Re: [Playerstage-users] differentiate between other robots & obstacles...

[Richard E. <red...@ee...>]

Brian Gerkey wrote:
> On Apr 5, 2009, at 1:03 AM, Rebble wrote:
>
>   
>>  Sorry to ask here, but i really want to know how you get the GoTo  
>> () in
>> VFH worked. This is my simple test, but failed,could you please give  
>> me some
>> hints?
>>     
>
> When you say that it doesn't work, what happens?
>
> 	brian.
>
>   
I noticed that GoTo for differential robots is broken in the stage-2.1.1 
tar ball on source forge. The culprit being max_speed.x, max_speed.y, 
and max_speed.a. They are set at start as follows:

 if( wf_property_exists( mod->id, "max_speed" ) )
    {
data->max_speed.x = wf_read_tuple_length(mod->id, "max_speed", 0, 
data->max_speed.x );
      data->max_speed.y = wf_read_tuple_length(mod->id, "max_speed", 1, 
data->max_speed.y );
      data->max_speed.a = wf_read_tuple_angle(mod->id, "max_speed", 2, 
data->max_speed.a );
}  


Thus, if not specified they all default to zero causing the goto 
operation for differential robots to not perform correctly. However, 
this problem is fixed in Stage-3.0.1. I am not sure if this was alread 
patched or not for 2.1.1.

Thank You,

Richard Edwards