Revision: 6828
http://playerstage.svn.sourceforge.net/playerstage/?rev=6828&view=rev
Author: jeremy_asher
Date: 2008-07-09 14:10:31 -0700 (Wed, 09 Jul 2008)
Log Message:
-----------
More documentation
Modified Paths:
--------------
code/stage/trunk/docsrc/stage.txt
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/worldgui.cc
Modified: code/stage/trunk/docsrc/stage.txt
===================================================================
--- code/stage/trunk/docsrc/stage.txt 2008-07-09 20:29:43 UTC (rev 6827)
+++ code/stage/trunk/docsrc/stage.txt 2008-07-09 21:10:31 UTC (rev 6828)
@@ -248,9 +248,8 @@
<h2>Quick start</h2>
-Install Player first, then Stage, using the standard GNU autotools
-build system: download and extract the tarballs, then <tt>./configure
-; make install</tt>.
+Install Stage using the CMake build tools: download and extract the tarball,
then
+<tt>cmake .; make install</tt>.
<h2>Standard install procedure</h2>
@@ -262,7 +261,7 @@
installed and working. See the Player documentation for instructions.
<li>Download the latest Stage source tarball (stage-src-\<version\>.tgz)
-from <a href=http:playerstage.sf.net>http://playerstage.sf.net</a>
+from <a
href="http://sourceforge.net/projects/playerstage";>http://sourceforge.net/projects/playerstage</a>
<li>Uncompress and expand the tarball: <br>
<tt>$ tar xzvf stage-\<version\>.tgz</tt>
@@ -271,13 +270,13 @@
<tt>$ cd stage-\<version\></tt>
<li>To configure Stage with default settings:<br>
-<tt>$ ./configure</tt><br>
+<tt>$ cmake .</tt><br>
<li>Compile Stage:<br>
<tt>$ make</tt>
<li>Test to see if Stage works by running the stest program:<br>
-<tt>src/stest worlds/simple.world robot1</tt><br>
+<tt>libstage/stest worlds/simple.world robot1</tt><br>
If you see a robot running around, your build was successful. If not,
you need to debug. See the <a href="http://playerstage.sf.net";>website
and user groups for debugging help</a>.
@@ -318,26 +317,14 @@
<h2>Customized installations</h2>
-<p>Stage follows the standard GNU autotools conventions for build and
-install options. To see a list of all the available configuration
-options, do this:
+<p> todo
-<p><tt>./configure --help</tt>
+<p> export CMAKE_INSTALL_PREFIX=<prefix>
-<p>The most important option is <tt>--prefix</tt>, used
-to change the installation directory from the default (which varies
-from system to system, but is usually <tt>/usr/local</tt>). In
-general, Stage should get the same prefix you used to install Player. Prefixes
must be absolute paths, i.e. a complete path starting with a '/'.
+<p> Prefixes must be absolute, expanded paths, i.e. a complete path starting
with a '/' (not stage or $HOME/stage).
-<p>For example, you might want to install Stage your home directory
-because you don't have root access:
+<p> todo: finding player
-<p><tt>$./configure --prefix=/home/harrison/PS</tt>
-
-<p><b>These instructions assume that Player was configured with the
-same prefix.</b> The command line to do this is probably the same, but you
-should check the Player instructions just in case.
-
\section References
[1] Brian Gerkey, Richard Vaughan, Kasper Stoy, Andrew Howard, Gaurav
@@ -452,75 +439,6 @@
*/
/**
[EMAIL PROTECTED] stage
[EMAIL PROTECTED] install Installation
-
-<b>Important: Stage is an extension to Player; Player must be properly
-installed before you can install Stage.</b>
-
-<h2>Quick start</h2>
-
-Install Player first, then Stage, using the standard GNU autotools
-build system: download and extract the tarballs, then <tt>./configure
-; make install</tt>.
-
-<h2>Standard install procedure</h2>
-
-<p>To install Stage in the default location, follow these steps:
-
-<ol>
-
-<li>Make sure Player is installed and working. See the Player
- documentation for instructions.
-
-<li>Download the latest Stage source tarball (stage-src-\<version\>.tgz)
-from <a href=http:playerstage.sf.net>http://playerstage.sf.net</a>
-
-<li>Uncompress and expand the tarball: <br>
- <tt>$ tar xzvf stage-\<version\>.tgz</tt>
-
-<li>`cd' into Stage's source directory:<br>
- <tt>$ cd stage-\<version\></tt>
-
-<li>To configure Stage with default settings:<br>
-<tt>$ ./configure</tt><br>
-
-<li>Compile Stage:<br>
-<tt>$ make</tt>
-
-<li>Install Stage. By default, Stage will be installed in
-<tt>/usr/local</tt> so you need to become root for this step. Remember
-to return to your normal user ID afterwards. <br>
-<tt>$ make install</tt>
-
-</ol>
-
-<h2>Customized installations</h2>
-
-<p>Stage follows the standard GNU autotools conventions for build and
-install options. To see a list of all the available configuration
-options, do this:
-
-<p><tt>./configure --help</tt>
-
-<p>The most important option is <tt>--prefix</tt>, used
-to change the installation directory from the default (which varies
-from system to system, but is usually <tt>/usr/local</tt>). In
-general, Stage should get the same prefix you used to install Player. Prefixes
must be absolute paths, i.e. a complete path starting with a '/'.
-
-<p>For example, you might want to install Stage your home directory
-because you don't have root access:
-
-<p><tt>$./configure --prefix=/home/harrison/PS</tt>
-
-<p><b>Remember: these instructions assume that Player was configured with the
-same prefix.</b> The command line to do this is probably the same, but you
-should check the Player instructions just in case.
-
-*/
-
-
-/**
@page release Release Notes
<h2>Version 1.6.1</h2>
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2008-07-09 20:29:43 UTC (rev 6827)
+++ code/stage/trunk/libstage/model.cc 2008-07-09 21:10:31 UTC (rev 6828)
@@ -1,91 +1,91 @@
/** @defgroup model
- The basic model simulates an object with basic properties; position,
- size, velocity, color, visibility to various sensors, etc. The basic
- model also has a body made up of a list of lines. Internally, the
- basic model is used base class for all other model types. You can use
- the basic model to simulate environmental objects.
+The basic model simulates an object with basic properties; position,
+size, velocity, color, visibility to various sensors, etc. The basic
+model also has a body made up of a list of lines. Internally, the
+basic model is used base class for all other model types. You can use
+the basic model to simulate environmental objects.
- API: Stg::StgModel
+API: Stg::StgModel
- <h2>Worldfile properties</h2>
+<h2>Worldfile properties</h2>
- @par Summary and default values
[EMAIL PROTECTED] Summary and default values
- @verbatim
- model
- (
- pose [0 0 0]
- size [1.0 1.0]
- origin [0 0 0]
- velocity [0 0 0]
[EMAIL PROTECTED]
+model
+(
+ pose [ 0 0 ]
+ size [ 1.0 1.0 ]
+ origin [ 0 0 0]
+ velocity [0 0 0]
- # body color
- color "red"
+ # body color
+ color "red"
- # determine how the model appears in various sensors
+ # determine how the model appears in various sensors
- obstacle_return 1
- laser_return 1
- ranger_return 1
- blobfinder_return 1
- fiducial_return 1
- gripper_return 0
+ obstacle_return 1
+ laser_return 1
+ ranger_return 1
+ blobfinder_return 1
+ fiducial_return 1
+ gripper_return 0
- fiducial_key 0
+ fiducial_key 0
- # GUI properties
- gui_nose 0
- gui_grid 0
- gui_boundary 0
- gui_movemask ?
+ # GUI properties
+ gui_nose 0
+ gui_grid 0
+ gui_boundary 0
+ gui_movemask ?
- bitmap ""
- )
- @endverbatim
+ bitmap ""
+)
[EMAIL PROTECTED]
- TODO PLAN: single array of all polygon vertices - model just keeps an index
+TODO PLAN: single array of all polygon vertices - model just keeps an index
- @par Details
- - pose [x_pos:float y_pos:float heading:float]
- - specify the pose of the model in its parent's coordinate system
- - size [x_size:float ysize:float]
- - specify the size of the model
- - origin [x_pos:float y_pos:float heading:float]
- - specify the position of the object's center, relative to its pose
- - velocity [x_speed:float y_speed:float rotation_speed:float]
- - specify the initial velocity of the model. Not that if the model hits an
obstacle, its velocity will be set to zero.
- - color [colorname:string]
- - specify the color of the object using a color name from the X11 database
(rgb.txt)
- - line_count [int]
- - specify the number of lines that make up the model's body- line[index]
[x1:float y1:float x2:float y2:float]
- - creates a line from (x1,y1) to (x2,y2). A set of line_count lines
defines the robot's body for the purposes of collision detection and rendering
in the GUI window.
- - bitmap [filename:string}
- - alternative way to set the model's line_count and lines. The file must
be a bitmap recognized by libgtkpixbuf (most popular formats are supported).
The file is opened and parsed into a set of lines. Unless the bitmap_resolution
option is used, the lines are scaled to fit inside the rectangle defined by the
model's current size.
- - gui_nose [bool]
- - if 1, draw a nose on the model showing its heading (positive X axis)
- - gui_grid [bool]
- - if 1, draw a scaling grid over the model
- - gui_movemask [int]
- - define how the model can be moved by the mouse in the GUI window
- - gui_boundary [bool]
- - if 1, draw a bounding box around the model, indicating its size
- - obstacle_return [bool]
- - if 1, this model can collide with other models that have this property
set
- - blob_return [bool]
- - if 1, this model can be detected in the blob_finder (depending on its
color)
- - ranger_return [bool]
- - if 1, this model can be detected by ranger sensors
- - laser_return [int]
- - if 0, this model is not detected by laser sensors. if 1, the model shows
up in a laser sensor with normal (0) reflectance. If 2, it shows up with high
(1) reflectance.
- - fiducial_return [fiducial_id:int]
- - if non-zero, this model is detected by fiducialfinder sensors. The value
is used as the fiducial ID.
- - fiducial_key [int]
- - models are only detected by fiducialfinders if the fiducial_key values
of model and fiducialfinder match. This allows you to have several independent
types of fiducial in the same environment, each type only showing up in
fiducialfinders that are "tuned" for it.
- - ranger_return [bool]
- - iff 1, this model can be detected by a ranger.
- - gripper_return [bool]
- - iff 1, this model can be gripped by a gripper and can be pushed around
by collisions with anything that has moa non-zero obstacle_return.
[EMAIL PROTECTED] Details
+- pose [x_pos:float y_pos:float heading:float]
+- specify the pose of the model in its parent's coordinate system
+- size [x_size:float ysize:float]
+- specify the size of the model
+- origin [x_pos:float y_pos:float heading:float]
+- specify the position of the object's center, relative to its pose
+- velocity [x_speed:float y_speed:float rotation_speed:float]
+- specify the initial velocity of the model. Not that if the model hits an
obstacle, its velocity will be set to zero.
+- color [colorname:string]
+- specify the color of the object using a color name from the X11 database
(rgb.txt)
+- line_count [int]
+- specify the number of lines that make up the model's body- line[index]
[x1:float y1:float x2:float y2:float]
+- creates a line from (x1,y1) to (x2,y2). A set of line_count lines defines
the robot's body for the purposes of collision detection and rendering in the
GUI window.
+- bitmap [filename:string}
+- alternative way to set the model's line_count and lines. The file must be a
bitmap recognized by libgtkpixbuf (most popular formats are supported). The
file is opened and parsed into a set of lines. Unless the bitmap_resolution
option is used, the lines are scaled to fit inside the rectangle defined by the
model's current size.
+- gui_nose [bool]
+- if 1, draw a nose on the model showing its heading (positive X axis)
+- gui_grid [bool]
+- if 1, draw a scaling grid over the model
+- gui_movemask [int]
+- define how the model can be moved by the mouse in the GUI window
+- gui_boundary [bool]
+- if 1, draw a bounding box around the model, indicating its size
+- obstacle_return [bool]
+- if 1, this model can collide with other models that have this property set
+- blob_return [bool]
+- if 1, this model can be detected in the blob_finder (depending on its color)
+- ranger_return [bool]
+- if 1, this model can be detected by ranger sensors
+- laser_return [int]
+- if 0, this model is not detected by laser sensors. if 1, the model shows up
in a laser sensor with normal (0) reflectance. If 2, it shows up with high (1)
reflectance.
+- fiducial_return [fiducial_id:int]
+- if non-zero, this model is detected by fiducialfinder sensors. The value is
used as the fiducial ID.
+- fiducial_key [int]
+- models are only detected by fiducialfinders if the fiducial_key values of
model and fiducialfinder match. This allows you to have several independent
types of fiducial in the same environment, each type only showing up in
fiducialfinders that are "tuned" for it.
+- ranger_return [bool]
+- iff 1, this model can be detected by a ranger.
+- gripper_return [bool]
+- iff 1, this model can be gripped by a gripper and can be pushed around by
collisions with anything that has moa non-zero obstacle_return.
*/
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2008-07-09 20:29:43 UTC (rev
6827)
+++ code/stage/trunk/libstage/worldgui.cc 2008-07-09 21:10:31 UTC (rev
6828)
@@ -8,107 +8,119 @@
/** @defgroup worldgui World with Graphical User Interface
- The Stage window consists of a menu bar and a view of the simulated
- world.
+The Stage window consists of a menu bar and a view of the simulated
+world.
- The world view shows part of the simulated world. You can zoom the
- view in and out, and scroll it to see more of the world. Simulated
- robot devices, obstacles, etc., are rendered as colored polygons. The
- world view can also show visualizations of the data and configuration
- of various sensor and actuator models. The View menu has options to
- control which data and configurations are rendered.
+The world view shows part of the simulated world. You can zoom the
+view in and out, and scroll it to see more of the world. Simulated
+robot devices, obstacles, etc., are rendered as colored polygons. The
+world view can also show visualizations of the data and configuration
+of various sensor and actuator models. The View menu has options to
+control which data and configurations are rendered.
- API: Stg::StgWorldGui
+API: Stg::StgWorldGui
- <h2>Worldfile Properties</h2>
+<h2>Worldfile Properties</h2>
- @par Summary and default values
[EMAIL PROTECTED] Summary and default values
- @verbatim
- window
- (
- size [ 400 300 ]
-
- # camera options
- center [ 0 0 ]
- rotate [ 0 0 ]
- scale 1.0
-
- # perspective camera options
- pcam_loc [ 0 -4 2 ]
- pcam_angle [ 70 0 ]
- pcam_on 0
[EMAIL PROTECTED]
+window
+(
+ size [ 400 300 ]
+
+ # camera options
+ center [ 0 0 ]
+ rotate [ 0 0 ]
+ scale 1.0
- # model properties do not apply to the gui window
- )
- @endverbatim
+ # perspective camera options
+ pcam_loc [ 0 -4 2 ]
+ pcam_angle [ 70 0 ]
- @par Details
- - size [ <width:int> <height:int> ]\n
- size of the window in pixels
- - center [ <x:float> <y:float> ]\n
- location of the center of the window in world coordinates (meters)
- - rotate [ <pitch:float> <yaw:float> ]\n
- angle relative to straight up, angle of rotation (degrees)
- - scale <float>\n
- ratio of world to pixel coordinates (window zoom)
- - pcam_loc [ <x:int> <y:int> <z:int> ]\n
- location of the perspective camera (meters)
- - pcam_angle [ <pitch:float> <yaw:float> ]\n
- verticle and horizontal angle of the perspective camera
- - pcam_on <int>\n
- whether to start with the perspective camera enabled (0/1)
+ # GUI options
+ show_data 0
+ show_flags 1
+ show_blocks 1
+ show_clock 1
+ show_footprints 0
+ show_grid 1
+ show_trailarrows 0
+ show_trailrise 0
+ show_trailfast 0
+ show_occupancy 0
+ show_tree 0
+ pcam_on 0
+ screenshots 0
+)
[EMAIL PROTECTED]
[EMAIL PROTECTED] Details
+- size [ <width:int> <height:int> ]\n
+size of the window in pixels
+- center [ <x:float> <y:float> ]\n
+location of the center of the window in world coordinates (meters)
+- rotate [ <pitch:float> <yaw:float> ]\n
+angle relative to straight up, angle of rotation (degrees)
+- scale <float>\n
+ratio of world to pixel coordinates (window zoom)
+- pcam_loc [ <x:int> <y:int> <z:int> ]\n
+location of the perspective camera (meters)
+- pcam_angle [ <pitch:float> <yaw:float> ]\n
+verticle and horizontal angle of the perspective camera
+- pcam_on <int>\n
+whether to start with the perspective camera enabled (0/1)
- <h2>Using the Stage window</h2>
-
- <h3>Scrolling the view</h3>
- <p>Left-click and drag on the background to move your view of the world.
+<h2>Using the Stage window</h2>
- <h3>Zooming the view</h3>
- <p>Scroll the mouse wheel to zoom in or out on the mouse cursor.
-
- <h3>Saving the world</h3>
- <P>You can save the current pose of everything in the world, using the
- File/Save menu item. <b>Warning: the saved poses overwrite the current
- world file.</b> Make a copy of your world file before saving if you
- want to keep the old poses. Alternatively the File/Save As menu item
- can be used to save to a new world file.
-
- <h3>Pausing and resuming the clock</h3>
- <p>The simulation can be paused or resumed by pressing the space key.
-
- <h3>Selecting models</h3>
- <p>Models can be selected by clicking on them with the left mouse button.
- It is possible to select multiple models by holding the shift key and
- clicking on multiple models. Selected models can be moved by dragging or
- rotated by right click dragging. Selections can be cleared by clicking on
- an empty location in the world. After clearing the selection, the last
- single model selected will be saved as the target for several view options
- described below which affect a particular model.
- <h3>View options</h3>
- <p>The View menu provides access to a number of features affecting how
- the world is rendered. To the right of each option there is usually
- a keyboard hotkey which can be pressed to quickly toggle the relevant
- option.
-
- <p>Sensor data visualizations can be toggled by the "Data" option.
- The filter data option opens a dialog which provides the ability
- to turn on and off visualizations of particular sensors. The "Visualize
All"
- option in the dialog toggles whether sensor visualizations are enabled
- for all models or only the currently selected ones.
-
- <p>The "Follow" option keeps the view centered on the last selected model.
-
- <p>The "Perspective camera" option switches from orthogonal viewing to
perspective viewing.
-
- <h3>Saving a screenshot</h3>
- <p> To save a sequence of screenshots of the world, select the "Save
- screenshots" option from the view menu to start recording images and
- then select the option from the menu again to stop.
+<h3>Scrolling the view</h3>
+<p>Left-click and drag on the background to move your view of the world.
+<h3>Zooming the view</h3>
+<p>Scroll the mouse wheel to zoom in or out on the mouse cursor.
+
+<h3>Saving the world</h3>
+<P>You can save the current pose of everything in the world, using the
+File/Save menu item. <b>Warning: the saved poses overwrite the current
+world file.</b> Make a copy of your world file before saving if you
+want to keep the old poses. Alternatively the File/Save As menu item
+can be used to save to a new world file.
+
+<h3>Pausing and resuming the clock</h3>
+<p>The simulation can be paused or resumed by pressing the space key.
+
+<h3>Selecting models</h3>
+<p>Models can be selected by clicking on them with the left mouse button.
+It is possible to select multiple models by holding the shift key and
+clicking on multiple models. Selected models can be moved by dragging or
+rotated by right click dragging. Selections can be cleared by clicking on
+an empty location in the world. After clearing the selection, the last
+single model selected will be saved as the target for several view options
+described below which affect a particular model.
+
+<h3>View options</h3>
+<p>The View menu provides access to a number of features affecting how
+the world is rendered. To the right of each option there is usually
+a keyboard hotkey which can be pressed to quickly toggle the relevant
+option.
+
+<p>Sensor data visualizations can be toggled by the "Data" option.
+The filter data option opens a dialog which provides the ability
+to turn on and off visualizations of particular sensors. The "Visualize All"
+option in the dialog toggles whether sensor visualizations are enabled
+for all models or only the currently selected ones.
+
+<p>The "Follow" option keeps the view centered on the last selected model.
+
+<p>The "Perspective camera" option switches from orthogonal viewing to
perspective viewing.
+
+<h3>Saving a screenshot</h3>
+<p> To save a sequence of screenshots of the world, select the "Save
+screenshots" option from the view menu to start recording images and
+then select the option from the menu again to stop.
+
*/
#include <FL/Fl_Image.H>
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