Revision: 6849
http://playerstage.svn.sourceforge.net/playerstage/?rev=6849&view=rev
Author: jeremy_asher
Date: 2008-07-11 13:28:48 -0700 (Fri, 11 Jul 2008)
Log Message:
-----------
Major documentation reorganization, README and RELEASE added and sourced using Markdown to build html docs
Modified Paths:
--------------
code/stage/trunk/docsrc/Makefile
code/stage/trunk/docsrc/stage.dox
code/stage/trunk/docsrc/stage.txt
code/stage/trunk/libstage/model_camera.cc
Added Paths:
-----------
code/stage/trunk/COPYING
code/stage/trunk/DESCRIPTION
code/stage/trunk/README
code/stage/trunk/RELEASE
code/stage/trunk/docsrc/sourcedocs.sh
Removed Paths:
-------------
code/stage/trunk/AUTHORS.txt
code/stage/trunk/COPYING.txt
code/stage/trunk/DESCRIPTION.txt
code/stage/trunk/README.txt
code/stage/trunk/docsrc/installpage.sh
Property Changed:
----------------
code/stage/trunk/docsrc/stage.txt
Deleted: code/stage/trunk/AUTHORS.txt
===================================================================
--- code/stage/trunk/AUTHORS.txt 2008-07-11 20:04:18 UTC (rev 6848)
+++ code/stage/trunk/AUTHORS.txt 2008-07-11 20:28:48 UTC (rev 6849)
@@ -1,15 +0,0 @@
-# AUTHORS - list of authors. The Stage programs, libraries,
-# configuration scripts, examples and graphics are copyright these
-# authors, and may be used only under the terms of the GNU General
-# Public License version 2 or later.
-# $Id: AUTHORS,v 1.3 2004-09-19 00:34:12 rtv Exp $
-
-# Name (email)
-Richard Vaughan (rtv@...)
-Andrew Howard (inspectorg@...)
-Brian Gerkey (gerkey@...)
-Alex Couture-Beil
-Jeremy Asher
-Reed Hedges
-Toby Collett
-Pooya Karimian
\ No newline at end of file
Copied: code/stage/trunk/COPYING (from rev 6844, code/stage/trunk/COPYING.txt)
===================================================================
--- code/stage/trunk/COPYING (rev 0)
+++ code/stage/trunk/COPYING 2008-07-11 20:28:48 UTC (rev 6849)
@@ -0,0 +1,340 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 2, June 1991
+
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.
+ 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The licenses for most software are designed to take away your
+freedom to share and change it. By contrast, the GNU General Public
+License is intended to guarantee your freedom to share and change free
+software--to make sure the software is free for all its users. This
+General Public License applies to most of the Free Software
+Foundation's software and to any other program whose authors commit to
+using it. (Some other Free Software Foundation software is covered by
+the GNU Library General Public License instead.) You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+this service if you wish), that you receive source code or can get it
+if you want it, that you can change the software or use pieces of it
+in new free programs; and that you know you can do these things.
+
+ To protect your rights, we need to make restrictions that forbid
+anyone to deny you these rights or to ask you to surrender the rights.
+These restrictions translate to certain responsibilities for you if you
+distribute copies of the software, or if you modify it.
+
+ For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must give the recipients all the rights that
+you have. You must make sure that they, too, receive or can get the
+source code. And you must show them these terms so they know their
+rights.
+
+ We protect your rights with two steps: (1) copyright the software, and
+(2) offer you this license which gives you legal permission to copy,
+distribute and/or modify the software.
+
+ Also, for each author's protection and ours, we want to make certain
+that everyone understands that there is no warranty for this free
+software. If the software is modified by someone else and passed on, we
+want its recipients to know that what they have is not the original, so
+that any problems introduced by others will not reflect on the original
+authors' reputations.
+
+ Finally, any free program is threatened constantly by software
+patents. We wish to avoid the danger that redistributors of a free
+program will individually obtain patent licenses, in effect making the
+program proprietary. To prevent this, we have made it clear that any
+patent must be licensed for everyone's free use or not licensed at all.
+
+ The precise terms and conditions for copying, distribution and
+modification follow.
+
+ GNU GENERAL PUBLIC LICENSE
+ TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
+
+ 0. This License applies to any program or other work which contains
+a notice placed by the copyright holder saying it may be distributed
+under the terms of this General Public License. The "Program", below,
+refers to any such program or work, and a "work based on the Program"
+means either the Program or any derivative work under copyright law:
+that is to say, a work containing the Program or a portion of it,
+either verbatim or with modifications and/or translated into another
+language. (Hereinafter, translation is included without limitation in
+the term "modification".) Each licensee is addressed as "you".
+
+Activities other than copying, distribution and modification are not
+covered by this License; they are outside its scope. The act of
+running the Program is not restricted, and the output from the Program
+is covered only if its contents constitute a work based on the
+Program (independent of having been made by running the Program).
+Whether that is true depends on what the Program does.
+
+ 1. You may copy and distribute verbatim copies of the Program's
+source code as you receive it, in any medium, provided that you
+conspicuously and appropriately publish on each copy an appropriate
+copyright notice and disclaimer of warranty; keep intact all the
+notices that refer to this License and to the absence of any warranty;
+and give any other recipients of the Program a copy of this License
+along with the Program.
+
+You may charge a fee for the physical act of transferring a copy, and
+you may at your option offer warranty protection in exchange for a fee.
+
+ 2. You may modify your copy or copies of the Program or any portion
+of it, thus forming a work based on the Program, and copy and
+distribute such modifications or work under the terms of Section 1
+above, provided that you also meet all of these conditions:
+
+ a) You must cause the modified files to carry prominent notices
+ stating that you changed the files and the date of any change.
+
+ b) You must cause any work that you distribute or publish, that in
+ whole or in part contains or is derived from the Program or any
+ part thereof, to be licensed as a whole at no charge to all third
+ parties under the terms of this License.
+
+ c) If the modified program normally reads commands interactively
+ when run, you must cause it, when started running for such
+ interactive use in the most ordinary way, to print or display an
+ announcement including an appropriate copyright notice and a
+ notice that there is no warranty (or else, saying that you provide
+ a warranty) and that users may redistribute the program under
+ these conditions, and telling the user how to view a copy of this
+ License. (Exception: if the Program itself is interactive but
+ does not normally print such an announcement, your work based on
+ the Program is not required to print an announcement.)
+
+These requirements apply to the modified work as a whole. If
+identifiable sections of that work are not derived from the Program,
+and can be reasonably considered independent and separate works in
+themselves, then this License, and its terms, do not apply to those
+sections when you distribute them as separate works. But when you
+distribute the same sections as part of a whole which is a work based
+on the Program, the distribution of the whole must be on the terms of
+this License, whose permissions for other licensees extend to the
+entire whole, and thus to each and every part regardless of who wrote it.
+
+Thus, it is not the intent of this section to claim rights or contest
+your rights to work written entirely by you; rather, the intent is to
+exercise the right to control the distribution of derivative or
+collective works based on the Program.
+
+In addition, mere aggregation of another work not based on the Program
+with the Program (or with a work based on the Program) on a volume of
+a storage or distribution medium does not bring the other work under
+the scope of this License.
+
+ 3. You may copy and distribute the Program (or a work based on it,
+under Section 2) in object code or executable form under the terms of
+Sections 1 and 2 above provided that you also do one of the following:
+
+ a) Accompany it with the complete corresponding machine-readable
+ source code, which must be distributed under the terms of Sections
+ 1 and 2 above on a medium customarily used for software interchange; or,
+
+ b) Accompany it with a written offer, valid for at least three
+ years, to give any third party, for a charge no more than your
+ cost of physically performing source distribution, a complete
+ machine-readable copy of the corresponding source code, to be
+ distributed under the terms of Sections 1 and 2 above on a medium
+ customarily used for software interchange; or,
+
+ c) Accompany it with the information you received as to the offer
+ to distribute corresponding source code. (This alternative is
+ allowed only for noncommercial distribution and only if you
+ received the program in object code or executable form with such
+ an offer, in accord with Subsection b above.)
+
+The source code for a work means the preferred form of the work for
+making modifications to it. For an executable work, complete source
+code means all the source code for all modules it contains, plus any
+associated interface definition files, plus the scripts used to
+control compilation and installation of the executable. However, as a
+special exception, the source code distributed need not include
+anything that is normally distributed (in either source or binary
+form) with the major components (compiler, kernel, and so on) of the
+operating system on which the executable runs, unless that component
+itself accompanies the executable.
+
+If distribution of executable or object code is made by offering
+access to copy from a designated place, then offering equivalent
+access to copy the source code from the same place counts as
+distribution of the source code, even though third parties are not
+compelled to copy the source along with the object code.
+
+ 4. You may not copy, modify, sublicense, or distribute the Program
+except as expressly provided under this License. Any attempt
+otherwise to copy, modify, sublicense or distribute the Program is
+void, and will automatically terminate your rights under this License.
+However, parties who have received copies, or rights, from you under
+this License will not have their licenses terminated so long as such
+parties remain in full compliance.
+
+ 5. You are not required to accept this License, since you have not
+signed it. However, nothing else grants you permission to modify or
+distribute the Program or its derivative works. These actions are
+prohibited by law if you do not accept this License. Therefore, by
+modifying or distributing the Program (or any work based on the
+Program), you indicate your acceptance of this License to do so, and
+all its terms and conditions for copying, distributing or modifying
+the Program or works based on it.
+
+ 6. Each time you redistribute the Program (or any work based on the
+Program), the recipient automatically receives a license from the
+original licensor to copy, distribute or modify the Program subject to
+these terms and conditions. You may not impose any further
+restrictions on the recipients' exercise of the rights granted herein.
+You are not responsible for enforcing compliance by third parties to
+this License.
+
+ 7. If, as a consequence of a court judgment or allegation of patent
+infringement or for any other reason (not limited to patent issues),
+conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot
+distribute so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you
+may not distribute the Program at all. For example, if a patent
+license would not permit royalty-free redistribution of the Program by
+all those who receive copies directly or indirectly through you, then
+the only way you could satisfy both it and this License would be to
+refrain entirely from distribution of the Program.
+
+If any portion of this section is held invalid or unenforceable under
+any particular circumstance, the balance of the section is intended to
+apply and the section as a whole is intended to apply in other
+circumstances.
+
+It is not the purpose of this section to induce you to infringe any
+patents or other property right claims or to contest validity of any
+such claims; this section has the sole purpose of protecting the
+integrity of the free software distribution system, which is
+implemented by public license practices. Many people have made
+generous contributions to the wide range of software distributed
+through that system in reliance on consistent application of that
+system; it is up to the author/donor to decide if he or she is willing
+to distribute software through any other system and a licensee cannot
+impose that choice.
+
+This section is intended to make thoroughly clear what is believed to
+be a consequence of the rest of this License.
+
+ 8. If the distribution and/or use of the Program is restricted in
+certain countries either by patents or by copyrighted interfaces, the
+original copyright holder who places the Program under this License
+may add an explicit geographical distribution limitation excluding
+those countries, so that distribution is permitted only in or among
+countries not thus excluded. In such case, this License incorporates
+the limitation as if written in the body of this License.
+
+ 9. The Free Software Foundation may publish revised and/or new versions
+of the General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+Each version is given a distinguishing version number. If the Program
+specifies a version number of this License which applies to it and "any
+later version", you have the option of following the terms and conditions
+either of that version or of any later version published by the Free
+Software Foundation. If the Program does not specify a version number of
+this License, you may choose any version ever published by the Free Software
+Foundation.
+
+ 10. If you wish to incorporate parts of the Program into other free
+programs whose distribution conditions are different, write to the author
+to ask for permission. For software which is copyrighted by the Free
+Software Foundation, write to the Free Software Foundation; we sometimes
+make exceptions for this. Our decision will be guided by the two goals
+of preserving the free status of all derivatives of our free software and
+of promoting the sharing and reuse of software generally.
+
+ NO WARRANTY
+
+ 11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
+FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
+OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
+PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
+OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
+TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
+PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
+REPAIR OR CORRECTION.
+
+ 12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
+REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
+INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
+OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
+TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
+YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
+PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGES.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+convey the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+
+
+Also add information on how to contact you by electronic and paper mail.
+
+If the program is interactive, make it output a short notice like this
+when it starts in an interactive mode:
+
+ Gnomovision version 69, Copyright (C) year name of author
+ Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, the commands you use may
+be called something other than `show w' and `show c'; they could even be
+mouse-clicks or menu items--whatever suits your program.
+
+You should also get your employer (if you work as a programmer) or your
+school, if any, to sign a "copyright disclaimer" for the program, if
+necessary. Here is a sample; alter the names:
+
+ Yoyodyne, Inc., hereby disclaims all copyright interest in the program
+ `Gnomovision' (which makes passes at compilers) written by James Hacker.
+
+ <signature of Ty Coon>, 1 April 1989
+ Ty Coon, President of Vice
+
+This General Public License does not permit incorporating your program into
+proprietary programs. If your program is a subroutine library, you may
+consider it more useful to permit linking proprietary applications with the
+library. If this is what you want to do, use the GNU Library General
+Public License instead of this License.
Deleted: code/stage/trunk/COPYING.txt
===================================================================
--- code/stage/trunk/COPYING.txt 2008-07-11 20:04:18 UTC (rev 6848)
+++ code/stage/trunk/COPYING.txt 2008-07-11 20:28:48 UTC (rev 6849)
@@ -1,340 +0,0 @@
- GNU GENERAL PUBLIC LICENSE
- Version 2, June 1991
-
- Copyright (C) 1989, 1991 Free Software Foundation, Inc.
- 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
- Preamble
-
- The licenses for most software are designed to take away your
-freedom to share and change it. By contrast, the GNU General Public
-License is intended to guarantee your freedom to share and change free
-software--to make sure the software is free for all its users. This
-General Public License applies to most of the Free Software
-Foundation's software and to any other program whose authors commit to
-using it. (Some other Free Software Foundation software is covered by
-the GNU Library General Public License instead.) You can apply it to
-your programs, too.
-
- When we speak of free software, we are referring to freedom, not
-price. Our General Public Licenses are designed to make sure that you
-have the freedom to distribute copies of free software (and charge for
-this service if you wish), that you receive source code or can get it
-if you want it, that you can change the software or use pieces of it
-in new free programs; and that you know you can do these things.
-
- To protect your rights, we need to make restrictions that forbid
-anyone to deny you these rights or to ask you to surrender the rights.
-These restrictions translate to certain responsibilities for you if you
-distribute copies of the software, or if you modify it.
-
- For example, if you distribute copies of such a program, whether
-gratis or for a fee, you must give the recipients all the rights that
-you have. You must make sure that they, too, receive or can get the
-source code. And you must show them these terms so they know their
-rights.
-
- We protect your rights with two steps: (1) copyright the software, and
-(2) offer you this license which gives you legal permission to copy,
-distribute and/or modify the software.
-
- Also, for each author's protection and ours, we want to make certain
-that everyone understands that there is no warranty for this free
-software. If the software is modified by someone else and passed on, we
-want its recipients to know that what they have is not the original, so
-that any problems introduced by others will not reflect on the original
-authors' reputations.
-
- Finally, any free program is threatened constantly by software
-patents. We wish to avoid the danger that redistributors of a free
-program will individually obtain patent licenses, in effect making the
-program proprietary. To prevent this, we have made it clear that any
-patent must be licensed for everyone's free use or not licensed at all.
-
- The precise terms and conditions for copying, distribution and
-modification follow.
-
- GNU GENERAL PUBLIC LICENSE
- TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
-
- 0. This License applies to any program or other work which contains
-a notice placed by the copyright holder saying it may be distributed
-under the terms of this General Public License. The "Program", below,
-refers to any such program or work, and a "work based on the Program"
-means either the Program or any derivative work under copyright law:
-that is to say, a work containing the Program or a portion of it,
-either verbatim or with modifications and/or translated into another
-language. (Hereinafter, translation is included without limitation in
-the term "modification".) Each licensee is addressed as "you".
-
-Activities other than copying, distribution and modification are not
-covered by this License; they are outside its scope. The act of
-running the Program is not restricted, and the output from the Program
-is covered only if its contents constitute a work based on the
-Program (independent of having been made by running the Program).
-Whether that is true depends on what the Program does.
-
- 1. You may copy and distribute verbatim copies of the Program's
-source code as you receive it, in any medium, provided that you
-conspicuously and appropriately publish on each copy an appropriate
-copyright notice and disclaimer of warranty; keep intact all the
-notices that refer to this License and to the absence of any warranty;
-and give any other recipients of the Program a copy of this License
-along with the Program.
-
-You may charge a fee for the physical act of transferring a copy, and
-you may at your option offer warranty protection in exchange for a fee.
-
- 2. You may modify your copy or copies of the Program or any portion
-of it, thus forming a work based on the Program, and copy and
-distribute such modifications or work under the terms of Section 1
-above, provided that you also meet all of these conditions:
-
- a) You must cause the modified files to carry prominent notices
- stating that you changed the files and the date of any change.
-
- b) You must cause any work that you distribute or publish, that in
- whole or in part contains or is derived from the Program or any
- part thereof, to be licensed as a whole at no charge to all third
- parties under the terms of this License.
-
- c) If the modified program normally reads commands interactively
- when run, you must cause it, when started running for such
- interactive use in the most ordinary way, to print or display an
- announcement including an appropriate copyright notice and a
- notice that there is no warranty (or else, saying that you provide
- a warranty) and that users may redistribute the program under
- these conditions, and telling the user how to view a copy of this
- License. (Exception: if the Program itself is interactive but
- does not normally print such an announcement, your work based on
- the Program is not required to print an announcement.)
-
-These requirements apply to the modified work as a whole. If
-identifiable sections of that work are not derived from the Program,
-and can be reasonably considered independent and separate works in
-themselves, then this License, and its terms, do not apply to those
-sections when you distribute them as separate works. But when you
-distribute the same sections as part of a whole which is a work based
-on the Program, the distribution of the whole must be on the terms of
-this License, whose permissions for other licensees extend to the
-entire whole, and thus to each and every part regardless of who wrote it.
-
-Thus, it is not the intent of this section to claim rights or contest
-your rights to work written entirely by you; rather, the intent is to
-exercise the right to control the distribution of derivative or
-collective works based on the Program.
-
-In addition, mere aggregation of another work not based on the Program
-with the Program (or with a work based on the Program) on a volume of
-a storage or distribution medium does not bring the other work under
-the scope of this License.
-
- 3. You may copy and distribute the Program (or a work based on it,
-under Section 2) in object code or executable form under the terms of
-Sections 1 and 2 above provided that you also do one of the following:
-
- a) Accompany it with the complete corresponding machine-readable
- source code, which must be distributed under the terms of Sections
- 1 and 2 above on a medium customarily used for software interchange; or,
-
- b) Accompany it with a written offer, valid for at least three
- years, to give any third party, for a charge no more than your
- cost of physically performing source distribution, a complete
- machine-readable copy of the corresponding source code, to be
- distributed under the terms of Sections 1 and 2 above on a medium
- customarily used for software interchange; or,
-
- c) Accompany it with the information you received as to the offer
- to distribute corresponding source code. (This alternative is
- allowed only for noncommercial distribution and only if you
- received the program in object code or executable form with such
- an offer, in accord with Subsection b above.)
-
-The source code for a work means the preferred form of the work for
-making modifications to it. For an executable work, complete source
-code means all the source code for all modules it contains, plus any
-associated interface definition files, plus the scripts used to
-control compilation and installation of the executable. However, as a
-special exception, the source code distributed need not include
-anything that is normally distributed (in either source or binary
-form) with the major components (compiler, kernel, and so on) of the
-operating system on which the executable runs, unless that component
-itself accompanies the executable.
-
-If distribution of executable or object code is made by offering
-access to copy from a designated place, then offering equivalent
-access to copy the source code from the same place counts as
-distribution of the source code, even though third parties are not
-compelled to copy the source along with the object code.
-
- 4. You may not copy, modify, sublicense, or distribute the Program
-except as expressly provided under this License. Any attempt
-otherwise to copy, modify, sublicense or distribute the Program is
-void, and will automatically terminate your rights under this License.
-However, parties who have received copies, or rights, from you under
-this License will not have their licenses terminated so long as such
-parties remain in full compliance.
-
- 5. You are not required to accept this License, since you have not
-signed it. However, nothing else grants you permission to modify or
-distribute the Program or its derivative works. These actions are
-prohibited by law if you do not accept this License. Therefore, by
-modifying or distributing the Program (or any work based on the
-Program), you indicate your acceptance of this License to do so, and
-all its terms and conditions for copying, distributing or modifying
-the Program or works based on it.
-
- 6. Each time you redistribute the Program (or any work based on the
-Program), the recipient automatically receives a license from the
-original licensor to copy, distribute or modify the Program subject to
-these terms and conditions. You may not impose any further
-restrictions on the recipients' exercise of the rights granted herein.
-You are not responsible for enforcing compliance by third parties to
-this License.
-
- 7. If, as a consequence of a court judgment or allegation of patent
-infringement or for any other reason (not limited to patent issues),
-conditions are imposed on you (whether by court order, agreement or
-otherwise) that contradict the conditions of this License, they do not
-excuse you from the conditions of this License. If you cannot
-distribute so as to satisfy simultaneously your obligations under this
-License and any other pertinent obligations, then as a consequence you
-may not distribute the Program at all. For example, if a patent
-license would not permit royalty-free redistribution of the Program by
-all those who receive copies directly or indirectly through you, then
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-
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-PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
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-
- How to Apply These Terms to Your New Programs
-
- If you develop a new program, and you want it to be of the greatest
-possible use to the public, the best way to achieve this is to make it
-free software which everyone can redistribute and change under these terms.
-
- To do so, attach the following notices to the program. It is safest
-to attach them to the start of each source file to most effectively
-convey the exclusion of warranty; and each file should have at least
-the "copyright" line and a pointer to where the full notice is found.
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- <one line to give the program's name and a brief idea of what it does.>
- Copyright (C) <year> <name of author>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
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- along with this program; if not, write to the Free Software
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-when it starts in an interactive mode:
-
- Gnomovision version 69, Copyright (C) year name of author
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- This is free software, and you are welcome to redistribute it
- under certain conditions; type `show c' for details.
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-parts of the General Public License. Of course, the commands you use may
-be called something other than `show w' and `show c'; they could even be
-mouse-clicks or menu items--whatever suits your program.
-
-You should also get your employer (if you work as a programmer) or your
-school, if any, to sign a "copyright disclaimer" for the program, if
-necessary. Here is a sample; alter the names:
-
- Yoyodyne, Inc., hereby disclaims all copyright interest in the program
- `Gnomovision' (which makes passes at compilers) written by James Hacker.
-
- <signature of Ty Coon>, 1 April 1989
- Ty Coon, President of Vice
-
-This General Public License does not permit incorporating your program into
-proprietary programs. If your program is a subroutine library, you may
-consider it more useful to permit linking proprietary applications with the
-library. If this is what you want to do, use the GNU Library General
-Public License instead of this License.
Copied: code/stage/trunk/DESCRIPTION (from rev 6844, code/stage/trunk/DESCRIPTION.txt)
===================================================================
--- code/stage/trunk/DESCRIPTION (rev 0)
+++ code/stage/trunk/DESCRIPTION 2008-07-11 20:28:48 UTC (rev 6849)
@@ -0,0 +1,18 @@
+Stage
+=====
+
+Stage simulates a population of mobile robots, sensors and objects in
+a two-dimensional bitmapped environment. Stage is designed to support
+research into multi-agent autonomous systems, so it provides fairly
+simple, computationally cheap models of lots of devices rather than
+attempting to emulate any device with great fidelity
+
+Stage is part of the Player Project, and is maintained by Richard
+Vaughan (vaughan@...).
+
+http://playerstage.org
+
+--
+Richard Vaughan (rtv)
+Burnaby, BC, Canada
+7 July 2008
Deleted: code/stage/trunk/DESCRIPTION.txt
===================================================================
--- code/stage/trunk/DESCRIPTION.txt 2008-07-11 20:04:18 UTC (rev 6848)
+++ code/stage/trunk/DESCRIPTION.txt 2008-07-11 20:28:48 UTC (rev 6849)
@@ -1,18 +0,0 @@
-Stage
-=====
-
-Stage simulates a population of mobile robots, sensors and objects in
-a two-dimensional bitmapped environment. Stage is designed to support
-research into multi-agent autonomous systems, so it provides fairly
-simple, computationally cheap models of lots of devices rather than
-attempting to emulate any device with great fidelity
-
-Stage is part of the Player Project, and is maintained by Richard
-Vaughan (vaughan@...).
-
-http://playerstage.org
-
---
-Richard Vaughan (rtv)
-Burnaby, BC, Canada
-7 July 2008
Added: code/stage/trunk/README
===================================================================
--- code/stage/trunk/README (rev 0)
+++ code/stage/trunk/README 2008-07-11 20:28:48 UTC (rev 6849)
@@ -0,0 +1,148 @@
+
+Copyright Richard Vaughan and contributors 1998-2008.
+Part of the Player Project (http://playerstage.sourceforge.net)
+
+
+License
+-------
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License version 2 as
+published by the Free Software Foundation.
+
+This program is distributed in the hope that it will be useful, but
+WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+General Public License for more details.
+
+A copy of the license is included with the sourcecode in the file
+'COPYING". Copying and redistribution is permitted only under the
+terms of the license.
+
+
+Introduction
+------------
+Stage is a robot simulator. It provides a virtual world populated by
+mobile robots and sensors, along with various objects for the robots
+to sense and manipulate.
+
+There are three ways to use Stage:
+
+1. The "stage" program: a standalone robot simulation program
+that loads your robot control program from a library that you provide.
+
+2. The Stage plugin for Player (libstageplugin) - provides a
+population of virtual robots for the popular Player networked robot
+interface system.
+
+3. Write your own simulator: the "libstage" C++ library makes it
+easy to create, run and customize a Stage simulation from inside your
+own programs.
+
+
+Models
+------
+Stage provides several sensor and actuator models, including sonar
+or infrared rangers, scanning laser rangefinder, color-blob tracking,
+fiducial tracking, bumpers, grippers and mobile robot bases with
+odometric or global localization.
+
+
+Design
+------
+Stage was designed with multi-agent systems in mind, so it provides
+fairly simple, computationally cheap models of lots of devices rather
+than attempting to emulate any device with great fidelity. This design
+is intended to be useful compromise between conventional high-fidelity
+robot simulations, the minimal simulations described by Jakobi [4], and
+the grid-world simulations common in artificial life research [5]. We
+intend Stage to be just realistic enough to enable users to move
+controllers between Stage robots and real robots, while still being
+fast enough to simulate large populations. We also intend Stage to be
+comprehensible to undergraduate students, yet sophisticated enough for
+professional reseachers.
+
+Player also contains several useful 'virtual devices'; including
+some sensor pre-processing or sensor-integration algorithms that help
+you to rapidly build powerful robot controllers. These are easy to use
+with Stage.
+
+
+Authors
+-------
+Stage was written by:
+
+- Richard Vaughan (vaughan@...)
+- Brian Gerkey (gerkey@...)
+- Reed Hedges (hedges@...)
+- Andrew Howard (andrew.b.howard@...)
+- Toby Collett (tcollett+player@...)
+- Pooya Karimian (pooyak@...)
+- Jeremy Asher (jra11@...)
+- Alex Couture-Beil (asc17@...)
+
+
+Many patches and bug reports have been contributed by users around the
+world.
+
+Stage is part of the Player Project (http://playerstage.sourceforge.net),
+a community effort to develop Free Software tools for robotics research.
+
+
+Citations
+---------
+If you use Stage in your work, we'd appreciate a citation. At the time
+of writing, the most suitable reference is:
+
+Brian Gerkey, Richard T. Vaughan and Andrew Howard. "The Player/Stage
+Project: Tools for Multi-Robot and Distributed Sensor Systems"
+Proceedings of the 11th International Conference on Advanced Robotics,
+pages 317-323, Coimbra, Portugal, June 2003 (ICAR'03)
+http://www.isr.uc.pt/icar03/ .
+
+[gzipped postscript](http://robotics.stanford.edu/~gerkey/research/final_papers/icar03-player.ps.gz),
+[pdf](http://robotics.stanford.edu/~gerkey/research/final_papers/icar03-player.pdf)
+
+Please help us keep track of what's being used out there by correctly
+naming the Player/Stage components you use. Player used on its own is
+called "Player". Player and Stage used together are referred to as
+"the Player/Stage system" or just "Player/Stage". When libstage is
+used without Player, it's just called "Stage". When Player is used
+with its 3D ODE-based simulation backend, Gazebo, it's called
+Player/Gazebo. Gazebo without Player is just "Gazebo". All this
+software is part of the "Player Project".
+
+
+References
+----------
+
+
+
+Support
+-------
+Funding for Stage has been provided in part by:
+
+- DARPA (USA)
+- NASA (USA)
+- NSERC (Canada)
+- NSF (USA)
+- Simon Fraser University (Canada)
+
+
+Names
+-----
+The names "Player" and "Stage" were inspired by the lines:
+
+"All the world's a stage"
+"And all the men and women merely players"
+ from "As You Like It" by William Shakespeare.
+
+
+References
+----------
+[4] Nick Jakobi (1997) "Evolutionary Robotics and the Radical Envelope
+of Noise Hypothesis", Adaptive Behavior Volume 6, Issue 2. pp.325 -
+368.
+
+[5] Stuart Wilson (1985) "Knowledge Growth in an Artificial Animal",
+Proceedings of the First International Conference on Genetic Agorithms
+and Their Applications. Hillsdale, New Jersey. pp.16-23.
\ No newline at end of file
Deleted: code/stage/trunk/README.txt
===================================================================
--- code/stage/trunk/README.txt 2008-07-11 20:04:18 UTC (rev 6848)
+++ code/stage/trunk/README.txt 2008-07-11 20:28:48 UTC (rev 6849)
@@ -1,398 +0,0 @@
-****************************************************************************
-* README.stage - Richard Vaughan - Stage-3.0.0
-*
-* $Id: README,v 1.18 2006-03-29 05:13:44 rtv Exp $
-****************************************************************************
-
-CMAKE building notes - to be integrated properly:
-
-export PLAYER=$HOME/Stage-3.0
-export PKG_CONFIG_PATH=$PLAYER/lib/pkgconfig
-
-export CMAKE_INCLUDE_PATH=/opt/local/include
-export CMAKE_LIBRARY_PATH=/opt/local/lib
-export CMAKE_INSTALL_PREFIX=$PLAYER
-
-cmake .
-make install
-
-** Release Notes for 2.0.2 **
-
-New features:
-
-* bumper model
-
-Richard Vaughan (rtv) vaughan@... 2006.3.24
-
-
-** Release Notes for 2.0.1 **
-
-This is mainly a bugfix and performance-enhancement release. This
-release requires Player-2.0.1, released simultaneously.
-
-The only major new feature is the addition of support for Player's
-speech interface: speech bubbles show the text being "spoken" by each
-robot. The text is rendered using Pango, so non-Roman alphabets are
-supported.
-
-Richard Vaughan (rtv) vaughan@... 2006.3.24
-
-** Release Notes for 2.0.0 **
-
-This is a major new release of Stage, and is intended to replace all
-previous versions. It requires Player-2.0.0 or later.
-
-Significant user-level changes include:
-
- - Stage is now implemented as the C library libstage. Using libstage,
- your programs can include a sophisticated robot simulator with a
- few lines of code. The Player plugin libstageplugin is a wrapper for
- libstage that provides simulation services to Player. Player with
- libstageplugin is the Player/Stage system.
-
- - Player clients can draw directly in the Stage window using the
- graphics2d interface. libstage programs can use the internal
- user graphics API.
-
- - Configurable odometry error in position model
-
- - Gripper model that can pick up anything. Any object can be made
- grippable/pushable by setting the the gripper_return property.
-
- - Pan-tilt-zoom (PTZ) model.
-
- - More and improved visualizations, including models leaving trails
- over time
-
- - Worldfile syntax has changed slightly, so you may need to edit your
- existing worlds to get them to work. Look at the example worlds in
- <stagesrc>/worlds to get the idea.
-
-Please report bugs to the tracker and let us know what you do with Stage.
-
-Richard Vaughan (rtv) vaughan@... 2006.2.26
-
-** Release Notes for 1.6.3 **
-
-New features:
-
- - polygons rendered with outlines for more crisp look.
-
- - added support for the Player 'map' interface.
-
- - added 'File/Reset' menu item that reloads as much as possible to
- the last saved state. It doesn't reload the text file yet,
- unfortunately.
-
- - grids now fit their models precisely, and the arbitrary background
- grid has been removed.
-
-Major bug fixes:
-
- - fixed walls-have-gaps problem
-
-
-** Release Notes for 1.6.2 **
-
-This is a bugfix release that fixes several problems with previous
-versions. For example:
-
- - fixed invisible 'shadow' object at origin
- - builds on latest GCC
- - can set robot odometry & odometry origin properly
- - can respond to config messages from Player drivers
-
-New features include:
-
- - simulation interface can move arbitrary named simulation objects
-(Player CVS HEAD is needed for this)
-
- - visualization of odometry data (selectable in view menu)
-
-Enjoy.
-rtv - 2005.2.8
-
-** Release notes for 1.6.0 **
-
- You should read these notes carefully before running Stage. This is
-the first release after a substantial rewrite: plenty has changed
-under the hood, but more important for most people is that the way
-Stage is configured, launched and used has changed significantly.
-
-Help is available in several places:
-
-+ Here. Please read this document..
-+ The Player/Stage web pages at http://playerstage.sourceforge.net
- - from the web site you can access manuals, FAQ and mailing lists
-+ The Player/Stage Getting Started document, included with the Stage
-distro in <stage>/docsrc/ps_getting_started.txt
-
-* WARNINGS FOR USERS OF PREVIOUS VERSIONS*
-
-This release of Stage is very different to previous releases. Many new
-features have been added but not all the old features have yet been
-implemented (e.g. grippers, pucks, position-control mode, placing
-models on top of each other). This version is very usable and solves
-some crucial problems with previous releases, so we decided it was
-about time to make a release, even with some things missing.
-
-Before deciding to upgrade your existing Stage installation you should
-check the docs and code to see if the features you use exist in this
-release. If you don't see it listed in the manual, chances are it's
-not here yet. Many of the missing features will be added over time if
-there is a need for them. If you miss something, you can submit a
-request on the P/S SourceForge pages.
-
-Also, the worldfile syntax has changed. You'll need to update your
-syntax by hand. Stage is much more configurable than it used to be.
-
-We recommend new users start with this release, unless they absolutely
-require a feature from a previous version and can't wait for it to
-show up here (or do the port themselves).
-
-Summary of new features:
-
-+ Access to more Player goodness: previous versions did not permit the
-use of Player's meta-devices. Now you can compose your Player config
-file as you wish.
-
-+ Dynamic creation, deletion and modification of worlds, robots,
-and environmental features.
-
-+ Robot geometry: robot bodies are composed from line segments, so you
-can build a robot any shape and size either by desribing the lines
-yourself, or by loading an image file using the provided
-bitmap-to-line-segment filter.
-
-+ Bitmap formats: The shape of any object, including backgrounds, can
-be loaded from bitmap files in any format understood my gdkpixmap
-(PNG,JPG,PPM,etc.). Example bitmaps are provided in PNG format. The
-days of the fussy old PNM parser are gone.
-
-+ World size: worlds can now be very large indeed
-(UNSIGNED_LONG_MAX**2 pixels). For most purposes this is effectively
-infinite. You no longer need to specify a world size in the world
-file. A sparse array (hash table) is used to represent the world, so
-worlds use memory proportional to the amount of stuff in 'em,
-independent of their dimensions.
-
-+ A single instance of Stage can provide multiple concurrent
-simulation sessions. Stage is now a server that provides simulation
-services, when requested by a client. The stage1p5 driver in Player is
-a client to the Stage server. Other clients are possible; in fact
-Player does not provide access to all of Stage's features (the Player
-protocol doesn't currently contain any simulation control spec, though
-this might be added in time), so you may want to write clients that
-talk directly to Stage. Of course, Player is still the first choice of
-target for your robot controller.
-
-
-Summary of new internal stuff, not apparent to the user:
-
-+ Timing and synchronization with Player works properly.
-
-+ Stage is now written entirely in C and makes extensive use of GLib
-data structures.
-
-+ Multi-resolution ray-tracing: the cost of using a memory-friendly
-hash table for the underlying world representation (matrix) is a much
-greater time-cost in checking and setting matrix cells. This made
-ray-tracing very slow. To compensate, I implemented multi-resolution
-ray tracing, reducing the number of matrix lookups by a factor of a
-few hundred in typical use. The result is faster ray-tracing
-performance overall compared to previous versions.
-
-** README ***
-
-This README provides a quick-start guide to building and running
-Stage. Consult the Stage User Manual for full details.
-
--- What is Stage? ---------------------------------------------------------
-
-Stage simulates mobile robots and sensors in a two-dimensional
-bitmapped environment containing a variety of objects. Stage is
-designed to work well with Player. Player provides a powerful,
-flexible interface to a variety of robot hardware; Stage provides
-virtual devices for Player. Various sensor models are provided,
-including sonar, scanning laser rangefinder, color blob tracking from
-a pan-tilt-zoom camera and odometry. Several controllers designed in
-Stage have been demonstrated to work on real robots.
-
-Stage is developed by the Player/Stage Project (P/S), an international
-consortium of robotics researchers. P/S is lead by Brian Gerkey
-(Stanford University), Richard Vaughan (Simon Fraser University) and
-Andrew Howard (University of Southern California).
-
--- How to get Stage -----------------------------------------------------
-
-The primary source for Player and Stage is:
-
-http://playerstage.sourceforge.net
-
--- Ownership ------------------------------------------------------------
-
-Stage is released under the GNU General Public License.
-
-Stage programs, images, examples, source code and documentation are
-copyright (c) the authors.
-
-These authors have worked on Stage over the years:
-
-Richard Vaughan
-Andrew Howard
-Brian Gerkey
-Kasper Stoy
-Boyoon Jung
-Jakob Fredslund
-
-Stage's development has been supported at the University of Southern
-California and HRL Laboratories LLC by DARPA IPTO, and at Simon Fraser
-University by an NSERC Discovery Grant.
-
--- Whats here? ------------------------------------------------------------
-
-stage - the simulation engine.
-
-Some example environments and setup files are provided, along with a
-manual and this bootstrap documentation
-
--- Requirements ------------------------------------------------------------
-
-Developed and tested under Linux kernel 2.4, glibc-2 and OS X 1.3.
-Written in reasonable ANSII/POSIX so should compile elsewhere. No
-promises, but people have found it to work on a variety of set-ups.
-
-Requires:
-
-+ Player & RTK [http://playerstage.sourceforge.net]
-+ GTK [http://www.gtk.org]
-+ X11R6 [http://www.x.org]
-
--- Mac OS X ----------------------------------------------------------------
-
-NOTES
-
-Requirements
-install fink
-sudo apt-get install gtk2 atk1 libjpeg-bin
-export PKG_CONFIG_PATH=<prefix>/lib/pkgconfig
-
--- Compiling ---------------------------------------------------------------
-
-** NOTE FOR USERS BUILDING OUT OF CVS **
-
-If you pulled the sources from CVS rather than using a released
-package, you need to generate a 'configure' script. This script is
-built automatically when we package up a release, but doesn't actually
-exist in the CVS repository. To create this script, you must run
-'bootstrap' instead of 'configure' on first checkout and after cvs
-updating.
-
-**
-
-** TODO - WARNING - THIS SECTION IS OUT OF DATE **
-
-
-We use the standard GNU build system: download; extract; configure;
-make install.
-
-0) Obtain and install these packages, on which Stage depends:
-
-- librtk2 (available from http://playerstage.sourceforge.net)
-
-1) unpack the Stage tarball with
-
-$ tar xzvf stage-<version>.tgz
-
-The tar on some systems (such as OS X) does not support the '-z'
-option, so you have to gunzip first, then 'tar xvf stage-<version>.tar'
-
-2) configure stage:
-
-Stage needs to know the path to your Player installation or build
-directory, and to librtk and your X11 color database if you want to
-use the GUI. We use the GNU autoconf system to handle these
-configurations, plus various optional components and cross-platform
-compatibility issues. If you installed Player and librtk in their
-default locations (/usr/local), and you want a normal installation,
-the defaults should work:
-
-$ cd stage-<version>
-$ ./configure
-
-(or, if you're building from CVS:
-
-$ ./bootstrap
-)
-
-To see all the available configuration options do:
-
-$ configure --help
-
-3) compile stage:
-
-$ make
-
-will build the binary src/stage.
-
-Optionally, as root you can do:
-
-$ make install
-
-to install the executables in /usr/local/bin/
-
-You can specify a different installation directory using:
-
-$ configure --prefix=<install dir>
-
-Which is useful if you don't have root access to your machine. If you
-change the prefix, remember to set the correct path to Player and
-librtk.
-
--- Running ---------------------------------------------------------------
-
-To test the Stage you just built do:
-
-$ src/stage
-
-You should see the following output:
-
-* Stage-1.4.dev * [localhost:6600]
-* Ready.
-
-Note that Stage doesn't do anything interesting until a client
-connects and requests simulation session. Player is a suitable client.
-
-
--- Using Stage ----------------------------------------------------
-
-You must use a client program to access Stage, just as you must use a
-browser to access a web server, or a Player client to access
-Player. The latest releases of Player contain the stageclient driver
-that allows Player to be a Stage client. See the documentation for the
-stageclient driver.
-
-The stageclient driver uses the libStage C library that comes with
-Stage. You can use this library to write your own client quite
-simply. The libStage API will eventually be documented in the Stage
-manual.
-
--- Worldfiles ----------------------------------------------------
-
-The Stage client library libStage can create worlds based on a text
-decription called a "worldfile". This file is not loaded directly by
-Stage, as was the case in previous releases. The worldfile format is
-documented in the Stage manual, but you can get the idea from looking
-at the examples in the <stage>/worlds directory.
-
---------------------------------------------------------------------------
-
-Enjoy, and let us know what you do with Stage.
-
- - Richard Vaughan, Andrew Howard, Brian Gerkey
-
-
-
-
-
-
Added: code/stage/trunk/RELEASE
===================================================================
--- code/stage/trunk/RELEASE (rev 0)
+++ code/stage/trunk/RELEASE 2008-07-11 20:28:48 UTC (rev 6849)
@@ -0,0 +1,137 @@
+Version 3.0.0
+-------------
+TODO
+
+Richard Vaughan (rtv) vaughan@...
+
+Version 2.0.1
+-------------
+This is mainly a bugfix and performance-enhancement release. This
+release requires Player-2.0.1, released simultaneously.
+
+The only major new feature is the addition of support for Player's
+speech interface: speech bubbles show the text being "spoken" by each
+robot. The text is rendered using Pango, so non-Roman alphabets are
+supported.
+
+Richard Vaughan (rtv) vaughan@... 2006.3.24
+
+
+Version 2.0.0
+-------------
+This is a major new release of Stage, and is intended to replace all
+previous versions. It requires Player-2.0.0 or later.
+
+Please report bugs to the tracker and let us know what you do with Stage.
+
+Richard Vaughan (rtv) vaughan@... 2006.2.26
+
+### New Features
+Significant user-level changes include:
+
+ - Stage is now implemented as the C library
+ libstage. Using libstage, your programs can include a
+ sophisticated robot simulator with a few lines of code. The
+ Player plugin libstageplugin is a wrapper for libstage
+ that provides simulation services to Player. Player with
+ libstageplugin is the Player/Stage system.
+
+ - Player clients can draw directly in the Stage window using the
+ graphics2d interface. libstage programs can use the internal
+ user graphics API.
+
+ - Configurable odometry error in position model
+
+ - Gripper model that can pick up anything. Any object can be made
+ grippable/pushable by setting the the gripper_return property.
+
+ - Pan-tilt-zoom (PTZ) model.
+
+ - More and improved visualizations, including models leaving trails
+ over time
+
+ - Any object can now have its shape specified by a bitmap file (JPG,
+ PNG, etc.).
+
+ - Worldfile syntax has changed slightly, so you may need to edit your existing
+worlds to get them to work. Look at the example worlds in <tt>(stage
+src)/worlds</tt> to get the idea.
+
+ - Worlds can be very large (thousands of meters square).
+
+
+Version 1.6.1
+-------------
+This is a bug-fix release that replaces 1.6.0.
+
+- Fixes several GUI bugs, including the [View/Fill Polygons] menu item.
+
+- Some code clean-up and thread-safety fixes
+
+
+Version 1.6.0
+-------------
+This release of Stage is the first after a major rewrite. There are
+bound to be bugs and teething troubles, but the Autonomy Lab
+(http://www.cs.sfu.ca/research/groups/autonomy) has been using this
+code for serious work for a few months now and we think it's useful
+and usable.
+
+### Significant changes visible to the user
+
+1. Stage is now a Player plugin, instead of an executable. The key
+benefit of this is that all Player drivers are now available for
+use directly with Stage, including sophisticated drivers like
+AMCL, without needing passthrough drivers.
+
+2. Stage depends on Player 1.6 or newer.
+
+3. Worldfile syntax has a changed, so you need to edit your existing
+worlds to get them to work. Look at the example worlds in <stage
+src>/worlds to get the idea.
+
+4. Any object can now have its shape specified by a bitmap file
+
+5. Several bitmap file formats are supported, using a third-party
+library. Load maps and robot bodies from JPG, PNG, etc. No more PNM
+troubles.
+
+6. Worlds can now be very large (thousands of meters square).
+
+7. Several models are missing from this release - notably the gripper
+and puck. These will be available soon. Meanwhile, enjoy the full
+power of Player with the basic laser, sonar, position, fiducial and
+blobfinder models.
+
+8. Stage no longer depends on libRTK.
+
+9. Some models from previous versions may not yet be available in
+this release (e.g. gripper & puck), but we're working on them. Let us
+know which ones you need.
+
+
+### Significant changes under the hood
+
+1. The Stage simulation engine is now a library rather than an
+application. The library can be used to write custom robot
+simulations. This is very useful if you need to do synchronous control
+of robots (e.g for perfectly repeatable experiments), or dynamically
+create and destroy robots or other objects. You can't (yet) do this
+though Player. Refer to the libstage reference manual
+(http://playerstage.sf.net/doc/stage_reference) for the API and
+developer docs.
+
+2. Stage is now mostly written in C. A simple object-oriented system
+allows one level of inheritance for writing polymorphic model code.
+
+3. The underlying occupancy grid model has changed from a simple
+fixed-size array to a sparse array of (almost) unlimited size
+(implemented with a hash table). To compensate for the performance hit
+of raytracing in the hash table, a three-level multiple-resolution
+approach is used. Raytracing is now usually _much_ faster than in
+Stage-1.3. To get an idea how this works, select the
+View/Debug/Raytrace menu item while a laser or ranger is producing
+data.
+
+4. Most home-rolled data structures have been replaced by glib
+versions.
Modified: code/stage/trunk/docsrc/Makefile
===================================================================
--- code/stage/trunk/docsrc/Makefile 2008-07-11 20:04:18 UTC (rev 6848)
+++ code/stage/trunk/docsrc/Makefile 2008-07-11 20:28:48 UTC (rev 6849)
@@ -4,6 +4,7 @@
EXTRA_DIST = \
README \
stage.txt \
+sourced.txt \
header.html \
stage.dox \
stage_button.png
@@ -12,7 +13,7 @@
# build docs manually with 'make doc'
doc:
- ./installpage.sh > install.txt
+ ./sourcedocs.sh > sourced.txt
doxygen stage.dox
cp stage_button.png stage
@@ -23,7 +24,7 @@
# zap the built docs
clean:
- rm -rf stage
+ rm -rf stage sourced.txt
# copy the latest docs to the web server
upload:
Deleted: code/stage/trunk/docsrc/installpage.sh
===================================================================
--- code/stage/trunk/docsrc/installpage.sh 2008-07-11 20:04:18 UTC (rev 6848)
+++ code/stage/trunk/docsrc/installpage.sh 2008-07-11 20:28:48 UTC (rev 6849)
@@ -1,5 +0,0 @@
-#!/bin/bash
-
-echo "/** \page install Installation"
-./Markdown.pl ../INSTALL
-echo "**/"
Copied: code/stage/trunk/docsrc/sourcedocs.sh (from rev 6844, code/stage/trunk/docsrc/installpage.sh)
===================================================================
--- code/stage/trunk/docsrc/sourcedocs.sh (rev 0)
+++ code/stage/trunk/docsrc/sourcedocs.sh 2008-07-11 20:28:48 UTC (rev 6849)
@@ -0,0 +1,13 @@
+#!/bin/bash
+
+echo "/** \mainpage The Stage Robot Simulator"
+./Markdown.pl ../README
+echo "**/"
+
+echo "/** \page install Installation"
+./Markdown.pl ../INSTALL
+echo "**/"
+
+echo "/** \page release Release Notes"
+./Markdown.pl ../RELEASE
+echo "**/"
Modified: code/stage/trunk/docsrc/stage.dox
===================================================================
--- code/stage/trunk/docsrc/stage.dox 2008-07-11 20:04:18 UTC (rev 6848)
+++ code/stage/trunk/docsrc/stage.dox 2008-07-11 20:28:48 UTC (rev 6849)
@@ -450,8 +450,8 @@
# directories like "/usr/src/myproject". Separate the files or directories
# with spaces.
-INPUT = stage.txt \
- install.txt \
+INPUT = sourced.txt \
+ stage.txt \
../libstage \
../libstageplugin
Modified: code/stage/trunk/docsrc/stage.txt
===================================================================
--- code/stage/trunk/docsrc/stage.txt 2008-07-11 20:04:18 UTC (rev 6848)
+++ code/stage/trunk/docsrc/stage.txt 2008-07-11 20:28:48 UTC (rev 6849)
@@ -1,445 +1,33 @@
/* Stage plugin documentation file - parsed by Doxygen for the user
* manual
- * $Id: stage.txt,v 1.20 2008-02-24 23:24:40 rtv Exp $
+ * $Id$
*/
/**
-\mainpage The Stage Robot Simulator
-
-<p>Copyright Richard Vaughan and contributors 1998-2008.
-<p>Part of the Player Project [http://playerstage.sourceforge.net]
-
-\section License
-
-This program is free software; you can redistribute it and/or modify
-it under the terms of the GNU General Public License version 2 as
-published by the Free Software Foundation.
+ \page help Getting Help
-This program is distributed in the hope that it will be useful, but
-WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-General Public License for more details.
-
-A copy of the license is included with the sourcecode in the file
-'COPYING". Copying and redistribution is permitted only under the
-terms of the license.
-
-\section Introduction
-
-Stage is a robot simulator. It provides a virtual world populated by
-mobile robots and sensors, along with various objects for the robots
-to sense and manipulate.
-
-There are three ways to use Stage:
-
-<ol>
-<li> The "stage" program: a standalone robot simulation program
-that loads your robot control program from a library that you provide.
-
-<li> The Stage plugin for Player (libstageplugin) - provides a
-population of virtual robots for the popular Player networked robot
-interface system.
-
-<li> Write your own simulator: the "libstage" C++ library makes it
-easy to create, run and customize a Stage simulation from inside your
-own programs.
-</ol>
-
-\section Models
-
-<p>Stage provides several sensor and actuator models, including sonar
-or infrared rangers, scanning laser rangefinder, color-blob tracking,
-fiducial tracking, bumpers, grippers and mobile robot bases with
-odometric or global localization.
-
-\section Design
-
-<p>Stage was designed with multi-agent systems in mind, so it provides
-fairly simple, computationally cheap models of lots of devices rather
-than attempting to emulate any device with great fidelity. This design
-is intended to be useful compromise between conventional high-fidelity
-robot simulations, the minimal simulations described by Jakobi [4], and
-the grid-world simulations common in artificial life research [5]. We
-intend Stage to be just realistic enough to enable users to move
-controllers between Stage robots and real robots, while still being
-fast enough to simulate large populations. We also intend Stage to be
-comprehensible to undergraduate students, yet sophisticated enough for
-professional reseachers.
-
-<p>Player also contains several useful 'virtual devices'; including
-some sensor pre-processing or sensor-integration algorithms that help
-you to rapidly build powerful robot controllers. These are easy to use
-with Stage.
-
-[@ref refs]
-
-
-\section Authors
-
-Stage was written by:
-
-<ul>
-<li>Richard Vaughan <tt>(vaughan@...>
-<li>Brian Gerkey <tt>(gerkey@...>
-<li>Reed Hedges <tt>(hedges@...>
-<li>Andrew Howard <tt>(andrew.b.howard@...>
-<li>Toby Collett <<tt>(tcollett+player@...>
-<li>Pooya Karimian <tt>(pooyak@...>
-<li>Jeremy Asher <tt>(jra11@...>
-<li>Alex Couture-Beil <tt>(asc17@...>
-</ul>
-
-Many patches and bug reports have been contributed by users around the
-world.
-
-Stage is part of the <a
-href="http://playerstage.sourceforge.net">Player Project</a>, a
-community effort to develop Free Software tools for robotics
-research. Stage is free to use, modify and redistribute under the
-terms of the <a href=http://www.gnu.org/licenses/licenses.html> GNU
-General Public License</a>.
-
-\section Citations
-
-If you use Stage in your work, we'd appreciate a citation. At the time of writing, the most suitable reference is:
-
-<ul>
-<li>
-Brian Gerkey, Richard T. Vaughan and Andrew Howard. "The
-Player/Stage Project: Tools for Multi-Robot and Distributed Sensor
-Systems"
-Proceedings of the 11th International Conference on Advanced Robotics,
-pages 317-323,
-Coimbra, Portugal, June 2003 <A HREF="http://www.isr.uc.pt/icar03/">(ICAR'03)</A>.
-<br>
-<A HREF="http://robotics.stanford.edu/~gerkey/research/final_papers/icar03-player.ps.gz">[gzipped
-postscript]</A> <A HREF="http://robotics.stanford.edu/~gerkey/research/final_papers/icar03-player.pdf">[pdf]</A>
-</ul>
-
-<p>Please help us keep track of what's being used out there by
-correctly naming the Player/Stage components you use. Player used on
-its own is called "Player". Player and Stage
-used together are referred to as "the Player/Stage system" or just
-"Player/Stage". When libstage is used without Player, it's just called
-"Stage". When Player is used with its 3D ODE-based simulation backend,
-Gazebo, it's called Player/Gazebo. Gazebo without Player is just
-"Gazebo". All this software is part of the "Player Project".
-
-\section Support
-
-<p> Funding for Stage has been provided in part by:
-
-<ul>
- <li>DARPA (USA)
- <li>NASA (USA)
- <li>NSERC (Canada)
- <li>NSF (USA)
- <li>Simon Fraser University (Canada)
-</ul>
-
-\section Names
-
-The names "Player" and "Stage" were inspired by the lines:
-
-@...
- "All the world's a stage"
- "And all the men and women merely players"
-@...
-
-<p>from <i>"As You Like It"</i> by William Shakespeare.
-
-
-\page release Release Notes
-
-\section v300 Version 3.0.0
-
-TODO
-
-Richard Vaughan (rtv) vaughan@...
-
-\section v201 Version 2.0.1
-
-This is mainly a bugfix and performance-enhancement release. This
-release requires Player-2.0.1, released simultaneously.
-
-The only major new feature is the addition of support for Player's
-speech interface: speech bubbles show the text being "spoken" by each
-robot. The text is rendered using Pango, so non-Roman alphabets are
-supported.
-
-Richard Vaughan (rtv) vaughan@... 2006.3.24
-
-
-\section v2 Version 2.0.0
-
-This is a major new release of Stage, and is intended to replace all
-previous versions. It requires Player-2.0.0 or later.
-
-Please report bugs to the tracker and let us know what you do with Stage.
-
-Richard Vaughan (rtv) vaughan@... 2006.2.26
-
-\subsection features New Features
-
-Significant user-level changes include:
-
- - <b>Stage</b> is now implemented as the C library
- <b>libstage</b>. Using libstage, your programs can include a
- sophisticated robot simulator with a few lines of code. The
- <b>Player</b> plugin <b>libstageplugin</b> is a wrapper for libstage
- that provides simulation services to Player. Player with
- libstageplugin is the <b>Player/Stage</b>
- system.
-
- - Player clients can draw directly in the Stage window using the
- graphics2d interface. libstage programs can use the internal
- user graphics API.
-
- - Configurable odometry error in position model
-
- - Gripper model that can pick up anything. Any object can be made
- grippable/pushable by setting the the gripper_return property.
+ If you're having problems and you can't find what you need in this manual, there are several places to find help.
- - Pan-tilt-zoom (PTZ) model.
-
- - More and improved visualizations, including models leaving trails
- over time
-
- - Any object can now have its shape specified by a bitmap file (JPG,
- PNG, etc.).
-
- - Worldfile syntax has changed slightly, so you may need to edit your existing
-worlds to get them to work. Look at the example worlds in <tt>(stage
-src)/worlds</tt> to get the idea.
-
- - Worlds can be very large (thousands of meters square).
-
-\page help Getting Help
-
-If you're having problems and you can't find what you need in this manual, there are several places to find help.
-
-First, please check the <a
-href=http://playerstage.sourceforge.net/doc/doc.html>online
-documentation page</a> to make sure you have the latest
-documentation. In particular, check the <a
-href=http://playerstage.sourceforge.net/doc/stage_user/faq.html>latest
-online latest FAQ page</a>.
-
-Next, you should search <a
-href=http://sourceforge.net/mailarchive/forum.php?forum_id=8201>the
-playerstage_users mailing list archive</a> to
-see if your questions have already been answered.
-
-Next, you should probably spend a few minutes with <a
-href=http://www.google.com>Google</a>. This often works well, as it
-picks up P/S conversations from all over the place.
-
-If you still need help, you can send email to the mailing list
-playerstage_users@... and a user or developer may
-reply to you. <b>Remember that these mails go to hundreds of people</b>, so
-please be polite and give as much information as you can in your
-email.
-
-\section References
-
-[1] Brian Gerkey, Richard Vaughan, Kasper Stoy, Andrew Howard, Gaurav
-Sukhatme, Maja Mataric (2001) "Most Valuable Player: A Robot Device
-Server for Distributed Control", Proc. IEEE Int. Conf. Intelligent
-Robotic Systems, Maui, Hawaii. (IROS'01)
-
-[2] Richard Vaughan, Brian Gerkey, Andrew Howard (2003) "On device
-abstractions for portable, resuable robot code", IEEE/RSJ
-International Conference on Intelligent Robot Systems, Las Vegas,
-Nevada, USA. (IROS2003)
-
-[3] Brian Gerkey, Richard Vaughan, Andrew Howard (2003) "The
-Player/Stage Project: Tools for Multi-Robot and Distributed Sensor
-Systems", 11th International Conference on Advanced Robotics, Coimbra,
-Portugal (ICAR'03).
-
-[4] Nick Jakobi (1997) "Evolutionary Robotics and the Radical Envelope
-of Noise Hypothesis", Adaptive Behavior Volume 6, Issue 2. pp.325 -
-368 .
-
-[5] Stuart Wilson (1985) "Knowledge Growth in an Artificial Animal",
-Proceedings of the First International Conference on Genetic Agorithms
-and Their Applications. Hillsdale, New Jersey. pp.16-23.
-
-*/
-
-
-/* Stage plugin documentation file - parsed by Doxygen for the user
- * manual
- * $Id: stage.txt,v 1.20 2008-02-24 23:24:40 rtv Exp $
-*/
-
-/**
-@... The Stage Robot Simulator
-
-<p>Copyright Richard Vaughan and contributors 1998-2005.
-<p>Part of the Player/Stage Project [http://playerstage.sourceforge.net]
-
-\section License
-
-<p>Stage sourcecode and documentation is released under the terms of
-the GNU General Public License v2. A copy of the license is included
-with the sourcecode in the file 'COPYING". Copying and redistribution
-is permitted only under the terms of the license.
-
-<hr>
-<small>
-Richard Vaughan <tt>(vaughan@...> \$Id: stage.txt,v 1.20 2008-02-24 23:24:40 rtv Exp $
-</small>
-*/
-
-
-/**
-@... stage
-@... help Getting Help
-
-If you're having problems and you can't find what you need in this manual, there are several places to find help.
-
-First, please check the <a
-href=http://playerstage.sourceforge.net/doc/doc.html>online
-documentation page</a> to make sure you have the latest
-documentation. In particular, check the <a
-href=http://playerstage.sourceforge.net/doc/stage_user/faq.html>latest
-online latest FAQ page</a>.
-
-Next, you should search <a
-href=http://sourceforge.net/mailarchive/forum.php?forum_id=8201>the
-playerstage_users mailing list archive</a> to
-see if your questions have already been answered.
-
-Next, you should probably spend a few minutes with <a
-href=http://www.google.com>Google</a>. This often works well, as it
-picks up P/S conversations from all over the place.
-
-If you still need help, you can send email to the mailing list
-playerstage_users@... and a user or developer may
-reply to you. <b>Remember that these mails go to hundreds of people</b>, so
-please be polite and give as much information as you can in your
-email.
-
-*/
-
-
-/**
-@... stage
-@... refs References
-
-[1] Brian Gerkey, Richard Vaughan, Kasper Stoy, Andrew Howard, Gaurav
-Sukhatme, Maja Mataric (2001) "Most Valuable Player: A Robot Device
-Server for Distributed Control", Proc. IEEE Int. Conf. Intelligent
-Robotic Systems, Maui, Hawaii. (IROS'01)
-
-[2] Richard Vaughan, Brian Gerkey, Andrew Howard (2003) "On device
-abstractions for portable, resuable robot code", IEEE/RSJ
-International Conference on Intelligent Robot Systems, Las Vegas,
-Nevada, USA. (IROS2003)
-
-[3] Brian Gerkey, Richard Vaughan, Andrew Howard (2003) "The
-Player/Stage Project: Tools for Multi-Robot and Distributed Sensor
-Systems", 11th International Conference on Advanced Robotics, Coimbra,
-Portugal (ICAR'03).
-
-[4] Nick Jakobi (1997) "Evolutionary Robotics and the Radical Envelope
-of Noise Hypothesis", Adaptive Behavior Volume 6, Issue 2. pp.325 -
-368 .
-
-[5] Stuart Wilson (1985) "Knowledge Growth in an Artificial Animal",
-Proceedings of the First International Conference on Genetic Agorithms
-and Their Applications. Hillsdale, New Jersey. pp.16-23.
-
-*/
-
-/**
-@... release Release Notes
-
-<h2>Version 1.6.1</h2>
-
-This is a bug-fix release that replaces 1.6.0.
-
-- Fixes several GUI bugs, including the [View/Fill Polygons] menu item.
-
-- Some code clean-up and thread-safety fixes
-
-<h2>Version 1.6.0</h2>
-
-This release of Stage is the first after a major rewrite. There are
-bound to be bugs and teething troubles, but the <a
-href=http://www.cs.sfu.ca/research/groups/autonomy>Autonomy Lab</a>
-has been using this code for serious work for a few months now and we
-think it's useful and usable.
-
-<h3>Significant changes visible to the user</h3>
-
-<ol>
-
-<li>Stage is now a Player plugin, instead of an executable. The key
-benefit of this is that <b>all Player drivers are now available for
-use directly with Stage</b>, including sophisticated drivers like
-AMCL, without needing passthrough drivers.
-
-<li>Stage depends on Player 1.6 or newer.
-
-<li>Worldfile syntax has a changed, so you need to edit your existing
-worlds to get them to work. Look at the example worlds in <tt>(stage
-src)/worlds</tt> to get the idea.
-
-<li>Any object can now have its shape specified by a bitmap file
-
-<li>Several bitmap file formats are supported, using a third-party
-library. Load maps and robot bodies from JPG, PNG, etc. No more PNM
-troubles.
-
-<li>Worlds can now be very large (thousands of meters square).
-
-<li>Several models are missing from this release - notably the gripper
-and puck. These will be available soon. Meanwhile, enjoy the full
-power of Player with the basic laser, sonar, position, fiducial and
-blobfinder models.
-
-<li>Stage no longer depends on libRTK.
-
-<li>Some models from previous versions may not yet be available in
-this release (e.g. gripper & puck), but we're working on them. Let us
-know which ones you need.
-
-</ol>
-
-<h3>Significant changes under the hood</h3>
-
-<ol>
-
-<li>The Stage simulation engine is now a library rather than an
-application. The library can be used to write custom robot
-simulations. This is very useful if you need to do synchronous control
-of robots (e.g for perfectly repeatable experiments), or dynamically
-create and destroy robots or other objects. You can't (yet) do this
-though Player. Refer to the <a
-href=http://playerstage.sf.net/doc/stage_reference>libstage reference
-manual</a> for the API and developer docs.</a>.
-
-<li>Stage is now mostly written in C. A simple object-oriented system
-allows one level of inheritance for writing polymorphic model code.
-
-<li>The underlying occupancy grid model has changed from a simple
-fixed-size array to a sparse array of (almost) unlimited size
-(implemented with a hash table). To compensate for the performance hit
-of raytracing in the hash table, a three-level multiple-resolution
-approach is used. Raytracing is now usually <i>much</i> faster than in
-Stage-1.3. To get an idea how this works, select the
-View/Debug/Raytrace menu item while a laser or ranger is producing
-data.
-
-<li>Most home-rolled data structures have been replaced by glib
-versions.
-
-</ol>
-
-*/
-
-
-
+ First, please check the <a
+ href=http://playerstage.sourceforge.net/doc/doc.html>online
+ documentation page</a> to make sure you have the latest
+ documentation. In particular, check the <a
+ href=http://playerstage.sourceforge.net/doc/stage_user/faq.html>latest
+ online latest FAQ page</a>.
+
+ Next, you should search <a
+ href=http://sourceforge.net/mailarchive/forum.php?forum_id=8201>the
+ playerstage_users mailing list archive</a> to
+ see if your questions have already been answered.
+
+ Next, you should probably spend a few minutes with <a
+ href=http://www.google.com>Google</a>. This often works well, as it
+ picks up P/S conversations from all over the place.
+
+ If you still need help, you can send email to the mailing list
+ playerstage_users@... and a user or developer may
+ reply to you. <b>Remember that these mails go to hundreds of people</b>, so
+ please be polite and give as much information as you can in your
+ email.
+**/
\ No newline at end of file
Property changes on: code/stage/trunk/docsrc/stage.txt
___________________________________________________________________
Name: svn:keywords
+ Id
Modified: code/stage/trunk/libstage/model_camera.cc
===================================================================
--- code/stage/trunk/libstage/model_camera.cc 2008-07-11 20:04:18 UTC (rev 6848)
+++ code/stage/trunk/libstage/model_camera.cc 2008-07-11 20:28:48 UTC (rev 6849)
@@ -138,19 +138,19 @@
{
StgModel::Load();
- float horizFov = wf->ReadTupleLength( wf_entity, "fov", 0, DEFAULT_HFOV );
- float vertFov = wf->ReadTupleLength( wf_entity, "fov", 1, DEFAULT_VFOV );
+ float horizFov = wf->ReadTupleFloat( wf_entity, "fov", 0, DEFAULT_HFOV );
+ float vertFov = wf->ReadTupleFloat( wf_entity, "fov", 1, DEFAULT_VFOV );
_camera.setFov( horizFov, vertFov );
float range_min = wf->ReadTupleLength( wf_entity, "range", 0, CAMERA_NEAR_CLIP );
float range_max = wf->ReadTupleLength( wf_entity, "range", 1, CAMERA_FAR_CLIP );
_camera.setClip( range_min, range_max );
- _yaw_offset = wf->ReadTupleLength( wf_entity, "direction", 0, _yaw_offset );
- _pitch_offset = wf->ReadTupleLength( wf_entity, "direction", 1, _pitch_offset );
+ _yaw_offset = wf->ReadTupleFloat( wf_entity, "direction", 0, _yaw_offset );
+ _pitch_offset = wf->ReadTupleFloat( wf_entity, "direction", 1, _pitch_offset );
- _width = static_cast< int >( wf->ReadTupleLength( wf_entity, "resolution", 0, _width ) );
- _height = static_cast< int >( wf->ReadTupleLength( wf_entity, "resolution", 1, _height ) );
+ _width = static_cast< int >( wf->ReadTupleFloat( wf_entity, "resolution", 0, _width ) );
+ _height = static_cast< int >( wf->ReadTupleFloat( wf_entity, "resolution", 1, _height ) );
}
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