[Personalrobots-commit] SF.net SVN: personalrobots:[6391] pkg/trunk

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

Revision: 6391
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=6391&view=rev
Author:   hsujohnhsu
Date:     2008-11-07 20:05:16 +0000 (Fri, 07 Nov 2008)

Log Message:
-----------
ability to tune quick step in xml.

Modified Paths:
--------------
    pkg/trunk/3rdparty/gazebo/gazebo_patch.diff
    pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test_headless.world
    pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_headless.world
    pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1_headless.world
    pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg_headless.world

Modified: pkg/trunk/3rdparty/gazebo/gazebo_patch.diff
===================================================================
--- pkg/trunk/3rdparty/gazebo/gazebo_patch.diff	2008-11-07 19:50:50 UTC (rev 6390)
+++ pkg/trunk/3rdparty/gazebo/gazebo_patch.diff	2008-11-07 20:05:16 UTC (rev 6391)
@@ -194,30 +194,6 @@
    /// Pointer to the stereo data
    public: StereoCameraData *data;
  };
-Index: server/physics/MapGeom.cc
-===================================================================
---- server/physics/MapGeom.cc	(revision 7049)
-+++ server/physics/MapGeom.cc	(working copy)
-@@ -307,7 +307,9 @@
- 
-   int diff = labs(freePixels - occPixels);
- 
--  if (diff > this->granularityP->GetValue())
-+  //if (diff > this->granularityP->GetValue())
-+  // use pixel size for granularity instead of occupancy
-+  if (node->width*node->height > this->granularityP->GetValue())
-   {
-     float newX, newY;
-     float newW, newH;
-@@ -353,7 +355,7 @@
-         newY += ceil(newH);
-     }
- 
--    node->occupied = true;
-+    node->occupied = false;
-     node->leaf = false;
-   }
-   else if (occPixels == 0)
 Index: server/physics/SphereGeom.cc
 ===================================================================
 --- server/physics/SphereGeom.cc	(revision 7049)
@@ -354,6 +330,30 @@
  }
  
  //////////////////////////////////////////////////////////////////////////////
+Index: server/physics/MapGeom.cc
+===================================================================
+--- server/physics/MapGeom.cc	(revision 7049)
++++ server/physics/MapGeom.cc	(working copy)
+@@ -307,7 +307,9 @@
+ 
+   int diff = labs(freePixels - occPixels);
+ 
+-  if (diff > this->granularityP->GetValue())
++  //if (diff > this->granularityP->GetValue())
++  // use pixel size for granularity instead of occupancy
++  if (node->width*node->height > this->granularityP->GetValue())
+   {
+     float newX, newY;
+     float newW, newH;
+@@ -353,7 +355,7 @@
+         newY += ceil(newH);
+     }
+ 
+-    node->occupied = true;
++    node->occupied = false;
+     node->leaf = false;
+   }
+   else if (occPixels == 0)
 Index: server/physics/Geom.cc
 ===================================================================
 --- server/physics/Geom.cc	(revision 7049)
@@ -726,11 +726,13 @@
 ===================================================================
 --- server/physics/ode/ODEPhysics.hh	(revision 7049)
 +++ server/physics/ode/ODEPhysics.hh	(working copy)
-@@ -133,6 +133,7 @@
+@@ -133,6 +133,9 @@
  
    private: ParamT<double> *globalCFMP; 
    private: ParamT<double> *globalERPP; 
 +  private: ParamT<bool> *quickStepP; 
++  private: ParamT<int> *quickStepItersP; 
++  private: ParamT<double> *quickStepWP; 
  };
  
  /** \}*/
@@ -749,15 +751,17 @@
  using namespace gazebo;
  
  ////////////////////////////////////////////////////////////////////////////////
-@@ -70,6 +74,7 @@
+@@ -70,6 +74,9 @@
    Param::Begin(&this->parameters);
    this->globalCFMP = new ParamT<double>("cfm", 10e-5, 0);
    this->globalERPP = new ParamT<double>("erp", 0.2, 0);
 +  this->quickStepP = new ParamT<bool>("quickStep", false, 0);
++  this->quickStepItersP = new ParamT<int>("quickStepIters", 20, 0);
++  this->quickStepWP = new ParamT<double>("quickStepW", 1.3, 0);  /// over_relaxation value for SOR
    Param::End();
  }
  
-@@ -88,6 +93,7 @@
+@@ -88,6 +95,7 @@
  
    delete this->globalCFMP;
    delete this->globalERPP;
@@ -765,15 +769,17 @@
  }
  
  ////////////////////////////////////////////////////////////////////////////////
-@@ -103,6 +109,7 @@
+@@ -103,6 +111,9 @@
    this->updateRateP->Load(cnode);
    this->globalCFMP->Load(cnode);
    this->globalERPP->Load(cnode);
 +  this->quickStepP->Load(cnode);
++  this->quickStepItersP->Load(cnode);
++  this->quickStepWP->Load(cnode);
  }
  
  ////////////////////////////////////////////////////////////////////////////////
-@@ -115,6 +122,7 @@
+@@ -115,6 +126,7 @@
    stream << prefix << "  " << *(this->updateRateP) << "\n";
    stream << prefix << "  " << *(this->globalCFMP) << "\n";
    stream << prefix << "  " << *(this->globalERPP) << "\n";
@@ -781,7 +787,16 @@
    stream << prefix << "</physics:ode>\n";
  }
  
-@@ -133,13 +141,29 @@
+@@ -126,20 +138,37 @@
+   dWorldSetGravity(this->worldId, g.x, g.y, g.z);
+   dWorldSetCFM(this->worldId, this->globalCFMP->GetValue());
+   dWorldSetERP(this->worldId, this->globalERPP->GetValue());
+-
++  dWorldSetQuickStepNumIterations(this->worldId, this->quickStepItersP->GetValue() );
++  dWorldSetQuickStepW(this->worldId, this->quickStepWP->GetValue() );
+ }
+ 
+ ////////////////////////////////////////////////////////////////////////////////
  // Update the ODE engine
  void ODEPhysics::Update()
  {
@@ -813,7 +828,7 @@
    // Very important to clear out the contact group
    dJointGroupEmpty( this->contactGroup );
  
-@@ -266,15 +290,16 @@
+@@ -266,15 +295,16 @@
          contact.surface.mode = dContactSlip1 | dContactSlip2 | 
                                 dContactSoftERP | dContactSoftCFM |  
                                 dContactBounce | dContactMu2 | dContactApprox1;

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test_headless.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test_headless.world	2008-11-07 19:50:50 UTC (rev 6390)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_arm_test_headless.world	2008-11-07 20:05:16 UTC (rev 6391)
@@ -30,6 +30,8 @@
     <cfm>0.0000000001</cfm>
     <erp>0.2</erp>
     <quickStep>true</quickStep>
+    <quickStepIters>3</quickStepIters>
+    <quickStepW>1.3</quickStepW>
   </physics:ode>
 
   <!-- Rendering Engine -->

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_headless.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_headless.world	2008-11-07 19:50:50 UTC (rev 6390)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_headless.world	2008-11-07 20:05:16 UTC (rev 6391)
@@ -29,6 +29,8 @@
     <cfm>0.000000000001</cfm>
     <erp>0.2</erp>
     <quickStep>true</quickStep>
+    <quickStepIters>3</quickStepIters>
+    <quickStepW>1.3</quickStepW>
   </physics:ode>
 
   <geo:origin>

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1_headless.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1_headless.world	2008-11-07 19:50:50 UTC (rev 6390)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_prototype1_headless.world	2008-11-07 20:05:16 UTC (rev 6391)
@@ -29,6 +29,8 @@
     <cfm>0.0000000001</cfm>
     <erp>0.2</erp>
     <quickStep>true</quickStep>
+    <quickStepIters>3</quickStepIters>
+    <quickStepW>1.3</quickStepW>
   </physics:ode>
 
   <geo:origin>

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg_headless.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg_headless.world	2008-11-07 19:50:50 UTC (rev 6390)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg_headless.world	2008-11-07 20:05:16 UTC (rev 6391)
@@ -29,6 +29,8 @@
     <cfm>0.0000000001</cfm>
     <erp>0.2</erp>
     <quickStep>true</quickStep>
+    <quickStepIters>3</quickStepIters>
+    <quickStepW>1.3</quickStepW>
   </physics:ode>
 
   <geo:origin>


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