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] ) + + This was sent 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