[Playerstage-commit] SF.net SVN: playerstage:[7388] code/branches/federation/stage/examples/ gzfed

[<rt...@us...>]

Revision: 7388
          http://playerstage.svn.sourceforge.net/playerstage/?rev=7388&view=rev
Author:   rtv
Date:     2009-03-08 05:30:35 +0000 (Sun, 08 Mar 2009)

Log Message:
-----------
demo...

Modified Paths:
--------------
    code/branches/federation/stage/examples/gzfed/gzwander.cc
    code/branches/federation/stage/examples/gzfed/stage.world

Modified: code/branches/federation/stage/examples/gzfed/gzwander.cc
===================================================================
--- code/branches/federation/stage/examples/gzfed/gzwander.cc	2009-03-08 05:30:33 UTC (rev 7387)
+++ code/branches/federation/stage/examples/gzfed/gzwander.cc	2009-03-08 05:30:35 UTC (rev 7388)
@@ -219,16 +219,20 @@
 			 vel.x, vel.y, vel.z, vel.a );
   
 
-  static int skip = 10;
+  
+  static int last_second = 0;
 
-  if( --skip == 0 )
+  int now_second =  mod->GetWorld()->SimTimeNow() / 1e5;
+
+  if( last_second < now_second )
 	 {
+		printf( "%d seconds - pushing state\n", now_second );
 		// tell gazebo the new position
 		gzPush( robot->gazeboid,
 				  pose.x, pose.y, pose.z+0.146, 0,0, pose.a,
 				  vel.x, vel.y, vel.z, 0,0, vel.a );
 
-		skip = 10;
+		last_second = now_second;
 	 }
 
   return 0; // run again

Modified: code/branches/federation/stage/examples/gzfed/stage.world
===================================================================
--- code/branches/federation/stage/examples/gzfed/stage.world	2009-03-08 05:30:33 UTC (rev 7387)
+++ code/branches/federation/stage/examples/gzfed/stage.world	2009-03-08 05:30:35 UTC (rev 7388)
@@ -41,7 +41,7 @@
   name "r0"
 
   pose [ 0.892 0.800 0 56.500 ] 
-  sicklaser() 
+  sicklaser( samples 180 ) 
 
   ctrl "gzwander"
 )


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