Revision: 8058
http://playerstage.svn.sourceforge.net/playerstage/?rev=8058&view=rev
Author: rtv
Date: 2009-07-20 23:47:33 +0000 (Mon, 20 Jul 2009)
Log Message:
-----------
fixed energy dissipation vis bug
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/fasr.cc
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/powerpack.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
code/stage/trunk/libstage/worldgui.cc
code/stage/trunk/worlds/fasr.world
Modified: code/stage/trunk/examples/ctrl/fasr.cc
===================================================================
--- code/stage/trunk/examples/ctrl/fasr.cc 2009-07-20 08:25:53 UTC (rev
8057)
+++ code/stage/trunk/examples/ctrl/fasr.cc 2009-07-20 23:47:33 UTC (rev
8058)
@@ -506,7 +506,7 @@
memset( data, 0, sizeof(uint8_t) * dw * dh );
mod->GetWorld()->GetModel( "cave" )->Rasterize( data, dw, dh,
0.25, 0.5 );
-
+
putchar( '\n' );
for( unsigned int y=0; y<dh; y++ )
{
@@ -515,6 +515,7 @@
putchar( '\n' );
}
delete data;
+
}
new Robot( (ModelPosition*)mod,
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2009-07-20 08:25:53 UTC (rev 8057)
+++ code/stage/trunk/libstage/canvas.cc 2009-07-20 23:47:33 UTC (rev 8058)
@@ -1185,7 +1185,7 @@
FILE *fp = fopen( filename, "wb" );
if( fp == NULL )
{
- PRINT_ERR1( "Unable to open %s", filename );
+ PRINT_ERR1( "Unable to open %s", filename );
}
// create PNG data
Modified: code/stage/trunk/libstage/powerpack.cc
===================================================================
--- code/stage/trunk/libstage/powerpack.cc 2009-07-20 08:25:53 UTC (rev
8057)
+++ code/stage/trunk/libstage/powerpack.cc 2009-07-20 23:47:33 UTC (rev
8058)
@@ -75,7 +75,7 @@
glRectf( 0,0,width, fullness);
// outline the charge-o-meter
- glTranslatef( 0,0,0.001 );
+ glTranslatef( 0,0,0.1 );
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
glColor4f( 0,0,0,0.7 );
@@ -276,9 +276,12 @@
for( unsigned int x=0; x<columns; x++ )
{
stg_joules_t j = cells[ y*columns + x ];
+
+ //printf( "%d %d %.2f\n", x, y, j );
+
if( j > 0 )
{
- glColor4f( 1.0, 0, 0, j/global_peak_value );
+ glColor4f( 1.0, 0, 0, j/global_peak_value );
glRectf( x,y,x+1,y+1 );
}
}
@@ -292,14 +295,14 @@
stg_meters_t y,
stg_joules_t amount )
{
- int ix = (x+width/2.0)/cellsize;
- int iy = (y+height/2.0)/cellsize;
+ //printf( "accumulate %.2f %.2f %.2f\n", x, y, amount );
+ unsigned int ix = (x+width/2.0)/cellsize;
+ unsigned int iy = (y+height/2.0)/cellsize;
+
// don't accumulate if we're outside the grid
- if( ! ix >= 0 ) return;
- if( ! ix < columns ) return;
- if( ! iy >= 0 ) return;
- if( ! iy < rows ) return;
+ if( ix < 0 || ix >= columns || iy < 0 && iy >= rows )
+ return;
stg_joules_t* j = cells + (iy*columns + ix );
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-07-20 08:25:53 UTC (rev 8057)
+++ code/stage/trunk/libstage/stage.hh 2009-07-20 23:47:33 UTC (rev 8058)
@@ -47,6 +47,7 @@
#include <list>
#include <map>
#include <ext/hash_map>
+//#include <unordered_map>
#include <set>
#include <algorithm>
@@ -853,7 +854,9 @@
};
__gnu_cxx::hash_map<const char*, Model*, __gnu_cxx::hash<const char*>,
eqstr > models_by_name; ///< the models that make up the world, indexed by name.
-
+ //tr1::unordered_map<const char*, Model*, __gnu_cxx::hash<const
char*>, eqstr > models_by_name; ///< the models that make up the world, indexed
by name.
+
+
/** Keep a list of all models with detectable fiducials. This
avoids searching the whole world for fiducials. */
ModelPtrSet models_with_fiducials;
@@ -877,12 +880,11 @@
protected:
- std::list<std::pair<stg_world_callback_t,void*> > cb_list; ///< List of
callback functions and arguments
+ std::list<std::pair<stg_world_callback_t,void*> > cb_list; ///< List
of callback functions and arguments
stg_bounds3d_t extent; ///< Describes the 3D volume of the world
bool graphics;///< true iff we have a GUI
stg_usec_t interval_sim; ///< temporal resolution: microseconds that
elapse between simulated time steps
GHashTable* option_table; ///< GUI options (toggles) registered by
models
- //__gnu_cxx::hash_map<Option
std::list<PowerPack*> powerpack_list; ///< List of all the powerpacks
attached to models in the world
std::list<float*> ray_list;///< List of rays traced for debug
visualization
stg_usec_t sim_time; ///< the current sim time in this world in
microseconds
@@ -1541,7 +1543,7 @@
friend class Canvas;
protected:
-
+
class DissipationVis : public Visualizer
{
private:
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2009-07-20 08:25:53 UTC (rev 8057)
+++ code/stage/trunk/libstage/world.cc 2009-07-20 23:47:33 UTC (rev 8058)
@@ -532,7 +532,7 @@
else
{
--steps;
- printf( "world::update (steps remaining %d)\n", steps );
+ //printf( "world::update (steps remaining %d)\n", steps );
}
}
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2009-07-20 08:25:53 UTC (rev
8057)
+++ code/stage/trunk/libstage/worldgui.cc 2009-07-20 23:47:33 UTC (rev
8058)
@@ -629,7 +629,6 @@
void WorldGui::onceCb( Fl_Widget* w, WorldGui* worldGui )
{
- puts( "ONCE" );
worldGui->paused = true;
worldGui->steps = 1; // number of steps to run
}
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2009-07-20 08:25:53 UTC (rev 8057)
+++ code/stage/trunk/worlds/fasr.world 2009-07-20 23:47:33 UTC (rev 8058)
@@ -87,6 +87,11 @@
)
+# rtv - test ones
+charge_station( pose [ -7.940 2.000 0 0 ] )
+charge_station( pose [ -7.940 3.000 0 0 ] )
+charge_station( pose [ -7.940 4.000 0 0 ] )
+
charge_station( pose [ 7.940 -2.000 0 0 ] )
charge_station( pose [ 7.940 -3.000 0 0 ] )
charge_station( pose [ 7.940 -4.000 0 0 ] )
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