Revision: 7185
http://playerstage.svn.sourceforge.net/playerstage/?rev=7185&view=rev
Author: rtv
Date: 2008-12-02 02:30:04 +0000 (Tue, 02 Dec 2008)
Log Message:
-----------
gui clean up
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/fasr.cc
code/stage/trunk/libstage/model_laser.cc
code/stage/trunk/libstage/model_position.cc
code/stage/trunk/libstage/model_ranger.cc
code/stage/trunk/libstage/stage.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/worldgui.cc
code/stage/trunk/worlds/fasr.world
code/stage/trunk/worlds/simple.world
Modified: code/stage/trunk/examples/ctrl/fasr.cc
===================================================================
--- code/stage/trunk/examples/ctrl/fasr.cc 2008-12-02 01:45:44 UTC (rev
7184)
+++ code/stage/trunk/examples/ctrl/fasr.cc 2008-12-02 02:30:04 UTC (rev
7185)
@@ -77,19 +77,19 @@
assert(robot->sink);
- const int waypoint_count = 100;
- Waypoint* waypoints = new Waypoint[waypoint_count];
+// const int waypoint_count = 100;
+// Waypoint* waypoints = new Waypoint[waypoint_count];
- for( int i=0; i<waypoint_count; i++ )
- {
- waypoints[i].pose.x = i* 0.1;
- waypoints[i].pose.y = drand48() * 4.0;
- waypoints[i].pose.z = 0;
- waypoints[i].pose.a = normalize( i/10.0 );
- waypoints[i].color = stg_color_pack( 0,0,1,0 );
- }
+// for( int i=0; i<waypoint_count; i++ )
+// {
+// waypoints[i].pose.x = i* 0.1;
+// waypoints[i].pose.y = drand48() * 4.0;
+// waypoints[i].pose.z = 0;
+// waypoints[i].pose.a = normalize( i/10.0 );
+// waypoints[i].color = stg_color_pack( 0,0,1,0 );
+// }
- robot->pos->SetWaypoints( waypoints, waypoint_count );
+// robot->pos->SetWaypoints( waypoints, waypoint_count );
return 0; //ok
}
Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc 2008-12-02 01:45:44 UTC (rev
7184)
+++ code/stage/trunk/libstage/model_laser.cc 2008-12-02 02:30:04 UTC (rev
7185)
@@ -28,8 +28,8 @@
static const unsigned int DEFAULT_RESOLUTION = 1;
static const char* DEFAULT_COLOR = "blue";
-Option StgModelLaser::showLaserData( "Show Laser Data", "show_laser", "", true
);
-Option StgModelLaser::showLaserStrikes( "Show Laser Data",
"show_laser_strikes", "", false );
+Option StgModelLaser::showLaserData( "Laser scans", "show_laser", "", true );
+Option StgModelLaser::showLaserStrikes( "Laser strikes", "show_laser_strikes",
"", false );
/**
@ingroup model
@@ -334,32 +334,35 @@
pts[0] = 0.0;
pts[1] = 0.0;
-
- PushColor( 0, 0, 1, 0.5 );
- for( unsigned int s=0; s<sample_count; s++ )
- {
- double ray_angle = (s * (fov / (sample_count-1))) -
fov/2.0;
- pts[2*s+2] = (float)(samples[s].range * cos(ray_angle)
);
- pts[2*s+3] = (float)(samples[s].range * sin(ray_angle)
);
+ if( showLaserData )
+ {
+ PushColor( 0, 0, 1, 0.5 );
- // if the sample is unusually bright, draw a little
blob
- if( samples[s].reflectance > 0 )
+ for( unsigned int s=0; s<sample_count; s++ )
{
- glBegin( GL_POINTS );
- glVertex2f( pts[2*s+2], pts[2*s+3] );
- glEnd();
- }
+ double ray_angle = (s * (fov /
(sample_count-1))) - fov/2.0;
+ pts[2*s+2] = (float)(samples[s].range *
cos(ray_angle) );
+ pts[2*s+3] = (float)(samples[s].range *
sin(ray_angle) );
+
+ // if the sample is unusually bright, draw a
little blob
+ if( samples[s].reflectance > 0 )
+ {
+ glBegin( GL_POINTS );
+ glVertex2f( pts[2*s+2],
pts[2*s+3] );
+ glEnd();
+ }
+ }
+ PopColor();
+
+ glDepthMask( GL_FALSE );
+
+ // draw the filled polygon in transparent blue
+ PushColor( 0, 0, 1, 0.1 );
+ glVertexPointer( 2, GL_FLOAT, 0, pts );
+ glDrawArrays( GL_POLYGON, 0, sample_count+1 );
+ PopColor();
}
- PopColor();
-
- glDepthMask( GL_FALSE );
-
- // draw the filled polygon in transparent blue
- PushColor( 0, 0, 1, 0.1 );
- glVertexPointer( 2, GL_FLOAT, 0, pts );
- glDrawArrays( GL_POLYGON, 0, sample_count+1 );
- PopColor();
if( showLaserStrikes )
{
Modified: code/stage/trunk/libstage/model_position.cc
===================================================================
--- code/stage/trunk/libstage/model_position.cc 2008-12-02 01:45:44 UTC (rev
7184)
+++ code/stage/trunk/libstage/model_position.cc 2008-12-02 02:30:04 UTC (rev
7185)
@@ -82,6 +82,10 @@
const stg_position_localization_mode_t POSITION_LOCALIZATION_DEFAULT =
STG_POSITION_LOCALIZATION_GPS;
const stg_position_drive_mode_t POSITION_DRIVE_DEFAULT =
STG_POSITION_DRIVE_DIFFERENTIAL;
+Option StgModelPosition::showCoords( "Position Coordinates", "show_coords",
"", false );
+Option StgModelPosition::showWaypoints( "Position Waypoints",
"show_waypoints", "", false );
+
+
StgModelPosition::StgModelPosition( StgWorld* world,
StgModel* parent )
: StgModel( world, parent, MODEL_TYPE_POSITION ),
@@ -126,6 +130,8 @@
drand48() * STG_POSITION_INTEGRATION_ERROR_MAX_A -
STG_POSITION_INTEGRATION_ERROR_MAX_A/2.0;
+ registerOption( &showCoords );
+ registerOption( &showWaypoints );
}
@@ -556,60 +562,63 @@
void StgModelPosition::DataVisualize( Camera* cam )
{
- if( waypoints && waypoint_count )
+ if( showWaypoints && waypoints && waypoint_count )
DrawWaypoints();
-
- // vizualize my estimated pose
- glPushMatrix();
- // back into global coords
- gl_pose_inverse_shift( GetGlobalPose() );
+ if( showCoords )
+ {
+ // vizualize my estimated pose
+ glPushMatrix();
+
+ // back into global coords
+ gl_pose_inverse_shift( GetGlobalPose() );
- gl_pose_shift( est_origin );
- PushColor( 1,0,0,1 ); // origin in red
- gl_draw_origin( 0.5 );
+ gl_pose_shift( est_origin );
+ PushColor( 1,0,0,1 ); // origin in red
+ gl_draw_origin( 0.5 );
- glEnable (GL_LINE_STIPPLE);
- glLineStipple (3, 0xAAAA);
+ glEnable (GL_LINE_STIPPLE);
+ glLineStipple (3, 0xAAAA);
- PushColor( 1,0,0,0.5 );
- glBegin( GL_LINE_STRIP );
- glVertex2f( 0,0 );
- glVertex2f( est_pose.x, 0 );
- glVertex2f( est_pose.x, est_pose.y );
- glEnd();
+ PushColor( 1,0,0,0.5 );
+ glBegin( GL_LINE_STRIP );
+ glVertex2f( 0,0 );
+ glVertex2f( est_pose.x, 0 );
+ glVertex2f( est_pose.x, est_pose.y );
+ glEnd();
- glDisable(GL_LINE_STIPPLE);
+ glDisable(GL_LINE_STIPPLE);
- char label[64];
- snprintf( label, 64, "x:%.3f", est_pose.x );
- gl_draw_string( est_pose.x / 2.0, -0.5, 0, label );
+ char label[64];
+ snprintf( label, 64, "x:%.3f", est_pose.x );
+ gl_draw_string( est_pose.x / 2.0, -0.5, 0, label );
- snprintf( label, 64, "y:%.3f", est_pose.y );
- gl_draw_string( est_pose.x + 0.5 , est_pose.y / 2.0, 0, (const char*)label );
+ snprintf( label, 64, "y:%.3f", est_pose.y );
+ gl_draw_string( est_pose.x + 0.5 , est_pose.y / 2.0, 0, (const
char*)label );
- PopColor();
+ PopColor();
- gl_pose_shift( est_pose );
- PushColor( 0,1,0,1 ); // pose in green
- gl_draw_origin( 0.5 );
- PopColor();
+ gl_pose_shift( est_pose );
+ PushColor( 0,1,0,1 ); // pose in green
+ gl_draw_origin( 0.5 );
+ PopColor();
- gl_pose_shift( geom.pose );
- PushColor( 0,0,1,1 ); // offset in blue
- gl_draw_origin( 0.5 );
- PopColor();
+ gl_pose_shift( geom.pose );
+ PushColor( 0,0,1,1 ); // offset in blue
+ gl_draw_origin( 0.5 );
+ PopColor();
- double r,g,b,a;
- stg_color_unpack( color, &r, &g, &b, &a );
- PushColor( r, g, b, 0.5 );
+ double r,g,b,a;
+ stg_color_unpack( color, &r, &g, &b, &a );
+ PushColor( r, g, b, 0.5 );
- glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
- blockgroup.DrawFootPrint( geom );
- PopColor();
+ glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
+ blockgroup.DrawFootPrint( geom );
+ PopColor();
- glPopMatrix();
+ glPopMatrix();
+ }
}
void StgModelPosition::DrawWaypoints()
Modified: code/stage/trunk/libstage/model_ranger.cc
===================================================================
--- code/stage/trunk/libstage/model_ranger.cc 2008-12-02 01:45:44 UTC (rev
7184)
+++ code/stage/trunk/libstage/model_ranger.cc 2008-12-02 02:30:04 UTC (rev
7185)
@@ -95,8 +95,8 @@
static const char RANGER_CONFIG_COLOR[] = "gray90";
static const char RANGER_GEOM_COLOR[] = "orange";
-Option StgModelRanger::showRangerData( "Show Ranger Data", "show_ranger", "",
true );
-Option StgModelRanger::showRangerTransducers( "Show Ranger transducer
locations", "show_ranger_transducers", "", false );
+Option StgModelRanger::showRangerData( "Ranger ranges", "show_ranger", "",
true );
+Option StgModelRanger::showRangerTransducers( "Ranger transducers",
"show_ranger_transducers", "", false );
StgModelRanger::StgModelRanger( StgWorld* world,
Modified: code/stage/trunk/libstage/stage.cc
===================================================================
--- code/stage/trunk/libstage/stage.cc 2008-12-02 01:45:44 UTC (rev 7184)
+++ code/stage/trunk/libstage/stage.cc 2008-12-02 02:30:04 UTC (rev 7185)
@@ -236,14 +236,14 @@
static void pb_set_pixel( Fl_Shared_Image* pb, int x, int y, uint8_t val )
{
// bounds checking
- int width = pb->w();//gdk_pixbuf_get_width(pb);
- int height = pb->h();//gdk_pixbuf_get_height(pb);
+ int width = pb->w();
+ int height = pb->h();
if( x >=0 && x < width && y >= 0 && y < height )
{
// zeroing
guchar* pix = pb_get_pixel( pb, x, y );
- unsigned int bytes_per_sample =
1;//gdk_pixbuf_get_bits_per_sample (pb) / 8;
- unsigned int num_samples =
pb->d();//gdk_pixbuf_get_n_channels(pb);
+ unsigned int bytes_per_sample = 1;
+ unsigned int num_samples = pb->d();
memset( pix, val, num_samples * bytes_per_sample );
}
else
@@ -253,8 +253,8 @@
// set all the pixels in a rectangle
static void pb_set_rect( Fl_Shared_Image* pb, int x, int y, int width, int
height, uint8_t val )
{
- int bytes_per_sample = 1;//gdk_pixbuf_get_bits_per_sample (pb) / 8;
- int num_samples = pb->d();//gdk_pixbuf_get_n_channels(pb);
+ int bytes_per_sample = 1;
+ int num_samples = pb->d();
int a, b;
for( a = y; a < y+height; a++ )
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-12-02 01:45:44 UTC (rev 7184)
+++ code/stage/trunk/libstage/stage.hh 2008-12-02 02:30:04 UTC (rev 7185)
@@ -2477,6 +2477,10 @@
uint32_t waypoint_count;
void DrawWaypoints();
+ private:
+ static Option showCoords;
+ static Option showWaypoints;
+
public:
static const char* typestr;
// constructor
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2008-12-02 01:45:44 UTC (rev
7184)
+++ code/stage/trunk/libstage/worldgui.cc 2008-12-02 02:30:04 UTC (rev
7185)
@@ -497,22 +497,25 @@
}
-void StgWorldGui::viewOptionsCb( Fl_Widget* w, void* p ) {
+void StgWorldGui::viewOptionsCb( Fl_Widget* w, void* p )
+{
StgWorldGui* worldGui = static_cast<StgWorldGui*>( p );
-
- if ( !worldGui->oDlg ) {
- int x = worldGui->w()+worldGui->x() + 10;
- int y = worldGui->y();
- OptionsDlg* oDlg = new OptionsDlg( x,y, 180,250 );
- oDlg->callback( optionsDlgCb, worldGui );
- oDlg->setOptions( worldGui->drawOptions );
- oDlg->showAllOpt( &worldGui->canvas->visualizeAll );
- worldGui->oDlg = oDlg;
- oDlg->show();
- }
- else {
- worldGui->oDlg->show(); // bring it to front
- }
+
+ if ( !worldGui->oDlg )
+ {
+ int x = worldGui->w()+worldGui->x() + 10;
+ int y = worldGui->y();
+ OptionsDlg* oDlg = new OptionsDlg( x,y, 180,250 );
+ oDlg->callback( optionsDlgCb, worldGui );
+ oDlg->setOptions( worldGui->drawOptions );
+ oDlg->showAllOpt( &worldGui->canvas->visualizeAll );
+ worldGui->oDlg = oDlg;
+ oDlg->show();
+ }
+ else
+ {
+ worldGui->oDlg->show(); // bring it to front
+ }
}
void StgWorldGui::optionsDlgCb( Fl_Widget* w, void* p ) {
@@ -592,7 +595,6 @@
Fl_Box* box = new Fl_Box( Spc, Spc,
Width-2*Spc, pngH ); // widget that will contain
image
-
std::string fullpath;
fullpath = FileManager::findFile( "assets/stagelogo.png" );
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2008-12-02 01:45:44 UTC (rev 7184)
+++ code/stage/trunk/worlds/fasr.world 2008-12-02 02:30:04 UTC (rev 7185)
@@ -65,8 +65,6 @@
(
sicklaser( samples 32 range_max 5 laser_return 2 )
ctrl "fasr"
-
- localization "odom"
)
autorob( pose [5.099 4.804 0 -73.937] )
@@ -80,16 +78,16 @@
autorob( pose [6.898 4.775 0 -117.576] )
autorob( pose [7.012 5.706 0 129.497] )
-#autorob( pose [6.616 6.893 0 170.743] )
-#autorob( pose [6.451 4.189 0 -61.453] )
-#autorob( pose [5.098 6.788 0 -61.295] )
-#autorob( pose [4.374 5.163 0 -90.417] )
-#autorob( pose [4.999 4.230 0 -42.157] )
-#autorob( pose [4.331 4.217 0 -95.000] )
-#autorob( pose [5.440 5.317 0 -26.545] )
-#autorob( pose [7.518 6.973 0 163.239] )
-#autorob( pose [7.559 4.764 0 -139.066] )
-#autorob( pose [4.839 3.595 0 -179.567] )
+autorob( pose [6.616 6.893 0 170.743] )
+autorob( pose [6.451 4.189 0 -61.453] )
+autorob( pose [5.098 6.788 0 -61.295] )
+autorob( pose [4.374 5.163 0 -90.417] )
+autorob( pose [4.999 4.230 0 -42.157] )
+autorob( pose [4.331 4.217 0 -95.000] )
+autorob( pose [5.440 5.317 0 -26.545] )
+autorob( pose [7.518 6.973 0 163.239] )
+autorob( pose [7.559 4.764 0 -139.066] )
+autorob( pose [4.839 3.595 0 -179.567] )
#autorob( pose [7.122 4.175 0 -31.440] )
#autorob( pose [6.203 6.963 0 2.937] )
Modified: code/stage/trunk/worlds/simple.world
===================================================================
--- code/stage/trunk/worlds/simple.world 2008-12-02 01:45:44 UTC (rev
7184)
+++ code/stage/trunk/worlds/simple.world 2008-12-02 02:30:04 UTC (rev
7185)
@@ -10,7 +10,7 @@
interval_sim 100 # simulation timestep in milliseconds
interval_real 10 # real-time interval between simulation updates in
milliseconds
-paused 0
+paused 1
resolution 0.02
@@ -48,4 +48,3 @@
ctrl "wander"
)
-walle( pose [ 3 3 0 ] ctrl "wander" )
\ No newline at end of file
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