Revision: 6835
http://playerstage.svn.sourceforge.net/playerstage/?rev=6835&view=rev
Author: jeremy_asher
Date: 2008-07-10 11:09:53 -0700 (Thu, 10 Jul 2008)
Log Message:
-----------
Model documentation
Modified Paths:
--------------
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_load.cc
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2008-07-10 02:09:02 UTC (rev 6834)
+++ code/stage/trunk/libstage/model.cc 2008-07-10 18:09:53 UTC (rev 6835)
@@ -3,8 +3,8 @@
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.
+basic model is used as the base class for all other model types. You
+can use the basic model to simulate environmental objects.
API: Stg::StgModel
@@ -15,30 +15,43 @@
@verbatim
model
(
- pose [ 0 0 ]
- size [ 1.0 1.0 ]
- origin [ 0 0 0 ]
- velocity [ 0 0 0 ]
+ pose [ 0 0 0 0 ]
+ size [ 0.1 0.1 0.1 ]
+ origin [ 0 0 0 0 ]
+ velocity [ 0 0 0 0 ]
- # body color
- color "red"
+ color "red"
+ color_rgba [ 0 0 0 1 ]
+
+ boundary 0
+ blocks -1
+ mass 10
# determine how the model appears in various sensors
+ fiducial_return 0
+ fiducial_key 0
obstacle_return 1
- laser_return 1
ranger_return 1
- blobfinder_return 1
- fiducial_return 1
+ blob_return 1
+ laser_return LaserVisible
gripper_return 0
- fiducial_key 0
+
# GUI properties
gui_nose 0
gui_grid 0
- gui_boundary 0
- gui_movemask ?
+ gui_outline 1 ( was gui_boundary? )
+ gui_movemask 0 top level or (STG_MOVE_TRANS | STG_MOVE_ROT);
bitmap ""
+
+ ctrl ""
+
+ map_resolution 0.1
+
+ say ""
+
+ alwayson 0
)
@endverbatim
@@ -104,11 +117,10 @@
//#define DEBUG 0
#include "stage_internal.hh"
#include "texture_manager.hh"
-#include <limits.h>
+//#include <limits.h>
//static const members
-static const bool DEFAULT_BLOBRETURN = true;
static const bool DEFAULT_BOUNDARY = false;
static const stg_color_t DEFAULT_COLOR = (0xFFFF0000); // solid red
static const stg_joules_t DEFAULT_ENERGY_CAPACITY = 1000.0;
@@ -127,6 +139,7 @@
static const stg_kg_t DEFAULT_MASS = 10.0;
static const bool DEFAULT_NOSE = false;
static const bool DEFAULT_OBSTACLERETURN = true;
+static const bool DEFAULT_BLOBRETURN = true;
static const bool DEFAULT_OUTLINE = true;
static const bool DEFAULT_RANGERRETURN = true;
Modified: code/stage/trunk/libstage/model_load.cc
===================================================================
--- code/stage/trunk/libstage/model_load.cc 2008-07-10 02:09:02 UTC (rev
6834)
+++ code/stage/trunk/libstage/model_load.cc 2008-07-10 18:09:53 UTC (rev
6835)
@@ -110,10 +110,10 @@
if( wf->PropertyExists( wf_entity, "color_rgba" ))
{
- double red = wf->ReadTupleFloat( wf_entity, "color_rgba", 0, 0);
- double green = wf->ReadTupleFloat( wf_entity, "color_rgba", 1, 0);
- double blue = wf->ReadTupleFloat( wf_entity, "color_rgba", 2, 0);
- double alpha = wf->ReadTupleFloat( wf_entity, "color_rgba", 3, 0);
+ double red = wf->ReadTupleFloat( wf_entity, "color_rgba", 0, 0 );
+ double green = wf->ReadTupleFloat( wf_entity, "color_rgba", 1, 0 );
+ double blue = wf->ReadTupleFloat( wf_entity, "color_rgba", 2, 0 );
+ double alpha = wf->ReadTupleFloat( wf_entity, "color_rgba", 3, 1 );
this->SetColor( stg_color_pack( red, green, blue, alpha ));
}
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
-------------------------------------------------------------------------
Sponsored by: SourceForge.net Community Choice Awards: VOTE NOW!
Studies have shown that voting for your favorite open source project,
along with a healthy diet, reduces your potential for chronic lameness
and boredom. Vote Now at http://www.sourceforge.net/community/cca08
_______________________________________________
Playerstage-commit mailing list
Playerstage-commit@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
