Revision: 7192
http://playerstage.svn.sourceforge.net/playerstage/?rev=7192&view=rev
Author: rtv
Date: 2008-12-07 02:18:32 +0000 (Sun, 07 Dec 2008)
Log Message:
-----------
working on new large-scale demo
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/fasr.cc
Added Paths:
-----------
code/stage/trunk/worlds/asr.world
Modified: code/stage/trunk/examples/ctrl/fasr.cc
===================================================================
--- code/stage/trunk/examples/ctrl/fasr.cc 2008-12-07 02:07:21 UTC (rev
7191)
+++ code/stage/trunk/examples/ctrl/fasr.cc 2008-12-07 02:18:32 UTC (rev
7192)
@@ -16,7 +16,7 @@
{ 90, 180, 180, 180 },
{ 90, -90, 0, -90 },
{ 90, 90, 180, 90 },
- { 0, 45, 0, 45}
+ { 0, 45, 0, 0}
};
double need[4][4] = {
@@ -186,8 +186,10 @@
// oh what an awful bug - 5 hours to track this down. When using
// this controller in a world larger than 8*8 meters, a_goal can
// sometimes be NAN. Causing trouble WAY upstream.
- if( x > 3 ) x = 3;
- if( y > 3 ) y = 3;
+ if( x > 3 ) x = 3;
+ if( y > 3 ) y = 3;
+ if( x < 0 ) x = 0;
+ if( y < 0 ) y = 0;
double a_goal =
dtor( robot->pos->GetFlagCount() ? have[y][x] : need[y][x] );
Added: code/stage/trunk/worlds/asr.world
===================================================================
--- code/stage/trunk/worlds/asr.world (rev 0)
+++ code/stage/trunk/worlds/asr.world 2008-12-07 02:18:32 UTC (rev 7192)
@@ -0,0 +1,161 @@
+# ASR demo world
+# Authors: Richard Vaughan
+# $Id: fasr.world,v 1.4 2008-04-01 23:57:41 rtv Exp $
+
+include "pioneer.inc"
+include "map.inc"
+include "sick.inc"
+
+interval_sim 100 # simulation timestep in milliseconds
+interval_real 0 # real-time interval between simulation updates in
milliseconds
+paused 1
+
+resolution 0.02
+
+# threads may help here depending on your CPU
+threadpool 0
+# threadpool 2
+
+
+# configure the GUI window
+window
+(
+ size [ 1916.000 1156.000 ]
+
+ center [ 1.814 5.214 ]
+ rotate [ 0 0 ]
+ scale 71.081
+
+ pcam_loc [ 0 -4.000 2.000 ]
+ pcam_angle [ 70.000 0 ]
+ pcam_on 0
+
+ show_data 1
+ show_flags 1
+
+ interval 50
+)
+
+# load an environment bitmap
+floorplan
+(
+ name "cave"
+ size [100.000 100.000 0.600]
+ pose [0 0 0 0]
+ bitmap "bitmaps/frieburg.png"
+ boundary 0
+)
+
+zone
+(
+ color "green"
+ pose [ -7.000 -7.000 0 0 ]
+ name "source"
+ ctrl "source"
+)
+
+zone
+(
+ color "red"
+ pose [ 7.000 7.000 0 0 ]
+ name "sink"
+ ctrl "sink"
+)
+
+define autorob pioneer2dx
+(
+ sicklaser( samples 32 range_max 5 laser_return 2 )
+ ctrl "fasr"
+)
+
+autorob( pose [5.099 4.804 0 -73.937] )
+autorob( pose [6.471 5.304 0 14.941] )
+autorob( pose [5.937 4.858 0 -147.503] )
+autorob( pose [7.574 6.269 0 -111.715] )
+autorob( pose [5.664 6.262 0 -51.799] )
+autorob( pose [7.016 6.428 0 -128.279] )
+autorob( pose [5.911 4.040 0 -97.047] )
+autorob( pose [4.909 6.097 0 -44.366] )
+autorob( pose [6.898 4.775 0 -117.576] )
+autorob( pose [7.401 5.544 0 129.497] )
+
+autorob( pose [5.968 7.638 0 170.743] )
+autorob( pose [6.451 4.189 0 -61.453] )
+autorob( pose [5.260 7.436 0 -61.295] )
+autorob( pose [4.149 5.135 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 [5.912 6.963 0 2.937] )
+autorob( pose [6.800 5.897 0 -103.060] )
+autorob( pose [6.331 6.450 0 -103.060] )
+autorob( pose [5.974 5.725 0 -103.060] )
+autorob( pose [4.151 7.272 0 53.540] )
+autorob( pose [6.545 7.459 0 2.937] )
+autorob( pose [7.225 7.459 0 34.450] )
+autorob( pose [3.875 6.533 0 134.717] )
+autorob( pose [3.199 6.081 0 -103.060] )
+autorob( pose [4.634 6.897 0 -103.060] )
+
+
+autorob( pose [1.288 4.559 0 -103.060] )
+autorob( pose [2.648 5.531 0 -103.060] )
+autorob( pose [2.940 4.559 0 -103.060] )
+autorob( pose [2.228 6.502 0 -103.060] )
+autorob( pose [2.907 7.927 0 -103.060] )
+autorob( pose [0.965 5.595 0 -103.060] )
+autorob( pose [3.847 3.620 0 -103.060] )
+autorob( pose [2.001 4.041 0 -103.060] )
+autorob( pose [2.163 7.603 0 -103.060] )
+autorob( pose [3.393 7.571 0 -103.060] )
+
+autorob( pose [1.256 6.373 0 -103.060] )
+autorob( pose [1.062 7.603 0 -103.060] )
+autorob( pose [3.005 3.847 0 -103.060] )
+autorob( pose [1.807 5.272 0 -103.060] )
+autorob( pose [0.317 4.495 0 -103.060] )
+autorob( pose [0.803 3.361 0 -103.060] )
+autorob( pose [1.968 3.102 0 -103.060] )
+autorob( pose [3.976 8.445 0 -103.060] )
+autorob( pose [3.005 8.898 0 -103.060] )
+autorob( pose [1.871 8.445 0 -103.060] )
+
+autorob( pose [4.656 7.959 0 -103.060] )
+autorob( pose [0.641 8.574 0 -103.060] )
+autorob( pose [5.012 9.740 0 -103.060] )
+autorob( pose [3.749 9.384 0 -103.060] )
+autorob( pose [3.069 2.681 0 -103.060] )
+autorob( pose [2.260 2.390 0 -103.060] )
+autorob( pose [3.523 1.580 0 -103.060] )
+autorob( pose [3.069 6.858 0 -103.060] )
+autorob( pose [5.142 8.995 0 -103.060] )
+autorob( pose [0.903 6.972 0 -103.060] )
+
+autorob( pose [5.405 8.070 0 -103.060] )
+autorob( pose [6.038 8.647 0 -103.060] )
+autorob( pose [2.423 8.379 0 -103.060] )
+autorob( pose [2.437 7.071 0 -103.060] )
+autorob( pose [1.649 6.972 0 -103.060] )
+autorob( pose [4.266 3.019 0 -103.060] )
+autorob( pose [5.490 3.666 0 -103.060] )
+autorob( pose [5.293 2.963 0 -103.060] )
+autorob( pose [3.393 5.228 0 -103.060] )
+autorob( pose [6.418 3.483 0 -103.060] )
+
+autorob( pose [6.587 8.464 0 -103.060] )
+autorob( pose [7.178 8.295 0 -103.060] )
+autorob( pose [5.926 2.878 0 -103.060] )
+autorob( pose [7.150 3.568 0 -103.060] )
+autorob( pose [7.783 4.159 0 -103.060] )
+autorob( pose [0.566 6.002 0 -103.060] )
+autorob( pose [1.804 5.847 0 -103.060] )
+autorob( pose [2.423 4.792 0 -103.060] )
+autorob( pose [3.633 4.342 0 -103.060] )
+autorob( pose [0.298 5.129 0 -103.060] )
+
+
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