Revision: 7171
http://playerstage.svn.sourceforge.net/playerstage/?rev=7171&view=rev
Author: rtv
Date: 2008-11-26 19:44:48 +0000 (Wed, 26 Nov 2008)
Log Message:
-----------
added quick waypoint property and vis
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/fasr.cc
code/stage/trunk/libstage/CMakeLists.txt
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/stage.hh
Modified: code/stage/trunk/examples/ctrl/fasr.cc
===================================================================
--- code/stage/trunk/examples/ctrl/fasr.cc 2008-11-25 22:47:00 UTC (rev
7170)
+++ code/stage/trunk/examples/ctrl/fasr.cc 2008-11-26 19:44:48 UTC (rev
7171)
@@ -77,6 +77,20 @@
robot->sink = mod->GetWorld()->GetModel( "sink" );
assert(robot->sink);
+ const uint32_t wp_count = 100;
+ Waypoint* wps = new Waypoint[wp_count];
+
+ for( int i=0; i<wp_count; i++ )
+ {
+ wps[i].pose.x = i / 12.5;
+ wps[i].pose.y = 4.0*drand48() - 2.0;
+ wps[i].pose.z = 0;
+ wps[i].pose.a = 0;
+ wps[i].color = stg_color_pack( 1,0,1,0 );
+ }
+
+ robot->pos->SetWaypoints( wps, wp_count );
+
return 0; //ok
}
Modified: code/stage/trunk/libstage/CMakeLists.txt
===================================================================
--- code/stage/trunk/libstage/CMakeLists.txt 2008-11-25 22:47:00 UTC (rev
7170)
+++ code/stage/trunk/libstage/CMakeLists.txt 2008-11-26 19:44:48 UTC (rev
7171)
@@ -30,6 +30,7 @@
stage.hh
texture_manager.cc
typetable.cc
+ waypoint.cc
world.cc
worldfile.cc
worldgui.cc
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2008-11-25 22:47:00 UTC (rev 7170)
+++ code/stage/trunk/libstage/canvas.cc 2008-11-26 19:44:48 UTC (rev 7171)
@@ -760,7 +760,10 @@
if( showBBoxes )
DrawBoundingBoxes();
-
+
+ // TODO - finish this properly
+ LISTMETHOD( models_sorted, StgModel*, DrawWaypoints );
+
// MOTION BLUR
if( showBlur )
{
@@ -879,7 +882,7 @@
last_selection->DataVisualizeTree( current_camera );
}
}
-
+
if( showGrid )
LISTMETHOD( models_sorted, StgModel*, DrawGrid );
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2008-11-25 22:47:00 UTC (rev 7170)
+++ code/stage/trunk/libstage/model.cc 2008-11-26 19:44:48 UTC (rev 7171)
@@ -194,7 +194,9 @@
wf_entity(0),
has_default_block( true ),
map_caches_are_invalid( true ),
- thread_safe( false )
+ thread_safe( false ),
+ waypoints( NULL ),
+ waypoint_count( 0 )
{
assert( modelsbyid );
assert( world );
@@ -1677,3 +1679,34 @@
}
+/** Set the waypoint array pointer. Returns the old pointer, in case you need
to free/delete[] it */
+Waypoint* StgModel::SetWaypoints( Waypoint* wps, uint32_t count )
+{
+ Waypoint* replaced = waypoints;
+
+ waypoints = wps;
+ waypoint_count = count;
+
+ return replaced;
+}
+
+
+void StgModel::DrawWaypoints()
+{
+ if( waypoints && waypoint_count )
+ {
+ //PushLocalCoords();
+
+ PushColor( color );
+ glPointSize( 3 );
+
+ // puts( "drawing wps" );
+
+ for( unsigned int i=0; i < waypoint_count; i++ )
+ waypoints[i].Draw();
+
+ //PopCoords();
+ // restore a sensible drawing color
+ PopColor();
+ }
+}
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-11-25 22:47:00 UTC (rev 7170)
+++ code/stage/trunk/libstage/stage.hh 2008-11-26 19:44:48 UTC (rev 7171)
@@ -348,7 +348,18 @@
size.y );
}
};
+
+ class Waypoint
+ {
+ public:
+ Waypoint( stg_meters_t x, stg_meters_t y, stg_meters_t z,
stg_radians_t a, stg_color_t color ) ;
+ Waypoint();
+ void Draw();
+ stg_pose_t pose;
+ stg_color_t color;
+ };
+
/** bound a range of values, from min to max */
typedef struct
{
@@ -868,7 +879,7 @@
static GList* world_list; ///< all the worlds that exist
static bool quit_all; ///< quit all worlds ASAP
static unsigned int next_id; ///<initially zero, used to allocate
unique sequential world ids
-
+
stg_usec_t real_time_start; ///< the real time at which this world was
created
bool destroy;
bool quit; ///< quit this world ASAP
@@ -1054,6 +1065,7 @@
/** Return the number of times the world has been updated. */
long unsigned int GetUpdateCount() { return updates; }
+
// stg_point_t* LocalToGlobal( double scalex, double scaley,
//
stg_point_t pts[],
@@ -1291,7 +1303,10 @@
GMutex* access_mutex;
-
+ Waypoint* waypoints;
+ uint32_t waypoint_count;
+ void DrawWaypoints();
+
public:
void Lock()
{
@@ -1546,6 +1561,9 @@
bool IsDescendent( StgModel* testmod );
bool IsRelated( StgModel* mod2 );
+
+ /** Set the waypoint array pointer. Returns the old pointer, in case
you need to free/delete[] it */
+ Waypoint* SetWaypoints( Waypoint* wps, uint32_t count );
/** get the pose of a model in the global CS */
stg_pose_t GetGlobalPose();
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