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From: <na...@us...> - 2009-05-14 20:19:13
|
Revision: 7667
http://playerstage.svn.sourceforge.net/playerstage/?rev=7667&view=rev
Author: natepak
Date: 2009-05-14 20:19:07 +0000 (Thu, 14 May 2009)
Log Message:
-----------
Updates to openal
Modified Paths:
--------------
code/gazebo/trunk/server/GuiAPI.hh
code/gazebo/trunk/server/OpenALAPI.cc
code/gazebo/trunk/server/OpenALAPI.hh
code/gazebo/trunk/server/audio_video/CMakeLists.txt
code/gazebo/trunk/server/audio_video/OpenAL.cc
code/gazebo/trunk/server/audio_video/OpenAL.hh
code/gazebo/trunk/server/controllers/audio/Audio.cc
code/gazebo/trunk/server/controllers/audio/Audio.hh
Modified: code/gazebo/trunk/server/GuiAPI.hh
===================================================================
--- code/gazebo/trunk/server/GuiAPI.hh 2009-05-14 18:59:59 UTC (rev 7666)
+++ code/gazebo/trunk/server/GuiAPI.hh 2009-05-14 20:19:07 UTC (rev 7667)
@@ -24,6 +24,9 @@
* SVN: $Id:$
*/
+#ifndef GUIAPI_HH
+#define GUIAPI_HH
+
#include <string>
#include <iostream>
@@ -54,5 +57,6 @@
private: Gui *gui;
};
+}
-}
+#endif
Modified: code/gazebo/trunk/server/OpenALAPI.cc
===================================================================
--- code/gazebo/trunk/server/OpenALAPI.cc 2009-05-14 18:59:59 UTC (rev 7666)
+++ code/gazebo/trunk/server/OpenALAPI.cc 2009-05-14 20:19:07 UTC (rev 7667)
@@ -41,3 +41,4 @@
OpenAL::Instance()->Fini( );
#endif
}
+
Modified: code/gazebo/trunk/server/OpenALAPI.hh
===================================================================
--- code/gazebo/trunk/server/OpenALAPI.hh 2009-05-14 18:59:59 UTC (rev 7666)
+++ code/gazebo/trunk/server/OpenALAPI.hh 2009-05-14 20:19:07 UTC (rev 7667)
@@ -24,8 +24,12 @@
* SVN: $Id$
*/
+#ifndef OPENALAPI_HH
+#define OPENALAPI_HH
+
namespace gazebo
{
+ class OpenALSource;
class XMLConfigNode;
class OpenALAPI
@@ -42,7 +46,16 @@
/// \brief Initialize
public: void Init();
+ /// \brief Create an OpenALSource object from XML node
+ /// \param node The XML config node containing the auiod information
+ /// \return A pointer to an OpenALSource object
+ //public: OpenALSource *CreateSource( XMLConfigNode *node );
+
/// \brief Finalize
public: void Fini();
};
+
+
}
+
+#endif
Modified: code/gazebo/trunk/server/audio_video/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/audio_video/CMakeLists.txt 2009-05-14 18:59:59 UTC (rev 7666)
+++ code/gazebo/trunk/server/audio_video/CMakeLists.txt 2009-05-14 20:19:07 UTC (rev 7667)
@@ -1,3 +1,11 @@
+INCLUDE_DIRECTORIES(
+ ${OAL_INCLUDE_DIRS}
+)
+
+LINK_DIRECTORIES(
+ ${OAL_LIBRARY_DIRS}
+)
+
SET (sources AudioDecoder.cc
OpenAL.cc
)
@@ -12,5 +20,8 @@
ADD_LIBRARY(gazebo_av STATIC ${sources})
ADD_LIBRARY(gazebo_av-shared SHARED ${sources})
+TARGET_LINK_LIBRARIES(gazebo_av ${OAL_LIBRARIES})
+TARGET_LINK_LIBRARIES(gazebo_av-shared ${OAL_LIBRARIES})
+
SET_TARGET_PROPERTIES(gazebo_av-shared PROPERTIES OUTPUT_NAME "gazebo_av")
INSTALL (TARGETS gazebo_av gazebo_av-shared DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
Modified: code/gazebo/trunk/server/audio_video/OpenAL.cc
===================================================================
--- code/gazebo/trunk/server/audio_video/OpenAL.cc 2009-05-14 18:59:59 UTC (rev 7666)
+++ code/gazebo/trunk/server/audio_video/OpenAL.cc 2009-05-14 20:19:07 UTC (rev 7667)
@@ -240,8 +240,6 @@
}
-
-
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
// OPENAL SOURCE
Modified: code/gazebo/trunk/server/audio_video/OpenAL.hh
===================================================================
--- code/gazebo/trunk/server/audio_video/OpenAL.hh 2009-05-14 18:59:59 UTC (rev 7666)
+++ code/gazebo/trunk/server/audio_video/OpenAL.hh 2009-05-14 20:19:07 UTC (rev 7667)
@@ -83,7 +83,6 @@
private: static OpenAL *myself;
};
-
/// \brief OpenAL Source. This can be thought of as a speaker.
class OpenALSource
{
Modified: code/gazebo/trunk/server/controllers/audio/Audio.cc
===================================================================
--- code/gazebo/trunk/server/controllers/audio/Audio.cc 2009-05-14 18:59:59 UTC (rev 7666)
+++ code/gazebo/trunk/server/controllers/audio/Audio.cc 2009-05-14 20:19:07 UTC (rev 7667)
@@ -31,6 +31,7 @@
#include "gazebo.h"
#include "GazeboError.hh"
#include "ControllerFactory.hh"
+#include "OpenAL.hh"
#include "Audio.hh"
#include <string.h>
Modified: code/gazebo/trunk/server/controllers/audio/Audio.hh
===================================================================
--- code/gazebo/trunk/server/controllers/audio/Audio.hh 2009-05-14 18:59:59 UTC (rev 7666)
+++ code/gazebo/trunk/server/controllers/audio/Audio.hh 2009-05-14 20:19:07 UTC (rev 7667)
@@ -29,7 +29,6 @@
#include "Controller.hh"
#include "Entity.hh"
-#include "OpenAL.hh"
namespace gazebo
{
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <na...@us...> - 2009-05-15 19:43:21
|
Revision: 7674
http://playerstage.svn.sourceforge.net/playerstage/?rev=7674&view=rev
Author: natepak
Date: 2009-05-15 19:43:14 +0000 (Fri, 15 May 2009)
Log Message:
-----------
Started to disable the openalapi files
Modified Paths:
--------------
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/World.hh
code/gazebo/trunk/server/audio_video/OpenAL.cc
code/gazebo/trunk/server/audio_video/OpenAL.hh
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2009-05-15 17:20:26 UTC (rev 7673)
+++ code/gazebo/trunk/server/World.cc 2009-05-15 19:43:14 UTC (rev 7674)
@@ -41,7 +41,7 @@
#include "gazebo.h"
#include "World.hh"
-#include "OpenALAPI.hh"
+#include "OpenAL.hh"
#include "Geom.hh"
@@ -111,11 +111,6 @@
{
gzthrow(e);
}
-
- if (this->openAL)
- delete this->openAL;
- this->openAL = NULL;
-
}
////////////////////////////////////////////////////////////////////////////////
@@ -152,7 +147,9 @@
// Load OpenAL audio
if (rootNode->GetChild("openal","audio"))
{
- this->openAL = new OpenALAPI();
+ //this->openAL = new OpenALAPI();
+ //this->openAL->Load(rootNode->GetChild("openal", "audio"));
+ this->openAL = OpenAL::Instance();
this->openAL->Load(rootNode->GetChild("openal", "audio"));
}
Modified: code/gazebo/trunk/server/World.hh
===================================================================
--- code/gazebo/trunk/server/World.hh 2009-05-15 17:20:26 UTC (rev 7673)
+++ code/gazebo/trunk/server/World.hh 2009-05-15 19:43:14 UTC (rev 7674)
@@ -49,7 +49,7 @@
class PhysicsEngine;
class XMLConfigNode;
class GraphicsIfaceHandler;
- class OpenALAPI;
+ class OpenAL;
/// \brief The World
/*
@@ -226,7 +226,7 @@
/// Length of time to run before receiving a "go" command
private: double simPauseTime;
- private: OpenALAPI *openAL;
+ private: OpenAL *openAL;
private: friend class DestroyerT<World>;
private: friend class SingletonT<World>;
Modified: code/gazebo/trunk/server/audio_video/OpenAL.cc
===================================================================
--- code/gazebo/trunk/server/audio_video/OpenAL.cc 2009-05-15 17:20:26 UTC (rev 7673)
+++ code/gazebo/trunk/server/audio_video/OpenAL.cc 2009-05-15 19:43:14 UTC (rev 7674)
@@ -26,16 +26,15 @@
#include "config.h"
-#ifdef HAVE_OPENAL
-
#include <stdio.h>
#include <unistd.h>
#include <iostream>
-
+#ifdef HAVE_OPENAL
#include <AL/al.h>
#include <AL/alc.h>
#include <AL/alext.h>
+#endif
#include "XMLConfig.hh"
#include "GazeboError.hh"
@@ -53,8 +52,10 @@
///// Constructor
OpenAL::OpenAL()
{
+#ifdef HAVE_OPENAL
this->context = NULL;
this->audioDevice = NULL;
+#endif
}
////////////////////////////////////////////////////////////////////////////////
@@ -78,6 +79,7 @@
/// Destructor
void OpenAL::Load(XMLConfigNode *node)
{
+#ifdef HAVE_OPENAL
std::string deviceName = "default";
// Get the audio device name
@@ -116,6 +118,7 @@
// TODO: put in function to set distance model
//alDistanceModel(AL_EXPONENT_DISTANCE);
+#endif
}
////////////////////////////////////////////////////////////////////////////////
@@ -128,6 +131,8 @@
/// Finalize
void OpenAL::Fini()
{
+#ifdef HAVE_OPENAL
+
if (this->audioDevice)
{
alcCloseDevice(this->audioDevice);
@@ -139,12 +144,14 @@
alcMakeContextCurrent(NULL);
alcDestroyContext(this->context);
}
+#endif
}
////////////////////////////////////////////////////////////////////////////////
// Create an openal source from XML config node
OpenALSource *OpenAL::CreateSource( XMLConfigNode *node )
{
+#ifdef HAVE_OPENAL
// Make sure the xml node is valid
if (!node)
{
@@ -167,6 +174,9 @@
// Return a pointer to the source
return source;
+#else
+ return NULL;
+#endif
}
@@ -174,6 +184,7 @@
/// Set the listener position
void OpenAL::SetListenerPos( const Vector3 pos )
{
+#ifdef HAVE_OPENAL
ALenum error;
// Make sure we have an audio device
@@ -192,12 +203,14 @@
{
gzerr(0) << " Error: [" << error << "]\n";
}
+#endif
}
////////////////////////////////////////////////////////////////////////////////
/// Set the listener velocity
void OpenAL::SetListenerVel( const Vector3 vel )
{
+#ifdef HAVE_OPENAL
ALenum error;
// Make sure we have an audio device
@@ -214,7 +227,7 @@
{
gzerr(0) << " Error: [" << error << "]\n";
}
-
+#endif
}
////////////////////////////////////////////////////////////////////////////////
@@ -222,6 +235,7 @@
void OpenAL::SetListenerOrient( float cx, float cy, float cz,
float ux, float uy, float uz )
{
+#ifdef HAVE_OPENAL
ALenum error;
ALfloat orient[]={cx, cy, cz, ux, uy, uz};
@@ -240,7 +254,7 @@
{
gzerr(0) << " Error: [" << error << "]\n";
}
-
+#endif
}
@@ -255,25 +269,30 @@
// Constructor
OpenALSource::OpenALSource()
{
+#ifdef HAVE_OPENAL
//Create 1 source
alGenSources(1, &this->alSource);
// Create 1 buffer
alGenBuffers(1, &this->alBuffer);
+#endif
}
////////////////////////////////////////////////////////////////////////////////
// Destructor
OpenALSource::~OpenALSource()
{
+#ifdef HAVE_OPENAL
alDeleteSources(1, &this->alSource);
alDeleteBuffers(1, &this->alBuffer);
+#endif
}
////////////////////////////////////////////////////////////////////////////////
// Load from xml node
void OpenALSource::Load(XMLConfigNode *node)
{
+#ifdef HAVE_OPENAL
// Set the pitch of the source
this->SetPitch( node->GetDouble("pitch",1.0,0) );
@@ -285,12 +304,14 @@
if (node->GetChild("mp3") != NULL)
this->FillBufferFromFile(node->GetString("mp3","",1));
+#endif
}
////////////////////////////////////////////////////////////////////////////////
// Set the position of the source
int OpenALSource::SetPos(const Vector3 &pos)
{
+#ifdef HAVE_OPENAL
ALfloat p[3] = {pos.x, pos.y, pos.z};
ALenum error;
@@ -304,6 +325,7 @@
gzerr(0) << "Error: [" << error << "]\n";
return -1;
}
+#endif
return 0;
}
@@ -312,6 +334,7 @@
// Set the position of the source
int OpenALSource::SetVel(const Vector3 &vel)
{
+#ifdef HAVE_OPENAL
ALenum error;
ALfloat v[3] = {vel.x, vel.y, vel.z};
@@ -325,7 +348,7 @@
gzerr(0) << "Error: [" << error << "]\n";
return -1;
}
-
+#endif
return 0;
}
@@ -333,6 +356,7 @@
// Set the pitch of the source
int OpenALSource::SetPitch(float p)
{
+#ifdef HAVE_OPENAL
ALenum error;
// clear error state
@@ -345,7 +369,7 @@
gzerr(0) << " Error: [" << error << "]\n";
return -1;
}
-
+#endif
return 0;
}
@@ -353,6 +377,7 @@
// Set the pitch of the source
int OpenALSource::SetGain(float g)
{
+#ifdef HAVE_OPENAL
ALenum error;
@@ -366,7 +391,7 @@
gzerr(0) << "Error: [" << error << "]\n";
return -1;
}
-
+#endif
return 0;
}
@@ -374,6 +399,7 @@
// Set whether the source loops the audio
int OpenALSource::SetLoop(bool state)
{
+#ifdef HAVE_OPENAL
ALenum error;
// clear error state
@@ -387,6 +413,7 @@
gzerr(0) << " Error: [" << error << "]\n";
return -1;
}
+#endif
return 0;
}
@@ -395,6 +422,7 @@
// Play the source
void OpenALSource::Play()
{
+#ifdef HAVE_OPENAL
int sourceState;
alGetSourcei(this->alSource, AL_SOURCE_STATE, &sourceState);
@@ -403,47 +431,58 @@
{
alSourcePlay( this->alSource );
}
+#endif
}
////////////////////////////////////////////////////////////////////////////////
// Pause the source
void OpenALSource::Pause()
{
+#ifdef HAVE_OPENAL
int sourceState;
alGetSourcei(this->alSource, AL_SOURCE_STATE, &sourceState);
// Pause the source if it playing
if (sourceState == AL_PLAYING)
alSourcePause( this->alSource );
+#endif
}
////////////////////////////////////////////////////////////////////////////////
// Stop the source
void OpenALSource::Stop()
{
+#ifdef HAVE_OPENAL
int sourceState;
alGetSourcei(this->alSource, AL_SOURCE_STATE, &sourceState);
// Stop the source if it is not already stopped
if (sourceState != AL_STOPPED)
alSourcePause( this->alSource);
+#endif
}
////////////////////////////////////////////////////////////////////////////////
/// Rewind the sound to the beginning
void OpenALSource::Rewind()
{
+#ifdef HAVE_OPENAL
alSourceRewind(this->alSource);
+#endif
}
////////////////////////////////////////////////////////////////////////////////
/// Is the audio playing
bool OpenALSource::IsPlaying()
{
+#ifdef HAVE_OPENAL
int sourceState;
alGetSourcei(this->alSource, AL_SOURCE_STATE, &sourceState);
return sourceState == AL_PLAYING;
+#else
+ return false;
+#endif
}
@@ -452,6 +491,7 @@
void OpenALSource::FillBufferFromPCM(uint8_t *pcmData, unsigned int dataCount,
int sampleRate )
{
+#ifdef HAVE_OPENAL
// First detach the buffer
alSourcei(this->alSource, AL_BUFFER, 0 );
@@ -468,12 +508,14 @@
{
gzthrow("Unable to copy data into openAL buffer\n");
}
+#endif
}
////////////////////////////////////////////////////////////////////////////////
/// Fill the OpenAL audio buffer with data from a sound file
void OpenALSource::FillBufferFromFile( const std::string &audioFile )
{
+#ifdef HAVE_OPENAL
std::string fullPathAudioFile = audioFile;
@@ -522,6 +564,6 @@
if (dataBuffer)
delete [] dataBuffer;
-}
#endif
+}
Modified: code/gazebo/trunk/server/audio_video/OpenAL.hh
===================================================================
--- code/gazebo/trunk/server/audio_video/OpenAL.hh 2009-05-15 17:20:26 UTC (rev 7673)
+++ code/gazebo/trunk/server/audio_video/OpenAL.hh 2009-05-15 19:43:14 UTC (rev 7674)
@@ -34,9 +34,9 @@
#include "Vector3.hh"
#ifdef HAVE_OPENAL
-
struct ALCcontext_struct;
struct ALCdevice_struct;
+#endif
namespace gazebo
{
@@ -80,8 +80,10 @@
public: void SetListenerOrient(float cx, float cy, float cz,
float ux, float uy, float uz);
+#ifdef HAVE_OPENAL
private: ALCcontext_struct *context;
private: ALCdevice_struct *audioDevice;
+#endif
private: static OpenAL *myself;
};
@@ -144,4 +146,3 @@
}
#endif
-#endif
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|
|
From: <na...@us...> - 2009-05-15 19:46:56
|
Revision: 7675
http://playerstage.svn.sourceforge.net/playerstage/?rev=7675&view=rev
Author: natepak
Date: 2009-05-15 19:46:48 +0000 (Fri, 15 May 2009)
Log Message:
-----------
Removed OpenALAPI
Removed Paths:
-------------
code/gazebo/trunk/server/OpenALAPI.cc
code/gazebo/trunk/server/OpenALAPI.hh
Deleted: code/gazebo/trunk/server/OpenALAPI.cc
===================================================================
--- code/gazebo/trunk/server/OpenALAPI.cc 2009-05-15 19:43:14 UTC (rev 7674)
+++ code/gazebo/trunk/server/OpenALAPI.cc 2009-05-15 19:46:48 UTC (rev 7675)
@@ -1,46 +0,0 @@
-#include "config.h"
-
-#include "OpenAL.hh"
-#include "OpenALAPI.hh"
-
-using namespace gazebo;
-
-////////////////////////////////////////////////////////////////////////////////
-/// Constructor
-OpenALAPI::OpenALAPI()
-{
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Destructor
-OpenALAPI::~OpenALAPI()
-{
-}
-
-////////////////////////////////////////////////////////////////////////////////
-// Load
-void OpenALAPI::Load(XMLConfigNode *node)
-{
-#ifdef HAVE_OPENAL
- OpenAL::Instance()->Load( node );
-#endif
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Initialize
-void OpenALAPI::Init()
-{
-#ifdef HAVE_OPENAL
- OpenAL::Instance()->Init( );
-#endif
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Finalize
-void OpenALAPI::Fini()
-{
-#ifdef HAVE_OPENAL
- OpenAL::Instance()->Fini( );
-#endif
-}
-
Deleted: code/gazebo/trunk/server/OpenALAPI.hh
===================================================================
--- code/gazebo/trunk/server/OpenALAPI.hh 2009-05-15 19:43:14 UTC (rev 7674)
+++ code/gazebo/trunk/server/OpenALAPI.hh 2009-05-15 19:46:48 UTC (rev 7675)
@@ -1,61 +0,0 @@
-/*
- * Gazebo - Outdoor Multi-Robot Simulator
- * Copyright (C) 2003
- * Nate Koenig & Andrew Howard
- *
- * 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
- *
- */
-/* Desc: OpenAL API
- * Author: Nate Koenig
- * Date: 14 May 2009
- * SVN: $Id$
- */
-
-#ifndef OPENALAPI_HH
-#define OPENALAPI_HH
-
-namespace gazebo
-{
- class OpenALSource;
- class XMLConfigNode;
-
- class OpenALAPI
- {
- /// \brief Constructor
- public: OpenALAPI();
-
- /// \brief Destructor
- public: virtual ~OpenALAPI();
-
- /// \brief Load
- public: void Load(XMLConfigNode *node);
-
- /// \brief Initialize
- public: void Init();
-
- /// \brief Create an OpenALSource object from XML node
- /// \param node The XML config node containing the auiod information
- /// \return A pointer to an OpenALSource object
- //public: OpenALSource *CreateSource( XMLConfigNode *node );
-
- /// \brief Finalize
- public: void Fini();
- };
-
-
-}
-
-#endif
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|
|
From: <hsu...@us...> - 2009-05-16 19:56:01
|
Revision: 7686
http://playerstage.svn.sourceforge.net/playerstage/?rev=7686&view=rev
Author: hsujohnhsu
Date: 2009-05-16 19:55:50 +0000 (Sat, 16 May 2009)
Log Message:
-----------
comment out static portion, build shared lib only for gazebo_av and gazebo_gui.
Modified Paths:
--------------
code/gazebo/trunk/server/CMakeLists.txt
code/gazebo/trunk/server/audio_video/CMakeLists.txt
code/gazebo/trunk/server/gui/CMakeLists.txt
Modified: code/gazebo/trunk/server/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/CMakeLists.txt 2009-05-16 19:43:24 UTC (rev 7685)
+++ code/gazebo/trunk/server/CMakeLists.txt 2009-05-16 19:55:50 UTC (rev 7686)
@@ -111,8 +111,8 @@
${boost_libraries}
${freeimage_library}
gazebo_server
- gazebo_av
- gazebo_gui
+ gazebo_av-shared
+ gazebo_gui-shared
gazebo
)
Modified: code/gazebo/trunk/server/audio_video/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/audio_video/CMakeLists.txt 2009-05-16 19:43:24 UTC (rev 7685)
+++ code/gazebo/trunk/server/audio_video/CMakeLists.txt 2009-05-16 19:55:50 UTC (rev 7686)
@@ -14,11 +14,13 @@
OpenAL.hh
)
-ADD_LIBRARY(gazebo_av STATIC ${sources})
+#ADD_LIBRARY(gazebo_av STATIC ${sources})
ADD_LIBRARY(gazebo_av-shared SHARED ${sources})
-TARGET_LINK_LIBRARIES(gazebo_av ${OAL_LIBRARIES})
+#TARGET_LINK_LIBRARIES(gazebo_av ${OAL_LIBRARIES})
TARGET_LINK_LIBRARIES(gazebo_av-shared ${OAL_LIBRARIES})
+#SET_TARGET_PROPERTIES(gazebo_av PROPERTIES OUTPUT_NAME "gazebo_av")
SET_TARGET_PROPERTIES(gazebo_av-shared PROPERTIES OUTPUT_NAME "gazebo_av")
-INSTALL (TARGETS gazebo_av gazebo_av-shared DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
+
+INSTALL (TARGETS gazebo_av-shared DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
Modified: code/gazebo/trunk/server/gui/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/gui/CMakeLists.txt 2009-05-16 19:43:24 UTC (rev 7685)
+++ code/gazebo/trunk/server/gui/CMakeLists.txt 2009-05-16 19:55:50 UTC (rev 7686)
@@ -16,13 +16,13 @@
GLFrame.hh
)
-ADD_LIBRARY(gazebo_gui STATIC ${sources})
+#ADD_LIBRARY(gazebo_gui STATIC ${sources})
ADD_LIBRARY(gazebo_gui-shared SHARED ${sources})
-TARGET_LINK_LIBRARIES(gazebo_gui ${FLTK_LIBRARIES} )
+#TARGET_LINK_LIBRARIES(gazebo_gui ${FLTK_LIBRARIES} )
TARGET_LINK_LIBRARIES(gazebo_gui-shared ${FLTK_LIBRARIES} )
-#SET_TARGET_PROPERTIES(gazebo_gui-static PROPERTIES OUTPUT_NAME "gazebo_gui")
+#SET_TARGET_PROPERTIES(gazebo_gui PROPERTIES OUTPUT_NAME "gazebo_gui")
SET_TARGET_PROPERTIES(gazebo_gui-shared PROPERTIES OUTPUT_NAME "gazebo_gui")
-INSTALL (TARGETS gazebo_gui gazebo_gui-shared DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
+INSTALL (TARGETS gazebo_gui-shared DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
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|
|
From: <na...@us...> - 2009-05-20 18:07:29
|
Revision: 7701
http://playerstage.svn.sourceforge.net/playerstage/?rev=7701&view=rev
Author: natepak
Date: 2009-05-20 18:07:23 +0000 (Wed, 20 May 2009)
Log Message:
-----------
Fixed warning
Modified Paths:
--------------
code/gazebo/trunk/server/GazeboConfig.cc
code/gazebo/trunk/server/main.cc
Modified: code/gazebo/trunk/server/GazeboConfig.cc
===================================================================
--- code/gazebo/trunk/server/GazeboConfig.cc 2009-05-20 17:13:28 UTC (rev 7700)
+++ code/gazebo/trunk/server/GazeboConfig.cc 2009-05-20 18:07:23 UTC (rev 7701)
@@ -64,7 +64,7 @@
std::string str(ogre_resource_path);
int pos1 = 0;
int pos2 = str.find(delim);
- while (pos2 != std::string::npos)
+ while (pos2 != (int)std::string::npos)
{
this->ogrePaths.push_back(str.substr(pos1,pos2-pos1+1));
pos1 = pos2+1;
@@ -78,7 +78,7 @@
std::string str(gazebo_resource_path);
int pos1 = 0;
int pos2 = str.find(delim);
- while (pos2 != std::string::npos)
+ while (pos2 != (int)std::string::npos)
{
this->gazeboPaths.push_back(str.substr(pos1,pos2-pos1));
pos1 = pos2+1;
Modified: code/gazebo/trunk/server/main.cc
===================================================================
--- code/gazebo/trunk/server/main.cc 2009-05-20 17:13:28 UTC (rev 7700)
+++ code/gazebo/trunk/server/main.cc 2009-05-20 18:07:23 UTC (rev 7701)
@@ -297,7 +297,7 @@
{
std::cerr << "Error Loading Gazebo" << std::endl;
std::cerr << e << std::endl;
- gazebo::Simulator::Instance()->Close();
+ gazebo::Simulator::Instance()->Fini();
return -1;
}
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|
|
From: <na...@us...> - 2009-05-20 18:22:57
|
Revision: 7702
http://playerstage.svn.sourceforge.net/playerstage/?rev=7702&view=rev
Author: natepak
Date: 2009-05-20 18:22:48 +0000 (Wed, 20 May 2009)
Log Message:
-----------
Cleaned Fini
Modified Paths:
--------------
code/gazebo/trunk/server/Entity.cc
code/gazebo/trunk/server/rendering/OgreCreator.cc
Modified: code/gazebo/trunk/server/Entity.cc
===================================================================
--- code/gazebo/trunk/server/Entity.cc 2009-05-20 18:07:23 UTC (rev 7701)
+++ code/gazebo/trunk/server/Entity.cc 2009-05-20 18:22:48 UTC (rev 7702)
@@ -83,7 +83,9 @@
World::Instance()->GetPhysicsEngine()->RemoveEntity(this);
- OgreCreator::Instance()->DeleteVisual(this->visualNode);
+ if (this->visualNode)
+ OgreCreator::Instance()->DeleteVisual(this->visualNode);
+ this->visualNode = NULL;
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-05-20 18:07:23 UTC (rev 7701)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-05-20 18:22:48 UTC (rev 7702)
@@ -806,11 +806,11 @@
iter = this->visuals.find(visual->GetName());
- if (iter != this->visuals.end())
+ if (iter != this->visuals.end() && iter->second != NULL)
{
delete iter->second;
iter->second = NULL;
- this->visuals.erase(iter);
+ //this->visuals.erase(iter);
}
else
{
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|
|
From: <na...@us...> - 2009-05-23 16:29:41
|
Revision: 7713
http://playerstage.svn.sourceforge.net/playerstage/?rev=7713&view=rev
Author: natepak
Date: 2009-05-23 16:29:36 +0000 (Sat, 23 May 2009)
Log Message:
-----------
Added a random number class
Modified Paths:
--------------
code/gazebo/trunk/server/CMakeLists.txt
Added Paths:
-----------
code/gazebo/trunk/server/Rand.cc
code/gazebo/trunk/server/Rand.hh
Modified: code/gazebo/trunk/server/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/CMakeLists.txt 2009-05-23 00:33:08 UTC (rev 7712)
+++ code/gazebo/trunk/server/CMakeLists.txt 2009-05-23 16:29:36 UTC (rev 7713)
@@ -63,6 +63,7 @@
GraphicsIfaceHandler.cc
GuiAPI.cc
Simulator.cc
+ Rand.cc
)
SET (headers Common.hh
@@ -87,6 +88,7 @@
GraphicsIfaceHandler.hh
GuiAPI.hh
Simulator.hh
+ Rand.hh
)
APPEND_TO_SERVER_HEADERS(${headers})
Added: code/gazebo/trunk/server/Rand.cc
===================================================================
--- code/gazebo/trunk/server/Rand.cc (rev 0)
+++ code/gazebo/trunk/server/Rand.cc 2009-05-23 16:29:36 UTC (rev 7713)
@@ -0,0 +1,54 @@
+#include <ctime>
+#include "Rand.hh"
+
+using namespace gazebo;
+
+GeneratorType *Rand::randGenerator = new GeneratorType(std::time(0));
+
+///////////////////////////////////////////////////////////////////////////////
+// Constructor
+Rand::Rand()
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////
+// Destructor
+Rand::~Rand()
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/// Get a double from a uniform distribution
+double Rand::GetDblUniform(double min, double max)
+{
+ URealGen gen(*randGenerator, UniformRealDist(min, max));
+
+ return gen();
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/// Get a double from a normal distribution
+double Rand::GetDblNormal(double mean, double sigma)
+{
+ NRealGen gen(*randGenerator, NormalRealDist(mean, sigma));
+
+ return gen();
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/// Get a integer from a uniform distribution
+int Rand::GetIntUniform(int min, int max)
+{
+ UIntGen gen(*randGenerator, UniformIntDist(min,max));
+
+ return gen();
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/// Get a double from a normal distribution
+int Rand::GetIntNormal(int mean, int sigma)
+{
+ NRealGen gen(*randGenerator, NormalRealDist(mean, sigma));
+
+ return (int)(gen());
+}
Added: code/gazebo/trunk/server/Rand.hh
===================================================================
--- code/gazebo/trunk/server/Rand.hh (rev 0)
+++ code/gazebo/trunk/server/Rand.hh 2009-05-23 16:29:36 UTC (rev 7713)
@@ -0,0 +1,53 @@
+#ifndef RAND_HH
+#define RAND_HH
+
+#include <boost/random.hpp>
+
+namespace gazebo
+{
+
+ typedef boost::mt19937 GeneratorType;
+ typedef boost::uniform_real<double> UniformRealDist;
+ typedef boost::normal_distribution<double> NormalRealDist;
+ typedef boost::uniform_int<int> UniformIntDist;
+
+ typedef boost::variate_generator<GeneratorType&, UniformRealDist > URealGen;
+ typedef boost::variate_generator<GeneratorType&, NormalRealDist > NRealGen;
+ typedef boost::variate_generator<GeneratorType&, UniformIntDist > UIntGen;
+
+ /// \brief Random number generator class
+ class Rand
+ {
+ /// \brief Constructor
+ private: Rand();
+
+ /// \brief Destructor
+ private: virtual ~Rand();
+
+ /// \brief Get a double from a uniform distribution
+ /// \param min Minimum bound for the random number
+ /// \param max Maximum bound for the random number
+ public: static double GetDblUniform(double min=0, double max=1);
+
+ /// \brief Get a double from a normal distribution
+ /// \param mean Mean value for the distribution
+ /// \param sigma Sigma value for the distribution
+ public: static double GetDblNormal(double mean=0, double sigma=1);
+
+ /// \brief Get a integer from a uniform distribution
+ /// \param min Minimum bound for the random number
+ /// \param max Maximum bound for the random number
+ public: static int GetIntUniform(int min, int max);
+
+ /// \brief Get a double from a normal distribution
+ /// \param mean Mean value for the distribution
+ /// \param sigma Sigma value for the distribution
+ public: static int GetIntNormal(int mean, int sigma);
+
+ // The random number generator
+ private: static GeneratorType *randGenerator;
+ };
+
+}
+
+#endif
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|
|
From: <na...@us...> - 2009-05-27 15:10:14
|
Revision: 7727
http://playerstage.svn.sourceforge.net/playerstage/?rev=7727&view=rev
Author: natepak
Date: 2009-05-27 15:10:05 +0000 (Wed, 27 May 2009)
Log Message:
-----------
Added comments
Modified Paths:
--------------
code/gazebo/trunk/server/Rand.cc
code/gazebo/trunk/server/Rand.hh
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/rendering/OgreCreator.cc
Modified: code/gazebo/trunk/server/Rand.cc
===================================================================
--- code/gazebo/trunk/server/Rand.cc 2009-05-27 03:11:26 UTC (rev 7726)
+++ code/gazebo/trunk/server/Rand.cc 2009-05-27 15:10:05 UTC (rev 7727)
@@ -1,3 +1,29 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * 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
+ *
+ */
+/* Desc: Random number generator
+ * Author: Nate Koenig
+ * Date: 27 May 2009
+ * SVN: $Id:$
+ */
+
#include <ctime>
#include "Rand.hh"
Modified: code/gazebo/trunk/server/Rand.hh
===================================================================
--- code/gazebo/trunk/server/Rand.hh 2009-05-27 03:11:26 UTC (rev 7726)
+++ code/gazebo/trunk/server/Rand.hh 2009-05-27 15:10:05 UTC (rev 7727)
@@ -1,3 +1,29 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * 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
+ *
+ */
+/* Desc: Random number generator
+ * Author: Nate Koenig
+ * Date: 27 May 2009
+ * SVN: $Id:$
+ */
+
#ifndef RAND_HH
#define RAND_HH
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-05-27 03:11:26 UTC (rev 7726)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-05-27 15:10:05 UTC (rev 7727)
@@ -196,8 +196,9 @@
else
{
this->sceneType= SCENE_EXT;
- this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_CLOSE);
- //this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_FAR);
+ this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_FAR);
+ //this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_CLOSE);
+ //this->sceneMgr = this->root->createSceneManager(Ogre::ST_GENERIC);
}
Param::Begin(&this->parameters);
@@ -211,33 +212,42 @@
this->drawGridP->Load(node);
this->updateRateP->Load(node);
+ //Preload basic shapes that can be used anywhere
+ OgreCreator::LoadBasicShapes();
ambient.r = (**(this->ambientP)).x;
ambient.g = (**(this->ambientP)).y;
ambient.b = (**(this->ambientP)).z;
ambient.a = (**(this->ambientP)).w;
- // Ambient lighting
- this->sceneMgr->setAmbientLight(ambient);
-
- this->sceneMgr->setShadowTextureSelfShadow(true);
- this->sceneMgr->setShadowTexturePixelFormat(Ogre::PF_FLOAT16_R);
- this->sceneMgr->setShadowTextureSize(**(this->shadowTextureSizeP));
- this->sceneMgr->setShadowIndexBufferSize(**(this->shadowIndexSizeP) );
-
+
// Settings for shadow mapping
if (**(this->shadowTechniqueP) == std::string("stencilAdditive"))
this->sceneMgr->setShadowTechnique( Ogre::SHADOWTYPE_STENCIL_ADDITIVE );
+ else if (**(this->shadowTechniqueP) == std::string("stencilModulative"))
+ this->sceneMgr->setShadowTechnique( Ogre::SHADOWTYPE_STENCIL_MODULATIVE );
else if (**(this->shadowTechniqueP) == std::string("textureAdditive"))
this->sceneMgr->setShadowTechnique( Ogre::SHADOWTYPE_TEXTURE_ADDITIVE );
+ else if (**(this->shadowTechniqueP) == std::string("textureModulative"))
+ this->sceneMgr->setShadowTechnique( Ogre::SHADOWTYPE_TEXTURE_MODULATIVE );
else if (**(this->shadowTechniqueP) == std::string("none"))
this->sceneMgr->setShadowTechnique( Ogre::SHADOWTYPE_NONE );
else
gzthrow(std::string("Unsupported shadow technique: ") + **(this->shadowTechniqueP) + "\n");
- //Preload basic shapes that can be used anywhere
- OgreCreator::LoadBasicShapes();
+ this->sceneMgr->setShadowTextureSelfShadow(true);
+ this->sceneMgr->setShadowTexturePixelFormat(Ogre::PF_FLOAT16_R);
+ this->sceneMgr->setShadowTextureSize(**(this->shadowTextureSizeP));
+ this->sceneMgr->setShadowIndexBufferSize(**(this->shadowIndexSizeP) );
+ // Ambient lighting
+ this->sceneMgr->setAmbientLight(ambient);
+
+ this->sceneMgr->setShadowTextureSettings(512,2);
+ this->sceneMgr->setShowDebugShadows(true);
+ this->sceneMgr->setShadowColour(Ogre::ColourValue(0.2, 0.2, 0.2));
+ this->sceneMgr->setShadowFarDistance(30);
+
// Add a sky dome to our scene
if (node->GetChild("sky"))
{
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-05-27 03:11:26 UTC (rev 7726)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-05-27 15:10:05 UTC (rev 7727)
@@ -173,6 +173,7 @@
// Set the direction which the light points
vec = node->GetVector3("direction", Vector3(0.0, 0.0, -1.0));
+ vec.Normalize();
light->setDirection(vec.x, vec.y, vec.z);
// Absolute range of light in world coordinates
@@ -207,6 +208,8 @@
Ogre::Radian(Ogre::Degree(vec.y)), vec.z);
}
+ light->setCastShadows(node->GetBool("castShadows",false,0));
+
parent->AttachObject(light);
return stream.str();
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hsu...@us...> - 2009-05-29 04:25:58
|
Revision: 7737
http://playerstage.svn.sourceforge.net/playerstage/?rev=7737&view=rev
Author: hsujohnhsu
Date: 2009-05-29 02:25:59 +0000 (Fri, 29 May 2009)
Log Message:
-----------
- renamed GetMutex to GetMRMutex.
- MonoCameraSensor supports multiple formats. Defauls is still R8G8B8.
Modified Paths:
--------------
code/gazebo/trunk/server/Global.hh
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/Simulator.hh
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/rendering/OgreCamera.cc
code/gazebo/trunk/server/rendering/OgreCamera.hh
code/gazebo/trunk/server/rendering/OgreCreator.cc
code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc
Modified: code/gazebo/trunk/server/Global.hh
===================================================================
--- code/gazebo/trunk/server/Global.hh 2009-05-29 00:13:51 UTC (rev 7736)
+++ code/gazebo/trunk/server/Global.hh 2009-05-29 02:25:59 UTC (rev 7737)
@@ -80,4 +80,6 @@
#define ROUND(x) ( (int)( floor((x)+0.5) ) )
+//#define TIMING
+
#endif
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2009-05-29 00:13:51 UTC (rev 7736)
+++ code/gazebo/trunk/server/Simulator.cc 2009-05-29 02:25:59 UTC (rev 7737)
@@ -628,6 +628,9 @@
while (!this->userQuit)
{
+#ifdef TIMING
+ double tmpT1 = this->GetWallTime();
+#endif
currTime = this->GetRealTime();
if (physicsUpdateRate == 0 ||
@@ -666,12 +669,16 @@
this->userQuit = true;
break;
}
+#ifdef TIMING
+ double tmpT2 = this->GetWallTime();
+ std::cout << " Simulator::PhysicsLoop() DT(" << tmpT2-tmpT1 << ")" << std::endl;
+#endif
}
}
////////////////////////////////////////////////////////////////////////////////
/// Get the simulator mutex
-boost::recursive_mutex *Simulator::GetMutex()
+boost::recursive_mutex *Simulator::GetMRMutex()
{
return this->mutex;
}
Modified: code/gazebo/trunk/server/Simulator.hh
===================================================================
--- code/gazebo/trunk/server/Simulator.hh 2009-05-29 00:13:51 UTC (rev 7736)
+++ code/gazebo/trunk/server/Simulator.hh 2009-05-29 02:25:59 UTC (rev 7737)
@@ -179,7 +179,7 @@
public: Body *GetParentBody( Entity *entity ) const;
/// \brief Get the simulator mutex
- public:boost::recursive_mutex *GetMutex();
+ public:boost::recursive_mutex *GetMRMutex();
/// \brief Function to run gui. Used by guiThread
private: void PhysicsLoop();
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2009-05-29 00:13:51 UTC (rev 7736)
+++ code/gazebo/trunk/server/World.cc 2009-05-29 02:25:59 UTC (rev 7737)
@@ -363,7 +363,7 @@
// Add a new entity to the world
void World::InsertEntity( std::string xmlString)
{
- boost::recursive_mutex::scoped_lock lock(*Simulator::Instance()->GetMutex());
+ boost::recursive_mutex::scoped_lock lock(*Simulator::Instance()->GetMRMutex());
this->toLoadEntities.push_back( xmlString );
}
@@ -371,7 +371,7 @@
// Load all the entities that have been queued
void World::ProcessEntitiesToLoad()
{
- boost::recursive_mutex::scoped_lock lock(*Simulator::Instance()->GetMutex());
+ boost::recursive_mutex::scoped_lock lock(*Simulator::Instance()->GetMRMutex());
std::vector< std::string >::iterator iter;
for (iter = this->toLoadEntities.begin();
Modified: code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
===================================================================
--- code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc 2009-05-29 00:13:51 UTC (rev 7736)
+++ code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc 2009-05-29 02:25:59 UTC (rev 7737)
@@ -128,7 +128,7 @@
data->width = this->myParent->GetImageWidth();
data->height = this->myParent->GetImageHeight();
- data->image_size = data->width * data->height * 3;
+ data->image_size = data->width * data->height * this->myParent->GetImageDepth();
// GetFOV() returns radians
data->hfov = *(this->myParent->GetHFOV());
@@ -150,6 +150,7 @@
src = this->myParent->GetImageData(0);
dst = data->image;
+ boost::recursive_mutex::scoped_lock mr_lock(*Simulator::Instance()->GetMRMutex());
memcpy(dst, src, data->image_size);
this->myParent->EnableSaveFrame( data->saveFrames );
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-05-29 00:13:51 UTC (rev 7736)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-05-29 02:25:59 UTC (rev 7737)
@@ -343,8 +343,18 @@
{
double h, kp, kd;
- // skip 0 depth contacts
- if(contactGeoms[i].depth == 0)
+ if (0)
+ std::cout << "dContactGeoms: "
+ << " geom1: " << geom1->GetName()
+ << " geom2: " << geom2->GetName()
+ << " contact points: " << numc
+ << " contact: " << i
+ << " pos: " << contactGeoms[i].pos[0]<<","<< contactGeoms[i].pos[1]<<","<< contactGeoms[i].pos[2]<<","<< contactGeoms[i].pos[3]
+ << " norm: " << contactGeoms[i].normal[0]<<","<< contactGeoms[i].normal[1]<<","<< contactGeoms[i].normal[2]<<","<< contactGeoms[i].normal[3]
+ << " depth: " << contactGeoms[i].depth
+ << std::endl;
+ // skip negative depth contacts
+ if(contactGeoms[i].depth < 0)
continue;
contact.geom = contactGeoms[i];
Modified: code/gazebo/trunk/server/rendering/OgreCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.cc 2009-05-29 00:13:51 UTC (rev 7736)
+++ code/gazebo/trunk/server/rendering/OgreCamera.cc 2009-05-29 02:25:59 UTC (rev 7737)
@@ -73,6 +73,7 @@
this->imageSizeP = new ParamT< Vector2<int> >("imageSize", Vector2<int>(320, 240),0);
this->visMaskP = new ParamT<std::string>("mask","none",0);
this->hfovP = new ParamT<Angle>("hfov", Angle(DTOR(60)),0);
+ this->imageFormatP = new ParamT<std::string>("imageFormat", "R8G8B8", 0);
Param::End();
this->captureData = false;
@@ -96,6 +97,7 @@
delete this->saveFramesP;
delete this->savePathnameP;
delete this->imageSizeP;
+ delete this->imageFormatP;
delete this->visMaskP;
delete this->hfovP;
}
@@ -114,6 +116,7 @@
this->saveFramesP->Load(node);
this->savePathnameP->Load(node);
this->imageSizeP->Load(node);
+ this->imageFormatP->Load(node);
this->visMaskP->Load(node);
this->hfovP->Load(node);
@@ -121,6 +124,18 @@
{
this->visibilityMask ^= GZ_LASER_CAMERA;
}
+
+ if (this->imageFormatP->GetValue() == "L8")
+ this->imageFormat = Ogre::PF_L8;
+ else if (this->imageFormatP->GetValue() == "R8G8B8")
+ this->imageFormat = Ogre::PF_R8G8B8;
+ else if (this->imageFormatP->GetValue() == "B8G8R8")
+ this->imageFormat = Ogre::PF_B8G8R8;
+ else
+ {
+ std::cerr << "Error parsing image format, using default Ogre::PF_R8G8B8\n";
+ this->imageFormat = Ogre::PF_R8G8B8;
+ }
}
// Create the directory to store frames
@@ -153,6 +168,7 @@
stream << prefix << (*this->saveFramesP) << "\n";
stream << prefix << (*this->savePathnameP) << "\n";
stream << prefix << (*this->imageSizeP) << "\n";
+ stream << prefix << (*this->imageFormatP) << "\n";
stream << prefix << (*this->visMaskP) << "\n";
stream << prefix << (*this->hfovP) << "\n";
}
@@ -224,19 +240,21 @@
if (this->captureData)
{
+ boost::recursive_mutex::scoped_lock mr_lock(*Simulator::Instance()->GetMRMutex());
Ogre::HardwarePixelBufferSharedPtr mBuffer;
size_t size;
// Get access to the buffer and make an image and write it to file
mBuffer = this->renderTexture->getBuffer(0, 0);
- size = this->imageSizeP->GetValue().x * this->imageSizeP->GetValue().y * 3;
+ size = this->imageSizeP->GetValue().x * this->imageSizeP->GetValue().y * this->GetImageDepth();
// Allocate buffer
if (!this->saveFrameBuffer)
this->saveFrameBuffer = new unsigned char[size];
memset(this->saveFrameBuffer,128,size);
+
mBuffer->lock(Ogre::HardwarePixelBuffer::HBL_READ_ONLY);
int top = (int)((mBuffer->getHeight() - this->imageSizeP->GetValue().y) / 2.0);
@@ -252,7 +270,7 @@
this->imageSizeP->GetValue().x,
this->imageSizeP->GetValue().y,
1,
- Ogre::PF_B8G8R8,
+ this->imageFormat,
this->saveFrameBuffer)
);
@@ -353,6 +371,30 @@
}
//////////////////////////////////////////////////////////////////////////////
+/// \brief Get the height of the image
+int OgreCamera::GetImageDepth() const
+{
+ if (this->imageFormatP->GetValue() == "L8")
+ return 1;
+ else if (this->imageFormatP->GetValue() == "R8G8B8")
+ return 3;
+ else if (this->imageFormatP->GetValue() == "B8G8R8")
+ return 3;
+ else
+ {
+ std::cerr << "Error parsing image format, using default Ogre::PF_R8G8B8\n";
+ return 3;
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////
+/// \brief Get the height of the image
+std::string OgreCamera::GetImageFormat() const
+{
+ return this->imageFormatP->GetValue();
+}
+
+//////////////////////////////////////////////////////////////////////////////
/// Get the width of the texture
unsigned int OgreCamera::GetTextureWidth() const
{
@@ -371,7 +413,7 @@
// Get the image size in bytes
size_t OgreCamera::GetImageByteSize() const
{
- return this->imageSizeP->GetValue().y * this->imageSizeP->GetValue().x * 3;
+ return this->imageSizeP->GetValue().y * this->imageSizeP->GetValue().x * this->GetImageDepth();
}
@@ -565,8 +607,8 @@
imgData->width = this->imageSizeP->GetValue().x;
imgData->height = this->imageSizeP->GetValue().y;
- imgData->depth = 1;
- imgData->format = Ogre::PF_B8G8R8;
+ imgData->depth = this->GetImageDepth();
+ imgData->format = this->imageFormat;
size = this->GetImageByteSize();
// Wrap buffer in a chunk
Modified: code/gazebo/trunk/server/rendering/OgreCamera.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.hh 2009-05-29 00:13:51 UTC (rev 7736)
+++ code/gazebo/trunk/server/rendering/OgreCamera.hh 2009-05-29 02:25:59 UTC (rev 7737)
@@ -123,6 +123,12 @@
/// \brief Get the height of the image
public: unsigned int GetImageHeight() const;
+ /// \brief Get the height of the image
+ public: int GetImageDepth() const;
+
+ /// \brief Get the height of the image
+ public: std::string GetImageFormat() const;
+
/// \brief Get the height of the texture
public: unsigned int GetTextureHeight() const;
@@ -218,8 +224,10 @@
protected: unsigned int saveCount;
protected: ParamT<bool> *saveFramesP;
protected: ParamT<std::string> *savePathnameP;
+ protected: ParamT<std::string> *imageFormatP;
protected: ParamT<std::string> *visMaskP;
+ protected: Ogre::PixelFormat imageFormat;
protected: unsigned int visibilityMask;
protected: Ogre::RenderTarget *renderTarget;
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-05-29 00:13:51 UTC (rev 7736)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-05-29 02:25:59 UTC (rev 7737)
@@ -759,7 +759,7 @@
}
{
- boost::recursive_mutex::scoped_lock lock(*Simulator::Instance()->GetMutex());
+ boost::recursive_mutex::scoped_lock lock(*Simulator::Instance()->GetMRMutex());
// Update the visuals
for (viter = this->visuals.begin(); viter != this->visuals.end(); viter++)
Modified: code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc 2009-05-29 00:13:51 UTC (rev 7736)
+++ code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc 2009-05-29 02:25:59 UTC (rev 7737)
@@ -89,7 +89,7 @@
this->imageSizeP->GetValue().x,
this->imageSizeP->GetValue().y,
0,
- Ogre::PF_R8G8B8,
+ this->imageFormat,
Ogre::TU_RENDERTARGET);
this->renderTarget = this->renderTexture->getBuffer()->getRenderTarget();
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|
|
From: <ro...@us...> - 2009-06-19 07:12:56
|
Revision: 7860
http://playerstage.svn.sourceforge.net/playerstage/?rev=7860&view=rev
Author: robotos
Date: 2009-06-19 07:12:55 +0000 (Fri, 19 Jun 2009)
Log Message:
-----------
disallow trimesh and cameras on non rendering engine setups
Modified Paths:
--------------
code/gazebo/trunk/server/physics/TrimeshGeom.cc
code/gazebo/trunk/server/rendering/OgreCamera.cc
Modified: code/gazebo/trunk/server/physics/TrimeshGeom.cc
===================================================================
--- code/gazebo/trunk/server/physics/TrimeshGeom.cc 2009-06-18 15:24:34 UTC (rev 7859)
+++ code/gazebo/trunk/server/physics/TrimeshGeom.cc 2009-06-19 07:12:55 UTC (rev 7860)
@@ -117,6 +117,9 @@
this->meshNameP->Load(node);
this->scaleP->Load(node);
+
+ if (!Simulator::Instance()->GetRenderEngineEnabled())
+ gzthrow("Trimesh objects are not supported when running Gazebo without rendering engine");
mesh = Ogre::MeshManager::getSingleton().load(this->meshNameP->GetValue(),Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
Modified: code/gazebo/trunk/server/rendering/OgreCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.cc 2009-06-18 15:24:34 UTC (rev 7859)
+++ code/gazebo/trunk/server/rendering/OgreCamera.cc 2009-06-19 07:12:55 UTC (rev 7860)
@@ -107,6 +107,9 @@
void OgreCamera::LoadCam( XMLConfigNode *node )
{
+ if (!Simulator::Instance()->GetRenderEngineEnabled())
+ gzthrow("Cameras can not be used when running Gazebo without rendering engine");
+
this->visibilityMask = GZ_ALL_CAMERA;
if (node)
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|
|
From: <ro...@us...> - 2009-06-19 22:48:17
|
Revision: 7857
http://playerstage.svn.sourceforge.net/playerstage/?rev=7857&view=rev
Author: robotos
Date: 2009-06-18 13:04:08 +0000 (Thu, 18 Jun 2009)
Log Message:
-----------
Check objects on exit code paths. Move check for existance of file from C to C++.
Modified Paths:
--------------
code/gazebo/trunk/server/GazeboConfig.cc
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/XMLConfig.cc
code/gazebo/trunk/server/main.cc
Modified: code/gazebo/trunk/server/GazeboConfig.cc
===================================================================
--- code/gazebo/trunk/server/GazeboConfig.cc 2009-06-18 11:28:09 UTC (rev 7856)
+++ code/gazebo/trunk/server/GazeboConfig.cc 2009-06-18 13:04:08 UTC (rev 7857)
@@ -88,7 +88,7 @@
this->gazeboPaths.push_back(str.substr(pos1,str.size()-pos1));
}
- if (cfgFile)
+ if (cfgFile.is_open())
{
XMLConfig rc;
XMLConfigNode *node;
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2009-06-18 11:28:09 UTC (rev 7856)
+++ code/gazebo/trunk/server/Simulator.cc 2009-06-18 13:04:08 UTC (rev 7857)
@@ -241,6 +241,7 @@
}
this->loaded=true;
+
}
////////////////////////////////////////////////////////////////////////////////
@@ -259,6 +260,9 @@
gzthrow("Failed to Initialize the World\n" << e);
}
+ // This is not a debug line. This is useful for external programs that
+ // launch Gazebo and wait till it is ready
+ std::cout << "Gazebo successfully initialized" << std::endl;
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2009-06-18 11:28:09 UTC (rev 7856)
+++ code/gazebo/trunk/server/World.cc 2009-06-18 13:04:08 UTC (rev 7857)
@@ -294,12 +294,14 @@
(*miter)->Fini();
}
- this->physicsEngine->Fini();
+ if (this->physicsEngine)
+ this->physicsEngine->Fini();
// Done with the external interface
try
{
- this->simIface->Destroy();
+ if (this->simIface)
+ this->simIface->Destroy();
}
catch (std::string e)
{
@@ -308,7 +310,8 @@
try
{
- this->server->Fini();
+ if (this->server)
+ this->server->Fini();
}
catch (std::string e)
{
Modified: code/gazebo/trunk/server/XMLConfig.cc
===================================================================
--- code/gazebo/trunk/server/XMLConfig.cc 2009-06-18 11:28:09 UTC (rev 7856)
+++ code/gazebo/trunk/server/XMLConfig.cc 2009-06-18 13:04:08 UTC (rev 7857)
@@ -29,6 +29,7 @@
#include <math.h>
#include <string.h>
#include <iostream>
+#include <fstream>
#include <sstream>
#include <libxml/xinclude.h>
@@ -67,6 +68,14 @@
{
this->filename = filename;
+ std::ifstream fin;
+ fin.open(this->filename.c_str(), std::ios::in);
+ if( !fin.is_open() )
+ {
+ gzthrow( "The world file can not be opened, check path and permissions" );
+ }
+ fin.close();
+
// Enable line numbering
xmlLineNumbersDefault( 1 );
Modified: code/gazebo/trunk/server/main.cc
===================================================================
--- code/gazebo/trunk/server/main.cc 2009-06-18 11:28:09 UTC (rev 7856)
+++ code/gazebo/trunk/server/main.cc 2009-06-18 13:04:08 UTC (rev 7857)
@@ -233,18 +233,6 @@
// Get the world file name
worldFileName = argv[0];
- tmpFile = fopen(worldFileName, "r");
-
- if (tmpFile == NULL)
- {
- char tmpStr[256];
- sprintf(tmpStr, "WorldFile [%s]", worldFileName);
-
- perror(tmpStr);
- return -1;
- }
- fclose(tmpFile);
-
return 0;
}
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|
|
From: <ro...@us...> - 2009-06-21 14:00:46
|
Revision: 7867
http://playerstage.svn.sourceforge.net/playerstage/?rev=7867&view=rev
Author: robotos
Date: 2009-06-21 13:59:20 +0000 (Sun, 21 Jun 2009)
Log Message:
-----------
laserFiducialID and laserRetro properties for models. This not only saves typing but also .model files with no fiducial information can be fiducialized in the .world file.
Modified Paths:
--------------
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/Model.hh
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/Body.hh
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2009-06-20 13:07:12 UTC (rev 7866)
+++ code/gazebo/trunk/server/Model.cc 2009-06-21 13:59:20 UTC (rev 7867)
@@ -84,6 +84,12 @@
this->collideP = new ParamT<std::string>("collide", "all", 0);
this->collideP->Callback( &Model::SetCollideMode, this );
+ this->laserFiducialP = new ParamT<int>("laserFiducialId", -1, 0);
+ this->laserFiducialP->Callback( &Model::SetLaserFiducialId, this );
+
+ this->laserRetroP = new ParamT<float>("laserRetro", -1, 0);
+ this->laserRetroP->Callback( &Model::SetLaserRetro, this );
+
Param::End();
this->graphicsHandler = NULL;
@@ -245,6 +251,9 @@
this->SetCollideMode( **this->collideP );
+ this->SetLaserFiducialId( **this->laserFiducialP);
+ this->SetLaserRetro( **this->laserRetroP);
+
// Create the graphics iface handler
this->graphicsHandler = new GraphicsIfaceHandler();
this->graphicsHandler->Load(this->GetName(), this);
@@ -975,6 +984,38 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Set the collide mode of the model
+void Model::SetLaserFiducialId( const int &id )
+{
+ Body *body;
+
+ std::map<std::string, Body* >::iterator iter;
+
+ for (iter=this->bodies.begin(); iter!=this->bodies.end(); iter++)
+ {
+ body = iter->second;
+
+ body->SetLaserFiducialId( id );
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Set the collide mode of the model
+void Model::SetLaserRetro( const float &retro )
+{
+ Body *body;
+
+ std::map<std::string, Body* >::iterator iter;
+
+ for (iter=this->bodies.begin(); iter!=this->bodies.end(); iter++)
+ {
+ body = iter->second;
+
+ body->SetLaserRetro( retro );
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
// Load a renderable model (like a light source).
void Model::LoadRenderable(XMLConfigNode *node)
{
Modified: code/gazebo/trunk/server/Model.hh
===================================================================
--- code/gazebo/trunk/server/Model.hh 2009-06-20 13:07:12 UTC (rev 7866)
+++ code/gazebo/trunk/server/Model.hh 2009-06-21 13:59:20 UTC (rev 7867)
@@ -178,6 +178,12 @@
/// \brief Set the collide mode of the model
public: void SetCollideMode( const std::string &m );
+ /// \brief Set the laser fiducial integer Id of the model
+ public: void SetLaserFiducialId( const int &id );
+
+ /// \brief Set the laser retro reflectiveness of the model
+ public: void SetLaserRetro( const float &retro );
+
/// \brief Load a body helper function
/// \param node XML Configuration node
private: void LoadBody(XMLConfigNode *node);
@@ -230,6 +236,8 @@
private: ParamT<std::string> *myBodyNameP;
private: ParamT<bool> *enableGravityP;
private: ParamT<bool> *enableFrictionP;
+ private: ParamT<int> *laserFiducialP;
+ private: ParamT<float> *laserRetroP;
private: ParamT<std::string> *collideP;
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2009-06-20 13:07:12 UTC (rev 7866)
+++ code/gazebo/trunk/server/physics/Body.cc 2009-06-21 13:59:20 UTC (rev 7867)
@@ -364,6 +364,34 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Set the laser fiducial integer id of this body
+void Body::SetLaserFiducialId(int id)
+{
+ std::map< std::string, Geom* >::iterator giter;
+
+ for (giter = this->geoms.begin(); giter != this->geoms.end(); giter++)
+ {
+ giter->second->SetLaserFiducialId( id );
+ }
+
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
+/// Set the laser retro reflectiveness of this body
+void Body::SetLaserRetro(float retro)
+{
+ std::map< std::string, Geom* >::iterator giter;
+
+ for (giter = this->geoms.begin(); giter != this->geoms.end(); giter++)
+ {
+ giter->second->SetLaserRetro( retro );
+ }
+
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
// Initialize the body
void Body::Init()
{
Modified: code/gazebo/trunk/server/physics/Body.hh
===================================================================
--- code/gazebo/trunk/server/physics/Body.hh 2009-06-20 13:07:12 UTC (rev 7866)
+++ code/gazebo/trunk/server/physics/Body.hh 2009-06-21 13:59:20 UTC (rev 7867)
@@ -138,6 +138,12 @@
// with other bodies even if they share the same parent.
public: bool GetSelfCollide();
+ /// \brief Set the laser fiducial integer id
+ public: void SetLaserFiducialId(int id);
+
+ /// \brief Set the laser retro reflectiveness
+ public: void SetLaserRetro(float retro);
+
/// \brief Set the linear velocity of the body
public: void SetLinearVel(const Vector3 &vel);
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <na...@us...> - 2009-06-22 15:54:44
|
Revision: 7869
http://playerstage.svn.sourceforge.net/playerstage/?rev=7869&view=rev
Author: natepak
Date: 2009-06-22 15:54:22 +0000 (Mon, 22 Jun 2009)
Log Message:
-----------
Added model namespace to gazebo iface names
Modified Paths:
--------------
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/controllers/Controller.cc
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2009-06-21 23:15:55 UTC (rev 7868)
+++ code/gazebo/trunk/server/Simulator.cc 2009-06-22 15:54:22 UTC (rev 7869)
@@ -114,11 +114,6 @@
this->physicsThread = NULL;
}
- if (this->mutex)
- {
- delete this->mutex;
- this->mutex = NULL;
- }
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/controllers/Controller.cc
===================================================================
--- code/gazebo/trunk/server/controllers/Controller.cc 2009-06-21 23:15:55 UTC (rev 7868)
+++ code/gazebo/trunk/server/controllers/Controller.cc 2009-06-22 15:54:22 UTC (rev 7869)
@@ -103,6 +103,16 @@
// Get the name of the iface
std::string ifaceName = childNode->GetString("name","",1);
+ // Constructor the heirarchical name for the iface
+ Entity *p = parent;
+ while (p != NULL)
+ {
+ Model *m = dynamic_cast<Model*>(p);
+ if (m)
+ ifaceName.insert(0, m->GetName()+"::");
+ p = p->GetParent();
+ }
+
try
{
// Use the factory to get a new iface based on the type
@@ -277,4 +287,4 @@
gzthrow(stream.str());
}
return iface;
-}
\ No newline at end of file
+}
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|
|
From: <as...@us...> - 2009-06-27 00:08:46
|
Revision: 7917
http://playerstage.svn.sourceforge.net/playerstage/?rev=7917&view=rev
Author: asadat
Date: 2009-06-27 00:08:44 +0000 (Sat, 27 Jun 2009)
Log Message:
-----------
added some methods to get the child interfaces of a model/body/sensor.
Modified Paths:
--------------
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/Model.hh
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/World.hh
code/gazebo/trunk/server/controllers/Controller.cc
code/gazebo/trunk/server/controllers/Controller.hh
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/Body.hh
code/gazebo/trunk/server/sensors/Sensor.cc
code/gazebo/trunk/server/sensors/Sensor.hh
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2009-06-27 00:06:41 UTC (rev 7916)
+++ code/gazebo/trunk/server/Model.cc 2009-06-27 00:08:44 UTC (rev 7917)
@@ -49,6 +49,7 @@
#include "IfaceFactory.hh"
#include "Model.hh"
+
#ifdef TIMING
#include "Simulator.hh"
#endif
@@ -1108,3 +1109,47 @@
}
}
+
+
+/////////////////////////////////////////////////////////////////////////////////////
+// Get the list of model interfaces e.g "pioneer2dx_model1::laser::laser_iface0->laser"
+void Model::GetModelInterfaceNames(std::vector<std::string>& list) const{
+
+
+ //std::vector<Entity*>::iterator eiter;
+ std::map<std::string, Controller* >::const_iterator contIter;
+
+ for (contIter=this->controllers.begin();
+ contIter!=this->controllers.end(); contIter++)
+ {
+ contIter->second->GetInterfaceNames(list);
+
+ }
+
+
+ std::map< std::string, Body* >::const_iterator biter;
+
+ for (biter=this->bodies.begin(); biter != this->bodies.end(); biter++)
+ {
+
+ biter->second->GetInterfaceNames(list);
+
+
+ }
+
+
+
+/*
+ for (eiter=this->GetChildren().begin(); eiter!=this->GetChildren().end(); eiter++)
+ {
+ Model* m;
+ m = dynamic_cast<Model*>(*eiter);
+ if(m)
+ m->GetModelInterfaceNames(list);
+
+ }
+*/
+
+}
+
+
Modified: code/gazebo/trunk/server/Model.hh
===================================================================
--- code/gazebo/trunk/server/Model.hh 2009-06-27 00:06:41 UTC (rev 7916)
+++ code/gazebo/trunk/server/Model.hh 2009-06-27 00:08:44 UTC (rev 7917)
@@ -39,6 +39,7 @@
#include "Entity.hh"
#include "gazebo.h"
+
namespace boost
{
class recursive_mutex;
@@ -190,6 +191,9 @@
/// \brief Set the laser retro reflectiveness of the model
public: void SetLaserRetro( const float &retro );
+ /// \brief Get the list of interfaces e.g "pioneer2dx_model1::laser::laser_iface0->laser"
+ public: void GetModelInterfaceNames(std::vector<std::string>& list) const;
+
/// \brief Load a body helper function
/// \param node XML Configuration node
private: void LoadBody(XMLConfigNode *node);
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2009-06-27 00:06:41 UTC (rev 7916)
+++ code/gazebo/trunk/server/World.cc 2009-06-27 00:08:44 UTC (rev 7917)
@@ -920,6 +920,177 @@
break;
}
+ case SimulationRequestData::GET_INTERFACE_TYPE:
+ {
+ //printf("Model Type Request\n");
+ std::vector<std::string> list;
+
+ response->type = req->type;
+ strcpy( response->modelName, req->modelName);
+ std::vector<Model*>::iterator miter;
+
+ for (miter=models.begin(); miter!=models.end(); miter++)
+ GetInterfaceNames((*miter), list);
+
+ std::string mname = req->modelName;
+ unsigned int i=mname.find(".");
+ while(i!= std::string::npos){
+
+ mname.erase(i,1);
+ mname.insert(i,"::");
+ i= mname.find(".");
+ }
+
+
+ std::vector<std::string> candids;
+
+ for(unsigned int j=0;j<list.size();j++){
+
+ int ind = list[j].find(mname);
+ if(ind==0 && ind!=std::string::npos && list[j].size() > mname.size()){
+ candids.push_back(list[j].substr(ind+mname.size(),list[j].size()-ind-mname.size()));
+ }
+ }
+
+ /*for(unsigned int ii=0;ii<candids.size();ii++)
+ printf("candidatetypes: %s\n",candids[ii].c_str());*/
+
+ for(i=0; i<candids.size(); i++){
+ if(candids[i][0]=='>'){
+
+ strcpy(response->strValue,candids[i].substr(2,candids[i].size()-2).c_str());
+ response->strValue[511]='\0';
+ i=candids.size()+5;
+
+ }
+ }
+
+ if(strcmp(response->strValue,"irarray")==0){
+ strcpy(response->strValue,"ranger");
+ response->strValue[511]='\0';
+ }
+
+ if(i<candids.size()+4) // the model is not an interface
+ {
+
+ strcpy(response->strValue,"unkown");
+ response->strValue[511]='\0';
+
+ }
+
+ //printf("-> modeltype: %s \n", response->modelType);
+
+ response++;
+ this->simIface->data->responseCount += 1;
+
+ break;
+ }
+
+ case SimulationRequestData::GET_MODEL_INTERFACES:
+ {
+
+ //printf("Requested the children\n");
+ //printf("-> %s", req->modelName);
+
+
+ response->nChildInterfaces=0;
+ //std::vector<Entity*>::iterator iter;
+ std::vector<std::string> list;
+
+ response->type = req->type;
+ strcpy( response->modelName, req->modelName);
+ std::vector<Model*>::iterator miter;
+
+ for (miter=models.begin(); miter!=models.end(); miter++)
+ GetInterfaceNames((*miter), list);
+ /*
+ for(unsigned int ii=0;ii<list.size();ii++)
+ printf("interface: %s\n",list[ii].c_str());
+ */
+ // removing the ">>type" from the end of each interface names
+ for(unsigned int jj=0;jj<list.size();jj++){
+ unsigned int index = list[jj].find(">>");
+ if(index !=std::string::npos)
+ list[jj].replace(index,list[jj].size(),"");
+ //printf("-->> %s \n",list[jj].c_str());
+ }
+
+
+ if(strcmp((char*)req->modelName,"")==0){
+
+ std::vector<std::string> chlist;
+ for(unsigned int i=0;i<list.size();i++){
+
+ std::string str = list[i].substr(0,list[i].find("::"));
+ std::vector<std::string>::iterator itr;
+ itr = std::find(chlist.begin(),chlist.end(), str);
+
+ if(itr!=chlist.end() || str=="")
+ continue;
+
+ chlist.push_back(str);
+ strcpy(response->childInterfaces[response->nChildInterfaces++],str.c_str());
+ response->childInterfaces[response->nChildInterfaces-1][511]='\0';
+ }
+
+
+ }else{
+
+
+ std::vector<std::string> newlist;
+ std::string mname = (char*)req->modelName;
+
+ unsigned int i=mname.find(".");
+ while(i>-1){
+
+ mname.erase(i,1);
+ mname.insert(i,"::");
+ i= mname.find(".");
+ }
+
+ for(unsigned int j=0;j<list.size();j++){
+
+ unsigned int ind = list[j].find(mname);
+ if(ind==0 && ind!=std::string::npos && list[j].size() > mname.size()){
+ newlist.push_back(list[j].substr(ind+mname.size()+2,list[j].size()-ind-mname.size()-2));
+ }
+ }
+
+ /*for(unsigned int ii=0;ii<newlist.size();ii++)
+ printf("child interface: %s\n",newlist[ii].c_str());
+*/
+ std::vector<std::string> chlist;
+ for( i=0;i<newlist.size();i++){
+
+ unsigned int indx = newlist[i].find("::");
+ indx = (indx==std::string::npos)?newlist[i].size():indx;
+ std::string str = newlist[i].substr(0,indx);
+ std::vector<std::string>::iterator itr;
+ itr = std::find(chlist.begin(),chlist.end(), str);
+
+ if(itr!=chlist.end() || str=="")
+ continue;
+
+ chlist.push_back(str);
+ // Adding the parent name to the child name e.g "parent.child"
+ str=mname+"::"+str;
+
+ strcpy(response->childInterfaces[response->nChildInterfaces++],str.c_str());
+ response->childInterfaces[response->nChildInterfaces-1][511]='\0';
+ }
+
+
+
+
+
+ }
+
+ response++;
+ this->simIface->data->responseCount += 1;
+
+
+ break;
+ }
case SimulationRequestData::GO:
{
this->simPauseTime = Simulator::Instance()->GetSimTime()
@@ -946,7 +1117,7 @@
}
else
{
- gzerr(0) << "Invalid model name[" << req->modelName << "] in simulation interface Set Pose 2d Request.\n";
+ gzerr(0) << "Invalid model name[" << req->modelName << "] in simulation interface Get Children Request.\n";
}
break;
}
@@ -983,3 +1154,25 @@
this->toDeleteModels.clear();
}
+void World::GetInterfaceNames(Entity* en, std::vector<std::string>& list){
+
+
+ Model* m = dynamic_cast<Model*>(en);
+ if(m){
+ m->GetModelInterfaceNames(list);
+ }
+
+ std::vector<Entity*>::iterator citer;
+ for (citer=en->GetChildren().begin(); citer!=en->GetChildren().end(); citer++)
+ {
+
+
+ this->GetInterfaceNames((*citer),list);
+
+
+ }
+
+}
+
+
+
Modified: code/gazebo/trunk/server/World.hh
===================================================================
--- code/gazebo/trunk/server/World.hh 2009-06-27 00:06:41 UTC (rev 7916)
+++ code/gazebo/trunk/server/World.hh 2009-06-27 00:08:44 UTC (rev 7917)
@@ -34,6 +34,7 @@
#include "SingletonT.hh"
#include "Vector3.hh"
#include "Pose3d.hh"
+#include "Entity.hh"
namespace gazebo
{
@@ -202,6 +203,9 @@
/// \brief Update the simulation iface
private: void UpdateSimulationIface();
+ /// \brif Get the names of interfaces defined in the tree of a model
+ private: void GetInterfaceNames(Entity* m, std::vector<std::string>& list);
+
/// Pointer the physics engine
private: PhysicsEngine *physicsEngine;
Modified: code/gazebo/trunk/server/controllers/Controller.cc
===================================================================
--- code/gazebo/trunk/server/controllers/Controller.cc 2009-06-27 00:06:41 UTC (rev 7916)
+++ code/gazebo/trunk/server/controllers/Controller.cc 2009-06-27 00:08:44 UTC (rev 7917)
@@ -288,3 +288,18 @@
}
return iface;
}
+
+void Controller::GetInterfaceNames(std::vector<std::string>& list) const{
+
+ std::vector<Iface*>::const_iterator iter;
+
+ for (iter = this->ifaces.begin(); iter != this->ifaces.end(); iter++)
+ {
+ std::string str;
+ str=(*iter)->GetId()+">>"+(*iter)->GetType();
+ list.push_back(str);
+
+ }
+
+
+}
Modified: code/gazebo/trunk/server/controllers/Controller.hh
===================================================================
--- code/gazebo/trunk/server/controllers/Controller.hh 2009-06-27 00:06:41 UTC (rev 7916)
+++ code/gazebo/trunk/server/controllers/Controller.hh 2009-06-27 00:08:44 UTC (rev 7917)
@@ -99,6 +99,8 @@
/// \return The name of the controller
public: std::string GetName() const;
+ public: void GetInterfaceNames(std::vector<std::string>& list) const;
+
/// \brief Return Iface by type
/// \param type The type of the iface to retrieve
/// \param number If several ifaces of the same type present, which one
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2009-06-27 00:06:41 UTC (rev 7916)
+++ code/gazebo/trunk/server/physics/Body.cc 2009-06-27 00:08:44 UTC (rev 7917)
@@ -1289,6 +1289,19 @@
return this->sensors;
}
+////////////////////////////////////////////////////////////////////////////////////////
+/// \brief Get the list of interfaces e.g "pioneer2dx_model1::laser::laser_iface0->laser"
+void Body::GetInterfaceNames(std::vector<std::string>& list) const{
+
+ std::vector< Sensor* >::const_iterator iter;
+
+ for (iter = this->sensors.begin(); iter != this->sensors.end(); iter++)
+ {
+ (*iter)->GetInterfaceNames(list);
+ }
+
+}
+
////////////////////////////////////////////////////////////////////////////////
/// Get the size of the body
void Body::GetBoundingBox(Vector3 &min, Vector3 &max ) const
Modified: code/gazebo/trunk/server/physics/Body.hh
===================================================================
--- code/gazebo/trunk/server/physics/Body.hh 2009-06-27 00:06:41 UTC (rev 7916)
+++ code/gazebo/trunk/server/physics/Body.hh 2009-06-27 00:08:44 UTC (rev 7917)
@@ -192,6 +192,9 @@
/// \brief Get the mass of the body
public: float GetMass() const { return mass.mass; }
+ /// \brief Get the list of interfaces e.g "pioneer2dx_model1::laser::laser_iface0->laser"
+ public: void GetInterfaceNames(std::vector<std::string>& list) const;
+
/// \brief Get a sensor by name
public: Sensor *GetSensor( const std::string &name ) const;
Modified: code/gazebo/trunk/server/sensors/Sensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/Sensor.cc 2009-06-27 00:06:41 UTC (rev 7916)
+++ code/gazebo/trunk/server/sensors/Sensor.cc 2009-06-27 00:08:44 UTC (rev 7917)
@@ -229,3 +229,9 @@
{
return this->body->GetPose();
}
+///////////////////////////////////////////////////////////////////////////////
+/// Get the name of the interfaces define in the sensor controller
+void Sensor::GetInterfaceNames(std::vector<std::string>& list) const
+{
+ controller->GetInterfaceNames(list);
+}
Modified: code/gazebo/trunk/server/sensors/Sensor.hh
===================================================================
--- code/gazebo/trunk/server/sensors/Sensor.hh 2009-06-27 00:06:41 UTC (rev 7916)
+++ code/gazebo/trunk/server/sensors/Sensor.hh 2009-06-27 00:08:44 UTC (rev 7917)
@@ -69,8 +69,14 @@
/// \brief Finalize the sensor
public: void Fini();
+ /// \brief Get the type of the sensor
+ public: std::string GetSensorType(){return typeName;}
+
/// \brief Get the current pose
public: virtual Pose3d GetPose() const;
+
+ /// \brief Get the name of the interfaces define in the sensor controller
+ public: void GetInterfaceNames(std::vector<std::string>& list) const;
/// \brief Set whether the sensor is active or not
public: void SetActive(bool value);
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <na...@us...> - 2009-07-23 01:11:16
|
Revision: 8082
http://playerstage.svn.sourceforge.net/playerstage/?rev=8082&view=rev
Author: natepak
Date: 2009-07-23 01:11:01 +0000 (Thu, 23 Jul 2009)
Log Message:
-----------
Added dInitODE2 and thread safety for ODE
Modified Paths:
--------------
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/physics/PhysicsEngine.hh
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2009-07-22 22:37:08 UTC (rev 8081)
+++ code/gazebo/trunk/server/Simulator.cc 2009-07-23 01:11:01 UTC (rev 8082)
@@ -599,6 +599,8 @@
{
World *world = World::Instance();
+ world->GetPhysicsEngine()->InitForThread();
+
double step = world->GetPhysicsEngine()->GetStepTime();
double physicsUpdateRate = world->GetPhysicsEngine()->GetUpdateRate();
double physicsUpdatePeriod = 1.0 / physicsUpdateRate;
Modified: code/gazebo/trunk/server/physics/PhysicsEngine.hh
===================================================================
--- code/gazebo/trunk/server/physics/PhysicsEngine.hh 2009-07-22 22:37:08 UTC (rev 8081)
+++ code/gazebo/trunk/server/physics/PhysicsEngine.hh 2009-07-23 01:11:01 UTC (rev 8082)
@@ -95,6 +95,9 @@
/// \brief Initialize the physics engine
public: virtual void Init() = 0;
+
+ /// \brief Initialize for separate thread
+ public: virtual void InitForThread() = 0;
/// \brief Update the physics engine collision
public: virtual void UpdateCollision() = 0;
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-07-22 22:37:08 UTC (rev 8081)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-07-23 01:11:01 UTC (rev 8082)
@@ -56,8 +56,10 @@
: PhysicsEngine()
{
// Collision detection init
- dInitODE();
+ dInitODE2(0);
+ dAllocateODEDataForThread(dAllocateMaskAll);
+
this->worldId = dWorldCreate();
//this->spaceId = dSimpleSpaceCreate(0);
@@ -80,6 +82,8 @@
// Destructor
ODEPhysics::~ODEPhysics()
{
+ dCloseODE();
+
if (this->spaceId)
dSpaceDestroy(this->spaceId);
@@ -152,6 +156,13 @@
}
////////////////////////////////////////////////////////////////////////////////
+// Initialize for separate thread
+void ODEPhysics::InitForThread()
+{
+ dAllocateODEDataForThread(dAllocateMaskAll);
+}
+
+////////////////////////////////////////////////////////////////////////////////
// Update the ODE collisions, create joints
void ODEPhysics::UpdateCollision()
{
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2009-07-22 22:37:08 UTC (rev 8081)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2009-07-23 01:11:01 UTC (rev 8082)
@@ -101,6 +101,9 @@
/// \brief Initialize the ODE engine
public: virtual void Init();
+ /// \brief Initialize for separate thread
+ public: virtual void InitForThread();
+
/// \brief Update the ODE collision
public: virtual void UpdateCollision();
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hsu...@us...> - 2009-07-30 02:52:33
|
Revision: 8158
http://playerstage.svn.sourceforge.net/playerstage/?rev=8158&view=rev
Author: hsujohnhsu
Date: 2009-07-30 02:52:18 +0000 (Thu, 30 Jul 2009)
Log Message:
-----------
fix Model::Reset(): keep pose offset from canonical body to model frame, use for updating model pose.
turn off some debugging outputs.
Modified Paths:
--------------
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/Body.hh
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2009-07-30 02:35:06 UTC (rev 8157)
+++ code/gazebo/trunk/server/Model.cc 2009-07-30 02:52:18 UTC (rev 8158)
@@ -239,6 +239,8 @@
if (this->canonicalBodyNameP->GetValue().empty())
{
+ /// FIXME: Model::pose is set to the pose of first body
+ /// seems like there should be a warning for users
this->canonicalBodyNameP->SetValue( this->bodies.begin()->first );
}
@@ -457,7 +459,20 @@
if (!this->canonicalBodyNameP->GetValue().empty())
{
+ /// model pose is the canonical body pose of the body + a transform from body frame to model frame
+ /// the tranform is defined by initModelOffset in body frame,
+
+ /// recover the transform in inertial frame based on body pose
this->pose = this->bodies[this->canonicalBodyNameP->GetValue()]->GetPose();
+ Quatern body_rot = this->pose.rot;
+ Pose3d offset_transform = this->bodies[this->canonicalBodyNameP->GetValue()]->initModelOffset;
+ Vector3 xyz_offset = (offset_transform.RotatePositionAboutOrigin(body_rot.GetInverse())).pos;
+ Quatern q_offset = offset_transform.rot;
+
+ // apply transform to get model pose
+ this->pose.pos = this->pose.pos + xyz_offset;
+ this->pose.rot = this->pose.CoordRotationAdd(q_offset);
+
this->xyzP->SetValue(this->pose.pos);
this->rpyP->SetValue(this->pose.rot);
}
@@ -535,13 +550,13 @@
jiter->second->Reset();
}
- /*for (biter=this->bodies.begin(); biter != this->bodies.end(); biter++)
+ for (biter=this->bodies.begin(); biter != this->bodies.end(); biter++)
{
biter->second->SetLinearVel(v);
biter->second->SetAngularVel(v);
biter->second->SetForce(v);
biter->second->SetTorque(v);
- }*/
+ }
}
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2009-07-30 02:35:06 UTC (rev 8157)
+++ code/gazebo/trunk/server/physics/Body.cc 2009-07-30 02:52:18 UTC (rev 8158)
@@ -208,6 +208,12 @@
initPose.pos = **(this->xyzP);
initPose.rot = **(this->rpyP);
+ // save transform from this Parent Model Frame to this Body Frame
+ // this is only used in setting Model pose from canonicalBody
+ // the true model pose given a canonical body is
+ // this body's pose - this body's offsetFromModelFrame
+ this->initModelOffset = initPose.CoordPoseSolve(Pose3d());
+
childNode = node->GetChildByNSPrefix("geom");
// Load the geometries
@@ -253,7 +259,6 @@
}
this->SetPose(initPose);
-
}
////////////////////////////////////////////////////////////////////////////////
@@ -936,23 +941,23 @@
// get pose with comPose set to oldPose
// get pose with comPose set to newPose
//
- std::cout << " name : " << this->GetName();
- std::cout << " pose : " << this->GetPose();
+ //std::cout << " name : " << this->GetName();
+ //std::cout << " pose : " << this->GetPose();
// get pose of gazebo body origin given new comPose
this->comPose = newPose;
this->UpdatePose();
- std::cout << " UpdatePose : " << this->GetPose();
+ //std::cout << " UpdatePose : " << this->GetPose();
tmpPose = this->GetPose();
- std::cout << " tmpPose : " << tmpPose;
+ //std::cout << " tmpPose : " << tmpPose;
// set pose
this->comPose = oldPose;
- std::cout << " oldPose : " << oldPose;
+ //std::cout << " oldPose : " << oldPose;
this->SetPose(tmpPose);
- std::cout << " final pose : " << this->GetPose();
- std::cout << std::endl;
+ //std::cout << " final pose : " << this->GetPose();
+ //std::cout << std::endl;
// Settle on the new CoM pose
Modified: code/gazebo/trunk/server/physics/Body.hh
===================================================================
--- code/gazebo/trunk/server/physics/Body.hh 2009-07-30 02:35:06 UTC (rev 8157)
+++ code/gazebo/trunk/server/physics/Body.hh 2009-07-30 02:52:18 UTC (rev 8158)
@@ -235,6 +235,10 @@
private: bool isStatic;
+ /// Used by Model if this body is the canonical body
+ /// model pose = body pose + initModelOffset
+ public: Pose3d initModelOffset;
+
private: Pose3d comPose;
private: Pose3d staticPose;
private: Pose3d pose;
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