Revision: 6723
http://playerstage.svn.sourceforge.net/playerstage/?rev=6723&view=rev
Author: natepak
Date: 2008-07-01 11:50:43 -0700 (Tue, 01 Jul 2008)
Log Message:
-----------
Updates to the documentation
Modified Paths:
--------------
code/gazebo/trunk/doc/gazebo.dox
code/gazebo/trunk/doc/header.html
code/gazebo/trunk/examples/libgazebo/simiface/simiface.cc
code/gazebo/trunk/server/physics/BallJoint.hh
code/gazebo/trunk/server/physics/Body.hh
code/gazebo/trunk/server/physics/BoxGeom.hh
code/gazebo/trunk/server/physics/CylinderGeom.hh
code/gazebo/trunk/server/physics/Hinge2Joint.hh
code/gazebo/trunk/server/physics/HingeJoint.hh
code/gazebo/trunk/server/physics/SliderJoint.hh
code/gazebo/trunk/server/physics/SphereGeom.hh
code/gazebo/trunk/server/physics/TrimeshGeom.hh
code/gazebo/trunk/server/physics/UniversalJoint.hh
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
Added Paths:
-----------
code/gazebo/trunk/doc/xmltags.html
Modified: code/gazebo/trunk/doc/gazebo.dox
===================================================================
--- code/gazebo/trunk/doc/gazebo.dox 2008-07-01 08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/doc/gazebo.dox 2008-07-01 18:50:43 UTC (rev 6723)
@@ -170,7 +170,7 @@
# The TAB_SIZE tag can be used to set the number of spaces in a tab.
# Doxygen uses this value to replace tabs by spaces in code fragments.
-TAB_SIZE = 8
+TAB_SIZE = 4
# This tag can be used to specify a number of aliases that acts
# as commands in the documentation. An alias has the form "name=value".
@@ -459,7 +459,7 @@
# directories like "/usr/src/myproject". Separate the files or directories
# with spaces.
-INPUT = mainpage.html install.html modules.html
tutorial_model.html tutorial_controller.html tutorial_sensor.html
tutorial_player.html tutorial_terrain.html config_syntax.html gazebo.txt
gui.html prerequisites.html tutorial_mesh.html media_organization.html
../server ../player ../libgazebo
+INPUT = mainpage.html install.html modules.html
tutorial_model.html tutorial_controller.html tutorial_sensor.html
tutorial_player.html tutorial_terrain.html config_syntax.html gazebo.txt
gui.html prerequisites.html tutorial_mesh.html media_organization.html
xmltags.html ../server ../player ../libgazebo
# If the value of the INPUT tag contains directories, you can use the
# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
Modified: code/gazebo/trunk/doc/header.html
===================================================================
--- code/gazebo/trunk/doc/header.html 2008-07-01 08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/doc/header.html 2008-07-01 18:50:43 UTC (rev 6723)
@@ -47,6 +47,7 @@
<dd><a href="modules.html">Code Reference</a></dd>
<dd><a href="annotated.html">Class List</a></dd>
<dd><a href="hierarchy.html">Class Hierarchy</a></dd>
+ <dd><a href="xmltags.html">Worldfile XML Tags</a></dd>
</dl>
</div>
Added: code/gazebo/trunk/doc/xmltags.html
===================================================================
--- code/gazebo/trunk/doc/xmltags.html (rev 0)
+++ code/gazebo/trunk/doc/xmltags.html 2008-07-01 18:50:43 UTC (rev 6723)
@@ -0,0 +1,100 @@
+/**
+
+\page xmltags Worldfile XML Tags
+
+\section generaltags General Tags
+
+The following XML tags are general attributes that are applicable to all world
files. Specific details of geometries, joints, sensors, etc can be found in
their documentation.
+
+\verbatim
+
+ <!-- Parameters for ODE physics engine -->
+ <physics:ode>
+ <stepTime>#</stepTime> <!-- Duration of a step, in seconds.
(default=0.03)-->
+ <gravity># # #</gravity> <!-- Gravity vector. (default=0 0 -9.8)-->
+ <cfm>#</cfm> <!-- Constraint force mixing. (default = 10e-5) -->
+ <erp>#</erp> <!-- Error reduction. (default=0.3) -->
+ </physics:ode>
+
+ <!-- Parameters for the GUI -->
+ <rendering:gui>
+ <size># #</size> <!-- Size in pixels of the initial GUI -->
+ <pos># #</pos> <!-- Position on the screen to place the GUI -->
+ </rendering:gui>
+
+ <!-- Parameters for the OGRE rendering engine -->
+ <rendering:ogre>
+ <ambient># # # #</ambient> <!-- Ambient light color -->
+
+ <sky> <!-- Sky material. Optional -->
+ <material>string</material>
+ </sky>
+
+ <fog> <!-- Fog, optional -->
+ <color># # #</color> <!-- Color of the fog -->
+ <linearStart>#</linearStart> <!-- Distance at which the fog starts -->
+ <linearEnd>#</linearEnd> <!-- Distance at which the fog reaches full
density-->
+ </fog>
+ </rendering:ogre>
+
+ <!-- A model. There is no limit to the number of models in a world-->
+ <model:physical name="">
+ <xyz># # #</xyz> <!-- Position of the model in the world -->
+ <rpy># # #</rpy> <!-- Roll, pitch, yaw of the model -->
+
+ <static>true|false</static> <!-- True = makes the model immovable -->
+
+ <!-- A body. There is no limit to the number of bodies in a model -->
+ <body:[plane|box|sphere|cylinder|trimesh] name="">
+ <xyz># # #</xyz> <!-- XYZ position of the body relative to the model -->
+ <rpy># # #</rpy> <!-- Roll, Pitch, Yaw of the body relative to the model
-->
+
+ <!-- A geometry that is attached to the parent body. There can be 1..n
geometries per body -->
+ <geom:[box|sphere|cylinder|trimesh] name="">
+ <xyz># # #</xyz> <!-- XYZ position of the geom, relative to the body
-->
+ <rpy># # #</rpy> <!-- Roll, pitch, yaw of the geom, relative to the
body -->
+ <mass>#</mass> <!-- Mass in kilograms -->
+ <laserFiducialId>#</laserFiducialId> <!-- Integer laser fiducial ID -->
+ <laserRetro>#</laserRetro> <!-- Retro reflectance value -->
+
+ <size># # #</size> <!-- Size of geom. Sphere uses radius, Cylinder
uses radius, height. Box uses xyz lengths -->
+
+ <visual>
+ <xyz># # #</xyz> <!-- Position relative to the geom -->
+ <rpy># # #<rpy> <!-- Roll, pitch, yaw relative to the geom -->
+ <size># # #<size> <!-- Size of the mesh in the x,y,z dimensions -->
+ <mesh>string</mesh> <!-- Name of the mesh -->
+ <material>string</mesh> <!-- Name of the material. This name must
match a name in one of the file at
install_path/share/gazebo/Media/materials/scripts. -->
+ <castShadows>true|false</castShadows> <!-- True = cast shadows -->
+ </visual>
+
+ </geom:[box|sphere|cylinder|trimesh]>
+
+ <!-- Attach a sensor to the body. Each sensor has a different set of
parameters -->
+ <sensor:type name="">
+
+ <!-- Define a controller to process the sensor information, and expose
the data to libgazebo -->
+ <controller:type name="">
+ <!-- Define an type of interface that the controller interacts with
-->
+ <interface:type name="" />
+ </controller:type name="">
+ </sensor>
+
+ </body:[box|sphere|cylinder|trimesh]>
+
+ <!-- A joint connects two bodies together -->
+ <joint:type>
+ <body1>string</body1> <!-- Name of the first body -->
+ <body2>string</body2> <!-- Name of the second body -->
+ <anchor>string</anchor> <!-- Name of the model that acts as the anchor
-->
+ <anchorOffset># # #</anchorOffset> <!-- Meters to move the anchor,
relative to the anchor -->
+ <erp>#</erp> <!-- Error reduction parameter -->
+ <cfm>#</cfm> <!-- Constraint force mixing parameter -->
+ </joint:type>
+
+ </model:physical>
+
+
+\endverbatim
+
+*/
Modified: code/gazebo/trunk/examples/libgazebo/simiface/simiface.cc
===================================================================
--- code/gazebo/trunk/examples/libgazebo/simiface/simiface.cc 2008-07-01
08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/examples/libgazebo/simiface/simiface.cc 2008-07-01
18:50:43 UTC (rev 6723)
@@ -30,28 +30,34 @@
return -1;
}
- simIface->Lock(1);
//simIface->data->reset = 1;
// Example of how to move a model (box1_model)
- uint8_t name[512] = "box1_model";
+ uint8_t name[512] = "pioneer2dx_model1";
uint8_t cmd[32] = "set_pose3d";
- memcpy(simIface->data->model_name, name, 512);
- memcpy(simIface->data->model_req,cmd, 32);
+ for (int i=0; i< 10; i++)
+ {
+ simIface->Lock(1);
- simIface->data->model_pose.pos.x = 2;
- simIface->data->model_pose.pos.y = 0;
- simIface->data->model_pose.pos.z = 0;
+ memcpy(simIface->data->model_name, name, 512);
+ memcpy(simIface->data->model_req,cmd, 32);
- simIface->Unlock();
+ simIface->data->model_pose.pos.x = i+.1;
+ simIface->data->model_pose.pos.y = 0;
+ simIface->data->model_pose.pos.z = 0.2;
- usleep(1000000);
+ simIface->Unlock();
+ usleep(100000);
+ }
+
+
// Example of resetting the simulator
- simIface->Lock(1);
+ /*simIface->Lock(1);
simIface->data->reset = 1;
simIface->Unlock();
+ */
usleep(1000000);
Modified: code/gazebo/trunk/server/physics/BallJoint.hh
===================================================================
--- code/gazebo/trunk/server/physics/BallJoint.hh 2008-07-01 08:51:20 UTC
(rev 6722)
+++ code/gazebo/trunk/server/physics/BallJoint.hh 2008-07-01 18:50:43 UTC
(rev 6723)
@@ -46,6 +46,10 @@
- Name of the second body to attach to the joint
- anchor (string)
- Name of the body which will act as the anchor to the joint
+ - erp (double)
+ - Error reduction parameter. Default = 0.4
+ - cfm (double)
+ - Constraint force mixing. Default = 0.8
\par Example
\verbatim
Modified: code/gazebo/trunk/server/physics/Body.hh
===================================================================
--- code/gazebo/trunk/server/physics/Body.hh 2008-07-01 08:51:20 UTC (rev
6722)
+++ code/gazebo/trunk/server/physics/Body.hh 2008-07-01 18:50:43 UTC (rev
6723)
@@ -35,11 +35,13 @@
#include "Entity.hh"
#include "Pose3d.hh"
+
namespace gazebo
{
class Geom;
class Sensor;
+
/// \addtogroup gazebo_physics
/// \brief The body class
/// \{
Modified: code/gazebo/trunk/server/physics/BoxGeom.hh
===================================================================
--- code/gazebo/trunk/server/physics/BoxGeom.hh 2008-07-01 08:51:20 UTC (rev
6722)
+++ code/gazebo/trunk/server/physics/BoxGeom.hh 2008-07-01 18:50:43 UTC (rev
6723)
@@ -52,11 +52,15 @@
<xyz>1 2 3</xyz>
<rpy>0 0 30</rpy>
<size>0.1 0.2 0.3</size>
- <mesh>default</mesh>
<mass>0.5</mass>
- <material>Gazebo/Red</material>
<laserFiducialId>1</laserFiducialId>
<laserRetro>0.5</laserRetro>
+
+ <visual>
+ <size>0.1 0.2 0.3</size>
+ <mesh>default</mesh>
+ <material>Gazebo/Red</material>
+ </visual>
</geom:box>
\endverbatim
*/
Modified: code/gazebo/trunk/server/physics/CylinderGeom.hh
===================================================================
--- code/gazebo/trunk/server/physics/CylinderGeom.hh 2008-07-01 08:51:20 UTC
(rev 6722)
+++ code/gazebo/trunk/server/physics/CylinderGeom.hh 2008-07-01 18:50:43 UTC
(rev 6723)
@@ -51,11 +51,15 @@
<xyz>1 2 3</xyz>
<rpy>0 0 30</rpy>
<size>0.1 0.5</size>
- <mesh>default</mesh>
<mass>0.5</mass>
- <material>Gazebo/Red</material>
<laserFiducialId>1</laserFiducialId>
<laserRetro>0.5</laserRetro>
+
+ <visual>
+ <size>0.1 0.1 0.5</size>
+ <mesh>default</mesh>
+ <material>Gazebo/Red</material>
+ </visual>
</geom:box>
\endverbatim
*/
Modified: code/gazebo/trunk/server/physics/Hinge2Joint.hh
===================================================================
--- code/gazebo/trunk/server/physics/Hinge2Joint.hh 2008-07-01 08:51:20 UTC
(rev 6722)
+++ code/gazebo/trunk/server/physics/Hinge2Joint.hh 2008-07-01 18:50:43 UTC
(rev 6723)
@@ -64,7 +64,14 @@
- highStop2 (float, degrees)
- The high stop angle for the second degree of freedom
- Default: infinity
+ - erp (double)
+ - Error reduction parameter.
+ - Default = 0.4
+ - cfm (double)
+ - Constraint force mixing.
+ - Default = 0.8
+
\par Example
\verbatim
<joint:hinge2 name="hinge2_joint>
Modified: code/gazebo/trunk/server/physics/HingeJoint.hh
===================================================================
--- code/gazebo/trunk/server/physics/HingeJoint.hh 2008-07-01 08:51:20 UTC
(rev 6722)
+++ code/gazebo/trunk/server/physics/HingeJoint.hh 2008-07-01 18:50:43 UTC
(rev 6723)
@@ -55,6 +55,12 @@
- highStop (float, degrees)
- The high stop angle for the first degree of freedom
- Default: infinity
+ - erp (double)
+ - Error reduction parameter.
+ - Default = 0.4
+ - cfm (double)
+ - Constraint force mixing.
+ - Default = 0.8
\par Example
\verbatim
Modified: code/gazebo/trunk/server/physics/SliderJoint.hh
===================================================================
--- code/gazebo/trunk/server/physics/SliderJoint.hh 2008-07-01 08:51:20 UTC
(rev 6722)
+++ code/gazebo/trunk/server/physics/SliderJoint.hh 2008-07-01 18:50:43 UTC
(rev 6723)
@@ -56,7 +56,14 @@
- highStop (float, meters)
- The high stop position
- Default: infinity
+ - erp (double)
+ - Error reduction parameter.
+ - Default = 0.4
+ - cfm (double)
+ - Constraint force mixing.
+ - Default = 0.8
+
\par Example
\verbatim
<joint:slider name="slider_joint>
Modified: code/gazebo/trunk/server/physics/SphereGeom.hh
===================================================================
--- code/gazebo/trunk/server/physics/SphereGeom.hh 2008-07-01 08:51:20 UTC
(rev 6722)
+++ code/gazebo/trunk/server/physics/SphereGeom.hh 2008-07-01 18:50:43 UTC
(rev 6723)
@@ -52,11 +52,15 @@
<xyz>1 2 3</xyz>
<rpy>0 0 30</rpy>
<size>0.1</size>
- <mesh>default</mesh>
<mass>0.5</mass>
- <material>Gazebo/Red</material>
<laserFiducialId>1</laserFiducialId>
<laserRetro>0.5</laserRetro>
+
+ <visual>
+ <mesh>default</mesh>
+ <size>0.1 0.1 0.1</size>
+ <material>Gazebo/Red</material>
+ </visual>
</geom:sphere>
\endverbatim
*/
Modified: code/gazebo/trunk/server/physics/TrimeshGeom.hh
===================================================================
--- code/gazebo/trunk/server/physics/TrimeshGeom.hh 2008-07-01 08:51:20 UTC
(rev 6722)
+++ code/gazebo/trunk/server/physics/TrimeshGeom.hh 2008-07-01 18:50:43 UTC
(rev 6723)
@@ -50,10 +50,15 @@
\par Example
\verbatim
<geom:trimesh name="pallet_geom">
- <mesh>kitchen.mesh</mesh>
+ <mesh>WoodPallet.mesh</mesh>
<scale>.2 .2 .2</scale>
- <material>Gazebo/WoodPallet</material>
- <mass>1.0</mass>
+ <mass>0.1</mass>
+
+ <visual>
+ <scale>.2 .2 .2</scale>
+ <material>Gazebo/WoodPallet</material>
+ <mesh>WoodPallet.mesh</mesh>
+ </visual>
</geom:trimesh>
\endverbatim
*/
Modified: code/gazebo/trunk/server/physics/UniversalJoint.hh
===================================================================
--- code/gazebo/trunk/server/physics/UniversalJoint.hh 2008-07-01 08:51:20 UTC
(rev 6722)
+++ code/gazebo/trunk/server/physics/UniversalJoint.hh 2008-07-01 18:50:43 UTC
(rev 6723)
@@ -62,7 +62,14 @@
- highStop2 (float, degrees)
- The high stop angle for the second degree of freedom
- Default: infinity
+ - erp (double)
+ - Error reduction parameter.
+ - Default = 0.4
+ - cfm (double)
+ - Constraint force mixing.
+ - Default = 0.8
+
\par Example
\verbatim
<joint:universal name="universal_joint>
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2008-07-01 08:51:20 UTC
(rev 6722)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2008-07-01 18:50:43 UTC
(rev 6723)
@@ -100,7 +100,7 @@
this->gravity = cnode->GetVector3("gravity",this->gravity);
this->stepTime = cnode->GetDouble("stepTime",this->stepTime);
this->updateRate = cnode->GetDouble("maxUpdateRate", 0, 0);
- this->globalCFM = cnode->GetDouble("cfm",1e-5,0);
+ this->globalCFM = cnode->GetDouble("cfm",10e-5,0);
this->globalERP = cnode->GetDouble("erp",0.2,0);
}
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2008-07-01 08:51:20 UTC
(rev 6722)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2008-07-01 18:50:43 UTC
(rev 6723)
@@ -48,23 +48,35 @@
The \c param:physics tag is used to specify certain parameters for the ODE
phyics engine. The following parameters are in addition to those provided by
the PhysicsEngine base class.
-\verbatim
-<param:physics>
- <cfm>10e-9</cfm>
- <erp>0.2</erp>
-</param:physics>
-\endverbatim
+\par Attributes
- cfm (float)
- - Global Constraint Force Mixing parameter
+ - Global constraint force mixing
+ - Default: 10e-5
- Range: 10e-10 to 1.0
- - Recommended value: 10e-9
-
+ - Recommended value: 10e-5
- erp (float)
- - Global Error Reduction parameter
+ - Global error reduction parameter
+ - Default: 0.2
- Range: 0 to 1.0
- Recommended Range: 0.1 to 0.8
+- stepTime (float)
+ - Time, in seconds, that elapse for each iteration of the physics engine
+ - Default: 0.025
+-gravity (float float float)
+ - Gravity vector.
+ - Default: 0 0 -9.8
+\verbatim
+<physics:ode>
+ <stepTime>0.03</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ <cfm>10e-5</cfm>
+ <erp>0.2</erp>
+</physcis:ode>
+\endverbatim
+
+
\{
*/
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