Revision: 8027
http://playerstage.svn.sourceforge.net/playerstage/?rev=8027&view=rev
Author: rtv
Date: 2009-07-15 21:10:48 +0000 (Wed, 15 Jul 2009)
Log Message:
-----------
fixed bug in energy dissiparion model
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/fasr.cc
code/stage/trunk/examples/ctrl/wander.cc
code/stage/trunk/libstage/powerpack.cc
code/stage/trunk/libstage/worldgui.cc
code/stage/trunk/webstage/webstage.cc
code/stage/trunk/webstage/world.fed
code/stage/trunk/worlds/fasr.world
Modified: code/stage/trunk/examples/ctrl/fasr.cc
===================================================================
--- code/stage/trunk/examples/ctrl/fasr.cc 2009-07-15 07:58:09 UTC (rev
8026)
+++ code/stage/trunk/examples/ctrl/fasr.cc 2009-07-15 21:10:48 UTC (rev
8027)
@@ -417,6 +417,8 @@
}
}
+
+ //printf( "diss: %.2f\n", pos->FindPowerPack()->GetDissipated() );
return 0; // run again
}
Modified: code/stage/trunk/examples/ctrl/wander.cc
===================================================================
--- code/stage/trunk/examples/ctrl/wander.cc 2009-07-15 07:58:09 UTC (rev
8026)
+++ code/stage/trunk/examples/ctrl/wander.cc 2009-07-15 21:10:48 UTC (rev
8027)
@@ -129,7 +129,7 @@
// robot->pos->SetSpeed( 0,0,0 );
// robot->pos->SetTurnSpeed( 0 );
// }
-
+
return 0;
}
Modified: code/stage/trunk/libstage/powerpack.cc
===================================================================
--- code/stage/trunk/libstage/powerpack.cc 2009-07-15 07:58:09 UTC (rev
8026)
+++ code/stage/trunk/libstage/powerpack.cc 2009-07-15 21:10:48 UTC (rev
8027)
@@ -153,6 +153,7 @@
global_input += j; // record energy entering the system
return;
}
+
stg_joules_t amount = MIN( stored, j );
stored -= amount;
@@ -220,7 +221,7 @@
void PowerPack::Dissipate( stg_joules_t j )
{
- stg_joules_t amount = MIN( stored, j );
+ stg_joules_t amount = (stored < 0) ? j : MIN( stored, j );
Subtract( amount );
dissipated += amount;
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2009-07-15 07:58:09 UTC (rev
8026)
+++ code/stage/trunk/libstage/worldgui.cc 2009-07-15 21:10:48 UTC (rev
8027)
@@ -337,7 +337,11 @@
bool val = World::Update();
-
+ // if we're paused and counting down, we need to redraw the window
+ // because it's not drawn on a timer when paused.
+ if( steps )
+ canvas->redraw(); // in case something happened that will never be
+
stg_usec_t interval;
stg_usec_t timenow;
@@ -346,7 +350,7 @@
Fl::check();
timenow = RealTimeNow();
-
+
// do
{
interval = timenow - real_time_of_last_update; // guaranteed to
be >= 0
Modified: code/stage/trunk/webstage/webstage.cc
===================================================================
--- code/stage/trunk/webstage/webstage.cc 2009-07-15 07:58:09 UTC (rev
8026)
+++ code/stage/trunk/webstage/webstage.cc 2009-07-15 21:10:48 UTC (rev
8027)
@@ -7,11 +7,11 @@
/* options descriptor */
static struct option longopts[] = {
- { "gui", no_argument, NULL, 'g' },
- { "port", required_argument, NULL, 'p' },
- { "host", required_argument, NULL, 'h' },
- { "federation", required_argument, NULL, 'f' },
- { NULL, 0, NULL, 0 }
+ { "gui", no_argument, NULL, 'g' },
+ { "port", required_argument, NULL, 'p' },
+ { "host", required_argument, NULL, 'h' },
+ { "federation", required_argument, NULL, 'f' },
+ { NULL, 0, NULL, 0 }
};
class WebStage : public websim::WebSim
@@ -20,7 +20,7 @@
public:
WebStage( Stg::World* world,
- const std::string& host, const unsigned short port ) :
+ const std::string& host, const unsigned short
port ) :
websim::WebSim( host, port ),
world(world)
{
@@ -37,35 +37,35 @@
virtual bool ClockStart()
{
- puts( "[WebStage] Clock start" );
- world->Start();
- return true;
+ puts( "[WebStage] Clock start" );
+ world->Start();
+ return true;
}
virtual bool ClockStop()
{
- puts( "[WebStage] Clock stop" );
- world->Stop();
- return true;
+ puts( "[WebStage] Clock stop" );
+ world->Stop();
+ return true;
}
virtual bool ClockRunFor( double usec )
{
- puts( "[WebStage] Clock tick" );
+ puts( "[WebStage] Clock tick" );
- world->paused = true;
- // when paused, the world will run while steps > 0, decrementing
- // steps each cycle.
- world->steps = (usec * 1e6) / world->GetSimInterval();
+ world->paused = true;
+ // when paused, the world will run while steps > 0, decrementing
+ // steps each cycle.
+ world->steps = (usec * 1e6) / world->GetSimInterval();
- return true;
+ return true;
}
void Push( const std::string& name )
{
- Stg::Model* mod = world->GetModel( name.c_str() );
+ Stg::Model* mod = world->GetModel( name.c_str() );
- if( mod )
+ if( mod )
{
websim::Pose p;
websim::Velocity v;
@@ -124,36 +124,36 @@
}
virtual bool GetModelChildren(const std::string& model,
-
std::vector<std::string>& children)
+
std::vector<std::string>& children)
{
- std::vector<Model*> c;
+ std::vector<Model*> c;
- if(model == "")
- {
- c = world->GetChildren();
- }
- else
- {
- Stg::Model* mod = world->GetModel( model.c_str() );
- if( mod ){
+ if(model == "")
+ {
+ c = world->GetChildren();
+ }
+ else
+ {
+ Stg::Model* mod = world->GetModel( model.c_str() );
+ if( mod ){
- c = mod->GetChildren();
+ c = mod->GetChildren();
- }else{
- printf("Warning: Tried to get the children of unknown
model:%s \n", model.c_str());
- return false;
- }
+ }else{
+ printf("Warning: Tried to get the children of unknown
model:%s \n", model.c_str());
+ return false;
+ }
- }
+ }
- for( std::vector<Model*>::iterator it = c.begin();
- it != c.end();
- it++ )
- {
- children.push_back(std::string((*it)->Token()));
- }
+ for( std::vector<Model*>::iterator it = c.begin();
+ it != c.end();
+ it++ )
+ {
+ children.push_back(std::string((*it)->Token()));
+ }
- return true;
+ return true;
}
@@ -184,168 +184,165 @@
virtual bool GetModelData(const std::string& name,
- std::string&
response,
- websim::Format
format,
- void*
xmlparent) {
- std::string str;
- websim::Time t = GetTime();
+
std::string& response,
+
websim::Format format,
+ void*
xmlparent) {
+ std::string str;
+ websim::Time t = GetTime();
- Model*mod = world->GetModel( name.c_str() );
- if(mod){
+ Model*mod = world->GetModel( name.c_str() );
+ if(mod){
stg_model_type_t type = mod->GetModelType();
if(type == MODEL_TYPE_POSITION){
- websim::Pose p;
- websim::Velocity v;
- websim::Acceleration a;
+ websim::Pose p;
+ websim::Velocity v;
+ websim::Acceleration a;
- Stg::Pose sp = mod->GetPose();
- p.x = sp.x;
- p.y = sp.y;
- p.z = sp.z;
- p.a = sp.a;
+ Stg::Pose sp = mod->GetPose();
+ p.x = sp.x;
+ p.y = sp.y;
+ p.z = sp.z;
+ p.a = sp.a;
- Stg::Velocity sv = mod->GetVelocity();
- v.x = sv.x;
- v.y = sv.y;
- v.z = sv.z;
- v.a = sv.a;
+ Stg::Velocity sv = mod->GetVelocity();
+ v.x = sv.x;
+ v.y = sv.y;
+ v.z = sv.z;
+ v.a = sv.a;
- WebSim::GetPVA(name, t, p, v, a, format, response,
xmlparent);
+ WebSim::GetPVA(name, t, p, v, a, format, response, xmlparent);
}else if(type == MODEL_TYPE_LASER){
- uint32_t resolution;
- double fov;
- websim::Pose p;
- std::vector<double> ranges;
+ uint32_t resolution;
+ double fov;
+ websim::Pose p;
+ std::vector<double> ranges;
- ModelLaser* laser = (ModelLaser*)mod;
- uint32_t sample_count=0;
- std::vector<ModelLaser::Sample> scan =
laser->GetSamples();
+ ModelLaser* laser = (ModelLaser*)mod;
+ uint32_t sample_count=0;
+ std::vector<ModelLaser::Sample> scan = laser->GetSamples();
- ModelLaser::Config cfg = laser->GetConfig();
- resolution = cfg.resolution;
- fov = cfg.fov;
+ ModelLaser::Config cfg = laser->GetConfig();
+ resolution = cfg.resolution;
+ fov = cfg.fov;
- sample_count = scan.size();
- for(unsigned int i=0;i<sample_count;i++)
- ranges.push_back(scan[i].range);
+ sample_count = scan.size();
+ for(unsigned int i=0;i<sample_count;i++)
+ ranges.push_back(scan[i].range);
- WebSim::GetLaserData(name, t, resolution, fov, p,
ranges, format, response, xmlparent);
+ WebSim::GetLaserData(name, t, resolution, fov, p, ranges,
format, response, xmlparent);
}else if(type == MODEL_TYPE_RANGER){
- std::vector<websim::Pose> p;
- std::vector<double> ranges;
+ std::vector<websim::Pose> p;
+ std::vector<double> ranges;
- ModelRanger* ranger = (ModelRanger*)mod;
+ ModelRanger* ranger = (ModelRanger*)mod;
- if(ranger){
- for(unsigned int
i=0;i<ranger->sensors.size();i++){
- //char str[10];
-
//sprintf(str,"size:%d",ranger->sensors.size());
- //puts(str);
- //puts("in the ranger loop");
- websim::Pose pos;
- Pose rpos;
- rpos = ranger->sensors[i].pose;
- pos.x = rpos.x;
- pos.y = rpos.y;
- pos.z = rpos.z;
- pos.a = rpos.a;
- p.push_back(pos);
+ if(ranger){
+ for(unsigned int i=0;i<ranger->sensors.size();i++){
+ //char str[10];
+ //sprintf(str,"size:%d",ranger->sensors.size());
+ //puts(str);
+ //puts("in the ranger loop");
+ websim::Pose pos;
+ Pose rpos;
+ rpos = ranger->sensors[i].pose;
+ pos.x = rpos.x;
+ pos.y = rpos.y;
+ pos.z = rpos.z;
+ pos.a = rpos.a;
+ p.push_back(pos);
-
ranges.push_back(ranger->sensors[i].range);
- }
- }
+ ranges.push_back(ranger->sensors[i].range);
+ }
+ }
- WebSim::GetRangerData(name, t, p, ranges, format,
response, xmlparent);
+ WebSim::GetRangerData(name, t, p, ranges, format, response,
xmlparent);
}else if(type == MODEL_TYPE_FIDUCIAL){
- ModelFiducial::Fiducial* fids;
- unsigned int n=0;
- std::vector<websim::Fiducial> f;
+ ModelFiducial::Fiducial* fids;
+ unsigned int n=0;
+ std::vector<websim::Fiducial> f;
- ModelFiducial* fiducial = (ModelFiducial*)mod;
+ ModelFiducial* fiducial = (ModelFiducial*)mod;
- fids = fiducial->GetFiducials(&n);
+ fids = fiducial->GetFiducials(&n);
- for(unsigned int i=0;i<n;i++){
- websim::Fiducial fid;
- fid.pos.x = fids[i].range*cos(fids[i].bearing);
- fid.pos.y = fids[i].range*sin(fids[i].bearing);
- //fid.range = fids[i].range;
- //fid.bearing = fids[i].bearing;
- fid.id = fids[i].id;
+ for(unsigned int i=0;i<n;i++){
+ websim::Fiducial fid;
+ fid.pos.x = fids[i].range*cos(fids[i].bearing);
+ fid.pos.y = fids[i].range*sin(fids[i].bearing);
+ //fid.range = fids[i].range;
+ //fid.bearing = fids[i].bearing;
+ fid.id = fids[i].id;
- f.push_back(fid);
- //printf("stage: fiducials:%d\n",f.size());
- }
+ f.push_back(fid);
+ //printf("stage: fiducials:%d\n",f.size());
+ }
- WebSim::GetFiducialData(name, t, f, format, response,
xmlparent);
+ WebSim::GetFiducialData(name, t, f, format, response,
xmlparent);
}else{
- //printf("Warning: Unkown model type\n");
- return false;
+ //printf("Warning: Unkown model type\n");
+ return false;
}
- }
- else{
+ }
+ else{
printf("Warning: tried to get the data of unkown model:%s .\n",
name.c_str());
return false;
- }
- return true;
+ }
+ return true;
}
- bool GetModelType(const std::string& name,
-
-
std::string& type ){
+ bool GetModelType(const std::string& name,
+ std::string& type )
+ {
+
+ Model*mod = world->GetModel( name.c_str() );
+ if(mod)
+ {
+ switch( mod->GetModelType() )
+ {
+ case MODEL_TYPE_POSITION:
+ type = "Position";
+ break;
+ case MODEL_TYPE_LASER:
+ type = "Laser";
+ break;
+ case MODEL_TYPE_RANGER:
+ type = "Ranger";
+ break;
+ case MODEL_TYPE_FIDUCIAL:
+ type = "Fiducial";
+ break;
+ default:
+ type = "";
+ }
+ return true;
+ }
+ return false;
+}
- Model*mod = world->GetModel( name.c_str() );
- if(mod){
- stg_model_type_t mtype = mod->GetModelType();
-
- if(mtype == MODEL_TYPE_POSITION){
- type = "Position";
- }else if(mtype == MODEL_TYPE_LASER){
- type = "Laser";
- }else if(mtype == MODEL_TYPE_RANGER){
- type = "Ranger";
- }else if(mtype == MODEL_TYPE_FIDUCIAL){
- type = "Fiducial";
-
- }else{
- type = "";
-
- }
-
- return true;
- }
-
-
- return false;
-
- }
-
-
-
- virtual bool SetModelPVA(const std::string& name,
+ virtual bool SetModelPVA(const std::string& name,
const
websim::Pose& p,
const
websim::Velocity& v,
const
websim::Acceleration& a,
@@ -367,38 +364,38 @@
return true;
}
- virtual bool GetModelPVA(const std::string& name,
-
websim::Time& t,
-
websim::Pose& p,
-
websim::Velocity& v,
-
websim::Acceleration& a,
-
std::string& error)
- {
- //printf( "get model name:%s\n", name.c_str() );
+virtual bool GetModelPVA(const std::string& name,
+ websim::Time&
t,
+ websim::Pose&
p,
+
websim::Velocity& v,
+
websim::Acceleration& a,
+ std::string&
error)
+{
+ //printf( "get model name:%s\n", name.c_str() );
- t = GetTime();
+ t = GetTime();
- Model* mod = world->GetModel( name.c_str() );
- if( mod )
- {
- Stg::Pose sp = mod->GetPose();
- p.x = sp.x;
- p.y = sp.y;
- p.z = sp.z;
- p.a = sp.a;
+ Model* mod = world->GetModel( name.c_str() );
+ if( mod )
+ {
+ Stg::Pose sp = mod->GetPose();
+ p.x = sp.x;
+ p.y = sp.y;
+ p.z = sp.z;
+ p.a = sp.a;
- Stg::Velocity sv = mod->GetVelocity();
- v.x = sv.x;
- v.y = sv.y;
- v.z = sv.z;
- v.a = sv.a;
- }
- else
- printf( "Warning: attempt to set PVA for unrecognized model
\"%s\"\n",
- name.c_str() );
+ Stg::Velocity sv = mod->GetVelocity();
+ v.x = sv.x;
+ v.y = sv.y;
+ v.z = sv.z;
+ v.a = sv.a;
+ }
+ else
+ printf( "Warning: attempt to set PVA for unrecognized model \"%s\"\n",
+ name.c_str() );
- return true;
- }
+ return true;
+}
/*
virtual bool GetLaserData(const std::string& name,
websim::Time& t,
@@ -410,189 +407,189 @@
void* parent){
- t = GetTime();
+ t = GetTime();
- Model* mod = world->GetModel( name.c_str() );
- if( mod )
- {
- ModelLaser* laser =
(ModelLaser*)mod->GetModel("laser:0");
+ Model* mod = world->GetModel( name.c_str() );
+ if( mod )
+ {
+ ModelLaser* laser = (ModelLaser*)mod->GetModel("laser:0");
- if(laser){
- uint32_t sample_count=0;
- ModelLaser::Sample* scan = laser->GetSamples(
&sample_count );
- assert(scan);
+ if(laser){
+ uint32_t sample_count=0;
+ ModelLaser::Sample* scan = laser->GetSamples( &sample_count );
+ assert(scan);
- ModelLaser::Config cfg = laser->GetConfig();
- resolution = cfg.resolution;
- fov = cfg.fov;
+ ModelLaser::Config cfg = laser->GetConfig();
+ resolution = cfg.resolution;
+ fov = cfg.fov;
- for(unsigned int i=0;i<sample_count;i++)
- ranges.push_back(scan[i].range);
- }else{
+ for(unsigned int i=0;i<sample_count;i++)
+ ranges.push_back(scan[i].range);
+ }else{
- printf( "Warning: attempt to get laser data for
unrecognized laser model of model \"%s\"\n",
- name.c_str() );
- return false;
+ printf( "Warning: attempt to get laser data for unrecognized laser model of
model \"%s\"\n",
+ name.c_str() );
+ return false;
- }
+ }
- }
- else{
- printf( "Warning: attempt to get laser data for unrecognized
model \"%s\"\n",
- name.c_str() );
- return false;
- }
+ }
+ else{
+ printf( "Warning: attempt to get laser data for unrecognized model \"%s\"\n",
+ name.c_str() );
+ return false;
+ }
return true;
}
virtual bool GetRangerData(const std::string& name,
-
websim::Time& t,
-
std::vector<websim::Pose>& p,
-
std::vector<double>& ranges,
-
std::string& response,
-
xmlNode* parent){
- t = GetTime();
+ websim::Time& t,
+ std::vector<websim::Pose>& p,
+ std::vector<double>& ranges,
+ std::string& response,
+ xmlNode* parent){
+ t = GetTime();
- Model* mod = world->GetModel( name.c_str() );
- if( mod )
- {
- ModelRanger* ranger =
(ModelRanger*)mod->GetModel("ranger:0");
+ Model* mod = world->GetModel( name.c_str() );
+ if( mod )
+ {
+ ModelRanger* ranger = (ModelRanger*)mod->GetModel("ranger:0");
- if(ranger){
- uint32_t count = ranger->sensors.size();
- for(unsigned int i=0;i<count;i++)
-
ranges.push_back(ranger->sensors[i].range);
-
//std::copy(ranger->samples,ranger->samples+ranger->sensor_count,ranges.begin());
+ if(ranger){
+ uint32_t count = ranger->sensors.size();
+ for(unsigned int i=0;i<count;i++)
+ ranges.push_back(ranger->sensors[i].range);
+
//std::copy(ranger->samples,ranger->samples+ranger->sensor_count,ranges.begin());
- for(unsigned int i=0;i<count;i++){
- websim::Pose pos;
- Pose rpos;
- rpos = ranger->sensors[i].pose;
- pos.x = rpos.x;
- pos.y = rpos.y;
- pos.z = rpos.z;
- pos.a = rpos.a;
- p.push_back(pos);
- }
+ for(unsigned int i=0;i<count;i++){
+ websim::Pose pos;
+ Pose rpos;
+ rpos = ranger->sensors[i].pose;
+ pos.x = rpos.x;
+ pos.y = rpos.y;
+ pos.z = rpos.z;
+ pos.a = rpos.a;
+ p.push_back(pos);
+ }
- }else{
+ }else{
- printf( "Warning: attempt to get ranger data
for unrecognized ranger model of model \"%s\"\n",
- name.c_str() );
- return false;
- }
- }
- else{
- printf( "Warning: attempt to get ranger data for unrecognized
model \"%s\"\n",
- name.c_str() );
- return false;
- }
+ printf( "Warning: attempt to get ranger data for unrecognized ranger model
of model \"%s\"\n",
+ name.c_str() );
+ return false;
+ }
+ }
+ else{
+ printf( "Warning: attempt to get ranger data for unrecognized model
\"%s\"\n",
+ name.c_str() );
+ return false;
+ }
return true;
-}*/
+ }*/
- virtual bool GetModelGeometry(const std::string& name,
- double&
x,
- double&
y,
- double&
z,
-
websim::Pose& center,
-
std::string& response)
- {
- if(name == "sim"){
+virtual bool GetModelGeometry(const std::string& name,
+
double& x,
+
double& y,
+
double& z,
+
websim::Pose& center,
+
std::string& response)
+{
+ if(name == "sim"){
- stg_bounds3d_t ext = world->GetExtent();
+ stg_bounds3d_t ext = world->GetExtent();
- x = ext.x.max - ext.x.min;
- y = ext.y.max - ext.y.min;
- z = ext.z.max - ext.z.min;
+ x = ext.x.max - ext.x.min;
+ y = ext.y.max - ext.y.min;
+ z = ext.z.max - ext.z.min;
- }
- else
- {
+ }
+ else
+ {
Model* mod = world->GetModel(name.c_str());
if(mod){
- Geom ext = mod->GetGeom();
+ Geom ext = mod->GetGeom();
- x = ext.size.x;
- y = ext.size.y;
- z = ext.size.z;
- center.x = ext.pose.x;
- center.y = ext.pose.y;
- center.a = ext.pose.a;
+ x = ext.size.x;
+ y = ext.size.y;
+ z = ext.size.z;
+ center.x = ext.pose.x;
+ center.y = ext.pose.y;
+ center.a = ext.pose.a;
}
else
- {
- printf("Warning: attemp to get the extent of unrecognized
model \"%s\"\n", name.c_str());
- return false;
- }
- }
+ {
+ printf("Warning: attemp to get the extent of
unrecognized model \"%s\"\n", name.c_str());
+ return false;
+ }
+ }
- return true;
- }
+ return true;
+}
- static int CountRobots(Model * mod, int* n ){
+static int CountRobots(Model * mod, int* n ){
- if(n && mod->GetModelType() == MODEL_TYPE_POSITION)
- (*n)++;
+ if(n && mod->GetModelType() == MODEL_TYPE_POSITION)
+ (*n)++;
- return 0;
- }
+ return 0;
+}
- virtual bool GetNumberOfRobots(unsigned int& n)
- {
+virtual bool GetNumberOfRobots(unsigned int& n)
+{
- world->ForEachDescendant((stg_model_callback_t)CountRobots, &n);
- return true;
+ world->ForEachDescendant((stg_model_callback_t)CountRobots, &n);
+ return true;
- }
+}
/*
- virtual bool GetModelTree()
+ virtual bool GetModelTree()
{
-// world->ForEachDescendant((stg_model_callback_t)printname, NULL);
+ // world->ForEachDescendant((stg_model_callback_t)printname, NULL);
- return true;
+ return true;
}
- */
- virtual bool GetSayStrings(std::vector<std::string>& sayings)
- {
- unsigned int n=0;
- this->GetNumberOfRobots(n);
+*/
+virtual bool GetSayStrings(std::vector<std::string>& sayings)
+{
+ unsigned int n=0;
+ this->GetNumberOfRobots(n);
- for(unsigned int i=0;i<n;i++){
- char temp[128];
- sprintf(temp,"position:%d",i);
- Model *mod = world->GetModel(temp);
- if(mod->GetSayString() != "")
+ for(unsigned int i=0;i<n;i++){
+ char temp[128];
+ sprintf(temp,"position:%d",i);
+ Model *mod = world->GetModel(temp);
+ if(mod->GetSayString() != "")
{
- std::string str = temp;
- str += " says: \" ";
- str += mod->GetSayString();
- str += " \" ";
+ std::string str = temp;
+ str += " says: \" ";
+ str += mod->GetSayString();
+ str += " \" ";
- sayings.push_back(str);
+ sayings.push_back(str);
}
- }
-
- return true;
}
- virtual websim::Time GetTime()
- {
- stg_usec_t stgtime = world->SimTimeNow();
+ return true;
+}
- websim::Time t;
- t.sec = stgtime / 1e6;
- t.usec = stgtime - (t.sec * 1e6);
- return t;
- }
+virtual websim::Time GetTime()
+{
+ stg_usec_t stgtime = world->SimTimeNow();
+ websim::Time t;
+ t.sec = stgtime / 1e6;
+ t.usec = stgtime - (t.sec * 1e6);
+ return t;
+}
+
};
Modified: code/stage/trunk/webstage/world.fed
===================================================================
--- code/stage/trunk/webstage/world.fed 2009-07-15 07:58:09 UTC (rev 8026)
+++ code/stage/trunk/webstage/world.fed 2009-07-15 21:10:48 UTC (rev 8027)
@@ -1,8 +1,15 @@
+# federation entry
+# maps WebSim servers identified by host:port onto logical node names used
below
+
[federation]
localhost:8000=pete
localhost:8001=dud
+
+# node entries
+# these map models on the node to puppets on other hosts
+
[pete]
position:0=dud:model
position:1=dud:model
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2009-07-15 07:58:09 UTC (rev 8026)
+++ code/stage/trunk/worlds/fasr.world 2009-07-15 21:10:48 UTC (rev 8027)
@@ -95,8 +95,9 @@
(
sicklaser( samples 32 range_max 5 laser_return 2 watts 30 )
ctrl "fasr"
- joules 100000
- joules_capacity 400000
+ #joules 100000
+ joules -1
+ #joules_capacity 400000
fiducial_return 0
charging_bump( fiducial( range 3 pose [ 0 0 -0.100 0 ] ) )
)
@@ -112,12 +113,6 @@
autorob( pose [4.309 3.736 0 121.988] joules 100000 )
autorob( pose [6.261 7.461 0 0] joules 200000 )
-#autorob( pose [5.060 6.868 0 -61.295] joules 300000 )
-#autorob( pose [4.161 5.544 0 -147.713] joules 400000 )
-#autorob( pose [4.911 4.552 0 -125.236] joules 100000 )
-#autorob( pose [3.985 6.474 0 -158.025] joules 200000 )
-#autorob( pose [5.440 5.317 0 -26.545] joules 300000 )
-#autorob( pose [6.362 5.632 0 163.239] joules 400000 )
#autorob( pose [7.559 4.764 0 -139.066] )
#autorob( pose [5.471 7.446 0 77.301] )
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