Revision: 8724
http://playerstage.svn.sourceforge.net/playerstage/?rev=8724&view=rev
Author: natepak
Date: 2010-05-28 16:30:17 +0000 (Fri, 28 May 2010)
Log Message:
-----------
Update to spinning box benchmark
Modified Paths:
--------------
code/gazebo/trunk/benchmarks/spinningbox_benchmark.cc
Modified: code/gazebo/trunk/benchmarks/spinningbox_benchmark.cc
===================================================================
--- code/gazebo/trunk/benchmarks/spinningbox_benchmark.cc 2010-05-28
16:29:15 UTC (rev 8723)
+++ code/gazebo/trunk/benchmarks/spinningbox_benchmark.cc 2010-05-28
16:30:17 UTC (rev 8724)
@@ -6,6 +6,7 @@
gazebo::Client *client = NULL;
gazebo::SimulationIface *simIface = NULL;
+gazebo::FactoryIface *factoryIface = NULL;
std::string test_name="Spinning Box Benchmark";
std::string xlabel = "Spinning Box Count";
@@ -29,10 +30,39 @@
std::cerr << "Error\n";
}
+void spawn_box()
+{
+ std::ostringstream model;
+
+ model << "<model:physical name='box'>";
+ model << " <static>false</static>";
+ model << " <xyz>0 0 0.5</xyz>";
+ model << " <rpy>00 00 0</rpy>";
+ model << " <body:box name='body'>";
+ model << " <geom:box name='geom'>";
+ model << " <size>1 1 1</size>";
+ model << " <mass>1</mass>";
+ model << " <mu1>.1</mu1>";
+ model << " <mu2>.1</mu2>";
+ model << " <visual>";
+ model << " <size>1 1 1</size>";
+ model << " <mesh>unit_box</mesh>";
+ model << " <material>Gazebo/Rocky</material>";
+ model << " </visual>";
+ model << " </geom:box>";
+ model << " </body:box>";
+ model << "</model:physical>";
+
+ factoryIface->Lock(1);
+ strcpy( (char*)factoryIface->data->newModel, model.str().c_str() );
+ factoryIface->Unlock();
+}
+
int main(int argc, char **argv)
{
client = new gazebo::Client();
simIface = new gazebo::SimulationIface();
+ factoryIface = new gazebo::FactoryIface();
float vel = 1.0;
if (argc > 1)
@@ -59,6 +89,20 @@
return -1;
}
+ // Open the factory iface
+ try
+ {
+ factoryIface->Open(client, "default");
+ }
+ catch( std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to the factory Iface:"
+ << e << "\n";
+ return -1;
+ }
+ spawn_box();
+
+ usleep(5000000);
//FILE *out = fopen(data_filename.c_str(), "w");
/*if (!out)
@@ -72,12 +116,13 @@
gazebo::Vec3 linearVel, angularVel, linearAccel, angularAccel;
gazebo::Pose modelPose;
+
bool done = false;
while (!done)
{
- simIface->SetAngularVel("box_model", gazebo::Vec3(0,0,vel));
+ simIface->SetAngularVel("box", gazebo::Vec3(0,0,vel));
- simIface->GetState("box_model", modelPose, linearVel, angularVel,
+ simIface->GetState("box", modelPose, linearVel, angularVel,
linearAccel, angularAccel);
printf("Pos[%4.2f %4.2f %4.2f] RPY[%4.2f %4.2f %4.2f] ", modelPose.pos.x,
modelPose.pos.y, modelPose.pos.z, modelPose.roll, modelPose.pitch,
modelPose.yaw);
printf("LV[%4.2f %4.2f %4.2f] ",linearVel.x, linearVel.y, linearVel.z );
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