Revision: 8239
http://playerstage.svn.sourceforge.net/playerstage/?rev=8239&view=rev
Author: rtv
Date: 2009-08-28 01:58:11 +0000 (Fri, 28 Aug 2009)
Log Message:
-----------
added vis of current draw from powerpacks
Modified Paths:
--------------
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_actuator.cc
code/stage/trunk/libstage/model_getset.cc
code/stage/trunk/libstage/model_laser.cc
code/stage/trunk/libstage/model_load.cc
code/stage/trunk/libstage/model_position.cc
code/stage/trunk/libstage/powerpack.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/worldgui.cc
code/stage/trunk/worlds/simple.world
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-08-27 23:41:43 UTC (rev 8238)
+++ code/stage/trunk/libstage/model.cc 2009-08-28 01:58:11 UTC (rev 8239)
@@ -110,7 +110,6 @@
// static members
uint32_t Model::count = 0;
std::map<stg_id_t,Model*> Model::modelsbyid;
-
std::map<std::string, creator_t> Model::name_map;
void Size::Load( Worldfile* wf, int section, const char* keyword )
@@ -957,7 +956,7 @@
{
if( power_pack )
return power_pack;
-
+
if( parent )
return parent->FindPowerPack();
@@ -1120,4 +1119,3 @@
{
pts.clear();
}
-
Modified: code/stage/trunk/libstage/model_actuator.cc
===================================================================
--- code/stage/trunk/libstage/model_actuator.cc 2009-08-27 23:41:43 UTC (rev
8238)
+++ code/stage/trunk/libstage/model_actuator.cc 2009-08-28 01:58:11 UTC (rev
8239)
@@ -56,8 +56,8 @@
if a linear actuator the axis that the actuator will move along
*/
-static const double STG_ACTUATOR_WATTS_KGMS = 5.0; // cost per kg per meter
per second
-static const double STG_ACTUATOR_WATTS = 2.0; // base cost of position device
+static const double WATTS_KGMS = 5.0; // cost per kg per meter per second
+static const double WATTS_BASE = 2.0; // base cost of position device
ModelActuator::ModelActuator( World* world,
Model* parent,
@@ -68,12 +68,11 @@
max_speed(1),
min_position(0),
max_position(1),
- control_mode( STG_ACTUATOR_CONTROL_VELOCITY ),
- actuator_type( STG_ACTUATOR_TYPE_LINEAR ),
+ control_mode( CONTROL_VELOCITY ),
+ actuator_type( TYPE_LINEAR ),
axis(0,0,0)
{
- // no power consumed until we're subscribed
- this->SetWatts( 0 );
+ this->SetWatts( WATTS_BASE );
// sensible position defaults
this->SetVelocity( Velocity(0,0,0,0) );
@@ -100,9 +99,9 @@
if( type_str )
{
if( strcmp( type_str, "linear" ) == 0 )
- actuator_type = STG_ACTUATOR_TYPE_LINEAR;
+ actuator_type = TYPE_LINEAR;
else if( strcmp( type_str, "rotational" ) == 0 )
- actuator_type = STG_ACTUATOR_TYPE_ROTATIONAL;
+ actuator_type = TYPE_ROTATIONAL;
else
{
PRINT_ERR1( "invalid actuator type specified:
\"%s\" - should be one of: \"linear\" or \"rotational\". Using \"linear\" as
default.", type_str );
@@ -110,7 +109,7 @@
}
}
- if (actuator_type == STG_ACTUATOR_TYPE_LINEAR)
+ if (actuator_type == TYPE_LINEAR)
{
// if we are a linear actuator find the axis we operate in
if( wf->PropertyExists( wf_entity, "axis" ) )
@@ -169,11 +168,11 @@
switch (actuator_type)
{
- case STG_ACTUATOR_TYPE_LINEAR:
+ case TYPE_LINEAR:
{
pos = PoseDiff.x * axis.x + PoseDiff.y * axis.y +
PoseDiff.z * axis.z; // Dot product to find distance along axis
} break;
- case STG_ACTUATOR_TYPE_ROTATIONAL:
+ case TYPE_ROTATIONAL:
{
pos = PoseDiff.a;
} break;
@@ -186,7 +185,7 @@
{
switch( control_mode )
{
- case STG_ACTUATOR_CONTROL_VELOCITY :
+ case CONTROL_VELOCITY :
{
PRINT_DEBUG( "actuator velocity control
mode" );
PRINT_DEBUG2( "model %s command(%.2f)",
@@ -198,7 +197,7 @@
velocity = goal;
} break;
- case STG_ACTUATOR_CONTROL_POSITION:
+ case CONTROL_POSITION:
{
PRINT_DEBUG( "actuator position control
mode" );
@@ -233,14 +232,14 @@
Velocity outvel;
switch (actuator_type)
{
- case STG_ACTUATOR_TYPE_LINEAR:
+ case TYPE_LINEAR:
{
outvel.x = axis.x * velocity;
outvel.y = axis.y * velocity;
outvel.z = axis.z * velocity;
outvel.a = 0;
} break;
- case STG_ACTUATOR_TYPE_ROTATIONAL:
+ case TYPE_ROTATIONAL:
{
outvel.x = outvel.y = outvel.z = 0;
outvel.a = velocity;
@@ -263,9 +262,6 @@
Model::Startup();
PRINT_DEBUG( "position startup" );
-
- this->SetWatts( STG_ACTUATOR_WATTS );
-
}
void ModelActuator::Shutdown( void )
@@ -277,20 +273,18 @@
velocity.Zero();
- this->SetWatts( 0 );
-
Model::Shutdown();
}
void ModelActuator::SetSpeed( double speed)
{
- control_mode = STG_ACTUATOR_CONTROL_VELOCITY;
+ control_mode = CONTROL_VELOCITY;
goal = speed;
}
void ModelActuator::GoTo( double pos)
{
- control_mode = STG_ACTUATOR_CONTROL_POSITION;
+ control_mode = CONTROL_POSITION;
goal = pos;
}
Modified: code/stage/trunk/libstage/model_getset.cc
===================================================================
--- code/stage/trunk/libstage/model_getset.cc 2009-08-27 23:41:43 UTC (rev
8238)
+++ code/stage/trunk/libstage/model_getset.cc 2009-08-28 01:58:11 UTC (rev
8239)
@@ -116,7 +116,7 @@
CallCallbacks( &gui.outline );
}
-void Model::SetWatts( stg_watts_t val )
+void Model::SetWatts( stg_watts_t val )
{
watts = val;
CallCallbacks( &watts );
Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc 2009-08-27 23:41:43 UTC (rev
8238)
+++ code/stage/trunk/libstage/model_laser.cc 2009-08-28 01:58:11 UTC (rev
8239)
@@ -96,6 +96,9 @@
// set up our data buffers and raytracing
SampleConfig();
+ // start consuming power
+ watts = DEFAULT_WATTS;
+
AddVisualizer( &vis, true );
}
@@ -111,9 +114,6 @@
fov = wf->ReadAngle( wf_entity, "fov", fov );
resolution = wf->ReadInt( wf_entity, "resolution", resolution );
- //showLaserData.Load( wf, wf_entity );
- //showLaserStrikes.Load( wf, wf_entity );
-
if( resolution < 1 )
{
PRINT_WARN( "laser resolution set < 1. Forcing to 1" );
@@ -228,17 +228,12 @@
void ModelLaser::Startup( void )
{
Model::Startup();
-
PRINT_DEBUG( "laser startup" );
-
- // start consuming power
- SetWatts( DEFAULT_WATTS );
}
void ModelLaser::Shutdown( void )
{
PRINT_DEBUG( "laser shutdown" );
- SetWatts( 0 ); // stop consuming power
Model::Shutdown();
}
Modified: code/stage/trunk/libstage/model_load.cc
===================================================================
--- code/stage/trunk/libstage/model_load.cc 2009-08-27 23:41:43 UTC (rev
8238)
+++ code/stage/trunk/libstage/model_load.cc 2009-08-28 01:58:11 UTC (rev
8239)
@@ -47,40 +47,28 @@
power_pack->GetCapacity() ) );
}
- // use my own pack or an ancestor's for the other energy properties
- PowerPack* pp = FindPowerPack();
-
- watts = wf->ReadFloat( wf_entity, "watts", watts );
- if( (watts > 0) && !pp )
- PRINT_WARN1( "Model %s: Setting \"watts\" has no effect unless
\"joules\" is specified for this model or a parent", token );
-
- watts_give = wf->ReadFloat( wf_entity, "give_watts", watts_give );
- if( (watts_give > 0.0) && !pp)
- PRINT_WARN1( "Model %s: Setting \"watts_give\" has no effect unless
\"joules\" is specified for this model or a parent", token );
-
+ watts = wf->ReadFloat( wf_entity, "watts", watts );
+ watts_give = wf->ReadFloat( wf_entity, "give_watts", watts_give );
watts_take = wf->ReadFloat( wf_entity, "take_watts", watts_take );
- if( (watts_take > 0.0) & !pp )
- PRINT_WARN1( "Model %s: Setting \"watts_take\" has no effect unless
\"joules\" is specified for this model or a parent", token );
-
if( wf->PropertyExists( wf_entity, "debug" ) )
{
PRINT_WARN2( "debug property specified for model %d %s\n",
- wf_entity, this->token );
+ wf_entity, this->token );
this->debug = wf->ReadInt( wf_entity, "debug", this->debug );
}
-
+
if( wf->PropertyExists( wf_entity, "name" ) )
{
char *name = (char*)wf->ReadString(wf_entity, "name", NULL );
if( name )
- {
- //printf( "adding name %s to %s\n", name, this->token );
- this->token = strdup( name );
- world->AddModel( this ); // add this name to the world's table
- }
+ {
+ //printf( "adding name %s to %s\n", name, this->token
);
+ this->token = strdup( name );
+ world->AddModel( this ); // add this name to the
world's table
+ }
else
- PRINT_ERR1( "Name blank for model %s. Check your worldfile\n",
this->token );
+ PRINT_ERR1( "Name blank for model %s. Check your
worldfile\n", this->token );
}
//PRINT_WARN1( "%s::Load", token );
Modified: code/stage/trunk/libstage/model_position.cc
===================================================================
--- code/stage/trunk/libstage/model_position.cc 2009-08-27 23:41:43 UTC (rev
8238)
+++ code/stage/trunk/libstage/model_position.cc 2009-08-28 01:58:11 UTC (rev
8239)
@@ -83,9 +83,9 @@
const std::string& type ) :
Model( world, parent, type ),
goal(0,0,0,0),
- control_mode( STG_POSITION_CONTROL_VELOCITY ),
- drive_mode( STG_POSITION_DRIVE_DIFFERENTIAL ),
- localization_mode( STG_POSITION_LOCALIZATION_GPS ),
+ control_mode( CONTROL_VELOCITY ),
+ drive_mode( DRIVE_DIFFERENTIAL ),
+ localization_mode( LOCALIZATION_GPS ),
integration_error( drand48() * INTEGRATION_ERROR_MAX_X -
INTEGRATION_ERROR_MAX_X/2.0,
drand48() *
INTEGRATION_ERROR_MAX_Y - INTEGRATION_ERROR_MAX_Y/2.0,
drand48() *
INTEGRATION_ERROR_MAX_Z - INTEGRATION_ERROR_MAX_Z/2.0,
@@ -101,11 +101,6 @@
// assert that Update() is reentrant for this derived model
thread_safe = false;
- // no power consumed until we're subscribed
- this->SetWatts( 0 );
-
- this->SetVelocity( Velocity(0,0,0,0) );
-
this->SetBlobReturn( true );
AddVisualizer( &wpvis, true );
@@ -131,11 +126,11 @@
if( mode_str )
{
if( strcmp( mode_str, "diff" ) == 0 )
- drive_mode = STG_POSITION_DRIVE_DIFFERENTIAL;
+ drive_mode = DRIVE_DIFFERENTIAL;
else if( strcmp( mode_str, "omni" ) == 0 )
- drive_mode = STG_POSITION_DRIVE_OMNI;
+ drive_mode = DRIVE_OMNI;
else if( strcmp( mode_str, "car" ) == 0 )
- drive_mode = STG_POSITION_DRIVE_CAR;
+ drive_mode = DRIVE_CAR;
else
{
PRINT_ERR1( "invalid position drive mode
specified: \"%s\" - should be one of: \"diff\", \"omni\" or \"car\". Using
\"diff\" as default.", mode_str );
@@ -202,9 +197,9 @@
if( loc_str )
{
if( strcmp( loc_str, "gps" ) == 0 )
- localization_mode =
STG_POSITION_LOCALIZATION_GPS;
+ localization_mode = LOCALIZATION_GPS;
else if( strcmp( loc_str, "odom" ) == 0 )
- localization_mode =
STG_POSITION_LOCALIZATION_ODOM;
+ localization_mode = LOCALIZATION_ODOM;
else
PRINT_ERR2( "unrecognized localization mode
\"%s\" for model \"%s\"."
" Valid choices
are \"gps\" and \"odom\".",
@@ -227,7 +222,7 @@
{
switch( control_mode )
{
- case STG_POSITION_CONTROL_VELOCITY :
+ case CONTROL_VELOCITY :
{
PRINT_DEBUG( "velocity control mode" );
PRINT_DEBUG4( "model %s command(%.2f %.2f
%.2f)",
@@ -238,21 +233,21 @@
switch( drive_mode )
{
- case STG_POSITION_DRIVE_DIFFERENTIAL:
+ case DRIVE_DIFFERENTIAL:
// differential-steering model, like a
Pioneer
vel.x = goal.x;
vel.y = 0;
vel.a = goal.a;
break;
- case STG_POSITION_DRIVE_OMNI:
+ case DRIVE_OMNI:
// direct steering model, like an
omnidirectional robot
vel.x = goal.x;
vel.y = goal.y;
vel.a = goal.a;
break;
- case STG_POSITION_DRIVE_CAR:
+ case DRIVE_CAR:
// car like steering model based on
speed and turning angle
vel.x = goal.x * cos(goal.a);
vel.y = 0;
@@ -264,7 +259,7 @@
}
} break;
- case STG_POSITION_CONTROL_POSITION:
+ case CONTROL_POSITION:
{
PRINT_DEBUG( "position control mode" );
@@ -282,7 +277,7 @@
switch( drive_mode )
{
- case STG_POSITION_DRIVE_OMNI:
+ case DRIVE_OMNI:
{
// this is easy - we just
reduce the errors in each axis
// independently with a
proportional controller, speed
@@ -293,7 +288,7 @@
}
break;
- case STG_POSITION_DRIVE_DIFFERENTIAL:
+ case DRIVE_DIFFERENTIAL:
{
// axes can not be controlled
independently. We have to
// turn towards the desired x,y
position, drive there,
@@ -371,7 +366,7 @@
switch( localization_mode )
{
- case STG_POSITION_LOCALIZATION_GPS:
+ case LOCALIZATION_GPS:
{
// compute our localization pose based on the origin and true
pose
Pose gpose = this->GetGlobalPose();
@@ -387,7 +382,7 @@
}
break;
- case STG_POSITION_LOCALIZATION_ODOM:
+ case LOCALIZATION_ODOM:
{
// integrate our velocities to get an 'odometry' position
estimate.
double dt = interval / 1e6; // update interval convert to
seconds
@@ -419,10 +414,8 @@
void ModelPosition::Startup( void )
{
Model::Startup();
-
+
PRINT_DEBUG( "position startup" );
-
- this->SetWatts( WATTS );
}
void ModelPosition::Shutdown( void )
@@ -430,11 +423,9 @@
PRINT_DEBUG( "position shutdown" );
// safety features!
- bzero( &goal, sizeof(goal) );
- bzero( &velocity, sizeof(velocity) );
+ goal.Zero();
+ velocity.Zero();
- this->SetWatts( 0 );
-
Model::Shutdown();
}
@@ -449,7 +440,7 @@
//assert( ! isnan(y) );
//assert( ! isnan(a) );
- control_mode = STG_POSITION_CONTROL_VELOCITY;
+ control_mode = CONTROL_VELOCITY;
goal.x = x;
goal.y = y;
goal.z = 0;
@@ -459,7 +450,7 @@
void ModelPosition::SetXSpeed( double x )
{
//assert( ! isnan(x) );
- control_mode = STG_POSITION_CONTROL_VELOCITY;
+ control_mode = CONTROL_VELOCITY;
goal.x = x;
}
@@ -467,21 +458,21 @@
void ModelPosition::SetYSpeed( double y )
{
//assert( ! isnan(y) );
- control_mode = STG_POSITION_CONTROL_VELOCITY;
+ control_mode = CONTROL_VELOCITY;
goal.y = y;
}
void ModelPosition::SetZSpeed( double z )
{
//assert( ! isnan(z) );
- control_mode = STG_POSITION_CONTROL_VELOCITY;
+ control_mode = CONTROL_VELOCITY;
goal.z = z;
}
void ModelPosition::SetTurnSpeed( double a )
{
//assert( ! isnan(a) );
- control_mode = STG_POSITION_CONTROL_VELOCITY;
+ control_mode = CONTROL_VELOCITY;
goal.a = a;
}
@@ -493,7 +484,7 @@
//assert( ! isnan(vel.z) );
//assert( ! isnan(vel.a) );
- control_mode = STG_POSITION_CONTROL_VELOCITY;
+ control_mode = CONTROL_VELOCITY;
goal.x = vel.x;
goal.y = vel.y;
goal.z = vel.z;
@@ -506,7 +497,7 @@
//assert( ! isnan(y) );
//assert( ! isnan(a) );
- control_mode = STG_POSITION_CONTROL_POSITION;
+ control_mode = CONTROL_POSITION;
goal.x = x;
goal.y = y;
goal.z = 0;
@@ -515,7 +506,7 @@
void ModelPosition::GoTo( Pose pose )
{
- control_mode = STG_POSITION_CONTROL_POSITION;
+ control_mode = CONTROL_POSITION;
goal = pose;
}
Modified: code/stage/trunk/libstage/powerpack.cc
===================================================================
--- code/stage/trunk/libstage/powerpack.cc 2009-08-27 23:41:43 UTC (rev
8238)
+++ code/stage/trunk/libstage/powerpack.cc 2009-08-28 01:58:11 UTC (rev
8239)
@@ -23,7 +23,10 @@
stored( 0.0 ),
capacity( 0.0 ),
charging( false ),
- dissipated( 0.0 )
+ dissipated( 0.0 ),
+ last_time(0),
+ last_joules(0.0),
+ last_watts(0.0)
{
// tell the world about this new pp
mod->world->AddPowerPack( this );
@@ -48,7 +51,7 @@
}
/** OpenGL visualization of the powerpack state */
-void PowerPack::Visualize( Camera* cam ) const
+void PowerPack::Visualize( Camera* cam )
{
const double height = 0.5;
const double width = 0.2;
@@ -64,8 +67,7 @@
else
glColor4f( 1,0,0, alpha ); // red
- static char buf[6];
- snprintf( buf, 6, "%.0f", percent );
+ // snprintf( buf, 32, "%.0f", percent );
glTranslatef( -width, 0.0, 0.0 );
@@ -126,9 +128,29 @@
glLineWidth( 1.0 );
}
-
- // draw the percentage
- //gl_draw_string( -0.2, 0, 0, buf );
+
+ // compute the instantaneous power output
+ stg_usec_t time_now = mod->world->SimTimeNow();
+ stg_usec_t delta_t = time_now - last_time;
+ stg_watts_t watts = last_watts;
+
+ if( delta_t > 0 ) // some sim time elapsed
+ {
+ stg_joules_t delta_j = stored - last_joules;
+ stg_watts_t watts = (-1e6 * delta_j) / (double)delta_t;
+
+ last_joules = stored;
+ last_time = time_now;
+ last_watts = watts;
+ }
+
+ if( fabs(watts) > 1e-5 ) // any current
+ {
+ glColor4f( 1,0,0,0.8 ); // red
+ char buf[32];
+ snprintf( buf, 32, "%.1fW", watts );
+ Gl::draw_string( -0.05,height+0.05,0, buf );
+ }
}
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-08-27 23:41:43 UTC (rev 8238)
+++ code/stage/trunk/libstage/stage.hh 2009-08-28 01:58:11 UTC (rev 8239)
@@ -146,9 +146,6 @@
"The text of the license may also be available online at\n"
\
"http://www.gnu.org/licenses/old-licenses/gpl-2.0.html\n";;
- /** The maximum length of a Stage model identifier string */
- const uint32_t TOKEN_MAX = 64;
-
/** Convenient constant */
const double thousand = 1e3;
@@ -695,8 +692,10 @@
void Load( Worldfile* wf, int section );
void Save( Worldfile* wf, int section );
- public:
-
+ public:
+ /** The maximum length of a Stage model identifier string */
+ static const uint32_t TOKEN_MAX = 64;
+
/** get the children of the this element */
ModelPtrVec& GetChildren(){ return children;}
@@ -704,7 +703,6 @@
void ForEachDescendant( stg_model_callback_t func, void* arg );
/** array contains the number of each type of child model */
- //unsigned int child_type_counts[MODEL_TYPE_COUNT];
std::map<std::string,unsigned int> child_type_counts;
Ancestor();
@@ -1223,16 +1221,17 @@
uint32_t GetCount(){ return blocks.size(); };
const Size& GetSize(){ return size; };
const stg_point3_t& GetOffset(){ return offset; };
-
- /** establish the min and max of all the blocks, so we can scale this
- group later */
+
+ /** Establish the min and max of all the blocks, so we can scale this
+ group later. */
void CalcSize();
+
void AppendBlock( Block* block );
void CallDisplayList( Model* mod );
void Clear() ; /** deletes all blocks from the group */
void AppendTouchingModels( ModelPtrSet& touchers );
-
+
/** Returns a pointer to the first model detected to be colliding
with a block in this group, or NULL, if none are detected. */
Model* TestCollision();
@@ -1242,12 +1241,12 @@
void Map();
void UnMap();
- void DrawSolid( const Geom &geom); // draw the block in OpenGL as a solid
single color
- void DrawFootPrint( const Geom &geom); // draw the
- // projection of the
- // block onto the z=0
- // plane
+ /** Draw the block in OpenGL as a solid single color. */
+ void DrawSolid( const Geom &geom);
+ /** Draw the projection of the block onto the z=0 plane. */
+ void DrawFootPrint( const Geom &geom);
+
void LoadBitmap( Model* mod, const char* bitmapfile, Worldfile *wf );
void LoadBlock( Model* mod, Worldfile* wf, int entity );
@@ -1263,12 +1262,6 @@
};
-
- //typedef int ctrlinit_t( Model* mod );
- //typedef void ctrlupdate_t( Model* mod );
-
- // BLOCKS
-
class Camera
{
protected:
@@ -1419,8 +1412,8 @@
timesteps. */
stg_usec_t real_time_interval;
- stg_usec_t real_time_now; ///< The current real time in microseconds
- //stg_usec_t real_time_start; ///< the real time at which this world was
created
+ /** The current real time in microseconds. */
+ stg_usec_t real_time_now;
/** The last recorded real time, sampled every $timing_interval
updates. */
@@ -1547,6 +1540,7 @@
void Accumulate( stg_meters_t x, stg_meters_t y, stg_joules_t
amount );
} event_vis;
+
StripPlotVis output_vis;
StripPlotVis stored_vis;
@@ -1565,6 +1559,11 @@
/** Energy dissipated */
stg_joules_t dissipated;
+
+ // these are used to visualize the power draw
+ stg_usec_t last_time;
+ stg_joules_t last_joules;
+ stg_watts_t last_watts;
static stg_joules_t global_stored;
static stg_joules_t global_capacity;
@@ -1576,7 +1575,7 @@
~PowerPack();
/** OpenGL visualization of the powerpack state */
- void Visualize( Camera* cam ) const;
+ void Visualize( Camera* cam );
/** Print human-readable status on stdout, prefixed with the
argument string */
@@ -1816,7 +1815,7 @@
void ClearPts();
} rastervis;
-
+
bool rebuild_displaylist; ///< iff true, regenerate block display list
before redraw
char* say_string; ///< if non-null, this string is displayed in the
GUI
@@ -2849,21 +2848,21 @@
public:
/** Define a position control method */
typedef enum
- { STG_POSITION_CONTROL_VELOCITY,
- STG_POSITION_CONTROL_POSITION
+ { CONTROL_VELOCITY,
+ CONTROL_POSITION
} ControlMode;
/** Define a localization method */
typedef enum
- { STG_POSITION_LOCALIZATION_GPS,
- STG_POSITION_LOCALIZATION_ODOM
+ { LOCALIZATION_GPS,
+ LOCALIZATION_ODOM
} LocalizationMode;
/** Define a driving method */
typedef enum
- { STG_POSITION_DRIVE_DIFFERENTIAL,
- STG_POSITION_DRIVE_OMNI,
- STG_POSITION_DRIVE_CAR
+ { DRIVE_DIFFERENTIAL,
+ DRIVE_OMNI,
+ DRIVE_CAR
} DriveMode;
private:
@@ -2942,14 +2941,14 @@
public:
/** Define a actuator control method */
typedef enum
- { STG_ACTUATOR_CONTROL_VELOCITY,
- STG_ACTUATOR_CONTROL_POSITION
+ { CONTROL_VELOCITY,
+ CONTROL_POSITION
} ControlMode;
/** Define an actuator type */
typedef enum
- { STG_ACTUATOR_TYPE_LINEAR,
- STG_ACTUATOR_TYPE_ROTATIONAL
+ { TYPE_LINEAR,
+ TYPE_ROTATIONAL
} ActuatorType;
private:
@@ -2976,13 +2975,13 @@
virtual void Update();
virtual void Load();
- /** Sets the control_mode to STG_ACTUATOR_CONTROL_VELOCITY and sets
+ /** Sets the control_mode to CONTROL_VELOCITY and sets
the goal velocity. */
void SetSpeed( double speed );
double GetSpeed() const {return goal;}
- /** Sets the control mode to STG_ACTUATOR_CONTROL_POSITION and sets
+ /** Sets the control mode to CONTROL_POSITION and sets
the goal pose */
void GoTo( double pose );
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2009-08-27 23:41:43 UTC (rev
8238)
+++ code/stage/trunk/libstage/worldgui.cc 2009-08-28 01:58:11 UTC (rev
8239)
@@ -607,13 +607,6 @@
void WorldGui::viewOptionsCb( OptionsDlg* oDlg, WorldGui* wg )
{
- // the options dialog expects a std::vector of options (annoyingly)
- // std::vector<Option*> optvec;
- // adds each option to the vector
- //g_hash_table_foreach( wg->option_table,
- // (GHFunc)append_option,
- // (void*)&optvec );
-
// sort the vector by option label alphabetically
//std::sort();// wg->option_table.begin(), wg->option_table.end() );//,
sort_option_pointer );
//std::sort();// wg->option_table.begin(), wg->option_table.end() );//,
sort_option_pointer );
Modified: code/stage/trunk/worlds/simple.world
===================================================================
--- code/stage/trunk/worlds/simple.world 2009-08-27 23:41:43 UTC (rev
8238)
+++ code/stage/trunk/worlds/simple.world 2009-08-28 01:58:11 UTC (rev
8239)
@@ -48,7 +48,6 @@
# ctrl "lasernoise" # uncomment this line to run a laser noise generator
)
-
ctrl "wander"
# report error-free position in world coordinates
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