Revision: 8720
http://playerstage.svn.sourceforge.net/playerstage/?rev=8720&view=rev
Author: natepak
Date: 2010-05-28 06:00:36 +0000 (Fri, 28 May 2010)
Log Message:
-----------
Updates
Modified Paths:
--------------
code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
code/gazebo/branches/simpar/worlds/empty.world
Modified: code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
===================================================================
--- code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
2010-05-28 02:44:32 UTC (rev 8719)
+++ code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
2010-05-28 06:00:36 UTC (rev 8720)
@@ -252,11 +252,11 @@
std::vector<std::string > step_types;
std::vector<std::string >::iterator iter;
- //step_types.push_back("robust");
- step_types.push_back("world");
- step_types.push_back("quick");
+ step_types.push_back("robust");
+ //step_types.push_back("world");
+ //step_types.push_back("quick");
- for (iter = step_types.begin(); iter != step_types.end(); iter++)
+ /*for (iter = step_types.begin(); iter != step_types.end(); iter++)
{
std::string path =
std::string("/home/nate/work/simpar/data/pioneer_circle/") + *iter + "/";
system((std::string("mkdir -p ")+path).c_str());
@@ -289,13 +289,15 @@
fclose(out);
}
+ */
// This will make a spiral
- /*for (int i=0; i < 50; i++)
+ //for (int i=0; i < 50; i++)
+ while(1)
{
simIface->ApplyTorque("pioneer::left_wheel",gazebo::Vec3(0,0,-50));
usleep(100000);
- }*/
+ }
factoryIface->Close();
simIface->Close();
Modified: code/gazebo/branches/simpar/worlds/empty.world
===================================================================
--- code/gazebo/branches/simpar/worlds/empty.world 2010-05-28 02:44:32 UTC
(rev 8719)
+++ code/gazebo/branches/simpar/worlds/empty.world 2010-05-28 06:00:36 UTC
(rev 8720)
@@ -15,13 +15,13 @@
<verbosity>4</verbosity>
<physics:ode>
- <stepTime>0.001</stepTime>
+ <stepTime>0.01</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
- <stepType>quick</stepType>
- <stepIters>10</stepIters>
+ <stepType>robust</stepType>
+ <stepIters>100</stepIters>
<stepW>1.3</stepW>
<contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
<contactSurfaceLayer>0.001</contactSurfaceLayer>
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