Revision: 8288
http://playerstage.svn.sourceforge.net/playerstage/?rev=8288&view=rev
Author: rtv
Date: 2009-10-13 22:00:09 +0000 (Tue, 13 Oct 2009)
Log Message:
-----------
clean up
Modified Paths:
--------------
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_blobfinder.cc
code/stage/trunk/libstage/model_ranger.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
code/stage/trunk/worlds/everything.world
code/stage/trunk/worlds/fasr.world
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-10-13 20:10:23 UTC (rev 8287)
+++ code/stage/trunk/libstage/model.cc 2009-10-13 22:00:09 UTC (rev 8288)
@@ -904,6 +904,7 @@
SetStall( ConditionalMove( pose + p ) );
}
+
void Model::UpdateTrail()
{
trail.push_back( TrailItem( world->sim_time, GetGlobalPose(), color )
);
@@ -1009,9 +1010,6 @@
void Model::RegisterOption( Option* opt )
{
- //drawOptions.push_back( opt );
-
- //if( world->IsGUI() )
world->RegisterOption( opt );
}
@@ -1036,8 +1034,6 @@
Model* Model::GetChild( const std::string& modelname ) const
{
// construct the full model name and look it up
- //char* buf = new char[TOKEN_MAX];
- //snprintf( buf, TOKEN_MAX, "%s.%s", this->token, modelname );
std::string fullname = token + "." + modelname;
@@ -1074,7 +1070,6 @@
mod->PushColor( 1,0,0,0.5 );
Gl::pose_inverse_shift( mod->GetGlobalPose() );
-
if( pts.size() > 0 )
{
@@ -1182,10 +1177,12 @@
}
-Model::Flag::Flag( Color color, double size )
+// define static member
+int Model::Flag::displaylist( 0 );
+
+Model::Flag::Flag( Color color, double size )
+ : color(color), size(size)
{
- this->color = color;
- this->size = size;
}
Model::Flag* Model::Flag::Nibble( double chunk )
@@ -1205,17 +1202,29 @@
void Model::Flag::Draw( GLUquadric* quadric )
{
- glColor4f( color.r, color.g, color.b, color.a );
-
- glEnable(GL_POLYGON_OFFSET_FILL);
- glPolygonOffset(1.0, 1.0);
- gluQuadricDrawStyle( quadric, GLU_FILL );
- gluSphere( quadric, size/2.0, 4,2 );
- glDisable(GL_POLYGON_OFFSET_FILL);
-
- // draw the edges darker version of the same color
- glColor4f( color.r/2.0, color.g/2.0, color.b/2.0, color.a/2.0 );
-
- gluQuadricDrawStyle( quadric, GLU_LINE );
- gluSphere( quadric, size/2.0, 4,2 );
+ if( displaylist == 0 )
+ {
+ displaylist = glGenLists(1);
+ assert( displaylist > 0 );
+
+ glNewList( displaylist, GL_COMPILE );
+
+ glColor4f( color.r, color.g, color.b, color.a );
+
+ glEnable(GL_POLYGON_OFFSET_FILL);
+ glPolygonOffset(1.0, 1.0);
+ gluQuadricDrawStyle( quadric, GLU_FILL );
+ gluSphere( quadric, size/2.0, 4,2 );
+ glDisable(GL_POLYGON_OFFSET_FILL);
+
+ // draw the edges darker version of the same color
+ glColor4f( color.r/2.0, color.g/2.0, color.b/2.0,
color.a/2.0 );
+
+ gluQuadricDrawStyle( quadric, GLU_LINE );
+ gluSphere( quadric, size/2.0, 4,2 );
+
+ glEndList();
+ }
+
+ glCallList( displaylist );
}
Modified: code/stage/trunk/libstage/model_blobfinder.cc
===================================================================
--- code/stage/trunk/libstage/model_blobfinder.cc 2009-10-13 20:10:23 UTC
(rev 8287)
+++ code/stage/trunk/libstage/model_blobfinder.cc 2009-10-13 22:00:09 UTC
(rev 8288)
@@ -128,9 +128,7 @@
/** Stop tracking blobs with this color */
void ModelBlobfinder::RemoveColor( Color col )
{
- for( std::vector<Color>::iterator it = colors.begin();
- it != colors.end();
- ++it )
+ FOR_EACH( it, colors )
{
if( (*it) == col )
it = colors.erase(it);
Modified: code/stage/trunk/libstage/model_ranger.cc
===================================================================
--- code/stage/trunk/libstage/model_ranger.cc 2009-10-13 20:10:23 UTC (rev
8287)
+++ code/stage/trunk/libstage/model_ranger.cc 2009-10-13 22:00:09 UTC (rev
8288)
@@ -263,19 +263,17 @@
return;
// raytrace new range data for all sensors
- for( std::vector<Sensor>::iterator it( sensors.begin() );
- it != sensors.end();
- ++it )
+ FOR_EACH( it, sensors )
{
- Sensor& s = *it;
-
+ Sensor& s = *it;
+
// TODO - reinstate multi-ray rangers
//for( int r=0; r<sensors[t].ray_count; r++ )
//{
stg_raytrace_result_t ray = Raytrace( s.pose,
-
s.bounds_range.max,
-
ranger_match,
-
NULL );
+
s.bounds_range.max,
+
ranger_match,
+
NULL );
s.range = std::max( ray.range, s.bounds_range.min );
}
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-10-13 20:10:23 UTC (rev 8287)
+++ code/stage/trunk/libstage/stage.hh 2009-10-13 22:00:09 UTC (rev 8288)
@@ -1667,6 +1667,7 @@
public:
Color color;
double size;
+ static int displaylist;
Flag( Color color, double size );
Flag* Nibble( double portion );
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2009-10-13 20:10:23 UTC (rev 8287)
+++ code/stage/trunk/libstage/world.cc 2009-10-13 22:00:09 UTC (rev 8288)
@@ -556,11 +556,11 @@
FOR_EACH( it, active_energy )
(*it)->UpdateCharge();
-
+
if( Model::trail_length > 0 && updates % Model::trail_interval == 0 )
FOR_EACH( it, active_velocity )
- (*it)->UpdateTrail();
-
+ (*it)->UpdateTrail();
+
if( show_clock && ((this->updates % show_clock_interval) == 0) )
{
printf( "\r[Stage: %s]", ClockString().c_str() );
@@ -572,8 +572,6 @@
return false;
}
-
-
unsigned int World::GetEventQueue( Model* mod )
{
if( worker_threads < 1 )
Modified: code/stage/trunk/worlds/everything.world
===================================================================
--- code/stage/trunk/worlds/everything.world 2009-10-13 20:10:23 UTC (rev
8287)
+++ code/stage/trunk/worlds/everything.world 2009-10-13 22:00:09 UTC (rev
8288)
@@ -5,16 +5,11 @@
# the size of a pixel in Stage's underlying raytrace model in meters
resolution 0.02
-interval_sim 100 # milliseconds per update step
-interval_real 0 # real-time milliseconds per update step
-
include "pioneer.inc"
include "irobot.inc"
include "map.inc"
include "sick.inc"
-gui_disable 0
-
window
(
size [ 811.000 642.000 ]
@@ -61,12 +56,6 @@
fiducial( range_max 8 range_max_id 5 )
- blobfinder(
- channel_count 6
- channels [ "red" "blue" "green" "cyan" "yellow" "magenta" ]
- alwayson 1
- )
-
fiducial_return 17
gripper_return 0
@@ -81,6 +70,12 @@
pose [-10.071 3.186 0 -2.333]
gripper( pose [0.23 0.000 -0.20 0.000] color "gray" )
+
+ blobfinder(
+ colors_count 6
+ colors [ "red" "blue" "green" "cyan" "yellow" "magenta" ]
+ alwayson 1
+ )
)
trickedoutpioneer
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2009-10-13 20:10:23 UTC (rev 8287)
+++ code/stage/trunk/worlds/fasr.world 2009-10-13 22:00:09 UTC (rev 8288)
@@ -104,7 +104,7 @@
charging_bump( fiducial( range_max 5 pose [ 0 0 -0.100 0 ] ) )
# small speed optimization
- trail_length 0
+ # trail_length 0
)
autorob( pose [7.062 -1.563 0 152.684] joules 300000 name "r0" )
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