> Is there a way to enlarge > the rendered volume w.r.t. the ObserverCam? The near and far clips, horizontal field of view, and image size control the rendered volume defined by the ObserverCam. Each one can be set in the world file. You could also enable frustrum displaying to see the outlines of the volume that will be rendered.
Nate > > Simon > > Nathan Michael wrote: >> >> Hi Simon, >> >> Try: >> >> this->body->SetPose(GzPose pose) >> >> or >> >> this->body->SetPosition(GzVector pos) >> this->body->SetRotation(GzQuatern rot) >> >> See: >> >> http://playerstage.sourceforge.net/doc/Gazebo-manual-0.7.0-html/ >> classBody.html#a6d32b9b81d5e09ebaec8bc852184837 >> >> Nate >> >> On Aug 27, 2007, at 3:24 PM, smonckton wrote: >> >>> >>> Hello All, >>> >>> I'm a newbie to libgazebo and trying to figure out the best way of >>> driving >>> an aircraft model in gazebo through an external aviation simulator. >>> I'm not >>> using player, since we use (IMHO) a more flexible device server >>> (MIRO, for >>> those that are interested), so I'm talking directly to libgazebo. >>> I've tried >>> a few experiments setting positions, which works...sort of. If I set >>> position directly, I get odd results that makes me think I'm >>> fighting ODE. >>> Basically, I just want to feed the aircraft state directly to a >>> plugin >>> model. I noticed that in the AvatarHeli model, the following >>> approach is >>> used in AvatarHeli::PositionGetCmd(): >>> void AvatarHeli::PositionGetCmd() >>> { >>> gz_position_lock(this->position, 1); >>> >>> this->cmdLinVel = GzVectorSet(this->position->data->cmd_vel_pos >>> [0], >>> this->position->data->cmd_vel_pos[1], >>> this->position->data->cmd_vel_pos[2]); >>> >>> this->cmdAngVel = GzVectorSet(this->position->data->cmd_vel_rot >>> [0], >>> this->position->data->cmd_vel_rot >>> [1], >>> this->position->data->cmd_vel_rot >>> [2]); >>> >>> gz_position_unlock(this->position); >>> >>> return; >>> } >>> >>> and then in Update(): >>> this->PositionGetCmd(); >>> // Rotate velocities into global cs >>> pose = this->GetPose(); >>> lv = GzCoordPositionAdd(this->cmdLinVel, GzVectorSet(0, 0, 0), >>> pose.rot); >>> av = GzCoordPositionAdd(this->cmdAngVel, GzVectorSet(0, 0, 0), >>> pose.rot); >>> >>> // Dumb controller >>> this->body->SetLinearVel(lv); >>> this->body->SetAngularVel(av); >>> >>> >>> ...which is a 'back door' method of setting the state. Over the >>> long haul >>> the position within the external simulator and gazebo would diverge >>> using >>> this method. A similar technique is used in Blimp. So the question >>> is: " Is >>> there a way of directly setting the state of an actor in libgazebo >>> other >>> than through derivative terms?" >>> >>> Simon >>> -- >>> View this message in context: http://www.nabble.com/External- >>> simulators-and-Gazebo-tf4337753.html#a12355928 >>> Sent from the playerstage-gazebo mailing list archive at Nabble.com. >>> >>> >>> -------------------------------------------------------------------- >>> -- >>> --- >>> This SF.net email is sponsored by: Splunk Inc. >>> Still grepping through log files to find problems? Stop. >>> Now Search log events and configuration files using AJAX and a >>> browser. >>> Download your FREE copy of Splunk now >> http://get.splunk.com/ >>> _______________________________________________ >>> Playerstage-gazebo mailing list >>> [email protected] >>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo >> >> >> --------------------------------------------------------------------- >> ---- >> This SF.net email is sponsored by: Splunk Inc. >> Still grepping through log files to find problems? Stop. >> Now Search log events and configuration files using AJAX and a >> browser. >> Download your FREE copy of Splunk now >> http://get.splunk.com/ >> _______________________________________________ >> Playerstage-gazebo mailing list >> [email protected] >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo >> >> > > -- > View this message in context: http://www.nabble.com/External- > simulators-and-Gazebo-tf4337753.html#a12357858 > Sent from the playerstage-gazebo mailing list archive at Nabble.com. > > > ---------------------------------------------------------------------- > --- > This SF.net email is sponsored by: Splunk Inc. > Still grepping through log files to find problems? Stop. > Now Search log events and configuration files using AJAX and a > browser. > Download your FREE copy of Splunk now >> http://get.splunk.com/ > _______________________________________________ > Playerstage-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo ------------------------------------------------------------------------- This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now >> http://get.splunk.com/ _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
