Revision: 6810
http://playerstage.svn.sourceforge.net/playerstage/?rev=6810&view=rev
Author: rtv
Date: 2008-07-07 21:33:24 -0700 (Mon, 07 Jul 2008)
Log Message:
-----------
clean up working towards release
Modified Paths:
--------------
code/stage/trunk/CMakeLists.txt
code/stage/trunk/examples/ctrl/CMakeLists.txt
Added Paths:
-----------
code/stage/trunk/worlds/benchmark/expand.cc
Removed Paths:
-------------
code/stage/trunk/examples/ctrl/expand.cc
code/stage/trunk/worlds/benchmark/benchmark.cc
Modified: code/stage/trunk/CMakeLists.txt
===================================================================
--- code/stage/trunk/CMakeLists.txt 2008-07-08 04:29:12 UTC (rev 6809)
+++ code/stage/trunk/CMakeLists.txt 2008-07-08 04:33:24 UTC (rev 6810)
@@ -103,11 +103,12 @@
# work through these subdirs
ADD_SUBDIRECTORY(libstage)
-ADD_SUBDIRECTORY(examples)
IF ( PLAYER_FOUND )
ADD_SUBDIRECTORY(libstageplugin)
ENDIF ( PLAYER_FOUND )
+ADD_SUBDIRECTORY(examples)
ADD_SUBDIRECTORY(assets)
+ADD_SUBDIRECTORY(worlds)
Modified: code/stage/trunk/examples/ctrl/CMakeLists.txt
===================================================================
--- code/stage/trunk/examples/ctrl/CMakeLists.txt 2008-07-08 04:29:12 UTC
(rev 6809)
+++ code/stage/trunk/examples/ctrl/CMakeLists.txt 2008-07-08 04:33:24 UTC
(rev 6810)
@@ -1,6 +1,5 @@
SET( PLUGINS
- expand
fasr
lasernoise
sink
Deleted: code/stage/trunk/examples/ctrl/expand.cc
===================================================================
--- code/stage/trunk/examples/ctrl/expand.cc 2008-07-08 04:29:12 UTC (rev
6809)
+++ code/stage/trunk/examples/ctrl/expand.cc 2008-07-08 04:33:24 UTC (rev
6810)
@@ -1,121 +0,0 @@
-/////////////////////////////////
-// File: stest.c
-// Desc: Stage library test program
-// Created: 2004.9.15
-// Author: Richard Vaughan <[EMAIL PROTECTED]>
-// CVS: $Id: stest.cc,v 1.3 2008-02-01 03:11:02 rtv Exp $
-// License: GPL
-/////////////////////////////////
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "stage.hh"
-using namespace Stg;
-
-typedef struct
-{
- StgModelLaser* laser;
- StgModelPosition* position;
- StgModelRanger* ranger;
-} robot_t;
-
-#define VSPEED 0.5 // meters per second
-#define WGAIN 1.5 // turn speed gain
-#define SAFE_DIST 0.6 // meters
-#define SAFE_ANGLE 1 // radians
-
-// forward declare
-int RangerUpdate( StgModel* mod, robot_t* robot );
-
-// Stage calls this when the model starts up
-extern "C" int Init( StgModel* mod )
-{
- robot_t* robot = new robot_t;
- robot->position = (StgModelPosition*)mod;
-
- // subscribe to the ranger, which we use for navigating
- robot->ranger = (StgModelRanger*)mod->GetModel( "ranger:0" );
- assert( robot->ranger );
- robot->ranger->Subscribe();
-
- // ask Stage to call into our ranger update function
- robot->ranger->AddUpdateCallback( (stg_model_callback_t)RangerUpdate, robot
);
-
- // subscribe to the laser, though we don't use it for navigating
- //robot->laser = (StgModelLaser*)mod->GetModel( "laser:0" );
- //assert( robot->laser );
- //robot->laser->Subscribe();
-
- return 0; //ok
-}
-
-int RangerUpdate( StgModel* mod, robot_t* robot )
-{
- StgModelRanger* rgr = robot->ranger;
-
- if( rgr->samples == NULL )
- return 0;
-
- // compute the vector sum of the sonar ranges
- double dx=0, dy=0;
-
- for( unsigned int s=0; s< rgr->sensor_count; s++ )
- {
- double srange = rgr->samples[s];
-
- dx += srange * cos( rgr->sensors[s].pose.a );
- dy += srange * sin( rgr->sensors[s].pose.a );
-
- //printf( "sensor %d angle= %.2f\n", s, rgr->sensors[s].pose.a
);
- }
-
- if( (dx == 0) || (dy == 0) )
- return 0;
-
- assert( dy != 0 );
- assert( dx != 0 );
-
- double resultant_angle = atan2( dy, dx );
- double forward_speed = 0.0;
- double side_speed = 0.0;
- double turn_speed = WGAIN * resultant_angle;
-
- //printf( "resultant %.2f turn_speed %.2f\n", resultant_angle, turn_speed );
-
- int forward = 0 ;
- // if the front is clear, drive forwards
- if( (rgr->samples[0] > SAFE_DIST) &&
- (rgr->samples[1] > SAFE_DIST/2.0) &&
- (rgr->samples[2] > SAFE_DIST/5.0) &&
- (rgr->samples[15] > SAFE_DIST/2.0) &&
- (rgr->samples[14] > SAFE_DIST/5.0) &&
- (fabs( resultant_angle ) < SAFE_ANGLE) )
- {
- forward_speed = VSPEED;
- }
-
- //printf( "forward angle = %.2f\n", rgr->sensors[forward].pose.a );
-
- // // send a command to the robot
- // stg_velocity_t vel;
- // bzero(&vel,sizeof(vel));
- // vel.x = forward_speed;
- // vel.y = side_speed;
- // vel.z = 0;
- // vel.a = turn_speed;
-
- //printf( "robot %s [%.2f %.2f %.2f %.2f]\n",
- //robots[i].position->Token(), vel.x, vel.y, vel.z, vel.a );
-
- // uint32_t bcount=0;
- //stg_blobfinder_blob_t* blobs = robots[i].blobfinder->GetBlobs( &bcount );
-
- //printf( "robot %s sees %u blobs\n", robots[i].blobfinder->Token(), bcount
);
-
- robot->position->SetSpeed( forward_speed, side_speed, turn_speed );
-
- return 0;
-}
-
Deleted: code/stage/trunk/worlds/benchmark/benchmark.cc
===================================================================
--- code/stage/trunk/worlds/benchmark/benchmark.cc 2008-07-08 04:29:12 UTC
(rev 6809)
+++ code/stage/trunk/worlds/benchmark/benchmark.cc 2008-07-08 04:33:24 UTC
(rev 6810)
@@ -1,121 +0,0 @@
-/////////////////////////////////
-// File: stest.c
-// Desc: Stage library test program
-// Created: 2004.9.15
-// Author: Richard Vaughan <[EMAIL PROTECTED]>
-// CVS: $Id: stest.cc,v 1.3 2008-02-01 03:11:02 rtv Exp $
-// License: GPL
-/////////////////////////////////
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "stage.hh"
-using namespace Stg;
-
-typedef struct
-{
- StgModelLaser* laser;
- StgModelPosition* position;
- StgModelRanger* ranger;
-} robot_t;
-
-#define VSPEED 0.5 // meters per second
-#define WGAIN 1.5 // turn speed gain
-#define SAFE_DIST 0.6 // meters
-#define SAFE_ANGLE 1 // radians
-
-// forward declare
-int RangerUpdate( StgModel* mod, robot_t* robot );
-
-// Stage calls this when the model starts up
-extern "C" int Init( StgModel* mod )
-{
- robot_t* robot = new robot_t;
- robot->position = (StgModelPosition*)mod;
-
- // subscribe to the ranger, which we use for navigating
- robot->ranger = (StgModelRanger*)mod->GetModel( "ranger:0" );
- assert( robot->ranger );
- robot->ranger->Subscribe();
-
- // ask Stage to call into our ranger update function
- robot->ranger->AddUpdateCallback( (stg_model_callback_t)RangerUpdate, robot
);
-
- // subscribe to the laser, though we don't use it for navigating
- //robot->laser = (StgModelLaser*)mod->GetModel( "laser:0" );
- //assert( robot->laser );
- //robot->laser->Subscribe();
-
- return 0; //ok
-}
-
-int RangerUpdate( StgModel* mod, robot_t* robot )
-{
- StgModelRanger* rgr = robot->ranger;
-
- if( rgr->samples == NULL )
- return 0;
-
- // compute the vector sum of the sonar ranges
- double dx=0, dy=0;
-
- for( unsigned int s=0; s< rgr->sensor_count; s++ )
- {
- double srange = rgr->samples[s];
-
- dx += srange * cos( rgr->sensors[s].pose.a );
- dy += srange * sin( rgr->sensors[s].pose.a );
-
- //printf( "sensor %d angle= %.2f\n", s, rgr->sensors[s].pose.a
);
- }
-
- if( (dx == 0) || (dy == 0) )
- return 0;
-
- assert( dy != 0 );
- assert( dx != 0 );
-
- double resultant_angle = atan2( dy, dx );
- double forward_speed = 0.0;
- double side_speed = 0.0;
- double turn_speed = WGAIN * resultant_angle;
-
- //printf( "resultant %.2f turn_speed %.2f\n", resultant_angle, turn_speed );
-
- int forward = 0 ;
- // if the front is clear, drive forwards
- if( (rgr->samples[0] > SAFE_DIST) &&
- (rgr->samples[1] > SAFE_DIST/2.0) &&
- (rgr->samples[2] > SAFE_DIST/5.0) &&
- (rgr->samples[15] > SAFE_DIST/2.0) &&
- (rgr->samples[14] > SAFE_DIST/5.0) &&
- (fabs( resultant_angle ) < SAFE_ANGLE) )
- {
- forward_speed = VSPEED;
- }
-
- //printf( "forward angle = %.2f\n", rgr->sensors[forward].pose.a );
-
- // // send a command to the robot
- // stg_velocity_t vel;
- // bzero(&vel,sizeof(vel));
- // vel.x = forward_speed;
- // vel.y = side_speed;
- // vel.z = 0;
- // vel.a = turn_speed;
-
- //printf( "robot %s [%.2f %.2f %.2f %.2f]\n",
- //robots[i].position->Token(), vel.x, vel.y, vel.z, vel.a );
-
- // uint32_t bcount=0;
- //stg_blobfinder_blob_t* blobs = robots[i].blobfinder->GetBlobs( &bcount );
-
- //printf( "robot %s sees %u blobs\n", robots[i].blobfinder->Token(), bcount
);
-
- robot->position->SetSpeed( forward_speed, side_speed, turn_speed );
-
- return 0;
-}
-
Copied: code/stage/trunk/worlds/benchmark/expand.cc (from rev 6809,
code/stage/trunk/worlds/benchmark/benchmark.cc)
===================================================================
--- code/stage/trunk/worlds/benchmark/expand.cc (rev 0)
+++ code/stage/trunk/worlds/benchmark/expand.cc 2008-07-08 04:33:24 UTC (rev
6810)
@@ -0,0 +1,121 @@
+/////////////////////////////////
+// File: stest.c
+// Desc: Stage library test program
+// Created: 2004.9.15
+// Author: Richard Vaughan <[EMAIL PROTECTED]>
+// CVS: $Id: stest.cc,v 1.3 2008-02-01 03:11:02 rtv Exp $
+// License: GPL
+/////////////////////////////////
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "stage.hh"
+using namespace Stg;
+
+typedef struct
+{
+ StgModelLaser* laser;
+ StgModelPosition* position;
+ StgModelRanger* ranger;
+} robot_t;
+
+#define VSPEED 0.5 // meters per second
+#define WGAIN 1.5 // turn speed gain
+#define SAFE_DIST 0.6 // meters
+#define SAFE_ANGLE 1 // radians
+
+// forward declare
+int RangerUpdate( StgModel* mod, robot_t* robot );
+
+// Stage calls this when the model starts up
+extern "C" int Init( StgModel* mod )
+{
+ robot_t* robot = new robot_t;
+ robot->position = (StgModelPosition*)mod;
+
+ // subscribe to the ranger, which we use for navigating
+ robot->ranger = (StgModelRanger*)mod->GetModel( "ranger:0" );
+ assert( robot->ranger );
+ robot->ranger->Subscribe();
+
+ // ask Stage to call into our ranger update function
+ robot->ranger->AddUpdateCallback( (stg_model_callback_t)RangerUpdate, robot
);
+
+ // subscribe to the laser, though we don't use it for navigating
+ //robot->laser = (StgModelLaser*)mod->GetModel( "laser:0" );
+ //assert( robot->laser );
+ //robot->laser->Subscribe();
+
+ return 0; //ok
+}
+
+int RangerUpdate( StgModel* mod, robot_t* robot )
+{
+ StgModelRanger* rgr = robot->ranger;
+
+ if( rgr->samples == NULL )
+ return 0;
+
+ // compute the vector sum of the sonar ranges
+ double dx=0, dy=0;
+
+ for( unsigned int s=0; s< rgr->sensor_count; s++ )
+ {
+ double srange = rgr->samples[s];
+
+ dx += srange * cos( rgr->sensors[s].pose.a );
+ dy += srange * sin( rgr->sensors[s].pose.a );
+
+ //printf( "sensor %d angle= %.2f\n", s, rgr->sensors[s].pose.a
);
+ }
+
+ if( (dx == 0) || (dy == 0) )
+ return 0;
+
+ assert( dy != 0 );
+ assert( dx != 0 );
+
+ double resultant_angle = atan2( dy, dx );
+ double forward_speed = 0.0;
+ double side_speed = 0.0;
+ double turn_speed = WGAIN * resultant_angle;
+
+ //printf( "resultant %.2f turn_speed %.2f\n", resultant_angle, turn_speed );
+
+ int forward = 0 ;
+ // if the front is clear, drive forwards
+ if( (rgr->samples[0] > SAFE_DIST) &&
+ (rgr->samples[1] > SAFE_DIST/2.0) &&
+ (rgr->samples[2] > SAFE_DIST/5.0) &&
+ (rgr->samples[15] > SAFE_DIST/2.0) &&
+ (rgr->samples[14] > SAFE_DIST/5.0) &&
+ (fabs( resultant_angle ) < SAFE_ANGLE) )
+ {
+ forward_speed = VSPEED;
+ }
+
+ //printf( "forward angle = %.2f\n", rgr->sensors[forward].pose.a );
+
+ // // send a command to the robot
+ // stg_velocity_t vel;
+ // bzero(&vel,sizeof(vel));
+ // vel.x = forward_speed;
+ // vel.y = side_speed;
+ // vel.z = 0;
+ // vel.a = turn_speed;
+
+ //printf( "robot %s [%.2f %.2f %.2f %.2f]\n",
+ //robots[i].position->Token(), vel.x, vel.y, vel.z, vel.a );
+
+ // uint32_t bcount=0;
+ //stg_blobfinder_blob_t* blobs = robots[i].blobfinder->GetBlobs( &bcount );
+
+ //printf( "robot %s sees %u blobs\n", robots[i].blobfinder->Token(), bcount
);
+
+ robot->position->SetSpeed( forward_speed, side_speed, turn_speed );
+
+ return 0;
+}
+
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