Revision: 8319
http://playerstage.svn.sourceforge.net/playerstage/?rev=8319&view=rev
Author: rtv
Date: 2009-10-21 04:28:46 +0000 (Wed, 21 Oct 2009)
Log Message:
-----------
release 3.2.1
Modified Paths:
--------------
code/stage/trunk/libstage/CMakeLists.txt
code/stage/trunk/libstage/stage.hh
Removed Paths:
-------------
code/stage/trunk/libstage/test.cc
Modified: code/stage/trunk/libstage/CMakeLists.txt
===================================================================
--- code/stage/trunk/libstage/CMakeLists.txt 2009-10-20 21:43:52 UTC (rev
8318)
+++ code/stage/trunk/libstage/CMakeLists.txt 2009-10-21 04:28:46 UTC (rev
8319)
@@ -72,14 +72,6 @@
target_link_libraries( stagebinary stage )
-set( stagetestSrcs test.cc )
-
-add_executable( stagetest ${stagetestSrcs} )
-target_link_libraries( stagetest stage )
-set_target_properties( stagetest PROPERTIES LINK_FLAGS "${FLTK_LDFLAGS}" )
-set_source_files_properties( ${stagetestSrcs} PROPERTIES COMPILE_FLAGS
"${FLTK_CFLAGS}" )
-
-
INSTALL(TARGETS stagebinary stage
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib
@@ -88,4 +80,3 @@
INSTALL(FILES stage.hh
DESTINATION include/${PROJECT_NAME}-${APIVERSION})
-ADD_TEST( test1 ${EXECUTABLE_OUTPUT_PATH}stagetest )
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-10-20 21:43:52 UTC (rev 8318)
+++ code/stage/trunk/libstage/stage.hh 2009-10-21 04:28:46 UTC (rev 8319)
@@ -37,7 +37,7 @@
#include <stdlib.h>
#include <stdio.h>
#include <libgen.h>
-//#include <string.h>
+#include <string.h>
#include <sys/types.h>
#include <sys/time.h>
#include <pthread.h>
Deleted: code/stage/trunk/libstage/test.cc
===================================================================
--- code/stage/trunk/libstage/test.cc 2009-10-20 21:43:52 UTC (rev 8318)
+++ code/stage/trunk/libstage/test.cc 2009-10-21 04:28:46 UTC (rev 8319)
@@ -1,213 +0,0 @@
-#include "stage.hh"
-
-/* libstage test program */
-
-using namespace Stg;
-
-const double epsilon = 1e-5;
-
-void interact( WorldGui* wg )
-{
- //for( int i=0; i<100; i++ )
- // wg->Cycle();
-
- wg->Update();
-}
-
-void test( const char* str, double a, double b )
-{
- if( fabs(a-b) > epsilon )
- printf( "FAIL %s expected %.3f saw %.3f\n", str, a, b );
-}
-
-void test( const char* str, Pose a, Pose b )
-{
- if( fabs(a.x-b.x) > epsilon )
- printf( "POSE FAIL %s expected pose.x %.3f saw pose.x %.3f\n", str,
a.x, b.x );
- if( fabs(a.y-b.y) > epsilon )
- printf( "POSE FAIL %s expected pose.y %.3f saw pose.y %.3f\n", str,
a.y, b.y );
- if( fabs(a.z-b.z) > epsilon )
- printf( "POSE FAIL %s expected pose.z %.3f saw pose.z %.3f\n", str,
a.z, b.z );
- if( fabs(a.a-b.a) > epsilon )
- printf( "POSE FAIL %s expected pose.a %.3f saw pose.a %.3f\n", str,
a.a, b.a );
-}
-
-int main( int argc, char* argv[] )
-{
- Init( &argc, &argv);
-
- WorldGui world( 400,400, "Test" );
- world.Start();
-
- Geom geom;
- bzero( &geom, sizeof(geom) );
-
- if( 1 )
- {
- Model mod( &world );
-
- for( stg_meters_t x=0; x<5; x+=0.1 )
- {
- Pose pose( x, 0, 0, 0 );
- mod.SetPose( pose );
- test( "translate X", mod.GetPose(), pose );
- interact( &world );
- }
-
- for( stg_meters_t y=0; y<5; y+=0.1 )
- {
- Pose pose( 0, y, 0, 0 );
- mod.SetPose( pose );
- test( "translate Y", mod.GetPose(), pose );
- interact( &world );
- }
-
- for( stg_meters_t z=0; z<5; z+=0.1 )
- {
- Pose pose( 0, 0, z, 0 );
- mod.SetPose( pose );
- test( "translate Z", mod.GetPose(), pose );
- interact( &world );
- }
-
- for( stg_radians_t a=0; a<dtor(360); a+=dtor(2) )
- {
- Pose pose( 0, 0, 0, a );
- mod.SetPose( pose );
- pose = mod.GetPose();
- test( "rotate", mod.GetPose(), pose );
- interact( &world );
- }
-
- for( stg_radians_t a=0; a<dtor(360); a+=dtor(2) )
- {
- Pose pose( cos(a), sin(a), 0, 0 );
- mod.SetPose( pose );
- test( "translate X&Y", mod.GetPose(), pose );
- interact( &world );
- }
-
- mod.SetPose( Pose( 0,0,0,0 ));
-
- for( stg_meters_t x=0.01; x<5; x+=0.1 )
- {
- geom.size.x = x;
- geom.size.y = 1.0;
- geom.size.z = 1.0;
-
- mod.SetGeom( geom );
- interact( &world );
- }
-
- for( stg_meters_t y=0.01; y<5; y+=0.1 )
- {
- geom.size.x = 5;
- geom.size.y = y;
- geom.size.z = 1.0;
-
- mod.SetGeom( geom );
- interact( &world );
- }
-
- for( stg_meters_t z=0.01; z<5; z+=0.1 )
- {
- geom.size.x = 1;
- geom.size.y = 1;
- geom.size.z = z;
-
- mod.SetGeom( geom );
- interact( &world );
- }
-
- geom.size.x = 0.5;
- geom.size.y = 0.5;
- geom.size.z = 0.5;
-
- mod.SetGeom( geom );
-
- } // mod goes out of scope
-
-
- #define POP 10
- Velocity v( 0.0,0.0,0.0,0.0 );
-
- Model* m[POP];
- for( int i=0; i<POP; i++ )
- {
- m[i] = world.CreateModel( NULL, "laser" );
-
- //m[i]->Say( "Hello" );
- m[i]->Subscribe();
- //m[i]->SetGeom( geom );
-
- //m[i]->SetPose( Pose::Random( -5,5, -5,5 ) );
- m[i]->PlaceInFreeSpace( 0, 10, 0, 10 );
- m[i]->SetColor( Color::RandomColor() );
-
- v.x = drand48() / 10.0;
- v.y = drand48() / 10.0;
- v.z = drand48() / 10.0;
- v.a = drand48() / 3.0;
-
- m[i]->SetVelocity( v );
- }
-
-
- // Pose o = { 1, 2, 0, 0 };
-// Pose p = {0,0,0,0};
-
-// m[0]->SetPose( o );
-
-// Pose q = m[0]->LocalToGlobal( p );
-
-// stg_print_pose( &o );
-// stg_print_pose( &q );
-
-// assert( fabs( q.x - o.x ) < 0.0001 );
-// assert( fabs( q.y - o.y ) < 0.0001 );
-// assert( fabs( q.z - o.z ) < 0.0001 );
-// assert( fabs( q.a - o.a ) < 0.0001 );
-
-// m[1]->SetPose( new_pose( 0,0,0,0 ));
-
- // geom.size.x = 0.2;
- //geom.size.y = 0.2;
- //geom.size.z = 0.2;
-
-// for( int i=0; i<POP; i++ )
-// {
-// Model* top = new Model( &world, m[i] );
-// top->SetGeom( geom );
-// //top->SetPose( new_pose( 0,0,0,0 ) );
-// //m[i]->SetPose( sgtg_pose_t::Random( -10,10, -10,10 ) );
-// //m[i]->PlaceInFreeSpace( -10, 10, -10, 10 );
-// top->SetColor( lrand48() | 0xFF000000 );
-
-// //interact( &world );
-// }
-
- // for( int i=0; i<POP; i++ )
-// {
-// // m[i]->PlaceInFreeSpace( -10, 10, -10, 10 );
-// //m[i]->SetColor( 0xFF00FF00 );
-
-
-// Velocity v = {0,0,0,0.1};
-
-// m[i]->SetVelocity( v );
-
-// //interact( &world );
-// }
-
-// for( int i=0; i<POP; i++ )
-// {
-// delete m[i];
-// interact( &world );
-// }
-
-
- for( unsigned long i=0; i<1000; i++ )
- world.Update();
-
- return 0; // success
-}
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