[Java-player-users] Re: [Playerstage-users] Simulation Interface

[Radu B. R. <ru...@cs...>]

Hi Hugo,

You are *quick*! :) But okay, I got this one covered...

The simulation interface has a data (and a command for that matter) 
placeholder indeed, but they are not used. If you want to get/set the 
Pose, you need to do something like this:
        public static void testSimulation (SimulationInterface simi) {
            simi.get2DPose("p0");
            if (simi.isPose2DReady ()) {
                PlayerSimulationPose2dReq pose = 
simi.getSimulationPose2D ();
                System.err.println (writePose (pose));
            }

            PlayerPose pp = new PlayerPose ();
            pp.setPx(1);
            pp.setPy(1);
            pp.setPa(1);
            simi.set2DPose("p0", pp);
        }
...For example.... (writePose is just a method that parses the values 
nicely).

So isDataReady() is useless in this case, since Stage will never send 
Simulation data (for now).

If you let me drink my morning coffee, I will commit the changes, and 
upload three of the previous Javaclient1.6.5 examples that I modified 
last night for 2.x, as well as some general test routines for 13 interfaces.

Radu.

Hugo Marques wrote:

>Hi again...
>
>I was trying to understand how can I extract the position of the agent from
>the simulation interface but my code gets stuck in the line:
>
>while (!simulationInterface.isDataReady());
>
>since the method isDataReady() returns allways false. (the method
>simulationInterface.isPose2DReady() also returns always false).
>
>In my configuration file I have
>
>driver
>(
>  name "stage"
>  provides ["6666:simulation:0"]
>  plugin "libstageplugin"
>  worldfile "everything.world"
>)
>
>and stage accepts the driver since the the method
>robot.requestInterfaceSimulation(0, 1) is different from null;
>
>How can I put the simulation interface working?
>
>cheers,
>Hugo
>
>
>
>
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-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen