Revision: 7476
http://playerstage.svn.sourceforge.net/playerstage/?rev=7476&view=rev
Author: natepak
Date: 2009-03-13 14:30:44 +0000 (Fri, 13 Mar 2009)
Log Message:
-----------
Updates
Modified Paths:
--------------
code/gazebo/trunk/examples/libgazebo/openal/openal.cc
code/gazebo/trunk/examples/player/bandit/bandit.cc
code/gazebo/trunk/examples/player/laser/laser.cc
code/gazebo/trunk/player/CameraInterface.cc
code/gazebo/trunk/server/audio_video/AudioDecoder.hh
code/gazebo/trunk/worlds/bandit.world
code/gazebo/trunk/worlds/openal.world
code/gazebo/trunk/worlds/terrain.world
Modified: code/gazebo/trunk/examples/libgazebo/openal/openal.cc
===================================================================
--- code/gazebo/trunk/examples/libgazebo/openal/openal.cc 2009-03-13
14:21:49 UTC (rev 7475)
+++ code/gazebo/trunk/examples/libgazebo/openal/openal.cc 2009-03-13
14:30:44 UTC (rev 7476)
@@ -58,7 +58,7 @@
printf("Pause\n");
/// Pause the sound
audioIface->Lock(1);
- audioIface->data->cmd_pause = 1;
+ audioIface->data->cmd_stop = 1;
audioIface->Unlock();
usleep(1000000);
@@ -66,9 +66,10 @@
printf("Continue\n");
/// Play the sound in the buffer
- audioIface->Lock(1);
+ /*audioIface->Lock(1);
audioIface->data->cmd_play = 1;
audioIface->Unlock();
+ */
return 0;
}
Modified: code/gazebo/trunk/examples/player/bandit/bandit.cc
===================================================================
--- code/gazebo/trunk/examples/player/bandit/bandit.cc 2009-03-13 14:21:49 UTC
(rev 7475)
+++ code/gazebo/trunk/examples/player/bandit/bandit.cc 2009-03-13 14:30:44 UTC
(rev 7476)
@@ -24,7 +24,7 @@
// This blocks until new data comes
robot.Read();
- ap.MoveTo(3, M_PI/2.0);
+ ap.MoveTo(10, -M_PI/2.0);
// Left eyebrow
ap.MoveTo(16, 0.5);
@@ -38,7 +38,7 @@
// upper lip
ap.MoveTo(19, 0.4);
- player_actarray_actuator_t data = ap.GetActuatorData(3);
+ player_actarray_actuator_t data = ap.GetActuatorData(9);
printf("Pos[%f] Speed[%f]\n",data.position, data.speed);
}
}
Modified: code/gazebo/trunk/examples/player/laser/laser.cc
===================================================================
--- code/gazebo/trunk/examples/player/laser/laser.cc 2009-03-13 14:21:49 UTC
(rev 7475)
+++ code/gazebo/trunk/examples/player/laser/laser.cc 2009-03-13 14:30:44 UTC
(rev 7476)
@@ -11,23 +11,27 @@
// Create a player client object, using the variables assigned by the
// call to parse_args()
- PlayerClient robot(PlayerCc::PLAYER_HOSTNAME, PlayerCc::PLAYER_PORTNUM);
+ //PlayerClient robot(PlayerCc::PLAYER_HOSTNAME, PlayerCc::PLAYER_PORTNUM);
+ PlayerClient robot("localhost");
// Subscribe to the laser proxy
- LaserProxy lp(&robot, 0);
+ //LaserProxy lp(&robot, 0);
+ printf("Read\n");
robot.Read();
+ printf("Done\n");
// Print out some stuff
std::cout << robot << std::endl;
- lp.RequestGeom();
+/* lp.RequestGeom();
player_pose3d_t laserPose = lp.GetPose();
// Print out laser stuff
std::cout << "Laser Pose[" << laserPose.px << " " <<
laserPose.py << " " << laserPose.pyaw << "]\n";
+ */
/*for (;;)
{
Modified: code/gazebo/trunk/player/CameraInterface.cc
===================================================================
--- code/gazebo/trunk/player/CameraInterface.cc 2009-03-13 14:21:49 UTC (rev
7475)
+++ code/gazebo/trunk/player/CameraInterface.cc 2009-03-13 14:30:44 UTC (rev
7476)
@@ -118,7 +118,7 @@
this->driver->Publish(this->device_addr,
PLAYER_MSGTYPE_DATA,
PLAYER_CAMERA_DATA_STATE,
- (void*)&this->data, size, &this->datatime);
+ &this->data);//, 0, NULL, false);//, size,
&this->datatime);
// Save frames
if (this->save)
Modified: code/gazebo/trunk/server/audio_video/AudioDecoder.hh
===================================================================
--- code/gazebo/trunk/server/audio_video/AudioDecoder.hh 2009-03-13
14:21:49 UTC (rev 7475)
+++ code/gazebo/trunk/server/audio_video/AudioDecoder.hh 2009-03-13
14:30:44 UTC (rev 7476)
@@ -2,8 +2,8 @@
#define AUDIODECODER_HH
extern "C" {
-#include <avformat.h>
-#include <avcodec.h>
+#include <libavformat/avformat.h>
+#include <libavcodec/avcodec.h>
}
#include <string>
Modified: code/gazebo/trunk/worlds/bandit.world
===================================================================
--- code/gazebo/trunk/worlds/bandit.world 2009-03-13 14:21:49 UTC (rev
7475)
+++ code/gazebo/trunk/worlds/bandit.world 2009-03-13 14:30:44 UTC (rev
7476)
@@ -18,7 +18,7 @@
<physics:ode>
<stepTime>0.03</stepTime>
<gravity>0 0 -9.8</gravity>
- <cfm>10e-5</cfm>
+ <cfm>10e-1</cfm>
<erp>0.3</erp>
</physics:ode>
Modified: code/gazebo/trunk/worlds/openal.world
===================================================================
--- code/gazebo/trunk/worlds/openal.world 2009-03-13 14:21:49 UTC (rev
7475)
+++ code/gazebo/trunk/worlds/openal.world 2009-03-13 14:30:44 UTC (rev
7476)
@@ -64,7 +64,7 @@
<controller:audio name="audio_controller_1">
<pitch>1.0</pitch>
<gain>1.0</gain>
- <loop>false</loop>
+ <loop>true</loop>
<mp3>test.mp3</mp3>
<interface:audio name="audio_iface_1"/>
</controller:audio>
Modified: code/gazebo/trunk/worlds/terrain.world
===================================================================
--- code/gazebo/trunk/worlds/terrain.world 2009-03-13 14:21:49 UTC (rev
7475)
+++ code/gazebo/trunk/worlds/terrain.world 2009-03-13 14:30:44 UTC (rev
7476)
@@ -17,8 +17,8 @@
<verbosity>5</verbosity>
<physics:ode>
- <stepTime>0.02</stepTime>
- <gravity>0 0 -9.80665</gravity>
+ <stepTime>0.002</stepTime>
+ <gravity>0 0 -1.80665</gravity>
<cfm>10e-5</cfm>
<erp>0.3</erp>
</physics:ode>
@@ -27,6 +27,14 @@
<type>fltk</type>
<size>800 600</size>
<pos>0 0</pos>
+ <frames>
+ <row height="100%">
+ <camera width="100%">
+ <xyz>214 -74.74 1.13</xyz>
+ <rpy>0 3.50 -79.5</rpy>
+ </camera>
+ </row>
+ </frames>
</rendering:gui>
<rendering:ogre>
@@ -38,7 +46,9 @@
</rendering:ogre>
<model:physical name="sphere1_model">
- <xyz>197 130 4.0</xyz>
+ <!--<xyz>197 130 4.0</xyz>-->
+
+ <xyz>214.76 -79.34 4.29</xyz>
<static>false</static>
<body:sphere name="sphere1_body">
<geom:sphere name="sphere1_geom">
@@ -80,8 +90,8 @@
</body:plane>
</model:physical>
- <model:physical name="pioneer2dx_model2">
- <xyz>214.76 -79.34 1.29</xyz>
+ <!--<model:physical name="pioneer2dx_model2">
+ <xyz>214.76 -79.34 2.29</xyz>
<rpy>0 0 20</rpy>
<controller:differential_position2d name="controller1">
<leftJoint>left_wheel_hinge</leftJoint>
@@ -103,5 +113,6 @@
<xi:include href="models/pioneer2dx.model" />
</include>
</model:physical>
+ -->
</gazebo:world>
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