Recent changes to ArenaComponent

ArenaComponent modified by Tomassino Ferrauto

Tomassino Ferrauto — Fri, 20 Nov 2015 10:21:37 -0000

ArenaComponent modified by Tomassino Ferrauto

Tomassino Ferrauto — Tue, 17 Nov 2015 13:59:11 -0000

ArenaComponent modified by Tomassino Ferrauto

Tomassino Ferrauto — Sat, 14 Nov 2015 08:52:24 -0000

--- v21
+++ v22
@@ -9,19 +9,22 @@
 The Arena Component
 =======

-The Arena component can be used to set-up the environment for experiments involving wheeled robots. It allows the user to easily create a flat planar surface containing objects like walls, cylinders, boxes, target areas (i.e. portion of the floor painted with a specific color) and light bulbs. For an exemplification see the picture below (the object in the center is a Khepera robot).
+The Arena component can be used to set-up the environment for experiments involving wheeled robots. It allows the user to easily create a flat planar surface containing objects like walls, cylinders, boxes, target areas (i.e. portion of the floor painted with a specific color) and light bulbs. For an example, see the picture below (the object in the center is a Khepera robot).

 [[img src=arena-example.png width=60%]]

-The example below show the portion of a configuration file in which the Arena component is declared and configured. The only aspects that can be specified parametrically are the width and the height of the planar surface (expressed in meters) and the method used for handling the collisions. All other aspects should be defined and configured in the source code of the experimental plugin. 
-
-~~~~~~~
+The example below show the portion of a configuration file in which the Arena component is declared and configured. The main aspects that can be specified parametrically are the width and the height of the planar surface (expressed in meters) and the method used for handling the collisions. All other aspects should be defined and configured in the source code of the experimental plugin.
+
+~~~~~~~
+:::INI
 [Component/GA/Experiment/Arena]
 type = Arena
 collisionHandler = SimpleCollisions
 planeHeight = 8.0
 planeWidth = 3.0
 ~~~~~~~
+
+The Arena component supports two kind of collision handling, *SimpleCollisions* and *CircleCollisions*. The former is a fast and approximate implementation that only handles collisions of robots. When a robot collides, it is simply moved back to the position it had before the collision. *CircleCollisions*, instead, handles collision among circular objects (both robots and cylinders) and computes the results of the collision taking into account the relative masses of the interested objects. Beware that this algorithm is still experimental and not thoroughly checked.

 The source code included below shows how you can create, modify, access and delete the objects located in the environment.

@@ -57,7 +60,7 @@

     // Create a small blue cylinder (radius 1.25 cm) with a height of 8 cm
     // Set the object as a static object that cannot be moved (the default is non static)
-    // Then move the barycentre of the objct in a specific XZ postion of the plane
+    // Then move the barycentre of the objct in a specific XY postion of the plane
     // The smallbluecyl variable is a pointer to the object that can be used to later access and/or vary the object properties
     Cylinder2DWrapper* smallbluecyl;
     smallbluecyl = arena->createSmallCylinder(Qt::blue, 0.08);
@@ -66,7 +69,7 @@

     // Create a large red cylinder (radius 2.7 cm) with aheight of 5 cm
     // Set the object as a non static object that can be moved
-    // Then move the barycentre of the objct in a specific XZ position of the plane
+    // Then move the barycentre of the objct in a specific XY position of the plane
     // The largebrowncyl variable is a pointer to the object that can be used to later access and/or vary the object properties
     Cylinder2DWrapper* largeredcyl;
     largeredcyl = arena->createBigCylinder(Qt::red, 0.05);
@@ -75,14 +78,14 @@

     // Create a light grey circular target area (a circular portion of the arena with a specific color) with a radius of 20 cm
     // Target areas are always static (non movable objects)
-    // Then set the barycentre of the area in a specific XZ position of the plane
+    // Then set the barycentre of the area in a specific XY position of the plane
     Cylinder2DWrapper* circulararea;
     circulararea = arena->createCircularTargetArea(0.09, QColor(200,200,200,255));
     circulararea->setPosition(0.27, -0.27);

     // Create a dark grey rectangular target area (a rectangular portion of the arena with a specific color) 30cmx10cm wide
     // Target areas are always static (non movable objects)
-    // Then set the centre of the area in a specific XZ position of the plane
+    // Then set the centre of the area in a specific XY position of the plane
     Box2DWrapper* rectangulararea;
     rectangulararea = arena->createRectangularTargetArea(0.3, 0.1, QColor(100,100,100,255));
     rectangulararea-> setPosition(-0.2, -0.1);
@@ -234,7 +237,7 @@
             // wheeled robot
             case PhyObject2DWrapper::WheeledRobot: {
                 WheeledRobot2DWrapper* wheeledRobot = dynamic_cast<WheeledRobot2DWrapper*>(obj);
-            // Common properties
+                // Common properties
                 bool isStatic = wheeledRobot->getStatic();
                 wVector pos = wheeledRobot->position();
                 QString texture = wheeledRobot->texture();

ArenaComponent modified by Tomassino Ferrauto

Tomassino Ferrauto — Fri, 13 Nov 2015 10:31:27 -0000

ArenaComponent modified by Tomassino Ferrauto

Tomassino Ferrauto — Thu, 12 Nov 2015 10:36:22 -0000

ArenaComponent modified by Tomassino Ferrauto

Tomassino Ferrauto — Thu, 12 Nov 2015 10:21:16 -0000

--- v18
+++ v19
@@ -1,3 +1,11 @@
+[Prev: Customizing the environment]([CustomizeEnvironment]) | [Up: Customizing the environment]([CustomizeEnvironment]) | [Next: The Worldsim Library]([Worldsim])
+ -------|--------|----------
+        |        |
+
+**Table of contents**
+
+[TOC]
+
 The Arena Component
 =======

ArenaComponent modified by Stefano Nolfi

Stefano Nolfi — Wed, 28 Oct 2015 10:57:20 -0000

--- v17
+++ v18
@@ -5,7 +5,7 @@

 [[img src=arena-example.png width=60%]]

-The only aspects that can be specified parametrically are the width and the height of the plane (expressed in meters) and the method used for handling the collisions (see the example below). 
+The example below show the portion of a configuration file in which the Arena component is declared and configured. The only aspects that can be specified parametrically are the width and the height of the planar surface (expressed in meters) and the method used for handling the collisions. All other aspects should be defined and configured in the source code of the experimental plugin. 

 ~~~~~~~
 [Component/GA/Experiment/Arena]
@@ -15,7 +15,7 @@
 planeWidth = 3.0
 ~~~~~~~

-The following exemplificative function shows how you can (i) create, (ii) modify, (iii) access and (iv) delete the objects located in the environment. We assume that a resource named "arena" exists.
+The source code included below shows how you can create, modify, access and delete the objects located in the environment.

 ~~~~~~~
 :::C++

ArenaComponent modified by Stefano Nolfi

Stefano Nolfi — Thu, 22 Oct 2015 15:19:11 -0000

--- v16
+++ v17
@@ -4,6 +4,16 @@
 The Arena component can be used to set-up the environment for experiments involving wheeled robots. It allows the user to easily create a flat planar surface containing objects like walls, cylinders, boxes, target areas (i.e. portion of the floor painted with a specific color) and light bulbs. For an exemplification see the picture below (the object in the center is a Khepera robot).

 [[img src=arena-example.png width=60%]]
+
+The only aspects that can be specified parametrically are the width and the height of the plane (expressed in meters) and the method used for handling the collisions (see the example below). 
+
+~~~~~~~
+[Component/GA/Experiment/Arena]
+type = Arena
+collisionHandler = SimpleCollisions
+planeHeight = 8.0
+planeWidth = 3.0
+~~~~~~~

 The following exemplificative function shows how you can (i) create, (ii) modify, (iii) access and (iv) delete the objects located in the environment. We assume that a resource named "arena" exists.

ArenaComponent modified by Tomassino Ferrauto

Tomassino Ferrauto — Fri, 09 Oct 2015 14:39:49 -0000

--- v15
+++ v16
@@ -1,17 +1,17 @@
 The Arena Component
-======
-
-The Arena Component can be used to set-up the environment for experiments involving wheeled robots. It allows the user to easily create a flat planar surface containing objects like walls, cylinders, boxes, target areas (i.e. portion of the floor painted with a specific color) and light bulbs. For an exemplification see the picture below (the object in the center is a Khepera robot).
+=======
+
+The Arena component can be used to set-up the environment for experiments involving wheeled robots. It allows the user to easily create a flat planar surface containing objects like walls, cylinders, boxes, target areas (i.e. portion of the floor painted with a specific color) and light bulbs. For an exemplification see the picture below (the object in the center is a Khepera robot).

 [[img src=arena-example.png width=60%]]

-The following exemplificative function shows how you can (i) create, (ii) modify, (iii) access and (iv) delete the objects located in the environment.
+The following exemplificative function shows how you can (i) create, (ii) modify, (iii) access and (iv) delete the objects located in the environment. We assume that a resource named "arena" exists.

 ~~~~~~~
 :::C++
 // This exemplificative function show how you can (i) create, (ii) modify,
 // (iii) access and (iv) delete the objects located in the environment. Here we
-// assume that the "using namespace farsa;" instruction is included at the
+// have assumed that the "using namespace farsa;" instruction is included at the
 // beginning of the file containing this function
 void MyExperiment::setupArena()
 {

ArenaComponent modified by Tomassino Ferrauto

Tomassino Ferrauto — Wed, 16 Sep 2015 14:07:32 -0000

--- v14
+++ v15
@@ -1,4 +1,4 @@
-How to use and configure the Arena Component
+The Arena Component
 ======

 The Arena Component can be used to set-up the environment for experiments involving wheeled robots. It allows the user to easily create a flat planar surface containing objects like walls, cylinders, boxes, target areas (i.e. portion of the floor painted with a specific color) and light bulbs. For an exemplification see the picture below (the object in the center is a Khepera robot).