Revision: 8888
http://playerstage.svn.sourceforge.net/playerstage/?rev=8888&view=rev
Author: hsujohnhsu
Date: 2010-09-10 02:58:16 +0000 (Fri, 10 Sep 2010)
Log Message:
-----------
merging from trunk. added access calls to SetUpdateRate for Sensor,
Controller, OgreCamera.
Modified Paths:
--------------
code/gazebo/branches/wg/server/controllers/Controller.cc
code/gazebo/branches/wg/server/controllers/Controller.hh
code/gazebo/branches/wg/server/rendering/OgreAdaptor.cc
code/gazebo/branches/wg/server/rendering/OgreCamera.cc
code/gazebo/branches/wg/server/rendering/OgreCamera.hh
code/gazebo/branches/wg/server/rendering/UserCamera.cc
code/gazebo/branches/wg/server/sensors/Sensor.cc
code/gazebo/branches/wg/server/sensors/Sensor.hh
Property Changed:
----------------
code/gazebo/branches/wg/
code/gazebo/branches/wg/Media/models/pioneer2at/
code/gazebo/branches/wg/Media/models/pioneer2at/Cylinder.012.mesh.xml
code/gazebo/branches/wg/Media/models/pioneer2at/OgreXMLConverter.log
code/gazebo/branches/wg/Media/models/pioneer2at/Scene.material
code/gazebo/branches/wg/Media/models/pioneer2at/chassis.mesh
code/gazebo/branches/wg/Media/models/pioneer2at/chassis_top.mesh
code/gazebo/branches/wg/Media/models/pioneer2at/hub.mesh
code/gazebo/branches/wg/Media/models/pioneer2at/pioneer3at.blend
code/gazebo/branches/wg/Media/models/pioneer2at/sonar.mesh
code/gazebo/branches/wg/Media/models/pioneer2at/sonarbank.mesh
code/gazebo/branches/wg/Media/models/pioneer2at/tire.mesh
code/gazebo/branches/wg/Media/models/pioneer2at/wheel.mesh
code/gazebo/branches/wg/Media/models/pioneer2dx/
code/gazebo/branches/wg/Media/models/pioneer2dx/Scene.material
code/gazebo/branches/wg/Media/models/pioneer2dx/chassis.mesh
code/gazebo/branches/wg/Media/models/pioneer2dx/chassis_top.mesh
code/gazebo/branches/wg/Media/models/pioneer2dx/hub.mesh
code/gazebo/branches/wg/Media/models/pioneer2dx/pioneer3dx.blend
code/gazebo/branches/wg/Media/models/pioneer2dx/sonar.mesh
code/gazebo/branches/wg/Media/models/pioneer2dx/sonarbank.mesh
code/gazebo/branches/wg/Media/models/pioneer2dx/tire.mesh
code/gazebo/branches/wg/Media/models/pioneer2dx/wheel.mesh
code/gazebo/branches/wg/server/gui/Sidebar.cc
code/gazebo/branches/wg/server/gui/Sidebar.hh
code/gazebo/branches/wg/server/physics/HeightmapShape.cc
code/gazebo/branches/wg/server/physics/HeightmapShape.hh
code/gazebo/branches/wg/server/physics/SurfaceParams.cc
code/gazebo/branches/wg/server/physics/SurfaceParams.hh
code/gazebo/branches/wg/server/physics/TrimeshShape.cc
code/gazebo/branches/wg/server/physics/TrimeshShape.hh
Property changes on: code/gazebo/branches/wg
___________________________________________________________________
Modified: svn:mergeinfo
- /code/branches/federation/gazebo:7371-7550
/code/gazebo/branches/bullet2:8281-8355
/code/gazebo/branches/ogre-1.4.9:7137-7636
+ /code/branches/federation/gazebo:7371-7550
/code/gazebo/branches/bullet2:8281-8355
/code/gazebo/branches/ogre-1.4.9:7137-7636
/code/gazebo/trunk:8862-8887
Property changes on: code/gazebo/branches/wg/Media/models/pioneer2at
___________________________________________________________________
Modified: svn:mergeinfo
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/code/branches/federation/gazebo/Media/sets/pioneer2at:7371-7550
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/code/gazebo/branches/simpar/Media/models/pioneer2at:8711-8771
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/code/gazebo/branches/bullet2/Media/models/pioneer2at:8281-8355
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/code/gazebo/branches/simpar/Media/models/pioneer2at:8711-8771
/code/gazebo/trunk/Media/models/pioneer2at:8862-8887
Property changes on:
code/gazebo/branches/wg/Media/models/pioneer2at/Cylinder.012.mesh.xml
___________________________________________________________________
Modified: svn:mergeinfo
-
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/code/gazebo/branches/simpar/Media/models/pioneer2at/Cylinder.012.mesh.xml:8711-8771
+
/code/branches/federation/gazebo/Media/sets/pioneer2at/Pioneer2at/Cylinder.012.mesh.xml:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2at/Cylinder.012.mesh.xml:8281-8355
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/code/gazebo/trunk/Media/models/pioneer2at/Cylinder.012.mesh.xml:8862-8887
Property changes on:
code/gazebo/branches/wg/Media/models/pioneer2at/OgreXMLConverter.log
___________________________________________________________________
Modified: svn:mergeinfo
-
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/OgreXMLConverter.log:8281-8355
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/code/gazebo/branches/simpar/Media/models/pioneer2at/OgreXMLConverter.log:8711-8771
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/OgreXMLConverter.log:8281-8355
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Property changes on:
code/gazebo/branches/wg/Media/models/pioneer2at/Scene.material
___________________________________________________________________
Modified: svn:mergeinfo
-
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/Scene.material:8281-8355
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/code/gazebo/branches/simpar/Media/models/pioneer2at/Scene.material:8711-8771
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/code/gazebo/trunk/Media/models/pioneer2at/Scene.material:8862-8887
Property changes on:
code/gazebo/branches/wg/Media/models/pioneer2at/chassis.mesh
___________________________________________________________________
Modified: svn:mergeinfo
-
/code/branches/federation/gazebo/Media/sets/pioneer2at/Pioneer2at/chassis.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2at/chassis.mesh:8281-8355
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/code/gazebo/branches/simpar/Media/models/pioneer2at/chassis.mesh:8711-8771
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/chassis.mesh:8281-8355
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Property changes on:
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___________________________________________________________________
Modified: svn:mergeinfo
-
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/code/gazebo/branches/simpar/Media/models/pioneer2at/chassis_top.mesh:8711-8771
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Property changes on: code/gazebo/branches/wg/Media/models/pioneer2at/hub.mesh
___________________________________________________________________
Modified: svn:mergeinfo
-
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/hub.mesh:8281-8355
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Property changes on:
code/gazebo/branches/wg/Media/models/pioneer2at/pioneer3at.blend
___________________________________________________________________
Modified: svn:mergeinfo
-
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/pioneer3at.blend:8281-8355
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/code/gazebo/branches/simpar/Media/models/pioneer2at/pioneer3at.blend:8711-8771
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Property changes on: code/gazebo/branches/wg/Media/models/pioneer2at/sonar.mesh
___________________________________________________________________
Modified: svn:mergeinfo
-
/code/branches/federation/gazebo/Media/sets/pioneer2at/Pioneer2at/sonar.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2at/sonar.mesh:8281-8355
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/code/gazebo/branches/simpar/Media/models/pioneer2at/sonar.mesh:8711-8771
+
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/sonar.mesh:8281-8355
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/code/gazebo/trunk/Media/models/pioneer2at/sonar.mesh:8862-8887
Property changes on:
code/gazebo/branches/wg/Media/models/pioneer2at/sonarbank.mesh
___________________________________________________________________
Modified: svn:mergeinfo
-
/code/branches/federation/gazebo/Media/sets/pioneer2at/Pioneer2at/sonarbank.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2at/sonarbank.mesh:8281-8355
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/code/gazebo/branches/simpar/Media/models/pioneer2at/sonarbank.mesh:8711-8771
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/code/gazebo/trunk/Media/models/pioneer2at/sonarbank.mesh:8862-8887
Property changes on: code/gazebo/branches/wg/Media/models/pioneer2at/tire.mesh
___________________________________________________________________
Modified: svn:mergeinfo
-
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Property changes on: code/gazebo/branches/wg/Media/models/pioneer2at/wheel.mesh
___________________________________________________________________
Modified: svn:mergeinfo
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Property changes on: code/gazebo/branches/wg/Media/models/pioneer2dx
___________________________________________________________________
Modified: svn:mergeinfo
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Property changes on:
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___________________________________________________________________
Modified: svn:mergeinfo
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Property changes on:
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___________________________________________________________________
Modified: svn:mergeinfo
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Property changes on:
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Modified: svn:mergeinfo
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Property changes on: code/gazebo/branches/wg/Media/models/pioneer2dx/hub.mesh
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Modified: svn:mergeinfo
-
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/hub.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/hub.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/hub.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/hub.mesh:8711-8771
+
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/hub.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/hub.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/hub.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/hub.mesh:8711-8771
/code/gazebo/trunk/Media/models/pioneer2dx/hub.mesh:8862-8887
Property changes on:
code/gazebo/branches/wg/Media/models/pioneer2dx/pioneer3dx.blend
___________________________________________________________________
Modified: svn:mergeinfo
-
/code/branches/federation/gazebo/Media/sets/pioneer2dx/sources/pioneer3dx.blend:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/pioneer3dx.blend:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/sources/pioneer3dx.blend:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/pioneer3dx.blend:8711-8771
+
/code/branches/federation/gazebo/Media/sets/pioneer2dx/sources/pioneer3dx.blend:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/pioneer3dx.blend:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/sources/pioneer3dx.blend:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/pioneer3dx.blend:8711-8771
/code/gazebo/trunk/Media/models/pioneer2dx/pioneer3dx.blend:8862-8887
Property changes on: code/gazebo/branches/wg/Media/models/pioneer2dx/sonar.mesh
___________________________________________________________________
Modified: svn:mergeinfo
-
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/sonar.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/sonar.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/sonar.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/sonar.mesh:8711-8771
+
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/sonar.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/sonar.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/sonar.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/sonar.mesh:8711-8771
/code/gazebo/trunk/Media/models/pioneer2dx/sonar.mesh:8862-8887
Property changes on:
code/gazebo/branches/wg/Media/models/pioneer2dx/sonarbank.mesh
___________________________________________________________________
Modified: svn:mergeinfo
-
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/sonarbank.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/sonarbank.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/sonarbank.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/sonarbank.mesh:8711-8771
+
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/sonarbank.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/sonarbank.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/sonarbank.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/sonarbank.mesh:8711-8771
/code/gazebo/trunk/Media/models/pioneer2dx/sonarbank.mesh:8862-8887
Property changes on: code/gazebo/branches/wg/Media/models/pioneer2dx/tire.mesh
___________________________________________________________________
Modified: svn:mergeinfo
-
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/tire.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/tire.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/tire.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/tire.mesh:8711-8771
+
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/tire.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/tire.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/tire.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/tire.mesh:8711-8771
/code/gazebo/trunk/Media/models/pioneer2dx/tire.mesh:8862-8887
Property changes on: code/gazebo/branches/wg/Media/models/pioneer2dx/wheel.mesh
___________________________________________________________________
Modified: svn:mergeinfo
-
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/wheel.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/wheel.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/wheel.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/wheel.mesh:8711-8771
+
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/wheel.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/wheel.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/wheel.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/wheel.mesh:8711-8771
/code/gazebo/trunk/Media/models/pioneer2dx/wheel.mesh:8862-8887
Modified: code/gazebo/branches/wg/server/controllers/Controller.cc
===================================================================
--- code/gazebo/branches/wg/server/controllers/Controller.cc 2010-09-10
02:39:49 UTC (rev 8887)
+++ code/gazebo/branches/wg/server/controllers/Controller.cc 2010-09-10
02:58:16 UTC (rev 8888)
@@ -47,6 +47,7 @@
this->nameP = new ParamT<std::string>("name","",1);
this->alwaysOnP = new ParamT<bool>("alwaysOn", false, 0);
this->updateRateP = new ParamT<double>("updateRate", 10, 0);
+ this->updateRateP->Callback(&Controller::SetUpdateRate, (Controller*)this);
Param::End();
if (!dynamic_cast<Model*>(entity) && !dynamic_cast<Sensor*>(entity))
@@ -83,11 +84,6 @@
this->updateRateP->Load(node);
- double updateRate = this->updateRateP->GetValue();
- if (updateRate == 0)
- this->updatePeriod = 0.0; // no throttling if updateRate is 0
- else
- this->updatePeriod = 1.0 / updateRate;
this->lastUpdate = Simulator::Instance()->GetSimTime();
childNode = node->GetChildByNSPrefix("interface");
@@ -143,7 +139,20 @@
this->LoadChild(node);
}
+////////////////////////////////////////////////////////////////////////////////
+/// Save the sensor info in XML format
+void Controller::SetUpdateRate(const double &rate)
+{
+ this->updateRateP->SetValue(rate);
+ if (rate == 0)
+ this->updatePeriod = 0.0;
+ else
+ this->updatePeriod = 1.0 / rate;
+
+}
+
+
////////////////////////////////////////////////////////////////////////////////
/// Initialize the controller. Called once on startup.
void Controller::Init()
Modified: code/gazebo/branches/wg/server/controllers/Controller.hh
===================================================================
--- code/gazebo/branches/wg/server/controllers/Controller.hh 2010-09-10
02:39:49 UTC (rev 8887)
+++ code/gazebo/branches/wg/server/controllers/Controller.hh 2010-09-10
02:58:16 UTC (rev 8888)
@@ -79,6 +79,9 @@
/// \brief Finialize the controller. Called once on completion.
public: void Fini();
+ /// \brief Set internal Update Period of the controller based on update
rate specified by user
+ private: void SetUpdateRate(const double &rate);
+
/// \brief Return true if an interface is open
public: bool IsConnected() const;
Property changes on: code/gazebo/branches/wg/server/gui/Sidebar.cc
___________________________________________________________________
Modified: svn:mergeinfo
- /code/gazebo/branches/simpar/server/gui/Sidebar.cc:8711-8771
+ /code/gazebo/branches/simpar/server/gui/Sidebar.cc:8711-8771
/code/gazebo/trunk/server/gui/Sidebar.cc:8862-8887
Property changes on: code/gazebo/branches/wg/server/gui/Sidebar.hh
___________________________________________________________________
Modified: svn:mergeinfo
- /code/gazebo/branches/simpar/server/gui/Sidebar.hh:8711-8771
+ /code/gazebo/branches/simpar/server/gui/Sidebar.hh:8711-8771
/code/gazebo/trunk/server/gui/Sidebar.hh:8862-8887
Property changes on: code/gazebo/branches/wg/server/physics/HeightmapShape.cc
___________________________________________________________________
Modified: svn:mergeinfo
- /code/branches/federation/gazebo/server/physics/HeightmapGeom.cc:7371-7550
/code/gazebo/branches/bullet2/server/physics/HeightmapShape.cc:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/HeightmapGeom.cc:7137-7636
/code/gazebo/branches/simpar/server/physics/HeightmapShape.cc:8711-8771
+ /code/branches/federation/gazebo/server/physics/HeightmapGeom.cc:7371-7550
/code/gazebo/branches/bullet2/server/physics/HeightmapShape.cc:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/HeightmapGeom.cc:7137-7636
/code/gazebo/branches/simpar/server/physics/HeightmapShape.cc:8711-8771
/code/gazebo/trunk/server/physics/HeightmapShape.cc:8862-8887
Property changes on: code/gazebo/branches/wg/server/physics/HeightmapShape.hh
___________________________________________________________________
Modified: svn:mergeinfo
- /code/branches/federation/gazebo/server/physics/HeightmapGeom.hh:7371-7550
/code/gazebo/branches/bullet2/server/physics/HeightmapShape.hh:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/HeightmapGeom.hh:7137-7636
/code/gazebo/branches/simpar/server/physics/HeightmapShape.hh:8711-8771
+ /code/branches/federation/gazebo/server/physics/HeightmapGeom.hh:7371-7550
/code/gazebo/branches/bullet2/server/physics/HeightmapShape.hh:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/HeightmapGeom.hh:7137-7636
/code/gazebo/branches/simpar/server/physics/HeightmapShape.hh:8711-8771
/code/gazebo/trunk/server/physics/HeightmapShape.hh:8862-8887
Property changes on: code/gazebo/branches/wg/server/physics/SurfaceParams.cc
___________________________________________________________________
Modified: svn:mergeinfo
- /code/branches/federation/gazebo/server/physics/ContactParams.cc:7371-7550
/code/gazebo/branches/bullet2/server/physics/ContactParams.cc:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/ContactParams.cc:7137-7636
/code/gazebo/branches/simpar/server/physics/SurfaceParams.cc:8711-8771
+ /code/branches/federation/gazebo/server/physics/ContactParams.cc:7371-7550
/code/gazebo/branches/bullet2/server/physics/ContactParams.cc:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/ContactParams.cc:7137-7636
/code/gazebo/branches/simpar/server/physics/SurfaceParams.cc:8711-8771
/code/gazebo/trunk/server/physics/SurfaceParams.cc:8862-8887
Property changes on: code/gazebo/branches/wg/server/physics/SurfaceParams.hh
___________________________________________________________________
Modified: svn:mergeinfo
- /code/branches/federation/gazebo/server/physics/ContactParams.hh:7371-7550
/code/gazebo/branches/bullet2/server/physics/ContactParams.hh:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/ContactParams.hh:7137-7636
/code/gazebo/branches/simpar/server/physics/SurfaceParams.hh:8711-8771
+ /code/branches/federation/gazebo/server/physics/ContactParams.hh:7371-7550
/code/gazebo/branches/bullet2/server/physics/ContactParams.hh:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/ContactParams.hh:7137-7636
/code/gazebo/branches/simpar/server/physics/SurfaceParams.hh:8711-8771
/code/gazebo/trunk/server/physics/SurfaceParams.hh:8862-8887
Property changes on: code/gazebo/branches/wg/server/physics/TrimeshShape.cc
___________________________________________________________________
Modified: svn:mergeinfo
- /code/branches/federation/gazebo/server/physics/TrimeshGeom.cc:7371-7550
/code/gazebo/branches/bullet2/server/physics/TrimeshShape.cc:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/TrimeshGeom.cc:7137-7636
/code/gazebo/branches/simpar/server/physics/TrimeshShape.cc:8711-8771
+ /code/branches/federation/gazebo/server/physics/TrimeshGeom.cc:7371-7550
/code/gazebo/branches/bullet2/server/physics/TrimeshShape.cc:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/TrimeshGeom.cc:7137-7636
/code/gazebo/branches/simpar/server/physics/TrimeshShape.cc:8711-8771
/code/gazebo/trunk/server/physics/TrimeshShape.cc:8862-8887
Property changes on: code/gazebo/branches/wg/server/physics/TrimeshShape.hh
___________________________________________________________________
Modified: svn:mergeinfo
- /code/branches/federation/gazebo/server/physics/TrimeshGeom.hh:7371-7550
/code/gazebo/branches/bullet2/server/physics/TrimeshShape.hh:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/TrimeshGeom.hh:7137-7636
/code/gazebo/branches/simpar/server/physics/TrimeshShape.hh:8711-8771
+ /code/branches/federation/gazebo/server/physics/TrimeshGeom.hh:7371-7550
/code/gazebo/branches/bullet2/server/physics/TrimeshShape.hh:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/TrimeshGeom.hh:7137-7636
/code/gazebo/branches/simpar/server/physics/TrimeshShape.hh:8711-8771
/code/gazebo/trunk/server/physics/TrimeshShape.hh:8862-8887
Modified: code/gazebo/branches/wg/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/branches/wg/server/rendering/OgreAdaptor.cc 2010-09-10
02:39:49 UTC (rev 8887)
+++ code/gazebo/branches/wg/server/rendering/OgreAdaptor.cc 2010-09-10
02:58:16 UTC (rev 8888)
@@ -479,11 +479,6 @@
}
}
- {
- DIAGNOSTICTIMER(timer("UpdateCameras: render one frame",6));
- this->root->renderOneFrame();
- }
-
// Must update the user camera's last.
{
DIAGNOSTICTIMER(timer("UpdateCameras: UserCamera update",6));
Modified: code/gazebo/branches/wg/server/rendering/OgreCamera.cc
===================================================================
--- code/gazebo/branches/wg/server/rendering/OgreCamera.cc 2010-09-10
02:39:49 UTC (rev 8887)
+++ code/gazebo/branches/wg/server/rendering/OgreCamera.cc 2010-09-10
02:58:16 UTC (rev 8888)
@@ -55,6 +55,7 @@
OgreCamera::OgreCamera(const std::string &namePrefix)
{
this->name = "DefaultCameraName";
+ this->lastRenderTime = Simulator::Instance()->GetSimTime();
this->animState = NULL;
this->textureWidth = this->textureHeight = 0;
@@ -82,13 +83,13 @@
this->hfovP = new ParamT<Angle>("hfov", Angle(DTOR(60)),0);
this->imageFormatP = new ParamT<std::string>("imageFormat", "R8G8B8", 0);
this->updateRateP = new ParamT<double>("updateRate",32,0);
+ this->updateRateP->Callback(&OgreCamera::SetUpdateRate,this);
Param::End();
this->captureData = false;
this->camera = NULL;
- this->renderPeriod = Time(1.0/(**this->updateRateP));
this->renderingEnabled = true;
World::Instance()->ConnectShowWireframeSignal(
boost::bind(&OgreCamera::ShowWireframe, this, _1) );
@@ -100,7 +101,19 @@
this->viewController = new FPSViewController(this);
}
+
//////////////////////////////////////////////////////////////////////////////
+// Set update rate for the camera rendering
+void OgreCamera::SetUpdateRate(const double &rate)
+{
+ this->updateRateP->SetValue(rate);
+ if (**this->updateRateP == 0)
+ this->renderPeriod = Time(0.0);
+ else
+ this->renderPeriod = Time(1.0/(**this->updateRateP));
+}
+
+//////////////////////////////////////////////////////////////////////////////
// Destructor
OgreCamera::~OgreCamera()
{
@@ -321,7 +334,9 @@
if
(((Simulator::Instance()->GetSimTime()-this->lastUpdate-this->renderPeriod)/physics_dt)
>= 0)
{
{
+ DIAGNOSTICTIMER(timer("OgreCamera::Render(): renderTarget update",6));
//boost::recursive_mutex::scoped_lock
md_lock(*Simulator::Instance()->GetMDMutex());
+ this->lastRenderTime = Simulator::Instance()->GetSimTime();
this->renderTarget->update();
}
@@ -1039,3 +1054,10 @@
{
this->viewController->HandleMouseEvent(evt);
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the time of the last render update
+gazebo::Time OgreCamera::GetLastRenderTime() const
+{
+ return this->lastRenderTime;
+}
Modified: code/gazebo/branches/wg/server/rendering/OgreCamera.hh
===================================================================
--- code/gazebo/branches/wg/server/rendering/OgreCamera.hh 2010-09-10
02:39:49 UTC (rev 8887)
+++ code/gazebo/branches/wg/server/rendering/OgreCamera.hh 2010-09-10
02:58:16 UTC (rev 8888)
@@ -244,6 +244,9 @@
/// \brief Hande a mouse event
public: void HandleMouseEvent(const MouseEvent &evt);
+ /// \brief Get the time of the last render update
+ public: gazebo::Time GetLastRenderTime() const;
+
/// \brief if user requests bayer image, post process rgb from ogre to
generate bayer formats
private: void ConvertRGBToBAYER(unsigned char* dst, unsigned char* src,
std::string format,int width, int height);
@@ -251,6 +254,9 @@
// Save the camera frame
protected: virtual void SaveFrame();
+ /// \brief set update rate (render rate) of the OgreCamera
+ public: void SetUpdateRate(const double &rate);
+
private: std::string name;
protected: ParamT<Angle> *hfovP;
@@ -301,6 +307,9 @@
private: Ogre::AnimationState *animState;
private: ViewController *viewController;
+
+ protected: Time lastRenderTime;
+
};
/// \}
Modified: code/gazebo/branches/wg/server/rendering/UserCamera.cc
===================================================================
--- code/gazebo/branches/wg/server/rendering/UserCamera.cc 2010-09-10
02:39:49 UTC (rev 8887)
+++ code/gazebo/branches/wg/server/rendering/UserCamera.cc 2010-09-10
02:58:16 UTC (rev 8888)
@@ -180,8 +180,7 @@
/// Update
void UserCamera::Update()
{
- if (Simulator::Instance()->GetRealTime() - this->lastUpdate <
- this->renderPeriod)
+ if (Simulator::Instance()->GetRealTime() - this->lastUpdate <
this->renderPeriod)
return;
this->lastUpdate = Simulator::Instance()->GetRealTime();
@@ -189,6 +188,7 @@
{
boost::recursive_mutex::scoped_lock
md_lock(*Simulator::Instance()->GetMDMutex());
OgreCamera::UpdateCam();
+ this->window->update();
}
if (this->saveFramesP->GetValue())
Modified: code/gazebo/branches/wg/server/sensors/Sensor.cc
===================================================================
--- code/gazebo/branches/wg/server/sensors/Sensor.cc 2010-09-10 02:39:49 UTC
(rev 8887)
+++ code/gazebo/branches/wg/server/sensors/Sensor.cc 2010-09-10 02:58:16 UTC
(rev 8888)
@@ -53,6 +53,7 @@
Param::Begin(&this->parameters);
this->updateRateP = new ParamT<double>("updateRate", 0, 0);
+ this->updateRateP->Callback(&Sensor::SetUpdateRate, (Sensor*)this);
this->alwaysActiveP = new ParamT<bool>("alwaysActive", false, 0);
Param::End();
}
@@ -73,25 +74,29 @@
this->updateRateP->Load(node);
this->alwaysActiveP->Load(node);
- if (**(this->updateRateP) == 0)
- this->updatePeriod = 0.0;
- else
- this->updatePeriod = 1.0 / **(updateRateP);
-
this->LoadController( node->GetChildByNSPrefix("controller") );
this->LoadChild(node);
- double updateRate = node->GetDouble("updateRate", 0, 0);
- if (updateRate == 0)
- this->updatePeriod = 0.0; // no throttling if updateRate is 0
- else
- this->updatePeriod = 1.0 / updateRate;
this->lastUpdate = Simulator::Instance()->GetSimTime();
}
////////////////////////////////////////////////////////////////////////////////
/// Save the sensor info in XML format
+void Sensor::SetUpdateRate(const double &rate)
+{
+
+ this->updateRateP->SetValue(rate);
+ if (rate == 0)
+ this->updatePeriod = 0.0;
+ else
+ this->updatePeriod = 1.0 / rate;
+
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
+/// Save the sensor info in XML format
void Sensor::Save(std::string &prefix, std::ostream &stream)
{
std::string p = prefix + " ";
Modified: code/gazebo/branches/wg/server/sensors/Sensor.hh
===================================================================
--- code/gazebo/branches/wg/server/sensors/Sensor.hh 2010-09-10 02:39:49 UTC
(rev 8887)
+++ code/gazebo/branches/wg/server/sensors/Sensor.hh 2010-09-10 02:58:16 UTC
(rev 8888)
@@ -68,6 +68,9 @@
/// \brief Update the sensor
public: void Update();
+ /// \brief Set internal Update Period of the sensor based on update rate
specified by user
+ public: void SetUpdateRate(const double &rate);
+
/// \brief Finalize the sensor
public: void Fini();
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