.hh
code/gazebo/trunk/server/gui/GLWindow.cc
code/gazebo/trunk/server/gui/Gui.cc
code/gazebo/trunk/server/gui/StatusBar.cc
code/gazebo/trunk/server/gui/StatusBar.hh
code/gazebo/trunk/server/gui/Toolbar.cc
code/gazebo/trunk/server/gui/Toolbar.hh
code/gazebo/trunk/worlds/pioneer2dx.world
code/gazebo/trunk/worlds/trimesh.world
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2008-07-23 07:20:46 UTC (rev
6914)
+++ code/gazebo/trunk/server/Simulator.cc 2008-07-23 16:52:14 UTC (rev
6915)
@@ -65,7 +65,6 @@
checkpoint(0.0),
renderUpdates(0),
userPause(false),
- userStep(false),
userStepInc(false),
userQuit(false),
guiEnabled(true),
@@ -260,8 +259,8 @@
this->simTime += step;
// Update the physics engine
- if (!this->GetUserPause() && !this->GetUserStep() ||
- (this->GetUserStep() && this->GetUserStepInc()))
+ if (!this->GetUserPause() ||
+ (this->GetUserPause() && this->GetUserStepInc()))
{
this->iterations++;
this->pause=false;
@@ -386,37 +385,25 @@
////////////////////////////////////////////////////////////////////////////////
bool Simulator::GetUserPause() const
{
- return userPause;
+ return this->userPause;
}
////////////////////////////////////////////////////////////////////////////////
void Simulator::SetUserPause(bool pause)
{
- userPause = pause;
+ this->userPause = pause;
}
////////////////////////////////////////////////////////////////////////////////
-bool Simulator::GetUserStep() const
-{
- return userStep;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-void Simulator::SetUserStep( bool step )
-{
- userStep = step;
-}
-
-////////////////////////////////////////////////////////////////////////////////
bool Simulator::GetUserStepInc() const
{
- return userStepInc;
+ return this->userStepInc;
}
////////////////////////////////////////////////////////////////////////////////
void Simulator::SetUserStepInc(bool step)
{
- userStepInc = step;
+ this->userStepInc = step;
}
Modified: code/gazebo/trunk/server/Simulator.hh
===================================================================
--- code/gazebo/trunk/server/Simulator.hh 2008-07-23 07:20:46 UTC (rev
6914)
+++ code/gazebo/trunk/server/Simulator.hh 2008-07-23 16:52:14 UTC (rev
6915)
@@ -131,12 +131,6 @@
/// \brief Set whether the user has paused
public: void SetUserPause(bool pause);
- /// \brief Return true if the user has stepped the simulation
- public: bool GetUserStep() const;
-
- /// \brief Set whether the user has stepped the simulation
- public: void SetUserStep( bool step );
-
/// \brief Return true if the step has incremented
public: bool GetUserStepInc() const;
@@ -201,11 +195,8 @@
/// \brief Set to true to pause the simulation
private: bool userPause;
- /// Set to true to step through the simulation
- private: bool userStep;
-
/// Set to true to increment the simulation once. This is only
- /// valid when userStep is true.
+ /// valid when paused.
private: bool userStepInc;
//The user has somewhat signaled the end of the program
Modified: code/gazebo/trunk/server/gui/GLWindow.cc
===================================================================
--- code/gazebo/trunk/server/gui/GLWindow.cc 2008-07-23 07:20:46 UTC (rev
6914)
+++ code/gazebo/trunk/server/gui/GLWindow.cc 2008-07-23 16:52:14 UTC (rev
6915)
@@ -321,23 +321,6 @@
// Handle all toggle keys
switch (keyNum)
{
- case 't':
- if (sim->GetUserPause())
- sim->SetUserPause(false);
- sim->SetUserStep( !sim->GetUserStep() );
- sim->SetUserStepInc( false );
- break;
-
- case ' ':
-
- if (sim->GetUserStep())
- {
- sim->SetUserStepInc( true );
- }
- else
- sim->SetUserPause( !sim->GetUserPause() );
- break;
-
case FL_Escape:
Simulator::Instance()->SetUserQuit();
break;
Modified: code/gazebo/trunk/server/gui/Gui.cc
===================================================================
--- code/gazebo/trunk/server/gui/Gui.cc 2008-07-23 07:20:46 UTC (rev 6914)
+++ code/gazebo/trunk/server/gui/Gui.cc 2008-07-23 16:52:14 UTC (rev 6915)
@@ -68,7 +68,7 @@
// Create the status bar
this->statusbar = new StatusBar(0, height-30,
- width-toolbarWidth, 30);
+ width, 30);
this->statusbar->gui = this;
}
Modified: code/gazebo/trunk/server/gui/StatusBar.cc
===================================================================
--- code/gazebo/trunk/server/gui/StatusBar.cc 2008-07-23 07:20:46 UTC (rev
6914)
+++ code/gazebo/trunk/server/gui/StatusBar.cc 2008-07-23 16:52:14 UTC (rev
6915)
@@ -27,6 +27,7 @@
#include <stdio.h>
#include <FL/Fl_Value_Output.H>
#include <FL/Fl_Output.H>
+#include <FL/Fl_Button.H>
#include "Gui.hh"
#include "Simulator.hh"
@@ -57,14 +58,14 @@
this->pauseTime = new Fl_Value_Output(x,y,55,20,"Pause Time");
this->pauseTime->precision(2);
- //x = this->pauseTime->x() + this->pauseTime->w() + 80;
- //this->iterations = new Fl_Value_Output(x,y,65,20,"Iterations");
- //this->iterations->precision(0);
+ x = this->pauseTime->x() + this->pauseTime->w() + 30;
+ this->playButton = new Fl_Button(x, y, 30, 20, "@||");
+ this->playButton->callback( &gazebo::StatusBar::PlayPauseButtonCB, this );
- x = this->w() - 80;
- this->statusString = new Fl_Output(x,y,80,20,"");
- this->statusString->value("Running");
- this->statusString->color(FL_GREEN);
+ x = this->playButton->x() + this->playButton->w() + 15;
+ this->stepButton = new Fl_Button(x, y, 30, 20, "@>|");
+ this->stepButton->callback( &gazebo::StatusBar::StepButtonCB, this );
+ this->stepButton->deactivate();
this->resizable(NULL);
this->end();
@@ -91,24 +92,37 @@
{
this->realTime->value(Simulator::Instance()->GetRealTime());
}
+
this->simTime->value(Simulator::Instance()->GetSimTime());
this->pauseTime->value(Simulator::Instance()->GetPauseTime());
+}
- if (Simulator::Instance()->GetUserPause())
+////////////////////////////////////////////////////////////////////////////////
+// Play pause button callback
+void StatusBar::PlayPauseButtonCB( Fl_Widget *w, void *data )
+{
+ StatusBar *sb = (StatusBar*)(data);
+
+ if (strcmp(w->label(), "@||") == 0)
{
- this->statusString->value("PAUSED");
- this->statusString->color(FL_RED);
+ Simulator::Instance()->SetUserPause(true);
+
+ sb->stepButton->activate();
+ w->label("@>");
}
- else if (Simulator::Instance()->GetUserStep())
- {
- this->statusString->value("STEP");
- this->statusString->color(FL_RED);
- }
else
{
- this->statusString->value("RUNNING");
- this->statusString->color(FL_GREEN);
+ Simulator::Instance()->SetUserPause(false);
+ sb->stepButton->deactivate();
+ w->label("@||");
}
- //this->redraw();
+ w->clear_visible_focus();
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Set button callback
+void StatusBar::StepButtonCB( Fl_Widget * /*w*/, void * /*data*/ )
+{
+ Simulator::Instance()->SetUserStepInc( true );
+}
Modified: code/gazebo/trunk/server/gui/StatusBar.hh
===================================================================
--- code/gazebo/trunk/server/gui/StatusBar.hh 2008-07-23 07:20:46 UTC (rev
6914)
+++ code/gazebo/trunk/server/gui/StatusBar.hh 2008-07-23 16:52:14 UTC (rev
6915)
@@ -30,6 +30,7 @@
class Fl_Value_Output;
class Fl_Output;
+class Fl_Button;
namespace gazebo
{
@@ -45,14 +46,21 @@
/// \brief Update the toolbar data
public: void Update();
-
+
+ /// \brief Play Pause button callback
+ public: static void PlayPauseButtonCB( Fl_Widget *w, void *data );
+
+ /// \brief Set button callback
+ public: static void StepButtonCB( Fl_Widget *w, void *data );
+
private: Fl_Value_Output *iterations;
private: Fl_Value_Output *fps;
private: Fl_Value_Output *realTime;
private: Fl_Value_Output *pauseTime;
private: Fl_Value_Output *simTime;
- private: Fl_Output *statusString;
+ private: Fl_Button *playButton;
+ private: Fl_Button *stepButton;
public: Gui *gui;
};
Modified: code/gazebo/trunk/server/gui/Toolbar.cc
===================================================================
--- code/gazebo/trunk/server/gui/Toolbar.cc 2008-07-23 07:20:46 UTC (rev
6914)
+++ code/gazebo/trunk/server/gui/Toolbar.cc 2008-07-23 16:52:14 UTC (rev
6915)
@@ -30,6 +30,7 @@
#include <FL/Fl_Button.H>
#include "Entity.hh"
+#include "Model.hh"
#include "Simulator.hh"
#include "CameraManager.hh"
#include "OgreCamera.hh"
@@ -45,21 +46,8 @@
this->box(FL_UP_BOX);
- //OgreCamera *camera = CameraManager::Instance()->GetActiveCamera();
+ this->entityInfoGrp = new Fl_Group(x+10,y+20,w-20,25*3, "Entity");
- /*if (camera)
- {
- sprintf(buffer,"%s [%d x %d]", camera->GetName().c_str(),
camera->GetImageWidth(), camera->GetImageHeight());
-
- }
- else
- {
- sprintf(buffer,"Camera");
- }
- */
-
- this->entityInfoGrp = new Fl_Group(x+10,y+20,w-20,25*5, "Entity");
-
// Camera Info Group
this->entityInfoGrp->box(FL_BORDER_BOX);
@@ -68,61 +56,12 @@
y = this->entityInfoGrp->y()+2;
this->entityName = new Fl_Output(x,y, this->entityInfoGrp->w()-55,20, "Name:
");
- /*// Prev camera button
- x = this->cameraInfoGrp->x()+2;
- y = this->cameraInfoGrp->y()+2;
- this->prevCameraButton = new Fl_Button(x,y,16,20,"<");
- this->prevCameraButton->callback( &gazebo::Toolbar::PrevCameraButtonCB, this
);
+ y = this->entityName->y() + this->entityName->h() + 5;
+ this->entityPos = new Fl_Output(x,y, this->entityInfoGrp->w()-55,20, "XYZ:
");
- // Next camera button
- x = this->cameraInfoGrp->x() + this->cameraInfoGrp->w()-22;
- y = this->cameraInfoGrp->y()+2;
- this->nextCameraButton = new Fl_Button(x,y,16,20,">");
- this->nextCameraButton->callback( &gazebo::Toolbar::NextCameraButtonCB, this
);
+ y = this->entityPos->y() + this->entityPos->h() + 5;
+ this->entityRot = new Fl_Output(x,y, this->entityInfoGrp->w()-55,20, "RPY:
");
- // Camera dimensions
- x = this->cameraInfoGrp->x() + 40;
- y = this->cameraName->y()+this->cameraName->h()+5;
- this->cameraDimensions = new
Fl_Output(x,y,this->cameraName->w()-20,20,"WxH");
-
-
- // Camera X output
- x = this->cameraInfoGrp->x() + 20;
- y = this->cameraDimensions->y() + this->cameraDimensions->h()+5;
- this->outputX = new Fl_Value_Output(x,y,60,20,"X");
- this->outputX->precision(2);
-
- // Camera Y output
- x = this->outputX->x();
- y = this->outputX->y() + this->outputX->h()+5;
- this->outputY = new Fl_Value_Output(x,y,60,20,"Y");
- this->outputY->precision(2);
-
- // Camera Z output
- x = this->outputY->x();
- y = this->outputY->y() + this->outputX->h()+5;
- this->outputZ = new Fl_Value_Output(x,y,60,20,"Z");
- this->outputZ->precision(2);
-
- // Camera ROLL output
- x = this->outputX->x() + this->outputX->w()+20;
- y = this->outputX->y();
- this->outputRoll = new Fl_Value_Output(x,y,60,20,"R");
- this->outputRoll->precision(2);
-
- // Camera Pitch output
- x = this->outputRoll->x();
- y = this->outputRoll->y() + this->outputRoll->h() + 5;
- this->outputPitch = new Fl_Value_Output(x,y,60,20,"P");
- this->outputPitch->precision(2);
-
- // Camera Yaw output
- x = this->outputPitch->x();
- y = this->outputPitch->y() + this->outputPitch->h() + 5;
- this->outputYaw = new Fl_Value_Output(x,y,60,20,"Y");
- this->outputYaw->precision(2);
- */
-
this->entityInfoGrp->end();
this->end();
@@ -145,49 +84,31 @@
if (entity)
{
+ Model *model = dynamic_cast<Model *>(entity);
+
sprintf(buffer,"%s", entity->GetName().c_str());
if (strcmp(buffer, this->entityName->value()) != 0)
- {
this->entityName->value(buffer);
- }
- }
- /*char *buffer = new char[256];
- OgreCamera *camera = CameraManager::Instance()->GetActiveCamera();
-
- if (camera != NULL)
- {
- sprintf(buffer,"%s", camera->GetName().c_str());
- if (strcmp(buffer,this->cameraName->value()) != 0)
+ if (model)
{
- this->cameraName->value(buffer);
- }
+ Pose3d pose = model->GetPose();
+ Vector3 rpy = pose.rot.GetAsEuler();
- sprintf(buffer,"%d x %d", camera->GetImageWidth(),
camera->GetImageHeight());
- if (strcmp(buffer,this->cameraDimensions->value()) != 0)
- {
- this->cameraDimensions->value(buffer);
- }
+ sprintf(buffer,"%4.2f, %4.2f, %4.2f",pose.pos.x, pose.pos.y,
pose.pos.z);
+ if (strcmp( buffer, this->entityPos->value()) != 0)
+ this->entityPos->value(buffer);
+ sprintf(buffer,"%4.2f, %4.2f, %4.2f",rpy.x, rpy.y, rpy.z);
+ if (strcmp( buffer, this->entityRot->value()) != 0)
+ this->entityRot->value(buffer);
- Pose3d pose = camera->GetWorldPose();
-
- this->outputX->value(pose.pos.x);
- this->outputY->value(pose.pos.y);
- this->outputZ->value(pose.pos.z);
- this->outputRoll->value(RTOD(pose.rot.GetRoll()));
- this->outputPitch->value(RTOD(pose.rot.GetPitch()));
- this->outputYaw->value(RTOD(pose.rot.GetYaw()));
+ }
}
- */
+ else
+ {
+ this->entityName->value("");
+ this->entityPos->value("");
+ this->entityRot->value("");
+ }
}
-
-//void Toolbar::PrevCameraButtonCB(Fl_Widget * /*w*/, void *data)
-//{
- //CameraManager::Instance()->DecActiveCamera();
-//}
-
-//void Toolbar::NextCameraButtonCB(Fl_Widget * /*w*/, void *data)
-//{
- //CameraManager::Instance()->IncActiveCamera();
-//}
Modified: code/gazebo/trunk/server/gui/Toolbar.hh
===================================================================
--- code/gazebo/trunk/server/gui/Toolbar.hh 2008-07-23 07:20:46 UTC (rev
6914)
+++ code/gazebo/trunk/server/gui/Toolbar.hh 2008-07-23 16:52:14 UTC (rev
6915)
@@ -48,24 +48,12 @@
/// \brief Update the toolbar data
public: void Update();
-// public: static void PrevCameraButtonCB(Fl_Widget * /*w*/, void *data);
- //public: static void NextCameraButtonCB(Fl_Widget * /*w*/, void *data);
-
private: Fl_Group *entityInfoGrp;
- /*private: Fl_Button *prevCameraButton;
- private: Fl_Button *nextCameraButton;
- */
+
private: Fl_Output *entityName;
- /*private: Fl_Output *cameraDimensions;
- private: Fl_Value_Output *outputX;
- private: Fl_Value_Output *outputY;
- private: Fl_Value_Output *outputZ;
+ private: Fl_Output *entityPos;
+ private: Fl_Output *entityRot;
- private: Fl_Value_Output *outputRoll;
- private: Fl_Value_Output *outputPitch;
- private: Fl_Value_Output *outputYaw;
- */
-
};
}
Modified: code/gazebo/trunk/worlds/pioneer2dx.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx.world 2008-07-23 07:20:46 UTC (rev
6914)
+++ code/gazebo/trunk/worlds/pioneer2dx.world 2008-07-23 16:52:14 UTC (rev
6915)
@@ -22,8 +22,7 @@
<stepTime>0.03</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>10e-5</cfm>
- <erp>0.8</erp>
- <maxUpdateRate>0</maxUpdateRate>
+ <erp>0.3</erp>
</physics:ode>
<rendering:gui>
@@ -67,7 +66,7 @@
<model:physical name="sphere1_model">
<xyz>2.15 -1.68 .7</xyz>
<rpy>0.0 0.0 0.0</rpy>
- <static>true</static>
+ <static>false</static>
<body:sphere name="sphere1_body">
<geom:sphere name="sphere1_geom">
Modified: code/gazebo/trunk/worlds/trimesh.world
===================================================================
--- code/gazebo/trunk/worlds/trimesh.world 2008-07-23 07:20:46 UTC (rev
6914)
+++ code/gazebo/trunk/worlds/trimesh.world 2008-07-23 16:52:14 UTC (rev
6915)
@@ -58,14 +58,14 @@
<static>false</static>
<body:trimesh name="pallet_body">
<geom:trimesh name="pallet_geom">
- <mesh>WoodPallet.mesh</mesh>
+ <mesh>Mesh.mesh</mesh>
<scale>.2 .2 .2</scale>
<mass>0.1</mass>
<visual>
<scale>.2 .2 .2</scale>
<rpy>0 0 0</rpy>
- <mesh>WoodPallet.mesh</mesh>
+ <mesh>Mesh.mesh</mesh>
<material>Gazebo/WoodPallet</material>
</visual>
</geom:trimesh>
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