[Playerstage-commit] code/stage/worlds audio.cfg, NONE, 1.1 audio.world, NONE, 1.1

[Pooya K. <po...@us...>]

Update of /cvsroot/playerstage/code/stage/worlds
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27311

Added Files:
	audio.cfg audio.world 
Log Message:
added audio model sample world and cfg file


--- NEW FILE: audio.world ---
# A Sample world file using audio model
# CVS: $Id: audio.world,v 1.1 2006/07/27 02:35:47 pooya Exp $

# defines 'map' object used for floorplans
include "map.inc"

# size of the world in meters
size [16 16]

# set the resolution of the underlying raytrace model in meters
resolution 0.02

interval_sim 100  # milliseconds per update step
interval_real 100 # real-time milliseconds per update step

# update the screen every 10ms (we need fast update for the stest demo)
gui_interval 20

# configure the GUI window
window
( 
  size [ 591.000 638.000 ] 
  center [-0.010 -0.040] 
  scale 0.028 
)

# load an environment bitmap
# this is the only object in world with audio_return=1. 
# The set of important audio refraction/defraction points will be built only 
# for this model. This model should be fixed and not move.
# map_resolution should be equal/more than raytracing resolution.
# 
map
( 
#  bitmap "bitmaps/cave.png"
  bitmap "bitmaps/autolab.png"
  size [16 16]
  name "floorplan"
  map_resolution 0.05
  audio_return 1
)

# define a simple robot 
define testbot position
(
  size [0.4 0.4]

  polygons 1
  polygon[0].points 10
  polygon[0].point[0] [  0.1  0.03 ]
  polygon[0].point[1] [  0.23  0.05 ]
  polygon[0].point[2] [  0.15  0.15 ]
  polygon[0].point[3] [ -0.15  0.15 ]
  polygon[0].point[4] [ -0.23  0.05 ]
  polygon[0].point[5] [ -0.23 -0.05 ]
  polygon[0].point[6] [ -0.15 -0.15 ]
  polygon[0].point[7] [  0.15 -0.15 ]
  polygon[0].point[8] [  0.23 -0.05 ]
  polygon[0].point[9] [  0.1  -0.03 ]

  laser ( size [ 0.1 0.1 ])
)  

# create an audio equipped robot
testbot
(
  name "robot1"
  color "red"
  pose [-6.5 6.5 45]
  audio (
    say "Robot 1"
    say_period 350
  )
)

# create another robot
testbot
(
  name "robot2"
  color "blue"
  pose [-3.5 -3.0 90]
  audio (
    say "Robot 2"
    say_period 1000
  )
)

# create another robot
testbot
(
  name "robot3"
  color "green"
  pose [3 1.5 0]
  audio (
    say "Robot 3"
    say_period 2700
  )
)

# create another robot
testbot
(
  name "robot4"
  color "orange"
  pose [6.0 -3.0 0]
  audio ()
)

--- NEW FILE: audio.cfg ---

# Desc: Player sample configuration file using Stage audio model
# CVS: $Id: audio.cfg,v 1.1 2006/07/27 02:35:47 pooya Exp $

# load the Stage plugin simulation driver
driver
(		
  name "stage"
  provides ["simulation:0" ]
  plugin "libstageplugin"

  # load the named file into the simulator
  worldfile "audio.world"
)

# Create a Stage driver and attach position2d and audio interfaces 
# to the model "robot1"
driver
( 
  name "stage"
  provides ["7665:position2d:0" "7665:opaque:0" ]
  model "robot1" 
  alwayson 1
)

# Create a Stage driver and attach position2d and audio interfaces 
# to the model "robot2"
driver
( 
  name "stage"
  provides ["7666:position2d:0" "7666:opaque:0" ]
  model "robot2" 
  alwayson 1
)

# Create a Stage driver and attach position2d and audio interfaces 
# to the model "robot3"
driver
( 
  name "stage"
  provides ["7667:position2d:0" "7667:opaque:0" ]
  model "robot3" 
  alwayson 1
)

# Create a Stage driver and attach position2d and audio interfaces 
# to the model "robot4"
driver
( 
  name "stage"
  provides ["7668:position2d:0" "7668:opaque:0" ]
  model "robot4" 
  alwayson 1
)