Revision: 8255
http://playerstage.svn.sourceforge.net/playerstage/?rev=8255&view=rev
Author: rtv
Date: 2009-09-08 06:48:32 +0000 (Tue, 08 Sep 2009)
Log Message:
-----------
STLized the worldfile parser, and reinstated unused property checking in GUI
worlds
Modified Paths:
--------------
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_load.cc
code/stage/trunk/libstage/world.cc
code/stage/trunk/libstage/worldfile.cc
code/stage/trunk/libstage/worldfile.hh
code/stage/trunk/libstage/worldgui.cc
code/stage/trunk/worlds/benchmark/cave.world
code/stage/trunk/worlds/fasr.world
code/stage/trunk/worlds/pioneer.inc
code/stage/trunk/worlds/sick.inc
code/stage/trunk/worlds/simple.world
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-09-08 02:03:53 UTC (rev 8254)
+++ code/stage/trunk/libstage/model.cc 2009-09-08 06:48:32 UTC (rev 8255)
@@ -114,15 +114,15 @@
void Size::Load( Worldfile* wf, int section, const char* keyword )
{
- CProperty* prop = wf->GetProperty( section, keyword );
+ if( CProperty* prop = wf->GetProperty( section, keyword ) )
- if( prop )
+ //if( prop )
{
- if( prop->value_count != 3 )
+ if( prop->values.size() != 3 )
{
puts( "" ); // newline
PRINT_ERR1( "Loading size. Need a
vector of length 3: found %d.\n",
-
prop->value_count );
+
(int)prop->values.size() );
exit(-1);
}
@@ -145,11 +145,11 @@
if( prop )
{
- if( prop->value_count != 4 )
+ if( prop->values.size() != 4 )
{
puts( "" ); // newline
PRINT_ERR1( "Loading pose. Need a
vector of length 4: found %d.\n",
-
prop->value_count );
+
(int)prop->values.size() );
exit(-1);
}
Modified: code/stage/trunk/libstage/model_load.cc
===================================================================
--- code/stage/trunk/libstage/model_load.cc 2009-09-08 02:03:53 UTC (rev
8254)
+++ code/stage/trunk/libstage/model_load.cc 2009-09-08 06:48:32 UTC (rev
8255)
@@ -118,7 +118,7 @@
if( wf->PropertyExists( wf_entity, "color_rgba" ))
{
- if (wf->GetProperty(wf_entity,"color_rgba")->value_count < 4)
+ if (wf->GetProperty(wf_entity,"color_rgba")->values.size() < 4)
{
PRINT_ERR1( "model %s color_rgba requires 4 values\n", this->token );
}
@@ -187,8 +187,7 @@
if( wf->PropertyExists( wf_entity, "map_resolution" ))
this->SetMapResolution( wf->ReadFloat(wf_entity, "map_resolution",
this->map_resolution ));
-
-
+
// populate the key-value database
if( wf->PropertyExists( wf_entity, "db_count" ) )
LoadDataBaseEntries( wf, wf_entity );
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2009-09-08 02:03:53 UTC (rev 8254)
+++ code/stage/trunk/libstage/world.cc 2009-09-08 06:48:32 UTC (rev 8255)
@@ -38,7 +38,7 @@
- quit_time <float>\n
Stop the simulation after this many simulated seconds have
elapsed. In libstage, World::Update() returns true. In Stage with
- a GUI, the simulation is paused. In Stage without a GUI, Stage
+ a GUI, the simulation is paused.wo In Stage without a GUI, Stage
quits.
- resolution <float>\n
@@ -369,9 +369,6 @@
LoadModel( wf, entity );
}
- // warn about unused WF lines
- wf->WarnUnused();
-
FOR_EACH( it, children )
(*it)->InitRecursive();
Modified: code/stage/trunk/libstage/worldfile.cc
===================================================================
--- code/stage/trunk/libstage/worldfile.cc 2009-09-08 02:03:53 UTC (rev
8254)
+++ code/stage/trunk/libstage/worldfile.cc 2009-09-08 06:48:32 UTC (rev
8255)
@@ -61,21 +61,13 @@
///////////////////////////////////////////////////////////////////////////
// Default constructor
Worldfile::Worldfile() :
- token_size( 0),
- token_count( 0),
- tokens( NULL),
- macro_size( 0),
- macro_count( 0),
- macros( NULL),
- entity_size( 0),
- entity_count( 0),
- entities( NULL),
- properties(NULL),
- property_count( 0),
+ tokens(),
+ macros(),
+ entities(),
+ properties(),
filename( NULL),
- unit_length( 1.0),
- unit_angle( M_PI / 180),
- nametable()
+ unit_length( 1.0 ),
+ unit_angle( M_PI / 180.0 )
{
}
@@ -241,19 +233,19 @@
// Check for unused properties and print warnings
bool Worldfile::WarnUnused()
{
- // bool unused = false;
- // for (int i = 0; i < this->property_count; i++)
- // {
- // CProperty *property = this->properties + i;
- // if (!property->used)
- // {
- // unused = true;
- // PRINT_WARN3("worldfile %s:%d : property
[%s] is defined but not used",
- //
this->filename, property->line, property->name);
- // }
- // }
- // return unused;
- return false;
+ bool unused = false;
+
+ FOR_EACH( it, properties )
+ {
+ if( ! it->second->used )
+ {
+ PRINT_WARN3("worldfile %s:%d : property
[%s] is defined but not used",
+
this->filename, it->second->line, it->second->name.c_str());
+ unused = true;
+ }
+ }
+
+ return unused;
}
@@ -476,7 +468,7 @@
return false;
// This is the basic filename
- filename = GetTokenValue(this->token_count - 1);
+ filename = GetTokenValue(this->tokens.size() - 1);
// Now do some manipulation. If its a relative path,
// we append the path of the world file.
@@ -674,19 +666,19 @@
// Save tokens to a file.
bool Worldfile::SaveTokens(FILE *file)
{
- int i;
+ unsigned int i;
CToken *token;
- for (i = 0; i < this->token_count; i++)
+ for (i = 0; i < this->tokens.size(); i++)
{
- token = this->tokens + i;
+ token = &this->tokens[i];
if (token->include > 0)
continue;
if (token->type == TokenString)
- fprintf(file, "\"%s\"", token->value);
+ fprintf(file, "\"%s\"", token->value.c_str());
else
- fprintf(file, "%s", token->value);
+ fprintf(file, "%s", token->value.c_str());
}
return true;
}
@@ -696,18 +688,7 @@
// Clear the token list
void Worldfile::ClearTokens()
{
- int i;
- CToken *token;
-
- for (i = 0; i < this->token_count; i++)
- {
- token = this->tokens + i;
- free(token->value);
- }
- free(this->tokens);
- this->tokens = 0;
- this->token_size = 0;
- this->token_count = 0;
+ tokens.clear();
}
@@ -715,17 +696,7 @@
// Add a token to the token list
bool Worldfile::AddToken(int type, const char *value, int include)
{
- if (this->token_count >= this->token_size)
- {
- this->token_size += 1000;
- this->tokens = (CToken*) realloc(this->tokens, this->token_size *
sizeof(this->tokens[0]));
- }
-
- this->tokens[this->token_count].include = include;
- this->tokens[this->token_count].type = type;
- this->tokens[this->token_count].value = strdup(value);
- this->token_count++;
-
+ tokens.push_back( CToken( include, type, value ));
return true;
}
@@ -734,11 +705,8 @@
// Set a token value in the token list
bool Worldfile::SetTokenValue(int index, const char *value)
{
- assert(index >= 0 && index < this->token_count);
-
- free(this->tokens[index].value);
- this->tokens[index].value = strdup(value);
-
+ assert(index >= 0 && index < (int)this->tokens.size() );
+ tokens[index].value = value;
return true;
}
@@ -747,9 +715,8 @@
// Get the value of a token
const char *Worldfile::GetTokenValue(int index)
{
- assert(index >= 0 && index < this->token_count);
-
- return this->tokens[index].value;
+ assert(index >= 0 && index < (int)this->tokens.size());
+ return this->tokens[index].value.c_str();
}
@@ -762,12 +729,14 @@
line = 1;
printf("\n## begin tokens\n");
printf("## %4d : ", line);
- for (int i = 0; i < this->token_count; i++)
+
+ FOR_EACH( it, tokens )
+ //for (int i = 0; i < this->token_count; i++)
{
- if (this->tokens[i].value[0] == '\n')
- printf("[\\n]\n## %4d : %02d ", ++line, this->tokens[i].include);
+ if ( it->value[0] == '\n')
+ printf("[\\n]\n## %4d : %02d ", ++line,
it->include);
else
- printf("[%s] ", this->tokens[i].value);
+ printf("[%s] ", it->value.c_str());
}
printf("\n");
printf("## end tokens\n");
@@ -790,40 +759,40 @@
entity = AddEntity(-1, "");
line = 1;
- for (i = 0; i < this->token_count; i++)
+ for (i = 0; i < (int)this->tokens.size(); i++)
{
- token = this->tokens + i;
-
+ token = &this->tokens[0] + i;
+
switch (token->type)
- {
- case TokenWord:
- if (strcmp(token->value, "include") == 0)
- {
- if (!ParseTokenInclude(&i, &line))
- return false;
- }
- else if (strcmp(token->value, "define") == 0)
- {
- if (!ParseTokenDefine(&i, &line))
- return false;
- }
- else
- {
- if (!ParseTokenWord(entity, &i, &line))
- return false;
- }
- break;
- case TokenComment:
- break;
- case TokenSpace:
- break;
- case TokenEOL:
- line++;
- break;
- default:
- PARSE_ERR("syntax error 1", line);
- return false;
- }
+ {
+ case TokenWord:
+ if ( token->value == "include")
+ {
+ if
(!ParseTokenInclude(&i, &line))
+ return false;
+ }
+ else if ( token->value == "define" )
+ {
+ if
(!ParseTokenDefine(&i, &line))
+ return false;
+ }
+ else
+ {
+ if
(!ParseTokenWord(entity, &i, &line))
+ return false;
+ }
+ break;
+ case TokenComment:
+ break;
+ case TokenSpace:
+ break;
+ case TokenEOL:
+ line++;
+ break;
+ default:
+ PARSE_ERR("syntax error 1", line);
+ return false;
+ }
}
return true;
}
@@ -835,25 +804,25 @@
{
int i;
CToken *token;
-
- for (i = *index + 1; i < this->token_count; i++)
+
+ for (i = *index + 1; i < (int)this->tokens.size(); i++)
{
- token = this->tokens + i;
-
+ token = &this->tokens[i];
+
switch (token->type)
- {
- case TokenString:
- break;
- case TokenSpace:
- break;
- case TokenEOL:
- *index = i;
- (*line)++;
- return true;
- default:
- PARSE_ERR("syntax error in include statement", *line);
- return false;
- }
+ {
+ case TokenString:
+ break;
+ case TokenSpace:
+ break;
+ case TokenEOL:
+ *index = i;
+ (*line)++;
+ return true;
+ default:
+ PARSE_ERR("syntax error in include
statement", *line);
+ return false;
+ }
}
PARSE_ERR("incomplete include statement", *line);
return false;
@@ -875,9 +844,9 @@
entityname = NULL;
starttoken = -1;
- for (i = *index + 1; i < this->token_count; i++)
+ for (i = *index + 1; i < (int)this->tokens.size(); i++)
{
- token = this->tokens + i;
+ token = &this->tokens[i];
switch (token->type)
{
@@ -944,9 +913,9 @@
int i;
CToken *token;
- for (i = *index + 1; i < this->token_count; i++)
+ for (i = *index + 1; i < (int)this->tokens.size(); i++)
{
- token = this->tokens + i;
+ token = &this->tokens[i];
switch (token->type)
{
@@ -978,27 +947,26 @@
bool Worldfile::ParseTokenEntity(int entity, int *index, int *line)
{
int i;
- int macro;
+ //int macro;
int name;
CToken *token;
name = *index;
- macro = LookupMacro(GetTokenValue(name));
+ CMacro* macro = LookupMacro(GetTokenValue(name));
// If the entity name is a macro...
- if (macro >= 0)
+ if (macro )
{
- // This is a bit of a hack
- int nentity = this->entity_count;
- int mindex = this->macros[macro].starttoken;
- int mline = this->macros[macro].line;
+ int nentity = this->entities.size();
+ int mindex = macro->starttoken;
+ int mline = macro->line;
if (!ParseTokenEntity(entity, &mindex, &mline))
- return false;
+ return false;
entity = nentity;
- for (i = *index + 1; i < this->token_count; i++)
- {
- token = this->tokens + i;
+ for (i = *index + 1; i < (int)this->tokens.size(); i++)
+ {
+ token = &this->tokens[i];
switch (token->type)
{
@@ -1029,9 +997,9 @@
// If the entity name is not a macro...
else
{
- for (i = *index + 1; i < this->token_count; i++)
+ for (i = *index + 1; i < (int)this->tokens.size(); i++)
{
- token = this->tokens + i;
+ token = &this->tokens[i];
switch (token->type)
{
@@ -1076,9 +1044,9 @@
value = -1;
count = 0;
- for (i = *index + 1; i < this->token_count; i++)
+ for (i = *index + 1; i < (int)this->tokens.size(); i++)
{
- token = this->tokens + i;
+ token = &this->tokens[i];
switch (token->type)
{
@@ -1113,14 +1081,14 @@
// Parse a tuple.
bool Worldfile::ParseTokenTuple( CProperty* property, int *index, int *line)
{
- int i, count;
+ unsigned int i, count;
CToken *token;
count = 0;
- for (i = *index + 1; i < this->token_count; i++)
+ for (i = *index + 1; i < this->tokens.size(); i++)
{
- token = this->tokens + i;
+ token = &this->tokens[i];
switch (token->type)
{
@@ -1150,52 +1118,30 @@
// Clear the macro list
void Worldfile::ClearMacros()
{
- free(this->macros);
- this->macros = NULL;
- this->macro_size = 0;
- this->macro_count = 0;
+ macros.clear();
}
///////////////////////////////////////////////////////////////////////////
// Add a macro
-int Worldfile::AddMacro(const char *macroname, const char *entityname,
- int line, int starttoken, int endtoken)
+void Worldfile::AddMacro(const char *macroname, const char *entityname,
+
int line, int starttoken, int endtoken)
{
- if (this->macro_count >= this->macro_size)
- {
- this->macro_size += 100;
- this->macros = (CMacro*)
- realloc(this->macros, this->macro_size * sizeof(this->macros[0]));
- }
-
- int macro = this->macro_count;
- this->macros[macro].macroname = macroname;
- this->macros[macro].entityname = entityname;
- this->macros[macro].line = line;
- this->macros[macro].starttoken = starttoken;
- this->macros[macro].endtoken = endtoken;
- this->macro_count++;
-
- return macro;
+ macros.insert( std::pair<std::string,CMacro>( macroname, CMacro(
macroname, entityname, line, starttoken, endtoken )));
}
///////////////////////////////////////////////////////////////////////////
// Lookup a macro by name
// Returns -1 if there is no macro with this name.
-int Worldfile::LookupMacro(const char *macroname)
+Worldfile::CMacro* Worldfile::LookupMacro(const char *macroname)
{
- int i;
- CMacro *macro;
-
- for (i = 0; i < this->macro_count; i++)
- {
- macro = this->macros + i;
- if (strcmp(macro->macroname, macroname) == 0)
- return i;
- }
- return -1;
+ std::map<std::string,CMacro>::iterator it = macros.find( macroname );
+
+ if( it == macros.end() )
+ return NULL;
+ else
+ return &it->second;
}
@@ -1204,11 +1150,13 @@
void Worldfile::DumpMacros()
{
printf("\n## begin macros\n");
- for (int i = 0; i < this->macro_count; i++)
+
+ FOR_EACH( it, macros )
+ //for (int i = 0; i < this->macro_count; i++)
{
- CMacro *macro = this->macros + i;
+ CMacro *macro = &(it->second);//this->macros + i;
- printf("## [%s][%s]", macro->macroname, macro->entityname);
+ printf("## [%s][%s]", macro->macroname.c_str(),
macro->entityname.c_str());
for (int j = macro->starttoken; j <= macro->endtoken; j++)
{
if (this->tokens[j].type == TokenEOL)
@@ -1226,10 +1174,12 @@
// Clear the entity list
void Worldfile::ClearEntities()
{
- free(this->entities);
- this->entities = NULL;
- this->entity_size = 0;
- this->entity_count = 0;
+ // free(this->entities);
+ // this->entities = NULL;
+ // this->entity_size = 0;
+ // this->entity_count = 0;
+
+ this->entities.clear();
}
@@ -1237,19 +1187,20 @@
// Add a entity
int Worldfile::AddEntity(int parent, const char *type)
{
- if (this->entity_count >= this->entity_size)
- {
- this->entity_size += 100;
- this->entities = (CEntity*)
- realloc(this->entities, this->entity_size * sizeof(this->entities[0]));
- }
+ // if (this->entity_count >= this->entity_size)
+ // {
+ // this->entity_size += 100;
+ // this->entities = (CEntity*)
+ // realloc(this->entities, this->entity_size *
sizeof(this->entities[0]));
+ // }
- int entity = this->entity_count;
- this->entities[entity].parent = parent;
- this->entities[entity].type = type;
- this->entity_count++;
+ // int entity = this->entity_count;
+ // this->entities[entity].parent = parent;
+ // this->entities[entity].type = type;
+ // this->entity_count++;
- return entity;
+ this->entities.push_back( CEntity( parent, type ));
+ return( entities.size()-1); // index of the new entity
}
@@ -1257,7 +1208,7 @@
// Get the number of entities
int Worldfile::GetEntityCount()
{
- return this->entity_count;
+ return this->entities.size();
}
@@ -1265,7 +1216,7 @@
// Get a entity's parent entity
int Worldfile::GetEntityParent(int entity)
{
- if (entity < 0 || entity >= this->entity_count)
+ if (entity < 0 || entity >= (int)this->entities.size())
return -1;
return this->entities[entity].parent;
}
@@ -1275,9 +1226,9 @@
// Get a entity (returns the entity type value)
const char *Worldfile::GetEntityType(int entity)
{
- if (entity < 0 || entity >= this->entity_count)
+ if (entity < 0 || entity >= (int)this->entities.size())
return NULL;
- return this->entities[entity].type;
+ return this->entities[entity].type.c_str();
}
@@ -1298,7 +1249,7 @@
void PrintProp( const char* key, CProperty* prop )
{
if( prop )
- printf( "Print key %s prop ent %d name %s\n", key, prop->entity,
prop->name );
+ printf( "Print key %s prop ent %d name %s\n", key, prop->entity,
prop->name.c_str() );
}
///////////////////////////////////////////////////////////////////////////
@@ -1307,7 +1258,7 @@
{
printf("\n## begin entities\n");
- FOR_EACH( it, nametable )
+ FOR_EACH( it, properties )
PrintProp( it->first.c_str(), it->second );
printf("## end entities\n");
@@ -1318,9 +1269,9 @@
// Clear the property list
void Worldfile::ClearProperties()
{
- this->property_count = 0;
-
- nametable.clear();
+ FOR_EACH( it, properties )
+ delete it->second;
+ properties.clear();
}
@@ -1328,27 +1279,14 @@
// Add an property
CProperty* Worldfile::AddProperty(int entity, const char *name, int line)
{
- //int i;
- CProperty *property = new CProperty();
-
- property->entity = entity;
- property->name = name;
- property->value_count = 0;
- property->values = NULL;
- property->line = line;
- property->used = false;
-
char key[128];
snprintf( key, 127, "%d%s", entity, name );
- property->key = strdup( key );
- nametable[ property->key ] = property;
+ CProperty *property = new CProperty( entity, name, line );
- //printf( "added key %s for prop %p entity %d name %s\n", property->key,
property, property->entity, property->name );
+ properties[ key ] = property;
- this->property_count++;
-
- return property;
+ return property;
}
@@ -1358,14 +1296,11 @@
{
assert(property);
- // Expand the array if it's too small
- if (index >= property->value_count)
- {
- property->value_count = index + 1;
- property->values = (int*) realloc(property->values,
property->value_count * sizeof(int));
- }
-
// Set the relevant value
+
+ if( index >= (int)property->values.size() )
+ property->values.resize( index+1 );
+
property->values[index] = value_token;
}
@@ -1380,9 +1315,9 @@
//printf( "looking up key %s for entity %d name %s\n", key, entity, name );
- std::map<std::string,CProperty*>::iterator it = nametable.find( key );
+ std::map<std::string,CProperty*>::iterator it = properties.find( key );
- if( it == nametable.end() ) // not found
+ if( it == properties.end() ) // not found
return NULL;
else
return it->second;
@@ -1403,8 +1338,7 @@
// printf( "property %s index %d value_count %d \n",
// property->key, index, property->value_count );
- assert(index >= 0 && index < property->value_count);
-
+ assert(index >= 0 && index < (int)property->values.size() );
// Set the relevant value
SetTokenValue( property->values[index], value);
}
Modified: code/stage/trunk/libstage/worldfile.hh
===================================================================
--- code/stage/trunk/libstage/worldfile.hh 2009-09-08 02:03:53 UTC (rev
8254)
+++ code/stage/trunk/libstage/worldfile.hh 2009-09-08 06:48:32 UTC (rev
8255)
@@ -19,7 +19,7 @@
*/
/*
* Desc: A class for reading in the world file.
- * Author: Andrew Howard
+ * Author: Andrew Howard, Richard Vaughan
* Date: 15 Nov 2001
* CVS info: $Id$
*/
@@ -33,26 +33,31 @@
namespace Stg {
- // Private property class
-struct CProperty
+ /// Private property class
+class CProperty
{
- // Index of entity this property belongs to
+ public:
+ /// Index of entity this property belongs to
int entity;
- // Name of property
- const char *name;
-
- char* key; // this property's map key
+ /// Name of property
+ std::string name;
- // A list of token indexes
- int value_count;
- int *values;
+ /// A list of token indexes
+ std::vector<int> values;
- // Line this property came from
+ /// Line this property came from
int line;
- // Flag set if property has been used
+ /// Flag set if property has been used
bool used;
+
+ CProperty( int entity, const char* name, int line ) :
+ entity(entity),
+ name(name),
+ values(),
+ line(line),
+ used(false) {}
};
@@ -219,13 +224,15 @@
private: void ClearMacros();
// Add a macro
- private: int AddMacro(const char *macroname, const char *entityname,
+ private: void AddMacro(const char *macroname, const char *entityname,
int line, int starttoken, int endtoken);
// Lookup a macro by name
- // Returns -1 if there is no macro with this name.
- private: int LookupMacro(const char *macroname);
+ // Returns a pointer to a macro with this name, or NULL if there is none..
+ class CMacro;
+ private: CMacro* LookupMacro(const char *macroname);
+
// Dump the macro list for debugging
private: void DumpMacros();
@@ -285,10 +292,11 @@
TokenOpenTuple, TokenCloseTuple,
TokenSpace, TokenEOL
};
-
+
// Token structure.
- private: struct CToken
+private: class CToken
{
+ public:
// Non-zero if token is from an include file.
int include;
@@ -296,65 +304,73 @@
int type;
// Token value
- char *value;
+ std::string value;
+
+ CToken( int include, int type, const char* value ) :
+ include(include), type(type), value(value) {}
};
// A list of tokens loaded from the file.
// Modified values are written back into the token list.
- private: int token_size, token_count;
- private: CToken *tokens;
+ //private: int token_size, token_count;
+private: std::vector<CToken> tokens;
// Private macro class
- private: struct CMacro
+private: class CMacro
{
+ public:
// Name of macro
- const char *macroname;
+ std::string macroname;
// Name of entity
- const char *entityname;
+ std::string entityname;
// Line the macro definition starts on.
int line;
// Range of tokens in the body of the macro definition.
int starttoken, endtoken;
+
+ CMacro(const char *macroname, const char *entityname,
+ int line, int starttoken, int
endtoken) :
+ macroname(macroname),
+ entityname(entityname),
+ line(line),
+ starttoken(starttoken),
+ endtoken(endtoken) {}
};
-
- // Macro list
- private: int macro_size;
- private: int macro_count;
- private: CMacro *macros;
+
+ // Macro table
+ private: std::map<std::string,CMacro> macros;
// Private entity class
- private: struct CEntity
+ private: class CEntity
{
+ public:
// Parent entity
int parent;
// Type of entity (i.e. position, laser, etc).
- const char *type;
+ std::string type;
+
+ CEntity( int parent, const char* type ) : parent(parent),
type(type) {}
};
-
+
// Entity list
- private: int entity_size;
- private: int entity_count;
- private: CEntity *entities;
-
+private: std::vector<CEntity> entities;
+
// Property list
- private: int property_count;
-
- private: CProperty *properties;
-
+private: std::map<std::string,CProperty*> properties;
+
// Name of the file we loaded
- public: char *filename;
-
+public: char *filename;
+
// Conversion units
- public: double unit_length;
- public: double unit_angle;
+public: double unit_length;
+public: double unit_angle;
-private: std::map<std::string,CProperty*> nametable;
};
-
+
};
#endif
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2009-09-08 02:03:53 UTC (rev
8254)
+++ code/stage/trunk/libstage/worldgui.cc 2009-09-08 06:48:32 UTC (rev
8255)
@@ -284,7 +284,9 @@
// configure the canvas
canvas->Load( wf, window_section );
-
+ // warn about unused WF lines
+ wf->WarnUnused();
+
std::string title = PROJECT;
if ( wf->filename ) {
// improve the title bar to say "Stage: <worldfile name>"
Modified: code/stage/trunk/worlds/benchmark/cave.world
===================================================================
--- code/stage/trunk/worlds/benchmark/cave.world 2009-09-08 02:03:53 UTC
(rev 8254)
+++ code/stage/trunk/worlds/benchmark/cave.world 2009-09-08 06:48:32 UTC
(rev 8255)
@@ -126,7 +126,7 @@
darkredrob( pose [-7.571 1.112 0 1.397] )
darkredrob( pose [-6.028 1.220 0 32.866] )
darkredrob( pose [-4.509 0.635 0 4.689] )
-darkredrob( pose [-7.549 -0.240 0 1.000 1.423] )
+darkredrob( pose [-7.549 -0.240 0 1.423] )
darkredrob( pose [-6.728 0.180 0 -22.542] )
darkredrob( pose [-6.824 0.826 0 -11.285] )
darkredrob( pose [-5.963 0.335 0 -42.474] )
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2009-09-08 02:03:53 UTC (rev 8254)
+++ code/stage/trunk/worlds/fasr.world 2009-09-08 06:48:32 UTC (rev 8255)
@@ -101,7 +101,7 @@
joules 100000
joules_capacity 400000
fiducial_return 0
- charging_bump( fiducial( range 3 pose [ 0 0 -0.100 0 ] ) )
+ charging_bump( fiducial( range_max 3 pose [ 0 0 -0.100 0 ] ) )
)
autorob( pose [7.062 -1.563 0 152.684] joules 300000 name "r0" )
Modified: code/stage/trunk/worlds/pioneer.inc
===================================================================
--- code/stage/trunk/worlds/pioneer.inc 2009-09-08 02:03:53 UTC (rev 8254)
+++ code/stage/trunk/worlds/pioneer.inc 2009-09-08 06:48:32 UTC (rev 8255)
@@ -124,7 +124,7 @@
obstacle_return 1 # Can hit things.
laser_return 1 # reflects laser beams
ranger_return 1 # reflects sonar beams
- blobfinder_return 1 # Seen by blobfinders
+ blob_return 1 # Seen by blobfinders
fiducial_return 1 # Seen as "1" fiducial finders
localization "gps"
Modified: code/stage/trunk/worlds/sick.inc
===================================================================
--- code/stage/trunk/worlds/sick.inc 2009-09-08 02:03:53 UTC (rev 8254)
+++ code/stage/trunk/worlds/sick.inc 2009-09-08 06:48:32 UTC (rev 8255)
@@ -3,7 +3,6 @@
(
# laser-specific properties
# factory settings for LMS200
- range_min 0.0
range_max 8.0
fov 180.0
samples 361
Modified: code/stage/trunk/worlds/simple.world
===================================================================
--- code/stage/trunk/worlds/simple.world 2009-09-08 02:03:53 UTC (rev
8254)
+++ code/stage/trunk/worlds/simple.world 2009-09-08 06:48:32 UTC (rev
8255)
@@ -6,13 +6,10 @@
include "map.inc"
include "sick.inc"
-interval_sim 100 # simulation timestep in milliseconds
-interval_real 20 # real-time interval between simulation updates in
milliseconds
-
# time to pause (in GUI mode) or quit (in headless mode (-g)) the simulation
quit_time 3600 # 1 hour of simulated time
-paused 0
+paused 1
resolution 0.02
@@ -21,7 +18,7 @@
(
size [ 635.000 666.000 ] # in pixels
scale 37.481
- # pixels per meter
+ # pixels per meteri
center [ -0.019 -0.282 ]
rotate [ 0 0 ]
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