[Playerstage-commit] code/stage/worlds pioneer.inc, 1.27.4.7, 1.27.4.8 simple.world, 1.64.2.21, 1.64.2.22

[Richard V. <rt...@us...>]

Update of /cvsroot/playerstage/code/stage/worlds
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv15041/worlds

Modified Files:
      Tag: opengl
	pioneer.inc simple.world 
Log Message:
*drastically* simplified code by eliminating common data,cfg,cmd structures. phew. a silly geometry bug remains

Index: pioneer.inc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/pioneer.inc,v
retrieving revision 1.27.4.7
retrieving revision 1.27.4.8
diff -C2 -d -r1.27.4.7 -r1.27.4.8
*** pioneer.inc	9 Jul 2007 00:03:24 -0000	1.27.4.7
--- pioneer.inc	17 Jul 2007 05:26:44 -0000	1.27.4.8
***************
*** 125,182 ****
  
    # left wheel
    block[4].points 4
!   block[4].point[0] [  0.083  0.177 ]
!   block[4].point[1] [ -0.083  0.177 ]
!   block[4].point[2] [ -0.083  0.140 ]
!   block[4].point[3] [  0.083  0.140 ]
!   block[4].z [0 0.165 ]
    block[4].color "gray10"
  
!   # right wheel
    block[5].points 4
!   block[5].point[0] [  0.083  -0.14 ]
!   block[5].point[1] [ -0.083  -0.14 ]
!   block[5].point[2] [ -0.083  -0.177 ]
!   block[5].point[3] [  0.083  -0.177 ]
!   block[5].z [ 0 0.165 ]
    block[5].color "gray10"
  
-   # castor
-   block[6].points 4
-   block[6].point[3] [ -0.2475  0.012 ]
-   block[6].point[2] [ -0.1825  0.012 ]
-   block[6].point[1] [ -0.1825 -0.012 ]
-   block[6].point[0] [ -0.2475 -0.012 ]
-   block[6].z [ 0 0.065 ]
-   block[6].color "gray10"
- 
    # lid
!   block[3].points 22
!   block[3].point[21]  [  0.174 0 ]
!   block[3].point[20]  [  0.166 -0.056 ]
!   block[3].point[19]  [  0.145 -0.107 ]
!   block[3].point[18]  [  0.112 -0.155 ]
!   block[3].point[17]  [  0.064 -0.190 ]
!   block[3].point[16]  [  -0.074 -0.190 ]
!   block[3].point[15]  [  -0.096 -0.160 ]
!   block[3].point[14]  [  -0.151 -0.160 ]
!   block[3].point[13]  [  -0.2   -0.155 ]
!   block[3].point[12]  [  -0.236 -0.107 ]
!   block[3].point[11] [  -0.256 -0.056 ]
!   block[3].point[10] [  -0.264  0     ]
!   block[3].point[9] [  -0.256  0.056 ]
!   block[3].point[8] [ -0.236  0.107 ]
!   block[3].point[7] [ -0.2    0.155 ]
!   block[3].point[6] [ -0.151  0.160 ]
!   block[3].point[5] [ -0.096  0.160 ]
!   block[3].point[4] [ -0.074  0.190 ]
!   block[3].point[3] [  0.064  0.190 ]
!   block[3].point[2] [  0.112  0.155 ]
!   block[3].point[1] [  0.145  0.107 ]
!   block[3].point[0] [  0.166  0.056 ]
!   block[3].z [ 0.234 0.24 ]
    # a dark top looks more realistic, but isn't very useful 
    # for a top-down view
!   #block[3].color "gray10"
  ) 
  
--- 125,182 ----
  
    # left wheel
+   block[3].points 4
+   block[3].point[0] [  0.083  0.177 ]
+   block[3].point[1] [ -0.083  0.177 ]
+   block[3].point[2] [ -0.083  0.140 ]
+   block[3].point[3] [  0.083  0.140 ]
+   block[3].z [0 0.165 ]
+   block[3].color "gray10"
+ 
+   # right wheel
    block[4].points 4
!   block[4].point[0] [  0.083  -0.14 ]
!   block[4].point[1] [ -0.083  -0.14 ]
!   block[4].point[2] [ -0.083  -0.177 ]
!   block[4].point[3] [  0.083  -0.177 ]
!   block[4].z [ 0 0.165 ]
    block[4].color "gray10"
  
!   # castor
    block[5].points 4
!   block[5].point[3] [ -0.2475  0.012 ]
!   block[5].point[2] [ -0.1825  0.012 ]
!   block[5].point[1] [ -0.1825 -0.012 ]
!   block[5].point[0] [ -0.2475 -0.012 ]
!   block[5].z [ 0 0.065 ]
    block[5].color "gray10"
  
    # lid
!   block[6].points 22
!   block[6].point[21]  [  0.174 0 ]
!   block[6].point[20]  [  0.166 -0.056 ]
!   block[6].point[19]  [  0.145 -0.107 ]
!   block[6].point[18]  [  0.112 -0.155 ]
!   block[6].point[17]  [  0.064 -0.190 ]
!   block[6].point[16]  [  -0.074 -0.190 ]
!   block[6].point[15]  [  -0.096 -0.160 ]
!   block[6].point[14]  [  -0.151 -0.160 ]
!   block[6].point[13]  [  -0.2   -0.155 ]
!   block[6].point[12]  [  -0.236 -0.107 ]
!   block[6].point[11] [  -0.256 -0.056 ]
!   block[6].point[10] [  -0.264  0     ]
!   block[6].point[9] [  -0.256  0.056 ]
!   block[6].point[8] [ -0.236  0.107 ]
!   block[6].point[7] [ -0.2    0.155 ]
!   block[6].point[6] [ -0.151  0.160 ]
!   block[6].point[5] [ -0.096  0.160 ]
!   block[6].point[4] [ -0.074  0.190 ]
!   block[6].point[3] [  0.064  0.190 ]
!   block[6].point[2] [  0.112  0.155 ]
!   block[6].point[1] [  0.145  0.107 ]
!   block[6].point[0] [  0.166  0.056 ]
!   block[6].z [ 0.234 0.24 ]
    # a dark top looks more realistic, but isn't very useful 
    # for a top-down view
!   #block[6].color "gray10"
  ) 
  

Index: simple.world
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/simple.world,v
retrieving revision 1.64.2.21
retrieving revision 1.64.2.22
diff -C2 -d -r1.64.2.21 -r1.64.2.22
*** simple.world	13 Jul 2007 05:48:31 -0000	1.64.2.21
--- simple.world	17 Jul 2007 05:26:44 -0000	1.64.2.22
***************
*** 6,31 ****
  include "pioneer.inc"
  
- 
- 
- 
- 
- 
- 
  # defines 'map' object used for floorplans
  include "map.inc"
  
- 
  # defines sick laser
  include "sick.inc"
  
- 
  # size of the world in meters
  size [16 16]
  
  # set the resolution of the underlying raytrace model in meters
! resolution 0.05
  
  interval_sim 100  # simulation timestep in milliseconds
! interval_real 100  # real-time interval between simulation updates in milliseconds 
  # configure the GUI window
  window
--- 6,23 ----
  include "pioneer.inc"
  
  # defines 'map' object used for floorplans
  include "map.inc"
  
  # defines sick laser
  include "sick.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  # simulation timestep in milliseconds
! interval_real 10  # real-time interval between simulation updates in milliseconds 
  # configure the GUI window
  window
***************
*** 53,56 ****
--- 45,49 ----
  (
    fancy_sick_laser( pose [ 0.040 0.000 0.000 0.000 ] ) 
+   ranger( pose [1 0 0 0])
  )