[Personalrobots-commit] SF.net SVN: personalrobots:[3723] pkg/trunk

[<hsu...@us...>]

Revision: 3723
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=3723&view=rev
Author:   hsujohnhsu
Date:     2008-08-27 23:32:33 +0000 (Wed, 27 Aug 2008)

Log Message:
-----------
added option to use quick step in ode with a tag <quickStep>true</quickStep>.

Modified Paths:
--------------
    pkg/trunk/3rdparty/gazebo/gazebo_patch.diff
    pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot.world
    pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test.world
    pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test.world

Modified: pkg/trunk/3rdparty/gazebo/gazebo_patch.diff
===================================================================
--- pkg/trunk/3rdparty/gazebo/gazebo_patch.diff	2008-08-27 23:13:41 UTC (rev 3722)
+++ pkg/trunk/3rdparty/gazebo/gazebo_patch.diff	2008-08-27 23:32:33 UTC (rev 3723)
@@ -809,11 +809,68 @@
  }
  
  
+Index: server/physics/ode/ODEPhysics.hh
+===================================================================
+--- server/physics/ode/ODEPhysics.hh	(revision 6981)
++++ server/physics/ode/ODEPhysics.hh	(working copy)
+@@ -133,6 +133,7 @@
+ 
+   private: Param<double> *globalCFMP; 
+   private: Param<double> *globalERPP; 
++  private: Param<bool> *quickStepP; 
+ };
+ 
+ /** \}*/
 Index: server/physics/ode/ODEPhysics.cc
 ===================================================================
 --- server/physics/ode/ODEPhysics.cc	(revision 6981)
 +++ server/physics/ode/ODEPhysics.cc	(working copy)
-@@ -264,15 +264,16 @@
+@@ -69,6 +69,7 @@
+ 
+   this->globalCFMP = new Param<double>("cfm", 10e-5, 0);
+   this->globalERPP = new Param<double>("erp", 0.2, 0);
++  this->quickStepP = new Param<bool>("quickStep", false, 0);
+ }
+ 
+ ////////////////////////////////////////////////////////////////////////////////
+@@ -86,6 +87,7 @@
+ 
+   delete this->globalCFMP;
+   delete this->globalERPP;
++  delete this->quickStepP;
+ }
+ 
+ ////////////////////////////////////////////////////////////////////////////////
+@@ -101,6 +103,7 @@
+   this->updateRateP->Load(cnode);
+   this->globalCFMP->Load(cnode);
+   this->globalERPP->Load(cnode);
++  this->quickStepP->Load(cnode);
+ }
+ 
+ ////////////////////////////////////////////////////////////////////////////////
+@@ -113,6 +116,7 @@
+   stream << prefix << "  " << *(this->updateRateP) << "\n";
+   stream << prefix << "  " << *(this->globalCFMP) << "\n";
+   stream << prefix << "  " << *(this->globalERPP) << "\n";
++  stream << prefix << "  " << *(this->quickStepP) << "\n";
+   stream << prefix << "</physics:ode>\n";
+ }
+ 
+@@ -135,8 +139,10 @@
+   dSpaceCollide( this->spaceId, this, CollisionCallback );
+ 
+   // Update the dynamical model
+-  dWorldStep( this->worldId, this->stepTimeP->GetValue() );
+-  //dWorldQuickStep(this->worldId, this->stepTime);
++  if (this->quickStepP->GetValue())
++    dWorldQuickStep(this->worldId, this->stepTimeP->GetValue() );
++  else
++    dWorldStep( this->worldId, this->stepTimeP->GetValue() );
+ 
+   // Very important to clear out the contact group
+   dJointGroupEmpty( this->contactGroup );
+@@ -264,15 +270,16 @@
          contact.surface.mode = dContactSlip1 | dContactSlip2 | 
                                 dContactSoftERP | dContactSoftCFM |  
                                 dContactBounce | dContactMu2 | dContactApprox1;

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot.world	2008-08-27 23:13:41 UTC (rev 3722)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot.world	2008-08-27 23:32:33 UTC (rev 3723)
@@ -28,6 +28,7 @@
     <gravity>0 0 -9.8</gravity>
     <cfm>0.0000000001</cfm>
     <erp>0.2</erp>
+    <quickStep>false</quickStep>
   </physics:ode>
 
   <geo:origin>

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test.world	2008-08-27 23:13:41 UTC (rev 3722)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test.world	2008-08-27 23:32:33 UTC (rev 3723)
@@ -28,6 +28,7 @@
     <gravity>0 0 -9.8</gravity>
     <cfm>0.0000000001</cfm>
     <erp>0.2</erp>
+    <quickStep>false</quickStep>
   </physics:ode>
 
   <geo:origin>

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test.world	2008-08-27 23:13:41 UTC (rev 3722)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_test.world	2008-08-27 23:32:33 UTC (rev 3723)
@@ -28,6 +28,7 @@
     <gravity>0 0 -9.8</gravity>
     <cfm>0.0000001</cfm>
     <erp>0.2</erp>
+    <quickStep>false</quickStep>
   </physics:ode>
 
   <geo:origin>


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