[Playerstage-commit] code/stage/worlds roomba.inc, NONE, 1.1 everything.cfg, 1.33, 1.34 everything.world, 1.85, 1.86

[Brian G. <ge...@us...>]

Update of /cvsroot/playerstage/code/stage/worlds
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv31449

Modified Files:
	everything.cfg everything.world 
Added Files:
	roomba.inc 
Log Message:
added roomba to everything.world

Index: everything.world
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/everything.world,v
retrieving revision 1.85
retrieving revision 1.86
diff -C2 -d -r1.85 -r1.86
*** everything.world	29 Mar 2006 05:11:00 -0000	1.85
--- everything.world	26 Mar 2007 19:54:36 -0000	1.86
***************
*** 12,15 ****
--- 12,17 ----
  include "pioneer.inc"
  
+ include "roomba.inc"
+ 
  # defines 'map' object used for floorplans
  include "map.inc"
***************
*** 169,170 ****
--- 171,177 ----
    gripper_return 1
  )
+ 
+ roomba(
+   name "roomba1"
+   pose [-9 0.5 0]
+ )

Index: everything.cfg
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/everything.cfg,v
retrieving revision 1.33
retrieving revision 1.34
diff -C2 -d -r1.33 -r1.34
*** everything.cfg	29 Mar 2006 05:11:00 -0000	1.33
--- everything.cfg	26 Mar 2007 19:54:36 -0000	1.34
***************
*** 70,71 ****
--- 70,78 ----
   model "p6" 
  )
+ 
+ # robot 7
+ driver( 
+  name "stage"  
+  provides ["6672:position2d:0" "6672:bumper:0"] 
+  model "roomba1" 
+ )

--- NEW FILE: roomba.inc ---

define roomba position
(
  size [0.33 0.33]

  # this polygon approximates the circular shape of a Roomba
  polygons 1
  polygon[0].points 16
  polygon[0].point[0] [ 0.225 0.000 ]
  polygon[0].point[1] [ 0.208 0.086 ]
  polygon[0].point[2] [ 0.159 0.159 ]
  polygon[0].point[3] [ 0.086 0.208 ]
  polygon[0].point[4] [ 0.000 0.225 ]
  polygon[0].point[5] [ -0.086 0.208 ]
  polygon[0].point[6] [ -0.159 0.159 ]
  polygon[0].point[7] [ -0.208 0.086 ]
  polygon[0].point[8] [ -0.225 0.000 ]
  polygon[0].point[9] [ -0.208 -0.086 ]
  polygon[0].point[10] [ -0.159 -0.159 ]
  polygon[0].point[11] [ -0.086 -0.208 ]
  polygon[0].point[12] [ -0.000 -0.225 ]
  polygon[0].point[13] [ 0.086 -0.208 ]
  polygon[0].point[14] [ 0.159 -0.159 ]
  polygon[0].point[15] [ 0.208 -0.086 ]

  # this bumper array VERY crudely approximates the Roomba's bumpers
  bumper( bcount 2  
	  blength 0.33
          bpose[0] [0.12  0.12  45]
          bpose[1] [0.12 -0.12 -45] 
        )
)