Revision: 7533
http://playerstage.svn.sourceforge.net/playerstage/?rev=7533&view=rev
Author: rtv
Date: 2009-03-20 09:02:33 +0000 (Fri, 20 Mar 2009)
Log Message:
-----------
experimenting with wavefront planner
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/CMakeLists.txt
code/stage/trunk/libstage/block.cc
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_laser.cc
code/stage/trunk/libstage/model_position.cc
code/stage/trunk/libstage/stage.cc
code/stage/trunk/worlds/simple.world
code/stage/trunk/worlds/wavefront.cfg
Modified: code/stage/trunk/examples/ctrl/CMakeLists.txt
===================================================================
--- code/stage/trunk/examples/ctrl/CMakeLists.txt 2009-03-19 06:38:54 UTC
(rev 7532)
+++ code/stage/trunk/examples/ctrl/CMakeLists.txt 2009-03-20 09:02:33 UTC
(rev 7533)
@@ -7,18 +7,29 @@
wander
)
+# need plaer's wavefront planning library for this one
+if( PLAYER_FOUND )
+ SET( PLUGINS ${PLUGINS} fasr_plan )
+endif( PLAYER_FOUND )
# create a library module for each plugin and link libstage to each
-
foreach( PLUGIN ${PLUGINS} )
ADD_LIBRARY( ${PLUGIN} MODULE ${PLUGIN}.cc )
TARGET_LINK_LIBRARIES( ${PLUGIN} stage )
- set_source_files_properties( ${PLUGIN}.cc PROPERTIES COMPILE_FLAGS
"${FLTK_CFLAGS}" )
endforeach( PLUGIN )
# delete the "lib" prefix from the plugin libraries
SET_TARGET_PROPERTIES( ${PLUGINS} PROPERTIES PREFIX "" )
+# need plaer's wavefront planning library for this one
+if( PLAYER_FOUND )
+ link_directories( ${PLAYER_LIBRARY_DIRS} )
+ include_directories( ${PLAYER_INCLUDE_DIRS} )
+ target_link_libraries( fasr_plan "-lwavefront_standalone" )
+endif( PLAYER_FOUND )
+
+
# install in <prefix>/lib
-INSTALL( TARGETS ${PLUGINS} DESTINATION lib)
+install( TARGETS ${PLUGINS} DESTINATION lib)
+
Modified: code/stage/trunk/libstage/block.cc
===================================================================
--- code/stage/trunk/libstage/block.cc 2009-03-19 06:38:54 UTC (rev 7532)
+++ code/stage/trunk/libstage/block.cc 2009-03-20 09:02:33 UTC (rev 7533)
@@ -5,16 +5,16 @@
using namespace Stg;
/** Create a new block. A model's body is a list of these
- blocks. The point data is copied, so pts can safely be freed
- after calling this.*/
+ blocks. The point data is copied, so pts can safely be freed
+ after calling this.*/
Block::Block( Model* mod,
- stg_point_t* pts,
- size_t pt_count,
- stg_meters_t zmin,
- stg_meters_t zmax,
- stg_color_t color,
- bool inherit_color
- ) :
+ stg_point_t* pts,
+ size_t pt_count,
+ stg_meters_t zmin,
+ stg_meters_t zmax,
+ stg_color_t color,
+ bool inherit_color
+ ) :
mod( mod ),
pt_count( pt_count ),
pts( (stg_point_t*)g_memdup( pts, pt_count * sizeof(stg_point_t)) ),
@@ -33,15 +33,15 @@
/** A from-file constructor */
Block::Block( Model* mod,
- Worldfile* wf,
- int entity)
+ Worldfile* wf,
+ int entity)
: mod( mod ),
- pt_count(0),
- pts(NULL),
- color(0),
- inherit_color(true),
- rendered_cells( g_ptr_array_sized_new(32) ),
- candidate_cells( g_ptr_array_sized_new(32) )
+ pt_count(0),
+ pts(NULL),
+ color(0),
+ inherit_color(true),
+ rendered_cells( g_ptr_array_sized_new(32) ),
+ candidate_cells( g_ptr_array_sized_new(32) )
{
assert(mod);
assert(wf);
@@ -64,10 +64,10 @@
void Block::Translate( double x, double y )
{
for( unsigned int p=0; p<pt_count; p++)
- {
- pts[p].x += x;
- pts[p].y += y;
- }
+ {
+ pts[p].x += x;
+ pts[p].y += y;
+ }
// force redraw
mod->blockgroup.BuildDisplayList( mod );
@@ -80,10 +80,10 @@
double max = -billion;
for( unsigned int p=0; p<pt_count; p++)
- {
- if( pts[p].y > max ) max = pts[p].y;
- if( pts[p].y < min ) min = pts[p].y;
- }
+ {
+ if( pts[p].y > max ) max = pts[p].y;
+ if( pts[p].y < min ) min = pts[p].y;
+ }
// return the value half way between max and min
return( min + (max - min)/2.0 );
@@ -95,10 +95,10 @@
double max = -billion;
for( unsigned int p=0; p<pt_count; p++)
- {
- if( pts[p].x > max ) max = pts[p].x;
- if( pts[p].x < min ) min = pts[p].x;
- }
+ {
+ if( pts[p].x > max ) max = pts[p].x;
+ if( pts[p].x < min ) min = pts[p].x;
+ }
// return the value half way between maxx and min
return( min + (max - min)/2.0 );
@@ -144,20 +144,20 @@
{
// for every cell we are rendered into
for( unsigned int i=0; i<rendered_cells->len; i++ )
- {
- Cell* cell = (Cell*)g_ptr_array_index( rendered_cells, i);
+ {
+ Cell* cell = (Cell*)g_ptr_array_index( rendered_cells, i);
- // for every block rendered into that cell
- for( GSList* it = cell->list; it; it=it->next )
- {
- Block* testblock = (Block*)it->data;
- Model* testmod = testblock->mod;
+ // for every block rendered into that cell
+ for( GSList* it = cell->list; it; it=it->next )
+ {
+ Block* testblock = (Block*)it->data;
+ Model* testmod = testblock->mod;
- if( !mod->IsRelated( testmod ))
- if( ! g_list_find( list, testmod ) )
- list = g_list_append( list, testmod );
- }
- }
+ if( !mod->IsRelated( testmod ))
+ if( ! g_list_find( list, testmod ) )
+ list = g_list_append( list, testmod );
+ }
+ }
return list;
}
@@ -170,29 +170,29 @@
GenerateCandidateCells();
if( mod->vis.obstacle_return )
- // for every cell we may be rendered into
- for( unsigned int i=0; i<candidate_cells->len; i++ )
- {
- Cell* cell = (Cell*)g_ptr_array_index(candidate_cells, i);
+ // for every cell we may be rendered into
+ for( unsigned int i=0; i<candidate_cells->len; i++ )
+ {
+ Cell* cell = (Cell*)g_ptr_array_index(candidate_cells, i);
- // for every rendered into that cell
- for( GSList* it = cell->list; it; it=it->next )
- {
- Block* testblock = (Block*)it->data;
- Model* testmod = testblock->mod;
+ // for every rendered into that cell
+ for( GSList* it = cell->list; it; it=it->next )
+ {
+ Block* testblock = (Block*)it->data;
+ Model* testmod = testblock->mod;
- //printf( " testing block %p of model %s\n",
testblock, testmod->Token() );
+ //printf( " testing block %p of model %s\n", testblock,
testmod->Token() );
- // if the tested model is an obstacle and it's not
attached to this model
- if( (testmod != this->mod) &&
- testmod->vis.obstacle_return &&
- !mod->IsRelated( testmod ))
- {
- //puts( "HIT");
- return testmod; // bail immediately with the
bad news
- }
- }
- }
+ // if the tested model is an obstacle and it's not attached to this
model
+ if( (testmod != this->mod) &&
+ testmod->vis.obstacle_return &&
+ !mod->IsRelated( testmod ))
+ {
+ //puts( "HIT");
+ return testmod; // bail immediately with the bad news
+ }
+ }
+ }
//printf( "model %s block %p collision done. no hits.\n", mod->Token(), this
);
return NULL; // no hit
@@ -202,13 +202,13 @@
void Block::RemoveFromCellArray( GPtrArray* ptrarray )
{
for( unsigned int i=0; i<ptrarray->len; i++ )
- ((Cell*)g_ptr_array_index(ptrarray, i))->RemoveBlock( this );
+ ((Cell*)g_ptr_array_index(ptrarray, i))->RemoveBlock( this );
}
void Block::AddToCellArray( GPtrArray* ptrarray )
{
for( unsigned int i=0; i<ptrarray->len; i++ )
- ((Cell*)g_ptr_array_index(ptrarray, i))->AddBlock( this );
+ ((Cell*)g_ptr_array_index(ptrarray, i))->AddBlock( this );
}
@@ -276,9 +276,9 @@
// compute the global location of the first point
Pose local( (pts[0].x - bgoffset.x) * scale.x ,
- (pts[0].y - bgoffset.y) *
scale.y,
- -bgoffset.z,
- 0 );
+ (pts[0].y - bgoffset.y) * scale.y,
+ -bgoffset.z,
+ 0 );
Pose first_gpose, last_gpose;
first_gpose = last_gpose = pose_sum( gpose, local );
@@ -289,27 +289,27 @@
// now loop from the the second to the last
for( unsigned int p=1; p<pt_count; p++ )
- {
- Pose local( (pts[p].x - bgoffset.x) * scale.x ,
- (pts[p].y -
bgoffset.y) * scale.y,
- -bgoffset.z,
- 0 );
+ {
+ Pose local( (pts[p].x - bgoffset.x) * scale.x ,
+ (pts[p].y - bgoffset.y) * scale.y,
+ -bgoffset.z,
+ 0 );
- Pose gpose2 = pose_sum( gpose, local );
+ Pose gpose2 = pose_sum( gpose, local );
- // and render the shape of the block into the global cells
- mod->world->ForEachCellInLine( last_gpose.x, last_gpose.y,
-
gpose2.x, gpose2.y,
-
(stg_cell_callback_t)AppendCellToPtrArray,
-
candidate_cells );
- last_gpose = gpose2;
- }
+ // and render the shape of the block into the global cells
+ mod->world->ForEachCellInLine( last_gpose.x, last_gpose.y,
+ gpose2.x, gpose2.y,
+ (stg_cell_callback_t)AppendCellToPtrArray,
+ candidate_cells );
+ last_gpose = gpose2;
+ }
// close the polygon
mod->world->ForEachCellInLine( last_gpose.x, last_gpose.y,
-
first_gpose.x, first_gpose.y,
-
(stg_cell_callback_t)AppendCellToPtrArray,
-
candidate_cells );
+ first_gpose.x, first_gpose.y,
+ (stg_cell_callback_t)AppendCellToPtrArray,
+ candidate_cells );
mapped = true;
}
@@ -321,7 +321,7 @@
// extent
glBegin( GL_POLYGON);
for( unsigned int i=0; i<pt_count; i++ )
- glVertex3f( pts[i].x, pts[i].y, local_z.max );
+ glVertex3f( pts[i].x, pts[i].y, local_z.max );
glEnd();
}
@@ -330,10 +330,10 @@
// construct a strip that wraps around the polygon
glBegin(GL_QUAD_STRIP);
for( unsigned int p=0; p<pt_count; p++)
- {
- glVertex3f( pts[p].x, pts[p].y, local_z.max );
- glVertex3f( pts[p].x, pts[p].y, local_z.min );
- }
+ {
+ glVertex3f( pts[p].x, pts[p].y, local_z.max );
+ glVertex3f( pts[p].x, pts[p].y, local_z.min );
+ }
// close the strip
glVertex3f( pts[0].x, pts[0].y, local_z.max );
glVertex3f( pts[0].x, pts[0].y, local_z.min );
@@ -344,7 +344,7 @@
{
glBegin(GL_POLYGON);
for( unsigned int p=0; p<pt_count; p++ )
- glVertex2f( pts[p].x, pts[p].y );
+ glVertex2f( pts[p].x, pts[p].y );
glEnd();
}
@@ -391,7 +391,7 @@
//printf( "Block::Load entity %d\n", entity );
if( pts )
- stg_points_destroy( pts );
+ stg_points_destroy( pts );
pt_count = wf->ReadInt( entity, "points", 0);
pts = stg_points_create( pt_count );
@@ -401,10 +401,10 @@
char key[128];
for( unsigned int p=0; p<pt_count; p++ ) {
- snprintf(key, sizeof(key), "point[%d]", p );
+ snprintf(key, sizeof(key), "point[%d]", p );
- pts[p].x = wf->ReadTupleLength(entity, key, 0, 0);
- pts[p].y = wf->ReadTupleLength(entity, key, 1, 0);
+ pts[p].x = wf->ReadTupleLength(entity, key, 0, 0);
+ pts[p].y = wf->ReadTupleLength(entity, key, 1, 0);
}
local_z.min = wf->ReadTupleLength( entity, "z", 0, 0.0 );
@@ -412,12 +412,12 @@
const char* colorstr = wf->ReadString( entity, "color", NULL );
if( colorstr )
- {
- color = stg_lookup_color( colorstr );
- inherit_color = false;
- }
+ {
+ color = stg_lookup_color( colorstr );
+ inherit_color = false;
+ }
else
- inherit_color = true;
+ inherit_color = true;
}
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-03-19 06:38:54 UTC (rev 7532)
+++ code/stage/trunk/libstage/model.cc 2009-03-20 09:02:33 UTC (rev 7533)
@@ -1022,3 +1022,5 @@
//if( world->IsGUI() )
world->RegisterOption( opt );
}
+
+
Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc 2009-03-19 06:38:54 UTC (rev
7532)
+++ code/stage/trunk/libstage/model_laser.cc 2009-03-20 09:02:33 UTC (rev
7533)
@@ -38,57 +38,57 @@
Option ModelLaser::showLaserBeams( "Laser beams", "show_laser_beams", "",
false, NULL );
/**
-...@ingroup model
-...@defgroup model_laser Laser model
-The laser model simulates a scanning laser rangefinder
+ @ingroup model
+ @defgroup model_laser Laser model
+ The laser model simulates a scanning laser rangefinder
-API: Stg::ModelLaser
+ API: Stg::ModelLaser
-<h2>Worldfile properties</h2>
+ <h2>Worldfile properties</h2>
-...@par Summary and default values
+ @par Summary and default values
-...@verbatim
-laser
-(
- # laser properties
- samples 180
- range_max 8.0
- fov 3.14159
- resolution 1
+ @verbatim
+ laser
+ (
+ # laser properties
+ samples 180
+ range_max 8.0
+ fov 3.14159
+ resolution 1
- # model properties
- size [ 0.15 0.15 0.2 ]
- color "blue"
-)
-...@endverbatim
+ # model properties
+ size [ 0.15 0.15 0.2 ]
+ color "blue"
+ )
+ @endverbatim
-...@par Details
+ @par Details
-- samples <int>\n
- the number of laser samples per scan
-- range_max <float>\n
- the maximum range reported by the scanner, in meters. The scanner will not
detect objects beyond this range.
-- fov <float>\n
- the angular field of view of the scanner, in radians.
-- resolution <int>\n
- Only calculate the true range of every nth laser sample. The missing samples
are filled in with a linear interpolation. Generally it would be better to use
fewer samples, but some (poorly implemented!) programs expect a fixed number of
samples. Setting this number > 1 allows you to reduce the amount of computation
required for your fixed-size laser vector.
+ - samples <int>\n
+ the number of laser samples per scan
+ - range_max <float>\n
+ the maximum range reported by the scanner, in meters. The scanner will not
detect objects beyond this range.
+ - fov <float>\n
+ the angular field of view of the scanner, in radians.
+ - resolution <int>\n
+ Only calculate the true range of every nth laser sample. The missing
samples are filled in with a linear interpolation. Generally it would be better
to use fewer samples, but some (poorly implemented!) programs expect a fixed
number of samples. Setting this number > 1 allows you to reduce the amount of
computation required for your fixed-size laser vector.
*/
- ModelLaser::ModelLaser( World* world,
-
Model* parent )
+ModelLaser::ModelLaser( World* world,
+ Model* parent )
: Model( world, parent, MODEL_TYPE_LASER ),
- data_dl(0),
- data_dirty( true ),
- samples( NULL ), // don't allocate sample buffer memory until
Update() is called
- sample_count( DEFAULT_SAMPLES ),
- range_max( DEFAULT_MAXRANGE ),
- fov( DEFAULT_FOV ),
- resolution( DEFAULT_RESOLUTION )
+ data_dl(0),
+ data_dirty( true ),
+ samples( NULL ), // don't allocate sample buffer memory until Update()
is called
+ sample_count( DEFAULT_SAMPLES ),
+ range_max( DEFAULT_MAXRANGE ),
+ fov( DEFAULT_FOV ),
+ resolution( DEFAULT_RESOLUTION )
{
PRINT_DEBUG2( "Constructing ModelLaser %d (%s)\n",
- id, typestr );
+ id, typestr );
// Model data members
@@ -162,8 +162,8 @@
}
static bool laser_raytrace_match( Model* hit,
-
Model* finder,
-
const void* dummy )
+ Model* finder,
+ const void* dummy )
{
// Ignore the model that's looking and things that are invisible to
// lasers
@@ -186,20 +186,20 @@
rayorg.a = bearing;
stg_raytrace_result_t sample =
- Raytrace( rayorg,
- range_max,
- laser_raytrace_match,
- NULL,
- true ); // z testing enabled
+ Raytrace( rayorg,
+ range_max,
+ laser_raytrace_match,
+ NULL,
+ true ); // z testing enabled
samples[t].range = sample.range;
// if we hit a model and it reflects brightly, we set
// reflectance high, else low
if( sample.mod && ( sample.mod->vis.laser_return >= LaserBright ) )
- samples[t].reflectance = 1;
+ samples[t].reflectance = 1;
else
- samples[t].reflectance = 0;
+ samples[t].reflectance = 0;
// todo - lower bound on range
bearing += sample_incr;
@@ -209,22 +209,22 @@
if( resolution > 1 )
{
for( unsigned int t=resolution; t<sample_count; t+=resolution )
- for( unsigned int g=1; g<resolution; g++ )
- {
- if( t >= sample_count )
- break;
+ for( unsigned int g=1; g<resolution; g++ )
+ {
+ if( t >= sample_count )
+ break;
- // copy the rightmost sample data into this
point
- memcpy( &samples[t-g],
- &samples[t-resolution],
- sizeof(stg_laser_sample_t));
+ // copy the rightmost sample data into this point
+ memcpy( &samples[t-g],
+ &samples[t-resolution],
+ sizeof(stg_laser_sample_t));
- double left = samples[t].range;
- double right = samples[t-resolution].range;
+ double left = samples[t].range;
+ double right = samples[t-resolution].range;
- // linear range interpolation between the left
and right samples
- samples[t-g].range =
(left-g*(left-right)/resolution);
- }
+ // linear range interpolation between the left and right samples
+ samples[t-g].range = (left-g*(left-right)/resolution);
+ }
}
data_dirty = true;
@@ -317,8 +317,8 @@
{
data_dirty = false;
- if( data_dl < 1 )
- data_dl = glGenLists(1);
+ if( data_dl < 1 )
+ data_dl = glGenLists(1);
glNewList( data_dl, GL_COMPILE );
@@ -330,7 +330,7 @@
glBegin( GL_POINTS );
glVertex2f( 0,0 );
glEnd();
- PopColor();
+ PopColor();
// pack the laser hit points into a vertex array for fast rendering
static float* pts = NULL;
@@ -339,79 +339,79 @@
pts[0] = 0.0;
pts[1] = 0.0;
- PushColor( 0, 0, 1, 0.5 );
- glDepthMask( GL_FALSE );
- glPointSize( 2 );
+ PushColor( 0, 0, 1, 0.5 );
+ glDepthMask( GL_FALSE );
+ glPointSize( 2 );
- for( unsigned int s=0; s<sample_count; s++ )
- {
- double ray_angle = (s * (fov / (sample_count-1))) -
fov/2.0;
- pts[2*s+2] = (float)(samples[s].range * cos(ray_angle)
);
- pts[2*s+3] = (float)(samples[s].range * sin(ray_angle)
);
+ for( unsigned int s=0; s<sample_count; s++ )
+ {
+ double ray_angle = (s * (fov / (sample_count-1))) - fov/2.0;
+ pts[2*s+2] = (float)(samples[s].range * cos(ray_angle) );
+ pts[2*s+3] = (float)(samples[s].range * sin(ray_angle) );
- // if the sample is unusually bright, draw a little
blob
- if( showLaserData && (samples[s].reflectance > 0) )
- {
- glBegin( GL_POINTS );
- glVertex2f( pts[2*s+2], pts[2*s+3] );
- glEnd();
- }
- }
+ // if the sample is unusually bright, draw a little blob
+ if( showLaserData && (samples[s].reflectance > 0) )
+ {
+ glBegin( GL_POINTS );
+ glVertex2f( pts[2*s+2], pts[2*s+3] );
+ glEnd();
+ }
+ }
- glVertexPointer( 2, GL_FLOAT, 0, pts );
+ glVertexPointer( 2, GL_FLOAT, 0, pts );
- PopColor();
+ PopColor();
- if( showLaserData )
- {
- // draw the filled polygon in transparent blue
- PushColor( 0, 0, 1, 0.1 );
- glDrawArrays( GL_POLYGON, 0, sample_count+1 );
- PopColor();
- }
+ if( showLaserData )
+ {
+ // draw the filled polygon in transparent blue
+ PushColor( 0, 0, 1, 0.1 );
+ glDrawArrays( GL_POLYGON, 0, sample_count+1 );
+ PopColor();
+ }
if( showLaserStrikes )
- {
- // draw the beam strike points
- PushColor( 0, 0, 1, 0.8 );
- glDrawArrays( GL_POINTS, 0, sample_count+1 );
- PopColor();
- }
+ {
+ // draw the beam strike points
+ PushColor( 0, 0, 1, 0.8 );
+ glDrawArrays( GL_POINTS, 0, sample_count+1 );
+ PopColor();
+ }
- if( showLaserFov )
- {
- for( unsigned int s=0; s<sample_count; s++ )
- {
- double ray_angle = (s * (fov /
(sample_count-1))) - fov/2.0;
- pts[2*s+2] = (float)(range_max *
cos(ray_angle) );
- pts[2*s+3] = (float)(range_max *
sin(ray_angle) );
- }
+ if( showLaserFov )
+ {
+ for( unsigned int s=0; s<sample_count; s++ )
+ {
+ double ray_angle = (s * (fov / (sample_count-1))) - fov/2.0;
+ pts[2*s+2] = (float)(range_max * cos(ray_angle) );
+ pts[2*s+3] = (float)(range_max * sin(ray_angle) );
+ }
- glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
- PushColor( 0, 0, 1, 0.5 );
- glDrawArrays( GL_POLYGON, 0, sample_count+1 );
- PopColor();
- // glPolygonMode(
GL_FRONT_AND_BACK, GL_LINE );
+ glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
+ PushColor( 0, 0, 1, 0.5 );
+ glDrawArrays( GL_POLYGON, 0, sample_count+1 );
+ PopColor();
+ // glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
- }
+ }
- if( showLaserBeams )
- {
- PushColor( 0, 0, 1, 0.5 );
- glBegin( GL_LINES );
+ if( showLaserBeams )
+ {
+ PushColor( 0, 0, 1, 0.5 );
+ glBegin( GL_LINES );
- for( unsigned int s=0; s<sample_count; s++ )
- {
+ for( unsigned int s=0; s<sample_count; s++ )
+ {
- glVertex2f( 0,0 );
- double ray_angle = (s * (fov /
(sample_count-1))) - fov/2.0;
- glVertex2f( samples[s].range *
cos(ray_angle),
-
samples[s].range * sin(ray_angle) );
+ glVertex2f( 0,0 );
+ double ray_angle = (s * (fov / (sample_count-1))) - fov/2.0;
+ glVertex2f( samples[s].range * cos(ray_angle),
+ samples[s].range * sin(ray_angle) );
- }
- glEnd();
- PopColor();
- }
+ }
+ glEnd();
+ PopColor();
+ }
glDepthMask( GL_TRUE );
Modified: code/stage/trunk/libstage/model_position.cc
===================================================================
--- code/stage/trunk/libstage/model_position.cc 2009-03-19 06:38:54 UTC (rev
7532)
+++ code/stage/trunk/libstage/model_position.cc 2009-03-20 09:02:33 UTC (rev
7533)
@@ -662,7 +662,7 @@
// draw lines connecting the waypoints
if( waypoint_count > 1 )
{
- glBegin( GL_LINE_STRIP );
+ glBegin( GL_LINES );
for( unsigned int i=1; i < waypoint_count; i++ )
{
Modified: code/stage/trunk/libstage/stage.cc
===================================================================
--- code/stage/trunk/libstage/stage.cc 2009-03-19 06:38:54 UTC (rev 7532)
+++ code/stage/trunk/libstage/stage.cc 2009-03-20 09:02:33 UTC (rev 7533)
@@ -254,7 +254,7 @@
}
}
-// // returns TRUE if any channel in the pixel is non-zero
+// returns true if the value in the first channel is above threshold
static gboolean pb_pixel_is_set( Fl_Shared_Image* img, int x, int y, int
threshold )
{
guchar* pixel = pb_get_pixel( img,x,y );
Modified: code/stage/trunk/worlds/simple.world
===================================================================
--- code/stage/trunk/worlds/simple.world 2009-03-19 06:38:54 UTC (rev
7532)
+++ code/stage/trunk/worlds/simple.world 2009-03-20 09:02:33 UTC (rev
7533)
@@ -7,7 +7,7 @@
include "sick.inc"
interval_sim 100 # simulation timestep in milliseconds
-interval_real 50 # real-time interval between simulation updates in
milliseconds
+interval_real 0 # real-time interval between simulation updates in
milliseconds
paused 0
@@ -44,5 +44,9 @@
sicklaser()
ctrl "wander"
+
+ # report error-free position in world coordinates
+ localization "gps"
+ localization_origin [ 0 0 0 0 ]
)
Modified: code/stage/trunk/worlds/wavefront.cfg
===================================================================
--- code/stage/trunk/worlds/wavefront.cfg 2009-03-19 06:38:54 UTC (rev
7532)
+++ code/stage/trunk/worlds/wavefront.cfg 2009-03-20 09:02:33 UTC (rev
7533)
@@ -1,23 +1,34 @@
driver
(
name "stage"
- plugin "libstageplugin"
+ plugin "stageplugin"
provides ["6665:simulation:0"]
- worldfile "simple.world"
+ worldfile "wavefront.world"
)
+#driver
+#(
+# name "stage"
+# provides ["6665:map:0"]
+# model "cave"
+#)
+
driver
(
- name "stage"
+ name "mapfile"
provides ["6665:map:0"]
- model "cave"
+ filename "bitmaps/cave.png"
+ resolution 0.032 # meters per pixel
+ negate 0
+ origin [-8 -8 ] # real-world location of the bottom-left-hand corner of the
map
)
+
driver
(
name "stage"
provides ["6665:position2d:0" "6665:laser:0"]
- model "robot1"
+ model "r0"
)
driver
@@ -36,19 +47,19 @@
# requires ["output::6665:position2d:0" "input::6665:position2d:0"
"6665:laser:0"]
#)
-driver
-(
- name "amcl"
- provides ["6665:localize:0" "6665:position2d:2"]
- requires ["odometry::6665:position2d:0" "6665:laser:0" "laser::6665:map:0"]
-)
+#driver
+#(
+# name "amcl"
+# provides ["6665:localize:0" "6665:position2d:2"]
+# requires ["odometry::6665:position2d:0" "6665:laser:0" "laser::6665:map:0"]
+#)
driver
(
name "wavefront"
provides ["6665:planner:0"]
- requires ["output::6665:position2d:1" "input::6665:position2d:2"
"6665:map:0"]
+ requires ["output::6665:position2d:1" "input::6665:position2d:0"
"6665:map:0"]
safety_dist 0.15
distance_epsilon 0.5
angle_epsilon 10
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