Revision: 7407
http://playerstage.svn.sourceforge.net/playerstage/?rev=7407&view=rev
Author: natepak
Date: 2009-03-09 22:58:04 +0000 (Mon, 09 Mar 2009)
Log Message:
-----------
Test
Modified Paths:
--------------
code/branches/federation/gazebo/examples/libgazebo/simiface/simiface.cc
Modified:
code/branches/federation/gazebo/examples/libgazebo/simiface/simiface.cc
===================================================================
--- code/branches/federation/gazebo/examples/libgazebo/simiface/simiface.cc
2009-03-09 20:09:15 UTC (rev 7406)
+++ code/branches/federation/gazebo/examples/libgazebo/simiface/simiface.cc
2009-03-09 22:58:04 UTC (rev 7407)
@@ -45,12 +45,30 @@
//simIface->data->reset = 1;
// Example of how to move a model (box1_model)
- /*char name[512] = "pioneer2dx_model1";
+ char name[512] = "pioneer2dx_model1";
- for (int i=0; i< 10; i++)
+ gazebo::Pose pose;
+ bool got = false;
+
+ for (int i=0; i< 600; i++)
{
-
- gazebo::Pose pose;
+ printf("Iter [%d]\n",i);
+
+ simIface->GetPose3d(name);
+
+ got = false;
+ while (!got)
+ {
+ //simIface->Lock(1);
+ got = simIface->data->responseCount > 0;
+ //simIface->Unlock();
+ usleep(1000);
+ }
+
+ simIface->SetPose3d(name, pose);
+ }
+
+ /*gazebo::Pose pose;
//pose.pos.x = i+0.1;
pose.pos.z = .145;
pose.yaw = M_PI/2;
@@ -61,10 +79,9 @@
simIface->SetState(name, pose, linearVel, angularVel,
linearAccel, angularAccel );
- usleep(90000000);
- }*/
+ */
- usleep(1000000);
+ /*usleep(1000000);
printf("GO!\n");
// First GO
@@ -91,6 +108,7 @@
// simIface->Reset();
//usleep(1000000);
+ */
simIface->Close();
delete simIface;
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