Revision: 8740
http://playerstage.svn.sourceforge.net/playerstage/?rev=8740&view=rev
Author: natepak
Date: 2010-05-30 00:37:46 +0000 (Sun, 30 May 2010)
Log Message:
-----------
Update the pioneer_spiral plugin
Modified Paths:
--------------
code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
code/gazebo/branches/simpar/server/physics/Geom.cc
code/gazebo/branches/simpar/worlds/pioneer2dx.world
Modified: code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
===================================================================
--- code/gazebo/branches/simpar/plugins/pioneer_spiral.cc 2010-05-29
23:25:31 UTC (rev 8739)
+++ code/gazebo/branches/simpar/plugins/pioneer_spiral.cc 2010-05-30
00:37:46 UTC (rev 8740)
@@ -59,27 +59,36 @@
void PioneerSpiral::UpdateCB()
{
- this->leftWheel->SetTorque(Vector3(0,0,0.5));
+ //std::cout << "torqu[" << this->leftWheel->GetAngularVel() << "]\n";
+
+ if (this->leftWheel->GetAngularVel().GetLength() < 0.1)
+ {
+ printf("HERE\n");
+ this->leftWheel->SetTorque(Vector3(0.0,1.0,0));
+ this->rightWheel->SetTorque(Vector3(0.0,0.5,0));
+ }
}
void PioneerSpiral::LeftContactCB(const Contact &contact)
{
- std::cout << "Left contact\n";
+ /*std::cout << "Left contact\n";
for (unsigned int i=0; i < contact.positions.size(); i++)
{
std::cout << " Pos[" << contact.positions[i] << "] "
<< "Norm[" << contact.normals[i] << "] "
<< "Depth[" << contact.depths[i] << "]\n";
}
+ */
}
void PioneerSpiral::RightContactCB(const Contact &contact)
{
- std::cout << "Right contact\n";
+ /*std::cout << "Right contact\n";
for (unsigned int i=0; i < contact.positions.size(); i++)
{
std::cout << " Pos[" << contact.positions[i] << "] "
<< "Norm[" << contact.normals[i] << "] "
<< "Depth[" << contact.depths[i] << "]\n";
}
+ */
}
Modified: code/gazebo/branches/simpar/server/physics/Geom.cc
===================================================================
--- code/gazebo/branches/simpar/server/physics/Geom.cc 2010-05-29 23:25:31 UTC
(rev 8739)
+++ code/gazebo/branches/simpar/server/physics/Geom.cc 2010-05-30 00:37:46 UTC
(rev 8740)
@@ -489,7 +489,6 @@
if (this->GetShapeType() == Shape::RAY || this->GetShapeType() ==
Shape::PLANE)
return;
- std::cout << "Contact\n";
this->contacts.push_back( contact.Clone() );
this->contactSignal( contact );
}
Modified: code/gazebo/branches/simpar/worlds/pioneer2dx.world
===================================================================
--- code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-05-29 23:25:31 UTC
(rev 8739)
+++ code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-05-30 00:37:46 UTC
(rev 8740)
@@ -24,7 +24,7 @@
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
- <stepType>robust</stepType>
+ <stepType>quick</stepType>
<stepIters>100</stepIters>
<stepW>1.3</stepW>
<contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
@@ -92,7 +92,7 @@
<model:physical name="pioneer2dx_model">
<xyz>0 0 0.147</xyz>
- <rpy>0.0 0.0 90.0</rpy>
+ <rpy>0.0 0.0 0.0</rpy>
<!--
<model:physical name="laser">
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