Revision: 8765
http://playerstage.svn.sourceforge.net/playerstage/?rev=8765&view=rev
Author: natepak
Date: 2010-06-15 03:40:50 +0000 (Tue, 15 Jun 2010)
Log Message:
-----------
Fixed searching for assimp, and the pioneer circle plugin
Modified Paths:
--------------
code/gazebo/branches/simpar/cmake/SearchForStuff.cmake
code/gazebo/branches/simpar/plugins/pioneer_circle.cc
code/gazebo/branches/simpar/worlds/pioneer2dx.world
Modified: code/gazebo/branches/simpar/cmake/SearchForStuff.cmake
===================================================================
--- code/gazebo/branches/simpar/cmake/SearchForStuff.cmake 2010-06-14
15:02:52 UTC (rev 8764)
+++ code/gazebo/branches/simpar/cmake/SearchForStuff.cmake 2010-06-15
03:40:50 UTC (rev 8765)
@@ -49,7 +49,7 @@
#################################################
# Find ODE
- pkg_check_modules(ODE ode>=${ODE_VERSION})
+ pkg_check_modules(ODE ode)
IF (NOT ODE_FOUND)
BUILD_ERROR ("ODE and development files not found. See the following
website: http://www.ode.org";)
set (INCLUDE_ODE FALSE CACHE BOOL "Include support for ODE")
Modified: code/gazebo/branches/simpar/plugins/pioneer_circle.cc
===================================================================
--- code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-06-14
15:02:52 UTC (rev 8764)
+++ code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-06-15
03:40:50 UTC (rev 8765)
@@ -17,18 +17,18 @@
for (unsigned int i=10; i<=100; i+=10)
this->stepIters.push_back(i);
+ this->stepTypes.push_back("quick");
this->stepTypes.push_back("robust");
this->stepTypes.push_back("world");
- this->stepTypes.push_back("quick");
this->stepTypesIter = this->stepTypes.begin();
this->stepTimesIter = this->stepTimes.begin();
this->stepItersIter = this->stepIters.begin();
- this->path = std::string("/home/nate/work/simpar/data/pioneer_circle/");
+ this->path =
std::string("/home/nkoenig/work/simpar/data/pioneer_circle/");
system( (std::string("mkdir -p ") + this->path).c_str() );
- this->circleCount = 4;
+ this->circleCount = 1;
if (LOG)
{
@@ -66,6 +66,7 @@
if (this->robot)
{
+ this->startPose = this->robot->GetWorldPose();
this->robot->GetVisualNode()->SetRibbonTrail(true);
this->leftWheel = (Body*)this->robot->GetChild("left_wheel");
this->rightWheel = (Body*)this->robot->GetChild("right_wheel");
@@ -73,6 +74,8 @@
this->physics = World::Instance()->GetPhysicsEngine();
this->prevTime = Simulator::Instance()->GetSimTime();
+ this->startTime = Simulator::Instance()->GetSimTime();
+
this->count = 0;
this->circleCount = 0;
@@ -82,6 +85,10 @@
World::Instance()->ConnectWorldUpdateStartSignal(
boost::bind(&PioneerCircle::UpdateCB, this));
+ this->physics->SetStepType( *this->stepTypesIter );
+ this->physics->SetStepTime( *this->stepTimesIter );
+ this->physics->SetSORPGSIters( *this->stepItersIter );
+
std::cout << "Type[" << *this->stepTypesIter << "] "
<< "Time[" << *this->stepTimesIter << "] "
<< "Iters[" << *this->stepItersIter << "]\n";
@@ -95,22 +102,32 @@
Time simTime = Simulator::Instance()->GetSimTime();
Pose3d pose = this->robot->GetWorldPose();
+ double dist = pose.pos.Distance(this->startPose.pos);
+
+ if (simTime - this->startTime > 10 &&
+ this->startPose.pos == Vector3(0,0,0))
+ this->startPose = pose;
+
if (this->circleCount <= 1)
{
if (this->leftWheel->GetRelativeAngularVel().z < 2.2)
- this->leftWheel->SetTorque(Vector3(0.0, 0.0, 0.2));
+ this->leftWheel->SetTorque(Vector3(0.0, 0.0, 0.01));
if (this->rightWheel->GetRelativeAngularVel().z > 2.1)
- this->rightWheel->SetTorque(Vector3(0.0, 0.0, -0.2));
+ this->rightWheel->SetTorque(Vector3(0.0, 0.0, -0.01));
- if (simTime - this->prevTime > 10.0 && fabs(pose.pos.x) < 0.1 )
+ if (simTime - this->prevTime > 10.0 && dist < this->prevDist )
{
+ this->startPose = pose;
+ std::cout << "CIRCLE\n";
this->prevTime = simTime;
this->circleCount++;
}
}
else
this->UpdateJob();
+
+ this->prevDist = dist;
}
public: void UpdateJob()
@@ -179,10 +196,13 @@
private: Body *rightWheel;
private: FILE *indexFile;
- private: Time prevTime;
+ private: Time prevTime, startTime;
private: PhysicsEngine *physics;
private: unsigned int circleCount;
private: unsigned int count;
+
+ private: double prevDist;
+ private: Pose3d startPose;
};
GZ_REGISTER_HANDLER("PioneerCircle", PioneerCircle)
Modified: code/gazebo/branches/simpar/worlds/pioneer2dx.world
===================================================================
--- code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-06-14 15:02:52 UTC
(rev 8764)
+++ code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-06-15 03:40:50 UTC
(rev 8765)
@@ -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>
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