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[Playerstage-commit] (no subject)

From: 钟文辉 <shanhu.dao@16...> - 2008-07-04 22:46:08

各位老总：您们好！
                
    诚祝：您们在2008年里；有鼠不尽的快乐！鼠不尽的收获！鼠不尽的钞票！
　
鼠不尽的幸福！鼠不尽的美满生活！愿： 您们阖家欢乐！幸福安康！
    
    我公司可以长期提供：出口报关单，核销单，等等一系列手续；代理：出口

报关，商检，境内外运输......等等；还可以代办：出口欧盟许可证，欧盟产地证；

并且还有（广州国际贸易交易会）的摊位可以转让；价格特别优惠；有意者请来邮件

或来电联系。谢谢合作！
　
                              电话：0755-81153047。
　
                              传真：0755-81172940。
　
                              手机：15817477278。
　
                              联系人：钟文辉。
　
   
                              电子邮箱:shanhu.dao@...  


此致：
                                                         

                                                                敬礼！

[Playerstage-commit] SF.net SVN: playerstage: [6774] code/stage/trunk

From: <rtv@us...> - 2008-07-04 18:32:56

Revision: 6774
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6774&view=rev
Author:   rtv
Date:     2008-07-04 18:33:02 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
working on proper recursive 3D poses - it's been a hack so far

Modified Paths:
--------------
    code/stage/trunk/libstage/model.cc
    code/stage/trunk/libstage/worldgui.cc
    code/stage/trunk/worlds/swarmbenchmark/cave.world

Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc	2008-07-05 01:07:11 UTC (rev 6773)
+++ code/stage/trunk/libstage/model.cc	2008-07-05 01:33:02 UTC (rev 6774)
@@ -176,9 +176,10 @@
   world->AddModel( this );
   
   bzero( &pose, sizeof(pose));
-  if( parent ) 
-    pose.z = parent->geom.size.z;
+  if( parent) pose.z += parent->geom.size.z;
+
   bzero( &global_pose, sizeof(global_pose));
+  this->gpose_dirty = true;
   
   this->trail = g_array_new( false, false, sizeof(stg_trail_item_t) );
 
@@ -186,7 +187,6 @@
   this->disabled = false;
   this->blocks = NULL;
   this->rebuild_displaylist = true;
-  this->gpose_dirty = true;
   this->say_string = NULL;
   this->subs = 0;
   this->stall = false;
@@ -1268,6 +1268,9 @@
   //PRINT_DEBUG5( "%s.SetPose(%.2f %.2f %.2f %.2f)", 
   //	this->token, pose->x, pose->y, pose->z, pose->a );
 
+  if( parent )
+    pose.z += parent->geom.size.z;
+
   // if the pose has changed, we need to do some work
   if( memcmp( &this->pose, &pose, sizeof(stg_pose_t) ) != 0 )
     {

Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc	2008-07-05 01:07:11 UTC (rev 6773)
+++ code/stage/trunk/libstage/worldgui.cc	2008-07-05 01:33:02 UTC (rev 6774)
@@ -125,10 +125,10 @@
   "Part of the Player Project\n"
   "http://playerstage.org\n";
   "\n"
-  "Copyright 2000-2008 Richard Vaughan, Brian Gerkey, "
-  "Andrew Howard, Reed Hedges, Toby Collett, "
-  "Alex Couture-Beil, Jeremy Asher "
-  "and contributors";
+  "Copyright 2000-2008 Richard Vaughan,\n"
+  "  Brian Gerkey, Andrew Howard, Reed Hedges, \n"
+  "  Toby Collett, Alex Couture-Beil, Jeremy Asher \n"
+  "  and contributors";
 
 StgWorldGui::StgWorldGui(int W,int H,const char* L) : 
   Fl_Window(W,H,L )
@@ -544,7 +544,7 @@
   tbuf->append( "-" );
   tbuf->append( VERSION );
   tbuf->append( AboutText );
-  textDisplay->wrap_mode( true, 50 );
+  //textDisplay->wrap_mode( true, 50 );
   textDisplay->buffer( tbuf );
 	
   Fl_Return_Button* button;

Modified: code/stage/trunk/worlds/swarmbenchmark/cave.world
===================================================================
--- code/stage/trunk/worlds/swarmbenchmark/cave.world	2008-07-05 01:07:11 UTC (rev 6773)
+++ code/stage/trunk/worlds/swarmbenchmark/cave.world	2008-07-05 01:33:02 UTC (rev 6774)
@@ -33,7 +33,7 @@
 #define rob fancypioneer2dx  # alternative with more complex polygons
 (
 
-  sicklaser( pose [ 0.040 0.000 0.000 ] samples 180 ) 
+ sicklaser( )#pose4 [ 0.040 0.000 0.01 0.000 ] samples 180 ) 
  # alternative laser  with more complex polygons
  # fancysicklaser( pose [ 0.040 0.000 0.000 ] samples 180 ) 
 


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[Playerstage-commit] SF.net SVN: playerstage: [6773] code/stage/trunk

From: <rtv@us...> - 2008-07-04 18:07:03

Revision: 6773
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6773&view=rev
Author:   rtv
Date:     2008-07-04 18:07:11 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
adding authors

Modified Paths:
--------------
    code/stage/trunk/AUTHORS
    code/stage/trunk/libstage/worldgui.cc

Modified: code/stage/trunk/AUTHORS
===================================================================
--- code/stage/trunk/AUTHORS	2008-07-05 00:59:26 UTC (rev 6772)
+++ code/stage/trunk/AUTHORS	2008-07-05 01:07:11 UTC (rev 6773)
@@ -8,3 +8,7 @@
 Richard Vaughan 	(rtv@...)
 Andrew Howard 		(inspectorg@...)
 Brian Gerkey		(gerkey@...)
+Alex Couture-Beil	
+Jeremy Asher		
+Reed Hedges
+Toby Collett
\ No newline at end of file

Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc	2008-07-05 00:59:26 UTC (rev 6772)
+++ code/stage/trunk/libstage/worldgui.cc	2008-07-05 01:07:11 UTC (rev 6773)
@@ -119,11 +119,17 @@
 #include <sstream>
 #include <iomanip>
 
-// this should be set by CMake
-#ifndef PACKAGE_STRING
-#define PACKAGE_STRING "Stage-3.dev"
-#endif
 
+static  const char* AboutText = 
+  "\n" 
+  "Part of the Player Project\n"
+  "http://playerstage.org\n";
+  "\n"
+  "Copyright 2000-2008 Richard Vaughan, Brian Gerkey, "
+  "Andrew Howard, Reed Hedges, Toby Collett, "
+  "Alex Couture-Beil, Jeremy Asher "
+  "and contributors";
+
 StgWorldGui::StgWorldGui(int W,int H,const char* L) : 
   Fl_Window(W,H,L )
 {
@@ -133,7 +139,8 @@
   paused = false;
 
   // improve the title bar to say "Stage: <worldfile name>"
-  std::string title = "Stage: ";
+  std::string title = PROJECT;
+  title += ": ";
   title += L;
   label( title.c_str() );
 
@@ -506,8 +513,8 @@
 
   fl_register_images();
 	
-  const int Width = 400;
-  const int Height = 220;
+  const int Width = 420;
+  const int Height = 300;
   const int Spc = 10;
   const int ButtonH = 25;
   const int ButtonW = 60;
@@ -531,16 +538,13 @@
   textDisplay->box( FL_NO_BOX );
   textDisplay->color( win->color() );
   win->callback( aboutCloseCb, textDisplay );
-	
-  const char* AboutText = 
-    "\n" 
-    "Part of the Player Project\n"
-    "http://playerstage.sourceforge.net\n";
-    "Copyright 2000-2008 Richard Vaughan and contributors";
-	
+		
   Fl_Text_Buffer* tbuf = new Fl_Text_Buffer;
-  tbuf->text( PACKAGE_STRING );
+  tbuf->text( PROJECT );
+  tbuf->append( "-" );
+  tbuf->append( VERSION );
   tbuf->append( AboutText );
+  textDisplay->wrap_mode( true, 50 );
   textDisplay->buffer( tbuf );
 	
   Fl_Return_Button* button;


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[Playerstage-commit] SF.net SVN: playerstage: [6772] code/stage/trunk/libstage

From: <alexcb@us...> - 2008-07-04 17:59:20

Revision: 6772
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6772&view=rev
Author:   alexcb
Date:     2008-07-04 17:59:26 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
fixed picker bug introduced by camera model

Modified Paths:
--------------
    code/stage/trunk/libstage/camera.cc
    code/stage/trunk/libstage/canvas.cc
    code/stage/trunk/libstage/stage.hh

Modified: code/stage/trunk/libstage/camera.cc
===================================================================
--- code/stage/trunk/libstage/camera.cc	2008-07-05 00:43:45 UTC (rev 6771)
+++ code/stage/trunk/libstage/camera.cc	2008-07-05 00:59:26 UTC (rev 6772)
@@ -105,18 +105,27 @@
 
 }
 
-void StgOrthoCamera::SetProjection( float pixels_width, float pixels_height, float y_min, float y_max ) const
+void StgOrthoCamera::SetProjection( void ) const
 {
 	glMatrixMode (GL_PROJECTION);
 	glLoadIdentity ();
-
-	glOrtho( -pixels_width/2.0 / _scale, pixels_width/2.0 / _scale,
-			-pixels_height/2.0 / _scale, pixels_height/2.0 / _scale,
-			y_min * _scale * 2, y_max * _scale * 2 );	
-
+	
+	glOrtho( -_pixels_width/2.0 / _scale, _pixels_width/2.0 / _scale,
+			-_pixels_height/2.0 / _scale, _pixels_height/2.0 / _scale,
+			_y_min * _scale * 2, _y_max * _scale * 2 );	
+	
 	glMatrixMode (GL_MODELVIEW);
 }
 
+void StgOrthoCamera::SetProjection( float pixels_width, float pixels_height, float y_min, float y_max )
+{
+	_pixels_width = pixels_width;
+	_pixels_height = pixels_height;
+	_y_min = y_min; 
+	_y_max = y_max;
+	SetProjection();
+}
+
 //TODO re-evaluate the way the camera is shifted when the mouse zooms - it might be possible to simplify
 void StgOrthoCamera::scale( float scale, float shift_x, float w, float shift_y, float h )
 {

Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc	2008-07-05 00:43:45 UTC (rev 6771)
+++ code/stage/trunk/libstage/canvas.cc	2008-07-05 00:59:26 UTC (rev 6772)
@@ -93,8 +93,10 @@
   glClearColor ( 1,1,1,1 ); // white
   glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
   glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
+	glLoadIdentity();
+	current_camera->SetProjection();
+	current_camera->Draw();
 
-
   glDisable(GL_DITHER);
   glDisable(GL_BLEND); // turns off alpha blending, so we read back
   // exactly what we write to a pixel
@@ -155,6 +157,8 @@
   glEnable(GL_BLEND);
   glClearColor ( 0.7, 0.7, 0.8, 1.0);
   
+	Screenshot();
+	
   return mod;
 }
 
@@ -284,7 +288,6 @@
         clicked_empty_space = ( mod == NULL );
 				  empty_space_startx = startx;
 				  empty_space_starty = starty;
-			std::cout << "clicked: " << startx << " " << Fl::event_x() << std::endl;
 		if( mod ) { 
 		  // clicked a model
 		  if ( Fl::event_state( FL_SHIFT ) ) {

Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh	2008-07-05 00:43:45 UTC (rev 6771)
+++ code/stage/trunk/libstage/stage.hh	2008-07-05 00:59:26 UTC (rev 6772)
@@ -1791,6 +1791,7 @@
 		virtual ~StgCamera() { }
 
 		virtual void Draw( void ) const = 0;
+		virtual void SetProjection( void ) const = 0;
 
 		inline float yaw( void ) const { return _yaw; }
 		inline float pitch( void ) const { return _pitch; }
@@ -1857,10 +1858,16 @@
 	private:
 		float _scale;
 
+	float _pixels_width;
+	float _pixels_height;
+	float _y_min;
+	float _y_max;
+
 	public:
 		StgOrthoCamera( void ) : _scale( 15 ) { }
 		virtual void Draw() const;
-		virtual void SetProjection( float pixels_width, float pixels_height, float y_min, float y_max ) const;
+		virtual void SetProjection( float pixels_width, float pixels_height, float y_min, float y_max );
+		virtual void SetProjection( void ) const;
 
 		inline void move( float x, float y ) {
 			//convert screen points into world points


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[Playerstage-commit] SF.net SVN: playerstage: [6771] code/stage/trunk/libstage/model.cc

From: <jeremy_asher@us...> - 2008-07-04 17:43:36

Revision: 6771
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6771&view=rev
Author:   jeremy_asher
Date:     2008-07-04 17:43:45 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
Fixed speech bubble positioning in perspective mode, scaling still off

Modified Paths:
--------------
    code/stage/trunk/libstage/model.cc

Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc	2008-07-05 00:38:55 UTC (rev 6770)
+++ code/stage/trunk/libstage/model.cc	2008-07-05 00:43:45 UTC (rev 6771)
@@ -912,54 +912,65 @@
 
 void StgModel::DrawStatus( StgCanvas* canvas ) 
 {
-  // draw speech bubble
-  if( say_string )
-    {
-      float stheta = -dtor( canvas->current_camera->pitch() );
-      float sphi = dtor( canvas->current_camera->yaw() );
-      float scale = canvas->camera.getScale();
-		if( canvas->perspectiveCam == true ) {
-			sphi = atan2(
-						 ( pose.x - canvas->current_camera->x() )
-						 ,
-						 ( pose.y - canvas->current_camera->y() )
-						 );
-			stheta = -stheta;
-		}
+	if( say_string )	  
+	{
+		float yaw, pitch, scale;
+
 		
-      glPushMatrix();
+		float x,y,z;
+		x = canvas->current_camera->x() - pose.x;
+		y = canvas->current_camera->y() - pose.y;
+		z = canvas->current_camera->z() - pose.z - 0.5;
+		float dist = sqrt( exp2f(x) + exp2f(y) + exp2f(z) );
+		printf("x: %f, y: %f, z: %f, dist: %f, scale: %f\n", x, y, z, dist, scale);
 		
-      // move above the robot
-      glTranslatef( 0, 0, 0.5 );		
+		if ( canvas->perspectiveCam ) {
+			pitch = -canvas->current_camera->pitch();
+			yaw = -canvas->current_camera->yaw();			
+			scale = 500/dist;
+		}
+		else {
+			pitch = canvas->current_camera->pitch();
+			yaw = canvas->current_camera->yaw();			
+			scale = canvas->camera.getScale();
+		}
+	
+		float robotAngle = -rtod(pose.a);
 		
-      // rotate to face screen
-      glRotatef( -rtod(global_pose.a + sphi), 0,0,1 );
-      glRotatef( rtod(stheta), 1,0,0 );
+
 		
-      const float m = 4 / scale; // margin
-      float w = gl_width( this->say_string ) / scale; // scaled text width
-      float h = gl_height() / scale; // scaled text height
+		glPushMatrix();
+
+		// move above the robot
+		glTranslatef( 0, 0, 0.5 );		
+
+		// rotate to face screen
+		glRotatef( robotAngle - yaw, 0,0,1 );
+		glRotatef( -pitch, 1,0,0 );
+				
+		const float m = 4 / scale; // margin
+		float w = gl_width( this->say_string ) / scale; // scaled text width
+		float h = gl_height() / scale; // scaled text height
+
+		// draw inside of bubble
+		PushColor( BUBBLE_FILL );
+		glPushAttrib( GL_POLYGON_BIT | GL_LINE_BIT );
+		glPolygonMode( GL_FRONT, GL_FILL );
+		glEnable( GL_POLYGON_OFFSET_FILL );
+		glPolygonOffset( 1.0, 1.0 );
+		gl_draw_octagon( w, h, m );
+		glDisable( GL_POLYGON_OFFSET_FILL );
+		PopColor();
+		// draw outline of bubble
+		PushColor( BUBBLE_BORDER );
+		glLineWidth( 1 );
+		glEnable( GL_LINE_SMOOTH );
+		glPolygonMode( GL_FRONT, GL_LINE );
+		gl_draw_octagon( w, h, m );
+		glPopAttrib();
+		PopColor();
 		
 		
-      // draw inside of bubble
-      PushColor( BUBBLE_FILL );
-      glPushAttrib( GL_POLYGON_BIT | GL_LINE_BIT );
-      glPolygonMode( GL_FRONT, GL_FILL );
-      glEnable( GL_POLYGON_OFFSET_FILL );
-      glPolygonOffset( 1.0, 1.0 );
-      gl_draw_octagon( w, h, m );
-      glDisable( GL_POLYGON_OFFSET_FILL );
-      PopColor();
-      // draw outline of bubble
-      PushColor( BUBBLE_BORDER );
-      glLineWidth( 1 );
-      glEnable( GL_LINE_SMOOTH );
-      glPolygonMode( GL_FRONT, GL_LINE );
-      gl_draw_octagon( w, h, m );
-      glPopAttrib();
-      PopColor();
-		
-		
       // draw text
       PushColor( BUBBLE_TEXT );
       glTranslatef( 0, 0, 0.1 ); // draw text forwards of bubble


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[Playerstage-commit] SF.net SVN: playerstage: [6770] code/stage/trunk

From: <rtv@us...> - 2008-07-04 17:38:50

Revision: 6770
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6770&view=rev
Author:   rtv
Date:     2008-07-04 17:38:55 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
fixed some bugs

Modified Paths:
--------------
    code/stage/trunk/examples/ctrl/CMakeLists.txt
    code/stage/trunk/examples/ctrl/source.cc
    code/stage/trunk/examples/ctrl/wander.cc
    code/stage/trunk/examples/libstage/stest.cc
    code/stage/trunk/libstage/canvas.cc
    code/stage/trunk/libstage/model_laser.cc
    code/stage/trunk/libstage/model_load.cc
    code/stage/trunk/libstage/test.cc
    code/stage/trunk/libstage/worldgui.cc
    code/stage/trunk/libstageplugin/p_driver.cc
    code/stage/trunk/worlds/fasr.world
    code/stage/trunk/worlds/pioneer.inc
    code/stage/trunk/worlds/sick.inc
    code/stage/trunk/worlds/simple.world
    code/stage/trunk/worlds/swarmbenchmark/cave.world
    code/stage/trunk/worlds/worldgen.sh

Added Paths:
-----------
    code/stage/trunk/examples/ctrl/expand.cc
    code/stage/trunk/worlds/hospital.world

Removed Paths:
-------------
    code/stage/trunk/examples/ctrl/swarmbenchmark.cc

Modified: code/stage/trunk/examples/ctrl/CMakeLists.txt
===================================================================
--- code/stage/trunk/examples/ctrl/CMakeLists.txt	2008-07-05 00:31:17 UTC (rev 6769)
+++ code/stage/trunk/examples/ctrl/CMakeLists.txt	2008-07-05 00:38:55 UTC (rev 6770)
@@ -1,13 +1,18 @@
-SET( PLUGINS lasernoise source fasr sink swarmbenchmark )
 
-ADD_LIBRARY( lasernoise MODULE lasernoise.cc )
-ADD_LIBRARY( source MODULE source.cc )
-ADD_LIBRARY( fasr MODULE fasr.cc )
-ADD_LIBRARY( sink MODULE sink.cc )
-ADD_LIBRARY( swarmbenchmark MODULE swarmbenchmark.cc )
+SET( PLUGINS 
+     expand 
+     fasr 
+     lasernoise 
+     sink 
+     source 
+     wander
+)
 
-# link libstage to each plugin
+
+# create a library module for each plugin and link libstage to each
+
 foreach( PLUGIN ${PLUGINS} )
+  ADD_LIBRARY( ${PLUGIN} MODULE ${PLUGIN}.cc )
   TARGET_LINK_LIBRARIES( ${PLUGIN} stage )
 endforeach( PLUGIN )
 

Added: code/stage/trunk/examples/ctrl/expand.cc
===================================================================
--- code/stage/trunk/examples/ctrl/expand.cc	                        (rev 0)
+++ code/stage/trunk/examples/ctrl/expand.cc	2008-07-05 00:38:55 UTC (rev 6770)
@@ -0,0 +1,121 @@
+/////////////////////////////////
+// File: stest.c
+// Desc: Stage library test program
+// Created: 2004.9.15
+// Author: Richard Vaughan <vaughan@...>
+// CVS: $Id: stest.cc,v 1.3 2008-02-01 03:11:02 rtv Exp $
+// License: GPL
+/////////////////////////////////
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "stage.hh"
+using namespace Stg;
+
+typedef struct
+{
+	StgModelLaser* laser;
+	StgModelPosition* position;
+	StgModelRanger* ranger;
+} robot_t;
+
+#define VSPEED 0.5 // meters per second
+#define WGAIN 1.5 // turn speed gain
+#define SAFE_DIST 0.6 // meters
+#define SAFE_ANGLE 1 // radians
+
+// forward declare
+int RangerUpdate( StgModel* mod, robot_t* robot );
+
+// Stage calls this when the model starts up
+extern "C" int Init( StgModel* mod )
+{
+  robot_t* robot = new robot_t;
+  robot->position = (StgModelPosition*)mod;
+
+  // subscribe to the ranger, which we use for navigating
+  robot->ranger = (StgModelRanger*)mod->GetModel( "ranger:0" );
+  assert( robot->ranger );
+  robot->ranger->Subscribe();
+  
+  // ask Stage to call into our ranger update function
+  robot->ranger->AddUpdateCallback( (stg_model_callback_t)RangerUpdate, robot );
+
+  // subscribe to the laser, though we don't use it for navigating
+  //robot->laser = (StgModelLaser*)mod->GetModel( "laser:0" );
+  //assert( robot->laser );
+  //robot->laser->Subscribe();
+
+  return 0; //ok
+}
+
+int RangerUpdate( StgModel* mod, robot_t* robot )
+{
+  StgModelRanger* rgr = robot->ranger;
+  
+  if( rgr->samples == NULL )
+	 return 0;
+  
+  // compute the vector sum of the sonar ranges	      
+  double dx=0, dy=0;
+  
+  for( unsigned int s=0; s< rgr->sensor_count; s++ )
+	 {
+		double srange = rgr->samples[s];
+		
+		dx += srange * cos( rgr->sensors[s].pose.a );
+		dy += srange * sin( rgr->sensors[s].pose.a );
+
+		//printf( "sensor %d angle= %.2f\n", s, rgr->sensors[s].pose.a );	 
+	 }
+  
+  if( (dx == 0) || (dy == 0) )
+	 return 0;
+  
+  assert( dy != 0 );
+  assert( dx != 0 );
+  
+  double resultant_angle = atan2( dy, dx );
+  double forward_speed = 0.0;
+  double side_speed = 0.0;	   
+  double turn_speed = WGAIN * resultant_angle;
+  
+  //printf( "resultant %.2f turn_speed %.2f\n", resultant_angle, turn_speed );
+
+  int forward = 0 ;
+  // if the front is clear, drive forwards
+  if( (rgr->samples[0] > SAFE_DIST) &&
+		(rgr->samples[1] > SAFE_DIST/2.0) &&
+		(rgr->samples[2] > SAFE_DIST/5.0) && 
+		(rgr->samples[15] > SAFE_DIST/2.0) && 
+		(rgr->samples[14] > SAFE_DIST/5.0) && 
+		(fabs( resultant_angle ) < SAFE_ANGLE) )
+	 {
+		forward_speed = VSPEED;
+	 }
+
+  //printf( "forward angle = %.2f\n", rgr->sensors[forward].pose.a );
+  
+  // 	// send a command to the robot
+  // 	stg_velocity_t vel;
+  // 	bzero(&vel,sizeof(vel));
+  //         vel.x = forward_speed;
+  // 	vel.y = side_speed;
+  // 	vel.z = 0;
+  // 	vel.a = turn_speed;
+  
+  //printf( "robot %s [%.2f %.2f %.2f %.2f]\n",
+  //robots[i].position->Token(), vel.x, vel.y, vel.z, vel.a );
+  
+  //  uint32_t bcount=0;
+  //stg_blobfinder_blob_t* blobs = robots[i].blobfinder->GetBlobs( &bcount );
+  
+  //printf( "robot %s sees %u blobs\n", robots[i].blobfinder->Token(), bcount );	       
+  
+  robot->position->SetSpeed( forward_speed, side_speed, turn_speed );
+
+  return 0;
+}
+

Modified: code/stage/trunk/examples/ctrl/source.cc
===================================================================
--- code/stage/trunk/examples/ctrl/source.cc	2008-07-05 00:31:17 UTC (rev 6769)
+++ code/stage/trunk/examples/ctrl/source.cc	2008-07-05 00:38:55 UTC (rev 6770)
@@ -5,12 +5,14 @@
 
 int Update( StgModel* mod, void* dummy );
 
+const double flagsz = 0.4;
+
 // Stage calls this when the model starts up
 extern "C" int Init( StgModel* mod )
 {
   
   for( int i=0; i<5; i++ )
-    mod->PushFlag( new StgFlag( stg_color_pack( 1,1,0,0 ), 0.5 ) );
+    mod->PushFlag( new StgFlag( stg_color_pack( 1,1,0,0 ), flagsz ) );
   
   mod->AddUpdateCallback( (stg_model_callback_t)Update, NULL );
 
@@ -22,7 +24,7 @@
 {
   
   if( mod->GetWorld()->GetUpdateCount() % INTERVAL  == 0 )
-    mod->PushFlag( new StgFlag( stg_color_pack( 1,1,0,0), 0.5 ) );
+    mod->PushFlag( new StgFlag( stg_color_pack( 1,1,0,0), flagsz ) );
   
   return 0; // run again
 }

Deleted: code/stage/trunk/examples/ctrl/swarmbenchmark.cc
===================================================================
--- code/stage/trunk/examples/ctrl/swarmbenchmark.cc	2008-07-05 00:31:17 UTC (rev 6769)
+++ code/stage/trunk/examples/ctrl/swarmbenchmark.cc	2008-07-05 00:38:55 UTC (rev 6770)
@@ -1,121 +0,0 @@
-/////////////////////////////////
-// File: stest.c
-// Desc: Stage library test program
-// Created: 2004.9.15
-// Author: Richard Vaughan <vaughan@...>
-// CVS: $Id: stest.cc,v 1.3 2008-02-01 03:11:02 rtv Exp $
-// License: GPL
-/////////////////////////////////
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "stage.hh"
-using namespace Stg;
-
-typedef struct
-{
-	StgModelLaser* laser;
-	StgModelPosition* position;
-	StgModelRanger* ranger;
-} robot_t;
-
-#define VSPEED 0.5 // meters per second
-#define WGAIN 1.5 // turn speed gain
-#define SAFE_DIST 0.6 // meters
-#define SAFE_ANGLE 1 // radians
-
-// forward declare
-int RangerUpdate( StgModel* mod, robot_t* robot );
-
-// Stage calls this when the model starts up
-extern "C" int Init( StgModel* mod )
-{
-  robot_t* robot = new robot_t;
-  robot->position = (StgModelPosition*)mod;
-
-  // subscribe to the ranger, which we use for navigating
-  robot->ranger = (StgModelRanger*)mod->GetModel( "ranger:0" );
-  assert( robot->ranger );
-  robot->ranger->Subscribe();
-  
-  // ask Stage to call into our ranger update function
-  robot->ranger->AddUpdateCallback( (stg_model_callback_t)RangerUpdate, robot );
-
-  // subscribe to the laser, though we don't use it for navigating
-  //robot->laser = (StgModelLaser*)mod->GetModel( "laser:0" );
-  //assert( robot->laser );
-  //robot->laser->Subscribe();
-
-  return 0; //ok
-}
-
-int RangerUpdate( StgModel* mod, robot_t* robot )
-{
-  StgModelRanger* rgr = robot->ranger;
-  
-  if( rgr->samples == NULL )
-	 return 0;
-  
-  // compute the vector sum of the sonar ranges	      
-  double dx=0, dy=0;
-  
-  for( unsigned int s=0; s< rgr->sensor_count; s++ )
-	 {
-		double srange = rgr->samples[s];
-		
-		dx += srange * cos( rgr->sensors[s].pose.a );
-		dy += srange * sin( rgr->sensors[s].pose.a );
-
-		//printf( "sensor %d angle= %.2f\n", s, rgr->sensors[s].pose.a );	 
-	 }
-  
-  if( (dx == 0) || (dy == 0) )
-	 return 0;
-  
-  assert( dy != 0 );
-  assert( dx != 0 );
-  
-  double resultant_angle = atan2( dy, dx );
-  double forward_speed = 0.0;
-  double side_speed = 0.0;	   
-  double turn_speed = WGAIN * resultant_angle;
-  
-  //printf( "resultant %.2f turn_speed %.2f\n", resultant_angle, turn_speed );
-
-  int forward = 0 ;
-  // if the front is clear, drive forwards
-  if( (rgr->samples[0] > SAFE_DIST) &&
-		(rgr->samples[1] > SAFE_DIST/2.0) &&
-		(rgr->samples[2] > SAFE_DIST/5.0) && 
-		(rgr->samples[15] > SAFE_DIST/2.0) && 
-		(rgr->samples[14] > SAFE_DIST/5.0) && 
-		(fabs( resultant_angle ) < SAFE_ANGLE) )
-	 {
-		forward_speed = VSPEED;
-	 }
-
-  //printf( "forward angle = %.2f\n", rgr->sensors[forward].pose.a );
-  
-  // 	// send a command to the robot
-  // 	stg_velocity_t vel;
-  // 	bzero(&vel,sizeof(vel));
-  //         vel.x = forward_speed;
-  // 	vel.y = side_speed;
-  // 	vel.z = 0;
-  // 	vel.a = turn_speed;
-  
-  //printf( "robot %s [%.2f %.2f %.2f %.2f]\n",
-  //robots[i].position->Token(), vel.x, vel.y, vel.z, vel.a );
-  
-  //  uint32_t bcount=0;
-  //stg_blobfinder_blob_t* blobs = robots[i].blobfinder->GetBlobs( &bcount );
-  
-  //printf( "robot %s sees %u blobs\n", robots[i].blobfinder->Token(), bcount );	       
-  
-  robot->position->SetSpeed( forward_speed, side_speed, turn_speed );
-
-  return 0;
-}
-

Modified: code/stage/trunk/examples/ctrl/wander.cc
===================================================================
--- code/stage/trunk/examples/ctrl/wander.cc	2008-07-05 00:31:17 UTC (rev 6769)
+++ code/stage/trunk/examples/ctrl/wander.cc	2008-07-05 00:38:55 UTC (rev 6770)
@@ -11,7 +11,6 @@
 {
   StgModelPosition* pos;
   StgModelLaser* laser;
-  StgModelBlobfinder* blobfinder;
   int avoidcount, randcount;
 } robot_t;
 
@@ -23,26 +22,14 @@
 {
   robot_t* robot = new robot_t;
  
-  robot->pos = (StgModelPosition*)mod;
-
-  robot->laser = (StgModelLaser*)mod->GetModel( "laser:0" );
-  assert( robot->laser );
-  robot->laser->Subscribe();
-
-  robot->blobfinder = (StgModelBlobfinder*)mod->GetModel( "blobfinder:0" );
-  assert( robot->blobfinder );
-  // robot->blobfinder->Subscribe();
-
   robot->avoidcount = 0;
   robot->randcount = 0;
   
+  robot->pos = (StgModelPosition*)mod;
+  robot->laser = (StgModelLaser*)mod->GetModel( "laser:0" );
   robot->laser->AddUpdateCallback( (stg_model_callback_t)LaserUpdate, robot );
-  //robot->pos->AddUpdateCallback( (stg_model_callback_t)PositionUpdate, robot );
+  robot->laser->Subscribe(); // starts the laser 
 
-  robot->pos->AddFlag( new StgFlag( (stg_color_t)0xFFAA00AA, 1.0));
-  robot->pos->AddFlag( new StgFlag( (stg_color_t)0xFF0000AA, 0.5));
-  robot->pos->AddFlag( new StgFlag( (stg_color_t)0xFFAA0000, 0.2));
-  robot->pos->AddFlag( new StgFlag( (stg_color_t)0xFF00FFFF, 0.1));
   return 0; //ok
 }
 

Modified: code/stage/trunk/examples/libstage/stest.cc
===================================================================
--- code/stage/trunk/examples/libstage/stest.cc	2008-07-05 00:31:17 UTC (rev 6769)
+++ code/stage/trunk/examples/libstage/stest.cc	2008-07-05 00:38:55 UTC (rev 6770)
@@ -16,7 +16,6 @@
 
 #include "config.h"
 
-double minfrontdistance = 0.750;
 double speed = 0.400;
 double turnrate = M_PI/3.0;
 
@@ -31,7 +30,7 @@
 
 #define VSPEED 0.4 // meters per second
 #define WGAIN 1.0 // turn speed gain
-#define SAFE_DIST 0/8 // meters
+#define SAFE_DIST 0.1 // meters
 #define SAFE_ANGLE 0.3 // radians
 
 int main( int argc, char* argv[] )
@@ -64,10 +63,10 @@
        assert(robots[i].position);
        robots[i].position->Subscribe();
        
-        robots[i].laser = (StgModelLaser*)
-        robots[i].position->GetUnsubscribedModelOfType( "laser" );	 
-        assert(robots[i].laser);
-        robots[i].laser->Subscribe();
+//         robots[i].laser = (StgModelLaser*)
+//         robots[i].position->GetUnsubscribedModelOfType( "laser" );	 
+//         assert(robots[i].laser);
+//         robots[i].laser->Subscribe();
 
 //        robots[i].fiducial = (StgModelFiducial*)
 // 	 robots[i].position->GetUnsubscribedModelOfType( "fiducial" );	 

Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc	2008-07-05 00:31:17 UTC (rev 6769)
+++ code/stage/trunk/libstage/canvas.cc	2008-07-05 00:38:55 UTC (rev 6770)
@@ -1,6 +1,8 @@
 /** canvas.cc
     Implement the main world viewing area in FLTK and OpenGL. 
-    Author: Richard Vaughan (vaughan@...)
+    Authors: Richard Vaughan (vaughan@...)
+             Alex Couture-Beil (asc17@...)
+             Jeremy Asher (jra11@...)
     $Id: canvas.cc,v 1.12 2008-03-03 07:01:12 rtv Exp $
 */
 
@@ -854,7 +856,6 @@
 
 void StgCanvas::Save( Worldfile* wf, int sec )
 {
-  printf( "canvas save section %d\n", sec  );
   wf->WriteFloat( sec, "scale", camera.getScale() );
   
   wf->WriteTupleFloat( sec, "center", 0, camera.getX() );

Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc	2008-07-05 00:31:17 UTC (rev 6769)
+++ code/stage/trunk/libstage/model_laser.cc	2008-07-05 00:38:55 UTC (rev 6770)
@@ -322,10 +322,10 @@
       glTranslatef( 0,0, geom.size.z/2.0 ); // shoot the laser beam out at the right height
             
       // DEBUG - draw the origin of the laser beams
-      //glPointSize( 4.0 );
-      //glBegin( GL_POINTS );
-      //glVertex2f( 0,0 );
-      //glEnd();
+      glPointSize( 4.0 );
+      glBegin( GL_POINTS );
+      glVertex2f( 0,0 );
+      glEnd();
 		
       // pack the laser hit points into a vertex array for fast rendering
       static float* pts = NULL;

Modified: code/stage/trunk/libstage/model_load.cc
===================================================================
--- code/stage/trunk/libstage/model_load.cc	2008-07-05 00:31:17 UTC (rev 6769)
+++ code/stage/trunk/libstage/model_load.cc	2008-07-05 00:38:55 UTC (rev 6770)
@@ -82,6 +82,7 @@
       stg_pose_t pose = GetPose();
       pose.x = wf->ReadTupleLength(wf_entity, "pose", 0, pose.x );
       pose.y = wf->ReadTupleLength(wf_entity, "pose", 1, pose.y );
+      pose.z = 0.0;
       pose.a =  wf->ReadTupleAngle(wf_entity, "pose", 2, pose.a );
       this->SetPose( pose );
     }
@@ -380,10 +381,10 @@
   wf->WriteTupleLength( wf_entity, "pose", 1, this->pose.y);
   wf->WriteTupleAngle( wf_entity, "pose", 2, this->pose.a);
 
-  wf->WriteTupleLength( wf_entity, "pose3", 0, this->pose.x);
-  wf->WriteTupleLength( wf_entity, "pose3", 1, this->pose.y);
-  wf->WriteTupleLength( wf_entity, "pose3", 2, this->pose.z);
-  wf->WriteTupleAngle( wf_entity, "pose3", 3, this->pose.a);
+  wf->WriteTupleLength( wf_entity, "pose4", 0, this->pose.x);
+  wf->WriteTupleLength( wf_entity, "pose4", 1, this->pose.y);
+  wf->WriteTupleLength( wf_entity, "pose4", 2, this->pose.z);
+  wf->WriteTupleAngle( wf_entity, "pose4", 3, this->pose.a);
 
   // call any type-specific save callbacks
   this->CallCallbacks( &this->save_hook );
@@ -394,8 +395,8 @@
 
 void StgModel::LoadControllerModule( char* lib )
 {
-  printf( "[Ctrl \"%s\"", lib );
-  fflush(stdout);
+  //printf( "[Ctrl \"%s\"", lib );
+  //fflush(stdout);
 
   /* Initialise libltdl. */
   int errors = lt_dlinit();
@@ -411,7 +412,7 @@
 
   if(( handle = lt_dlopenext( lib ) ))
     {
-      printf( "]" );
+      //printf( "]" );
 
       this->initfunc = (ctrlinit_t*)lt_dlsym( handle, "Init" );
       if( this->initfunc  == NULL )

Modified: code/stage/trunk/libstage/test.cc
===================================================================
--- code/stage/trunk/libstage/test.cc	2008-07-05 00:31:17 UTC (rev 6769)
+++ code/stage/trunk/libstage/test.cc	2008-07-05 00:38:55 UTC (rev 6770)
@@ -46,7 +46,7 @@
   stg_geom_t geom;
   bzero( &geom, sizeof(geom) );
 
-  if( 0 )
+  if( 1 )
   {
 	 StgModel mod( &world, NULL );
 	 

Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc	2008-07-05 00:31:17 UTC (rev 6769)
+++ code/stage/trunk/libstage/worldgui.cc	2008-07-05 00:38:55 UTC (rev 6770)
@@ -1,3 +1,11 @@
+/** worldgui.cc
+    Implement a subclass of StgWorld that has an FLTK and OpenGL GUI
+    Authors: Richard Vaughan (vaughan@...)
+             Alex Couture-Beil (asc17@...)
+             Jeremy Asher (jra11@...)
+    $Id: canvas.cc,v 1.12 2008-03-03 07:01:12 rtv Exp $
+*/
+
 /** @defgroup worldgui World with Graphical User Interface
 
     The Stage window consists of a menu bar, a view of the simulated
@@ -576,21 +584,20 @@
 	
   if ( wf ) {
     // worldfile loaded, ask to save
-    choice = fl_choice("Do you want to save?",
+    choice = fl_choice("Quitting Stage",
 		       "&Cancel", // ->0: defaults to ESC
-		       "&Yes", // ->1
-		       "&No" // ->2
+		       "&Save, then quit", // ->1
+		       "&Quit without saving" // ->2
 		       );
 		
     switch (choice) {
-    case 1: // Yes
-      if ( saveAsDialog() ) {
-	return true;
-      }
-      else {
+    case 1: // Save before quitting
+      if ( saveAsDialog() ) 
+	return true;      
+      else 
 	return false;
-      }
-    case 2: // No
+      
+    case 2: // Quit without saving
       return true;
     }
 		

Modified: code/stage/trunk/libstageplugin/p_driver.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_driver.cc	2008-07-05 00:31:17 UTC (rev 6769)
+++ code/stage/trunk/libstageplugin/p_driver.cc	2008-07-05 00:38:55 UTC (rev 6770)
@@ -170,7 +170,7 @@
 // init static vars
 StgWorldGui* StgDriver::world = NULL;
 
-int update_request = 0;
+//int update_request = 0;
 
 /* need the extern to avoid C++ name-mangling  */
 extern "C"
@@ -201,7 +201,7 @@
       puts( copyright_notice );
     }
     
-  table->AddDriver( "stage", StgDriver_Init);
+  table->AddDriver( (char*)"stage", StgDriver_Init);
 }
   
 int player_driver_init(DriverTable* table)

Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world	2008-07-05 00:31:17 UTC (rev 6769)
+++ code/stage/trunk/worlds/fasr.world	2008-07-05 00:38:55 UTC (rev 6770)
@@ -23,7 +23,7 @@
 ( 
   size [ 833.000 605.000 ] 
   center [0.000 0.000] 
-  rotate [ -47.500 -12.500 ]
+  rotate [ -45.500 4.000 ]
   scale 32.344 
   
   show_data 0
@@ -36,7 +36,7 @@
   name "cave"
   size3 [16 16 0.6]
   pose [0.000 0.000 0.000]
-  bitmap "bitmaps/cave_compact.png"
+  bitmap "bitmaps/cave.png"
 )
 
 zone
@@ -69,7 +69,7 @@
 )
 
 
-autorob( pose [1.633 4.021 1.930]  )
+autorob( pose [3.273 4.908 1.930]  )
 #autorob( pose [6.635 6.458 -52.629] )
 #autorob( pose [6.385 5.805 -87.082] )
 #autorob( pose [7.004 5.327 170.536] )

Added: code/stage/trunk/worlds/hospital.world
===================================================================
--- code/stage/trunk/worlds/hospital.world	                        (rev 0)
+++ code/stage/trunk/worlds/hospital.world	2008-07-05 00:38:55 UTC (rev 6770)
@@ -0,0 +1,2065 @@
+# hospitale.world - large world file example
+# Authors: Richard Vaughan
+# $Id$
+
+# defines 'map' object used for floorplans
+include "map.inc"
+include "pioneer.inc"
+
+# set the resolution of the underlying raytrace model in meters
+resolution 0.02
+
+interval_sim 100  # simulation timestep in milliseconds
+interval_real 0  # real-time interval between simulation updates in milliseconds 
+
+paused 1
+
+quit_time 60
+
+# configure the GUI window
+window
+( 
+  size [ 640 480 ] 
+  #center [929.990 -377.040] 
+  #rotate [ 0.000 0.000 ]
+  #scale 20.806 
+
+  show_data 0
+)
+
+# load an environment bitmap
+floorplan
+( 
+  size3 [140 60 1]
+  pose [0.000 0.5 0.000]
+  bitmap "bitmaps/hospital.png"
+)
+
+define swarmbot position
+(
+  size3 [0.1 0.1 0.1]  
+  color "red"
+
+  #laser( size3 [ 0.05 0.05 0.05 ] )  
+  
+  ranger( pose4 [ 0 0 -0.01 0 ] 
+          scount 12 
+  	  spose[0] [0 0 0]
+  	  spose[1] [0 0 30]
+  	  spose[2] [0 0 60]
+  	  spose[3] [0 0 90]
+  	  spose[4] [0 0 120]
+  	  spose[5] [0 0 150]
+  	  spose[6] [0 0 180]
+  	  spose[7] [0 0 210]
+  	  spose[8] [0 0 240]
+  	  spose[9] [0 0 270]
+  	  spose[10] [0 0 300]
+  	  spose[11] [0 0 330]
+          sview [ 0 2 30] )
+
+  #ctrl "expand"
+)
+
+
+swarmbot( name "r0" pose [ -59.000 -15.000 0 ] )
+swarmbot( name "r1" pose [ -59.000 -14.750 0 ] )
+swarmbot( name "r2" pose [ -59.000 -14.500 0 ] )
+swarmbot( name "r3" pose [ -59.000 -14.250 0 ] )
+swarmbot( name "r4" pose [ -59.000 -14.000 0 ] )
+swarmbot( name "r5" pose [ -58.750 -15.000 0 ] )
+swarmbot( name "r6" pose [ -58.750 -14.750 0 ] )
+swarmbot( name "r7" pose [ -58.750 -14.500 0 ] )
+swarmbot( name "r8" pose [ -58.750 -14.250 0 ] )
+swarmbot( name "r9" pose [ -58.750 -14.000 0 ] )
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@@ Diff output truncated at 100000 characters. @@

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

[Playerstage-commit] SF.net SVN: playerstage: [6769] code/stage/trunk/libstage/canvas.cc

From: <alexcb@us...> - 2008-07-04 17:31:07

Revision: 6769
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6769&view=rev
Author:   alexcb
Date:     2008-07-04 17:31:17 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
white floor when grid is disabled

Modified Paths:
--------------
    code/stage/trunk/libstage/canvas.cc

Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc	2008-07-05 00:10:12 UTC (rev 6768)
+++ code/stage/trunk/libstage/canvas.cc	2008-07-05 00:31:17 UTC (rev 6769)
@@ -484,7 +484,11 @@
 {
   stg_bounds3d_t bounds = world->GetExtent();
   float z = 0;
-  glColor3f( 0.6, 0.6, 1.0 );
+	
+  glEnable(GL_POLYGON_OFFSET_FILL);
+  glPolygonOffset(2.0, 2.0);
+	
+  glColor4f( 1.0, 1.0, 1.0, 1.0 );
   glBegin(GL_QUADS);
   glVertex3f( bounds.x.min, bounds.y.min, z );
   glVertex3f(  bounds.x.max, bounds.y.min, z );
@@ -561,6 +565,8 @@
   
   if( showGrid )
     DrawGlobalGrid();
+  else
+    DrawFloor();
   
   if( showTree || showOccupancy )
     {


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

[Playerstage-commit] SF.net SVN: playerstage: [6768] code/stage/trunk/libstage

From: <alexcb@us...> - 2008-07-04 17:10:04

Revision: 6768
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6768&view=rev
Author:   alexcb
Date:     2008-07-04 17:10:12 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
modified deselection to allow moving the world while keeping a selected group selected

Modified Paths:
--------------
    code/stage/trunk/libstage/canvas.cc
    code/stage/trunk/libstage/stage.hh

Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc	2008-07-04 23:45:09 UTC (rev 6767)
+++ code/stage/trunk/libstage/canvas.cc	2008-07-05 00:10:12 UTC (rev 6768)
@@ -225,27 +225,14 @@
 	switch(event) 
 	{
 	case FL_MOUSEWHEEL:
-		if( selected_models )
-		{
-			// rotate all selected models
-			for( GList* it = selected_models; it; it=it->next )
-			{
-				StgModel* mod = (StgModel*)it->data;
-				mod->AddToPose( 0,0,0, 0.1*(double)Fl::event_dy() );
-			}
-			redraw();
+		if( perspectiveCam == true ) {
+			perspective_camera.scroll( Fl::event_dy() / 10.0 );
 		}
-		else
-		{
-			if( perspectiveCam == true ) {
-				perspective_camera.scroll( Fl::event_dy() / 10.0 );
-			}
-			else {
-				camera.scale( Fl::event_dy(),  Fl::event_x(), w(), Fl::event_y(), h() );
-			}
-			invalidate();
-			redraw();
+		else {
+			camera.scale( Fl::event_dy(),  Fl::event_x(), w(), Fl::event_y(), h() );
 		}
+		invalidate();
+		redraw();
 		return 1;
 			
 	case FL_MOVE: // moused moved while no button was pressed
@@ -291,7 +278,11 @@
 	    selectedModel = false;
 	    switch( Fl::event_button() )
 	      {
-	      case 1:			
+	      case 1:
+        clicked_empty_space = ( mod == NULL );
+				  empty_space_startx = startx;
+				  empty_space_starty = starty;
+			std::cout << "clicked: " << startx << " " << Fl::event_x() << std::endl;
 		if( mod ) { 
 		  // clicked a model
 		  if ( Fl::event_state( FL_SHIFT ) ) {
@@ -314,10 +305,7 @@
 		    selectedModel = true; // selected a model
 		  }
 		}
-		else {
-		  // clicked on empty space, unselect all
-		  unSelectAll();
-		}
+		
 		return 1;
 	      case 3:
 		{
@@ -377,7 +365,10 @@
 	} // end case FL_DRAG
 
 	case FL_RELEASE:   // mouse button released
-		
+			if( empty_space_startx == Fl::event_x() && empty_space_starty == Fl::event_y() && clicked_empty_space == true ) {
+			  // clicked on empty space, unselect all
+			  unSelectAll();
+			}
 		return 1;
 
 	case FL_FOCUS:

Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh	2008-07-04 23:45:09 UTC (rev 6767)
+++ code/stage/trunk/libstage/stage.hh	2008-07-05 00:10:12 UTC (rev 6768)
@@ -1929,6 +1929,8 @@
   
   int startx, starty;
   bool selectedModel;
+  bool clicked_empty_space;
+	int empty_space_startx, empty_space_starty;
   GList* selected_models; ///< a list of models that are currently
   ///selected by the user
   StgModel* last_selection; ///< the most recently selected model


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[Playerstage-commit] SF.net SVN: playerstage: [6767] code/stage/trunk/libstage/canvas.cc

From: <alexcb@us...> - 2008-07-04 16:45:03

Revision: 6767
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6767&view=rev
Author:   alexcb
Date:     2008-07-04 16:45:09 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
fixed robot dissapearing off screen while draging near edges bug

Modified Paths:
--------------
    code/stage/trunk/libstage/canvas.cc

Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc	2008-07-04 23:33:05 UTC (rev 6766)
+++ code/stage/trunk/libstage/canvas.cc	2008-07-04 23:45:09 UTC (rev 6767)
@@ -197,6 +197,15 @@
 void StgCanvas::CanvasToWorld( int px, int py, 
 			       double *wx, double *wy, double* wz )
 {
+	if( px <= 0 )
+		px = 1;
+	else if( px >= w() )
+		px = w() - 1;
+	if( py <= 0 )
+		py = 1;
+	else if( py >= h() )
+		py = h() - 1;
+	
   int viewport[4];
   glGetIntegerv(GL_VIEWPORT, viewport);
 


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[Playerstage-commit] SF.net SVN: playerstage: [6766] code/stage/trunk/libstage

From: <alexcb@us...> - 2008-07-04 16:32:57

Revision: 6766
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6766&view=rev
Author:   alexcb
Date:     2008-07-04 16:33:05 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
modified clock string to indicate follow mode

Modified Paths:
--------------
    code/stage/trunk/libstage/canvas.cc
    code/stage/trunk/libstage/stage.hh
    code/stage/trunk/libstage/worldgui.cc

Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc	2008-07-04 22:58:26 UTC (rev 6765)
+++ code/stage/trunk/libstage/canvas.cc	2008-07-04 23:33:05 UTC (rev 6766)
@@ -696,15 +696,18 @@
 
       glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
 
-      colorstack.Push( 0.8,0.8,1.0 ); // pale blue
-      glRectf( -w()/2, -h()/2, -w()/2 +120, -h()/2+20 );
-      colorstack.Pop();
+		std::string clockstr = world->ClockString();
+		if( showFollow == true && last_selection )
+			clockstr.append( " --FOLLOW MODE--" );
 
-      char clockstr[50];
-      world->ClockString( clockstr, 50 );
-
+		int width = clockstr.length() * 7;
+		
+		colorstack.Push( 0.8,0.8,1.0 ); // pale blue
+		glRectf( -w()/2, -h()/2, -w()/2 + width, -h()/2+20 );
+		colorstack.Pop();
+		
       colorstack.Push( 0,0,0 ); // black
-      gl_draw_string( -w()/2+4, -h()/2+4, 5, clockstr );
+      gl_draw_string( -w()/2+4, -h()/2+4, 5, clockstr.c_str() );
       colorstack.Pop();
 
       glEnable( GL_DEPTH_TEST );

Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh	2008-07-04 22:58:26 UTC (rev 6765)
+++ code/stage/trunk/libstage/stage.hh	2008-07-04 23:33:05 UTC (rev 6766)
@@ -2048,7 +2048,7 @@
   
   /** Get human readable string that describes the current simulation
 		time. */
-  void ClockString( char* str, size_t maxlen );
+	std::string ClockString( void );
 
   /** Set the minimum real time interval between world updates, in
 		microeconds. */

Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc	2008-07-04 22:58:26 UTC (rev 6765)
+++ code/stage/trunk/libstage/worldgui.cc	2008-07-04 23:33:05 UTC (rev 6766)
@@ -108,6 +108,8 @@
 #include <FL/Fl_File_Chooser.H>
 
 #include <set>
+#include <sstream>
+#include <iomanip>
 
 // this should be set by CMake
 #ifndef PACKAGE_STRING
@@ -271,7 +273,7 @@
 }
 
 
-void StgWorldGui::ClockString( char* str, size_t maxlen )
+std::string StgWorldGui::ClockString()
 {
   const uint32_t usec_per_hour = 360000000;
   const uint32_t usec_per_minute = 60000000;
@@ -290,32 +292,27 @@
   average_real_interval /= INTERVAL_LOG_LEN;
 	
   double localratio = (double)interval_sim / (double)average_real_interval;
+
+	std::ostringstream status_stream;
+	status_stream.fill( '0' );
+	if( hours > 0 )
+		status_stream << hours << "h";
 	
-#ifdef DEBUG
-  if( hours > 0 )
-    snprintf( str, maxlen, "Time: %uh%02um%02u.%03us\t[%.6f]\tsubs: %d  %s",
-	      hours, minutes, seconds, msec,
-	      localratio,
-	      total_subs,
-	      paused ? "--PAUSED--" : "" );
-  else
-    snprintf( str, maxlen, "Time: %02um%02u.%03us\t[%.6f]\tsubs: %d  %s",
-	      minutes, seconds, msec,
-	      localratio,
-	      total_subs,
-	      paused ? "--PAUSED--" : "" );
-#else
-  if( hours > 0 )
-    snprintf( str, maxlen, "%uh%02um%02u.%03us\t[%.2f] %s",
-	      hours, minutes, seconds, msec,
-	      localratio,
-	      paused ? "--PAUSED--" : "" );
-  else
-    snprintf( str, maxlen, "%02um%02u.%03us\t[%.2f] %s",
-	      minutes, seconds, msec,
-	      localratio,
-	      paused ? "--PAUSED--" : "" );
-#endif
+	localratio = 1;
+	
+	status_stream << std::setw( 2 ) << minutes << "m"
+	<< std::setw( 2 ) << seconds << "." << std::setprecision( 3 ) << std::setw( 3 ) << msec << "s ";
+	
+	char str[ 80 ];
+	snprintf( str, 80, "[%.2f]", localratio );
+	status_stream << str;
+
+	
+	if( paused == true )
+		status_stream << " --PAUSED--";
+	
+	
+	return status_stream.str();
 }
 
 void StgWorldGui::DrawTree( bool drawall )


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[Playerstage-commit] SF.net SVN: playerstage: [6765] code/stage/trunk/libstage

From: <rtv@us...> - 2008-07-04 15:58:16

Revision: 6765
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6765&view=rev
Author:   rtv
Date:     2008-07-04 15:58:26 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
fixed model name prefix and window title bar

Modified Paths:
--------------
    code/stage/trunk/libstage/CMakeLists.txt
    code/stage/trunk/libstage/ancestor.cc
    code/stage/trunk/libstage/canvas.cc
    code/stage/trunk/libstage/model_laser.cc
    code/stage/trunk/libstage/model_load.cc
    code/stage/trunk/libstage/model_position.cc
    code/stage/trunk/libstage/stage.cc
    code/stage/trunk/libstage/stest.cc
    code/stage/trunk/libstage/test.cc
    code/stage/trunk/libstage/world.cc
    code/stage/trunk/libstage/worldfile.cc
    code/stage/trunk/libstage/worldfile.hh
    code/stage/trunk/libstage/worldgui.cc

Modified: code/stage/trunk/libstage/CMakeLists.txt
===================================================================
--- code/stage/trunk/libstage/CMakeLists.txt	2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/CMakeLists.txt	2008-07-04 22:58:26 UTC (rev 6765)
@@ -65,6 +65,9 @@
 add_executable( test test.cc )
 target_link_libraries( test stage )
 
+add_executable( stest stest.cc )
+target_link_libraries( stest stage )
+
 INSTALL(TARGETS stagebinary stage
 	RUNTIME DESTINATION bin 
 	LIBRARY DESTINATION lib

Modified: code/stage/trunk/libstage/ancestor.cc
===================================================================
--- code/stage/trunk/libstage/ancestor.cc	2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/ancestor.cc	2008-07-04 22:58:26 UTC (rev 6765)
@@ -28,9 +28,17 @@
   
   // poke a name into the child  
   char* buf = new char[TOKEN_MAX];	
-  snprintf( buf, TOKEN_MAX, "%s.%s:%d", 
-				token, typetable[mod->type].token, child_type_counts[mod->type] );
-  
+
+  if( token ) // if this object has a name, use it
+    snprintf( buf, TOKEN_MAX, "%s.%s:%d", 
+	      token, 
+	      typetable[mod->type].token, 
+	      child_type_counts[mod->type] );
+  else
+    snprintf( buf, TOKEN_MAX, "%s:%d", 
+	      typetable[mod->type].token, 
+	      child_type_counts[mod->type] );
+    
   //printf( "%s generated a name for my child %s\n", token, buf );
 
   mod->SetToken( buf );

Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc	2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/canvas.cc	2008-07-04 22:58:26 UTC (rev 6765)
@@ -275,50 +275,52 @@
 		return 1;
 
 	case FL_PUSH: // button pressed
-		StgModel* mod = getModel( startx, starty );
-		startx = Fl::event_x();
-		starty = Fl::event_y();
-		selectedModel = false;
-		switch( Fl::event_button() )
+	  {
+	    StgModel* mod = getModel( startx, starty );
+	    startx = Fl::event_x();
+	    starty = Fl::event_y();
+	    selectedModel = false;
+	    switch( Fl::event_button() )
+	      {
+	      case 1:			
+		if( mod ) { 
+		  // clicked a model
+		  if ( Fl::event_state( FL_SHIFT ) ) {
+		    // holding shift, toggle selection
+		    if ( selected( mod ) ) 
+		      unSelect( mod );
+		    else {
+		      select( mod );
+		      selectedModel = true; // selected a model
+		    }
+		  }
+		  else {
+		    if ( !selected( mod ) ) {
+		      // clicked on an unselected model while
+		      //  not holding shift, this is the new
+		      //  selection
+		      unSelectAll();
+		      select( mod );
+		    }
+		    selectedModel = true; // selected a model
+		  }
+		}
+		else {
+		  // clicked on empty space, unselect all
+		  unSelectAll();
+		}
+		return 1;
+	      case 3:
 		{
-		case 1:			
-			if( mod ) { 
-				// clicked a model
-				if ( Fl::event_state( FL_SHIFT ) ) {
-					// holding shift, toggle selection
-					if ( selected( mod ) ) 
-						unSelect( mod );
-					else {
-						select( mod );
-						selectedModel = true; // selected a model
-					}
-				}
-				else {
-					if ( !selected( mod ) ) {
-						// clicked on an unselected model while
-						//  not holding shift, this is the new
-						//  selection
-						unSelectAll();
-						select( mod );
-					}
-					selectedModel = true; // selected a model
-				}
-			}
-			else {
-				// clicked on empty space, unselect all
-				unSelectAll();
-			}
-			return 1;
-		case 3:
-		{
-			// leave selections alone
-			// rotating handled within FL_DRAG
-			return 1;
+		  // leave selections alone
+		  // rotating handled within FL_DRAG
+		  return 1;
 		}
-		default:
-			return 0;
-		}    
-
+	      default:
+		return 0;
+	      }    
+	  }
+	  
 	case FL_DRAG: // mouse moved while button was pressed
 	{
 		int dx = Fl::event_x() - startx;
@@ -964,7 +966,6 @@
 
       glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
     }            
-
 	
   if( perspectiveCam == true ) {
     if( showFollow  && last_selection ) {

Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc	2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/model_laser.cc	2008-07-04 22:58:26 UTC (rev 6765)
@@ -77,11 +77,11 @@
 */
 
 StgModelLaser::StgModelLaser( StgWorld* world, 
-										StgModel* parent )
+			      StgModel* parent )
   : StgModel( world, parent, MODEL_TYPE_LASER )
 {
   PRINT_DEBUG2( "Constructing StgModelLaser %d (%s)\n", 
-					 id, typestr );
+		id, typestr );
   
   // sensible laser defaults 
   interval = DEFAULT_INTERVAL_MS * (int)thousand;
@@ -157,8 +157,8 @@
 }
 
 static bool laser_raytrace_match( StgBlock* testblock, 
-											 StgModel* finder,
-											 const void* dummy )
+				  StgModel* finder,
+				  const void* dummy )
 {
   // Ignore the model that's looking and things that are invisible to
   // lasers
@@ -188,20 +188,20 @@
       rayorg.a = bearing;
 
       Raytrace( rayorg, 
-					 range_max,
-					 laser_raytrace_match,
-					 NULL,
-					 &sample,
-					 true ); // z testing enabled
+		range_max,
+		laser_raytrace_match,
+		NULL,
+		&sample,
+		true ); // z testing enabled
 		
       samples[t].range = sample.range;
 
       // if we hit a model and it reflects brightly, we set
       // reflectance high, else low
       if( sample.block && ( sample.block->Model()->GetLaserReturn() >= LaserBright ) )	
-		  samples[t].reflectance = 1;
+	samples[t].reflectance = 1;
       else
-		  samples[t].reflectance = 0;
+	samples[t].reflectance = 0;
 
       // todo - lower bound on range      
       bearing += sample_incr;
@@ -211,22 +211,22 @@
   if( resolution > 1 )
     {
       for( unsigned int t=resolution; t<sample_count; t+=resolution )
-		  for( unsigned int g=1; g<resolution; g++ )
-			 {
-				if( t >= sample_count )
-				  break;
+	for( unsigned int g=1; g<resolution; g++ )
+	  {
+	    if( t >= sample_count )
+	      break;
 
-				// copy the rightmost sample data into this point
-				memcpy( &samples[t-g],
-						  &samples[t-resolution],
-						  sizeof(stg_laser_sample_t));
+	    // copy the rightmost sample data into this point
+	    memcpy( &samples[t-g],
+		    &samples[t-resolution],
+		    sizeof(stg_laser_sample_t));
 
-				double left = samples[t].range;
-				double right = samples[t-resolution].range;
+	    double left = samples[t].range;
+	    double right = samples[t-resolution].range;
 
-				// linear range interpolation between the left and right samples
-				samples[t-g].range = (left-g*(left-right)/resolution);
-			 }
+	    // linear range interpolation between the left and right samples
+	    samples[t-g].range = (left-g*(left-right)/resolution);
+	  }
     }
 
   data_dirty = true;
@@ -310,7 +310,7 @@
   if ( ! (showLaserData || showLaserStrikes) )
     return;
     
-	glPushMatrix();
+  glPushMatrix();
 	
   // we only regenerate the list if there's new data
   if( 1 /* (temp hack) data_dirty*/ )
@@ -318,17 +318,14 @@
       data_dirty = false;
 
       glNewList( data_dl, GL_COMPILE );
-		//glEnableClientState( GL_VERTEX_ARRAY );     
+      //glEnableClientState( GL_VERTEX_ARRAY );     
       glTranslatef( 0,0, geom.size.z/2.0 ); // shoot the laser beam out at the right height
-      
-      PushColor( 0, 0, 1, 0.5 );
-      
-      glPointSize( 4.0 );
-
-		// DEBUG - draw the origin of the laser beams
-		glBegin( GL_POINTS );
-		glVertex2f( 0,0 );
-		glEnd();
+            
+      // DEBUG - draw the origin of the laser beams
+      //glPointSize( 4.0 );
+      //glBegin( GL_POINTS );
+      //glVertex2f( 0,0 );
+      //glEnd();
 		
       // pack the laser hit points into a vertex array for fast rendering
       static float* pts = NULL;
@@ -337,59 +334,48 @@
       pts[0] = 0.0;
       pts[1] = 0.0;
       
-      
-      glVertexPointer( 2, GL_FLOAT, 0, pts );
-      
+      PushColor( 0, 0, 1, 0.5 );
+
       for( unsigned int s=0; s<sample_count; s++ )
-		  {
-			 double ray_angle = (s * (fov / (sample_count-1))) - fov/2.0;
-			 pts[2*s+2] = (float)(samples[s].range * cos(ray_angle) );
-			 pts[2*s+3] = (float)(samples[s].range * sin(ray_angle) );
+	{
+	  double ray_angle = (s * (fov / (sample_count-1))) - fov/2.0;
+	  pts[2*s+2] = (float)(samples[s].range * cos(ray_angle) );
+	  pts[2*s+3] = (float)(samples[s].range * sin(ray_angle) );
 	  
-			 // if the sample is unusually bright, draw a little blob
-			 if( samples[s].reflectance > 0 )
-				{
-				  glBegin( GL_POINTS );
-				  glVertex2f( pts[2*s+2], pts[2*s+3] );
-				  glEnd();
-	      
-				  // why doesn't this work?
-				  //glDrawArrays( GL_POINTS, 2*s+2, 1 );
-				}
+	  // if the sample is unusually bright, draw a little blob
+	  if( samples[s].reflectance > 0 )
+	    {
+	      glBegin( GL_POINTS );
+	      glVertex2f( pts[2*s+2], pts[2*s+3] );
+	      glEnd();
+	    }
 			 
-		  }
+	}
       PopColor();
       
-
       glDepthMask( GL_FALSE );
       glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
       
       // draw the filled polygon in transparent blue
-      PushColor( 0, 0, 1, 0.1 );
-
-		
+      PushColor( 0, 0, 1, 0.1 );		
+      glVertexPointer( 2, GL_FLOAT, 0, pts );      
       glDrawArrays( GL_POLYGON, 0, sample_count+1 );
-  
-      // reset
       PopColor();
 
-		if( showLaserStrikes )
-		  {
-			 // draw the beam strike points in black
-			 PushColor( 0, 0, 0, 1.0 );
-			 glPointSize( 1.0 );
-			 glDrawArrays( GL_POINTS, 0, sample_count+1 );
-			 PopColor();
-		  }
+      if( showLaserStrikes )
+	{
+	  // draw the beam strike points in black
+	  PushColor( 0, 0, 0, 1.0 );
+	  glPointSize( 1.0 );
+	  glDrawArrays( GL_POINTS, 0, sample_count+1 );
+	  PopColor();
+	}
 
       glDepthMask( GL_TRUE );
-
-
-		//glDisableClientState( GL_VERTEX_ARRAY );           
       glEndList();
     } // end if ( data_dirty )
   
   glCallList( data_dl );
 	    
-	glPopMatrix();
+  glPopMatrix();
 }

Modified: code/stage/trunk/libstage/model_load.cc
===================================================================
--- code/stage/trunk/libstage/model_load.cc	2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/model_load.cc	2008-07-04 22:58:26 UTC (rev 6765)
@@ -1,19 +1,14 @@
 #ifndef _GNU_SOURCE
 #define _GNU_SOURCE
 #endif
+
 #include <limits.h> 
 #include <libgen.h> // for dirname()
 #include <string.h>
-#include "stage_internal.hh"
-
-//#define DEBUG 1
-
 #include <ltdl.h>
 
-void FooInit( StgModel* );
-void FooUpdate( StgModel* );
+#include "stage_internal.hh"
 
-
 void StgModel::Load()
 {  
   assert( wf );
@@ -21,349 +16,349 @@
 
   PRINT_DEBUG1( "Model \"%s\" loading...", token );
 
-	if( wf->PropertyExists( wf_entity, "debug" ) )
+  if( wf->PropertyExists( wf_entity, "debug" ) )
+    {
+      PRINT_WARN2( "debug property specified for model %d  %s\n",
+		   wf_entity, this->token );
+      this->debug = wf->ReadInt( wf_entity, "debug", this->debug );
+    }
+
+  if( wf->PropertyExists( wf_entity, "name" ) )
+    {
+      char *name = (char*)wf->ReadString(wf_entity, "name", NULL );
+      if( name )
 	{
-		PRINT_WARN2( "debug property specified for model %d  %s\n",
-				wf_entity, this->token );
-		this->debug = wf->ReadInt( wf_entity, "debug", this->debug );
+	  //printf( "changed %s to %s\n", this->token, token );
+	  this->token = strdup( name );
+	  world->AddModel( this ); // add this name to the world's table
 	}
+      else
+	PRINT_ERR1( "Name blank for model %s. Check your worldfile\n", this->token );
 
-	if( wf->PropertyExists( wf_entity, "name" ) )
-	{
-		char *name = (char*)wf->ReadString(wf_entity, "name", NULL );
-		if( name )
-		{
-			//printf( "changed %s to %s\n", this->token, token );
-			this->token = strdup( name );
-			world->AddModel( this ); // add this name to the world's table
-		}
-		else
-			PRINT_ERR1( "Name blank for model %s. Check your worldfile\n", this->token );
+      // add this name to the table
 
-		// add this name to the table
+    }
 
-	}
+  //PRINT_WARN1( "%s::Load", token );
 
-	//PRINT_WARN1( "%s::Load", token );
+  if( wf->PropertyExists( wf_entity, "origin" ) )
+    {
+      stg_geom_t geom = GetGeom();
+      geom.pose.x = wf->ReadTupleLength(wf_entity, "origin", 0, geom.pose.x );
+      geom.pose.y = wf->ReadTupleLength(wf_entity, "origin", 1, geom.pose.y );
+      geom.pose.a =  wf->ReadTupleAngle(wf_entity, "origin", 2, geom.pose.a );
+      this->SetGeom( geom );
+    }
 
-	if( wf->PropertyExists( wf_entity, "origin" ) )
-	{
-		stg_geom_t geom = GetGeom();
-		geom.pose.x = wf->ReadTupleLength(wf_entity, "origin", 0, geom.pose.x );
-		geom.pose.y = wf->ReadTupleLength(wf_entity, "origin", 1, geom.pose.y );
-		geom.pose.a =  wf->ReadTupleAngle(wf_entity, "origin", 2, geom.pose.a );
-		this->SetGeom( geom );
-	}
+  if( wf->PropertyExists( wf_entity, "origin4" ) )
+    {
+      stg_geom_t geom = GetGeom();
+      geom.pose.x = wf->ReadTupleLength(wf_entity, "origin4", 0, geom.pose.x );
+      geom.pose.y = wf->ReadTupleLength(wf_entity, "origin4", 1, geom.pose.y );
+      geom.pose.z = wf->ReadTupleLength(wf_entity, "origin4", 2, geom.pose.z );
+      geom.pose.a =  wf->ReadTupleAngle(wf_entity, "origin4", 3, geom.pose.a );
+      this->SetGeom( geom );
+    }
 
-	if( wf->PropertyExists( wf_entity, "origin4" ) )
-	{
-		stg_geom_t geom = GetGeom();
-		geom.pose.x = wf->ReadTupleLength(wf_entity, "origin4", 0, geom.pose.x );
-		geom.pose.y = wf->ReadTupleLength(wf_entity, "origin4", 1, geom.pose.y );
-		geom.pose.z = wf->ReadTupleLength(wf_entity, "origin4", 2, geom.pose.z );
-		geom.pose.a =  wf->ReadTupleAngle(wf_entity, "origin4", 3, geom.pose.a );
-		this->SetGeom( geom );
-	}
+  if( wf->PropertyExists( wf_entity, "size" ) )
+    {
+      stg_geom_t geom = GetGeom();
+      geom.size.x = wf->ReadTupleLength(wf_entity, "size", 0, geom.size.x );
+      geom.size.y = wf->ReadTupleLength(wf_entity, "size", 1, geom.size.y );
+      this->SetGeom( geom );
+    }
 
-	if( wf->PropertyExists( wf_entity, "size" ) )
-	{
-		stg_geom_t geom = GetGeom();
-		geom.size.x = wf->ReadTupleLength(wf_entity, "size", 0, geom.size.x );
-		geom.size.y = wf->ReadTupleLength(wf_entity, "size", 1, geom.size.y );
-		this->SetGeom( geom );
-	}
+  if( wf->PropertyExists( wf_entity, "size3" ) )
+    {
+      stg_geom_t geom = GetGeom();
+      geom.size.x = wf->ReadTupleLength(wf_entity, "size3", 0, geom.size.x );
+      geom.size.y = wf->ReadTupleLength(wf_entity, "size3", 1, geom.size.y );
+      geom.size.z = wf->ReadTupleLength(wf_entity, "size3", 2, geom.size.z );
+      this->SetGeom( geom );
+    }
 
-	if( wf->PropertyExists( wf_entity, "size3" ) )
-	{
-		stg_geom_t geom = GetGeom();
-		geom.size.x = wf->ReadTupleLength(wf_entity, "size3", 0, geom.size.x );
-		geom.size.y = wf->ReadTupleLength(wf_entity, "size3", 1, geom.size.y );
-		geom.size.z = wf->ReadTupleLength(wf_entity, "size3", 2, geom.size.z );
-		this->SetGeom( geom );
-	}
+  if( wf->PropertyExists( wf_entity, "pose" ))
+    {
+      stg_pose_t pose = GetPose();
+      pose.x = wf->ReadTupleLength(wf_entity, "pose", 0, pose.x );
+      pose.y = wf->ReadTupleLength(wf_entity, "pose", 1, pose.y );
+      pose.a =  wf->ReadTupleAngle(wf_entity, "pose", 2, pose.a );
+      this->SetPose( pose );
+    }
 
-	if( wf->PropertyExists( wf_entity, "pose" ))
-	{
-		stg_pose_t pose = GetPose();
-		pose.x = wf->ReadTupleLength(wf_entity, "pose", 0, pose.x );
-		pose.y = wf->ReadTupleLength(wf_entity, "pose", 1, pose.y );
-		pose.a =  wf->ReadTupleAngle(wf_entity, "pose", 2, pose.a );
-		this->SetPose( pose );
-	}
+  if( wf->PropertyExists( wf_entity, "pose4" ))
+    {
+      stg_pose_t pose = GetPose();
+      pose.x = wf->ReadTupleLength(wf_entity, "pose4", 0, pose.x );
+      pose.y = wf->ReadTupleLength(wf_entity, "pose4", 1, pose.y );
+      pose.z = wf->ReadTupleLength(wf_entity, "pose4", 2, pose.z );
+      pose.a = wf->ReadTupleAngle( wf_entity, "pose4", 3,  pose.a );
 
-	if( wf->PropertyExists( wf_entity, "pose4" ))
-	{
-		stg_pose_t pose = GetPose();
-		pose.x = wf->ReadTupleLength(wf_entity, "pose4", 0, pose.x );
-		pose.y = wf->ReadTupleLength(wf_entity, "pose4", 1, pose.y );
-		pose.z = wf->ReadTupleLength(wf_entity, "pose4", 2, pose.z );
-		pose.a = wf->ReadTupleAngle( wf_entity, "pose4", 3,  pose.a );
+      this->SetPose( pose );
+    }
 
-		this->SetPose( pose );
-	}
+  if( wf->PropertyExists( wf_entity, "velocity" ))
+    {
+      stg_velocity_t vel = GetVelocity();
+      vel.x = wf->ReadTupleLength(wf_entity, "velocity", 0, vel.x );
+      vel.y = wf->ReadTupleLength(wf_entity, "velocity", 1, vel.y );
+      vel.a = wf->ReadTupleAngle(wf_entity, "velocity", 3,  vel.a );
+      this->SetVelocity( vel );
 
-	if( wf->PropertyExists( wf_entity, "velocity" ))
-	{
-		stg_velocity_t vel = GetVelocity();
-		vel.x = wf->ReadTupleLength(wf_entity, "velocity", 0, vel.x );
-		vel.y = wf->ReadTupleLength(wf_entity, "velocity", 1, vel.y );
-		vel.a = wf->ReadTupleAngle(wf_entity, "velocity", 3,  vel.a );
-		this->SetVelocity( vel );
+      if( vel.x || vel.y || vel.z || vel.a )
+	world->StartUpdatingModel( this );
+    }
 
-		if( vel.x || vel.y || vel.z || vel.a )
-			world->StartUpdatingModel( this );
-	}
+  if( wf->PropertyExists( wf_entity, "velocity4" ))
+    {
+      stg_velocity_t vel = GetVelocity();
+      vel.x = wf->ReadTupleLength(wf_entity, "velocity4", 0, vel.x );
+      vel.y = wf->ReadTupleLength(wf_entity, "velocity4", 1, vel.y );
+      vel.z = wf->ReadTupleLength(wf_entity, "velocity4", 2, vel.z );
+      vel.a =  wf->ReadTupleAngle(wf_entity, "velocity4", 3,  vel.a );
+      this->SetVelocity( vel );
+    }
 
-	if( wf->PropertyExists( wf_entity, "velocity4" ))
-	{
-		stg_velocity_t vel = GetVelocity();
-		vel.x = wf->ReadTupleLength(wf_entity, "velocity4", 0, vel.x );
-		vel.y = wf->ReadTupleLength(wf_entity, "velocity4", 1, vel.y );
-		vel.z = wf->ReadTupleLength(wf_entity, "velocity4", 2, vel.z );
-		vel.a =  wf->ReadTupleAngle(wf_entity, "velocity4", 3,  vel.a );
-		this->SetVelocity( vel );
-	}
+  if( wf->PropertyExists( wf_entity, "boundary" ))
+    {
+      this->SetBoundary( wf->ReadInt(wf_entity, "boundary", this->boundary  ));
+    }	  
 
-	if( wf->PropertyExists( wf_entity, "boundary" ))
+  if( wf->PropertyExists( wf_entity, "color" ))
+    {      
+      stg_color_t col = 0xFFFF0000; // red;
+      const char* colorstr = wf->ReadString( wf_entity, "color", NULL );
+      if( colorstr )
 	{
-		this->SetBoundary( wf->ReadInt(wf_entity, "boundary", this->boundary  ));
-	}	  
+	  if( strcmp( colorstr, "random" ) == 0 )
+	    {
+	      col = (uint32_t)random();
+	      col |= 0xFF000000; // set the alpha channel to max
+	    }
+	  else
+	    col = stg_lookup_color( colorstr );
 
-	if( wf->PropertyExists( wf_entity, "color" ))
-	{      
-		stg_color_t col = 0xFFFF0000; // red;
-		const char* colorstr = wf->ReadString( wf_entity, "color", NULL );
-		if( colorstr )
-		{
-			if( strcmp( colorstr, "random" ) == 0 )
-			{
-				col = (uint32_t)random();
-				col |= 0xFF000000; // set the alpha channel to max
-			}
-			else
-				col = stg_lookup_color( colorstr );
+	  this->SetColor( col );
+	}
+    }      
 
-			this->SetColor( col );
-		}
-	}      
 
+  if( wf->PropertyExists( wf_entity, "color_rgba" ))
+    {      
+      double red   = wf->ReadTupleFloat( wf_entity, "color_rgba", 0, 0);
+      double green = wf->ReadTupleFloat( wf_entity, "color_rgba", 1, 0);
+      double blue  = wf->ReadTupleFloat( wf_entity, "color_rgba", 2, 0);
+      double alpha = wf->ReadTupleFloat( wf_entity, "color_rgba", 3, 0);
 
-	if( wf->PropertyExists( wf_entity, "color_rgba" ))
-	{      
-		double red   = wf->ReadTupleFloat( wf_entity, "color_rgba", 0, 0);
-		double green = wf->ReadTupleFloat( wf_entity, "color_rgba", 1, 0);
-		double blue  = wf->ReadTupleFloat( wf_entity, "color_rgba", 2, 0);
-		double alpha = wf->ReadTupleFloat( wf_entity, "color_rgba", 3, 0);
+      this->SetColor( stg_color_pack( red, green, blue, alpha ));
+    }  
 
-		this->SetColor( stg_color_pack( red, green, blue, alpha ));
-	}  
+  if( wf->PropertyExists( wf_entity, "bitmap" ) )
+    {
+      const char* bitmapfile = wf->ReadString( wf_entity, "bitmap", NULL );
+      assert( bitmapfile );
 
-	if( wf->PropertyExists( wf_entity, "bitmap" ) )
+      char full[_POSIX_PATH_MAX];
+
+      if( bitmapfile[0] == '/' )
+	strcpy( full, bitmapfile );
+      else
 	{
-		const char* bitmapfile = wf->ReadString( wf_entity, "bitmap", NULL );
-		assert( bitmapfile );
+	  char *tmp = strdup(wf->filename);
+	  snprintf( full, _POSIX_PATH_MAX,
+		    "%s/%s",  dirname(tmp), bitmapfile );
+	  free(tmp);
+	}
 
-		char full[_POSIX_PATH_MAX];
+      PRINT_DEBUG1( "attempting to load image %s", full );
 
-		if( bitmapfile[0] == '/' )
-			strcpy( full, bitmapfile );
-		else
-		{
-			char *tmp = strdup(wf->filename);
-			snprintf( full, _POSIX_PATH_MAX,
-					"%s/%s",  dirname(tmp), bitmapfile );
-			free(tmp);
-		}
-
-		PRINT_DEBUG1( "attempting to load image %s", full );
-
-		stg_rotrect_t* rects = NULL;
-		unsigned int rect_count = 0;
-		unsigned int width, height;
-		if( stg_rotrects_from_image_file( full,
+      stg_rotrect_t* rects = NULL;
+      unsigned int rect_count = 0;
+      unsigned int width, height;
+      if( stg_rotrects_from_image_file( full,
 					&rects,
 					&rect_count,
 					&width, &height ) )
-		{
-			PRINT_ERR1( "failed to load rects from image file \"%s\"",
-					full );
-			return;
-		}
+	{
+	  PRINT_ERR1( "failed to load rects from image file \"%s\"",
+		      full );
+	  return;
+	}
 
-		this->UnMap();
-		this->ClearBlocks();
+      this->UnMap();
+      this->ClearBlocks();
 
-		//printf( "found %d rects\n", rect_count );
+      //printf( "found %d rects\n", rect_count );
 
-		if( rects && (rect_count > 0) )
-		{
-			//puts( "loading rects" );
-			for( unsigned int r=0; r<rect_count; r++ )
-				this->AddBlockRect( rects[r].pose.x, rects[r].pose.y, 
-						rects[r].size.x, rects[r].size.y );
+      if( rects && (rect_count > 0) )
+	{
+	  //puts( "loading rects" );
+	  for( unsigned int r=0; r<rect_count; r++ )
+	    this->AddBlockRect( rects[r].pose.x, rects[r].pose.y, 
+				rects[r].size.x, rects[r].size.y );
 
-			if( this->boundary )
-			{
-				// add thin bounding blocks
-				double epsilon = 0.01;	      
-				this->AddBlockRect(0,0, epsilon, height );	      
-				this->AddBlockRect(0,0, width, epsilon );	      
-				this->AddBlockRect(0, height-epsilon, width, epsilon );
-				this->AddBlockRect(width-epsilon,0, epsilon, height );
-			}     
+	  if( this->boundary )
+	    {
+	      // add thin bounding blocks
+	      double epsilon = 0.01;	      
+	      this->AddBlockRect(0,0, epsilon, height );	      
+	      this->AddBlockRect(0,0, width, epsilon );	      
+	      this->AddBlockRect(0, height-epsilon, width, epsilon );
+	      this->AddBlockRect(width-epsilon,0, epsilon, height );
+	    }     
 
-			StgBlock::ScaleList( this->blocks, &this->geom.size );	  
-			this->Map();
-			this->NeedRedraw();
+	  StgBlock::ScaleList( this->blocks, &this->geom.size );	  
+	  this->Map();
+	  this->NeedRedraw();
 
-			g_free( rects );
-		}      
+	  g_free( rects );
+	}      
 
-		//printf( "model %s block count %d\n",
-		//      token, g_list_length( blocks ));
-	}
+      //printf( "model %s block count %d\n",
+      //      token, g_list_length( blocks ));
+    }
 
-	if( wf->PropertyExists( wf_entity, "blocks" ) )
-	{
-		int blockcount = wf->ReadInt( wf_entity, "blocks", -1 );
+  if( wf->PropertyExists( wf_entity, "blocks" ) )
+    {
+      int blockcount = wf->ReadInt( wf_entity, "blocks", -1 );
 
-		this->UnMap();
-		this->ClearBlocks();
+      this->UnMap();
+      this->ClearBlocks();
 
-		//printf( "expecting %d blocks\n", blockcount );
+      //printf( "expecting %d blocks\n", blockcount );
 
-		char key[256];
-		for( int l=0; l<blockcount; l++ )
-		{	  	  
-			snprintf(key, sizeof(key), "block[%d].points", l);
-			int pointcount = wf->ReadInt(wf_entity,key,0);
+      char key[256];
+      for( int l=0; l<blockcount; l++ )
+	{	  	  
+	  snprintf(key, sizeof(key), "block[%d].points", l);
+	  int pointcount = wf->ReadInt(wf_entity,key,0);
 
-			//printf( "expecting %d points in block %d\n",
-			//pointcount, l );
+	  //printf( "expecting %d points in block %d\n",
+	  //pointcount, l );
 
-			stg_point_t* pts = stg_points_create( pointcount );
+	  stg_point_t* pts = stg_points_create( pointcount );
 
-			int p;
-			for( p=0; p<pointcount; p++ )	      {
-				snprintf(key, sizeof(key), "block[%d].point[%d]", l, p );
+	  int p;
+	  for( p=0; p<pointcount; p++ )	      {
+	    snprintf(key, sizeof(key), "block[%d].point[%d]", l, p );
 
-				pts[p].x = wf->ReadTupleLength(wf_entity, key, 0, 0);
-				pts[p].y = wf->ReadTupleLength(wf_entity, key, 1, 0);
+	    pts[p].x = wf->ReadTupleLength(wf_entity, key, 0, 0);
+	    pts[p].y = wf->ReadTupleLength(wf_entity, key, 1, 0);
 
-				//printf( "key %s x: %.2f y: %.2f\n",
-				//      key, pt.x, pt.y );
-			}
+	    //printf( "key %s x: %.2f y: %.2f\n",
+	    //      key, pt.x, pt.y );
+	  }
 
-			// block Z axis
-			snprintf(key, sizeof(key), "block[%d].z", l);
+	  // block Z axis
+	  snprintf(key, sizeof(key), "block[%d].z", l);
 
-			stg_meters_t zmin = 
-				wf->ReadTupleLength(wf_entity, key, 0, 0.0 );
+	  stg_meters_t zmin = 
+	    wf->ReadTupleLength(wf_entity, key, 0, 0.0 );
 
-			stg_meters_t zmax = 
-				wf->ReadTupleLength(wf_entity, key, 1, 1.0 );
+	  stg_meters_t zmax = 
+	    wf->ReadTupleLength(wf_entity, key, 1, 1.0 );
 
-			// block color
-			stg_color_t blockcol = this->color;
-			bool inherit_color = true;
+	  // block color
+	  stg_color_t blockcol = this->color;
+	  bool inherit_color = true;
 
-			snprintf(key, sizeof(key), "block[%d].color", l);
+	  snprintf(key, sizeof(key), "block[%d].color", l);
 
-			const char* colorstr = wf->ReadString( wf_entity, key, NULL );
-			if( colorstr )
-			{
-				blockcol = stg_lookup_color( colorstr );
-				inherit_color = false;
-			}
+	  const char* colorstr = wf->ReadString( wf_entity, key, NULL );
+	  if( colorstr )
+	    {
+	      blockcol = stg_lookup_color( colorstr );
+	      inherit_color = false;
+	    }
 
-			this->AddBlock( pts, pointcount, zmin, zmax, blockcol, inherit_color );	
+	  this->AddBlock( pts, pointcount, zmin, zmax, blockcol, inherit_color );	
 
-			stg_points_destroy( pts );
-		}
+	  stg_points_destroy( pts );
+	}
 
-		StgBlock::ScaleList( this->blocks, &this->geom.size );
+      StgBlock::ScaleList( this->blocks, &this->geom.size );
 
-		if( this->boundary )
-		{
-			// add thin bounding blocks
-			double epsilon = 0.001;	      
-			double width =  geom.size.x;
-			double height = geom.size.y;
-			this->AddBlockRect(-width/2.0, -height/2.0, epsilon, height );	      
-			this->AddBlockRect(-width/2.0, -height/2.0, width, epsilon );	      
-			this->AddBlockRect(-width/2.0, height/2.0-epsilon, width, epsilon );
-			this->AddBlockRect(width/2.0-epsilon, -height/2.0, epsilon, height );
-		}     
+      if( this->boundary )
+	{
+	  // add thin bounding blocks
+	  double epsilon = 0.001;	      
+	  double width =  geom.size.x;
+	  double height = geom.size.y;
+	  this->AddBlockRect(-width/2.0, -height/2.0, epsilon, height );	      
+	  this->AddBlockRect(-width/2.0, -height/2.0, width, epsilon );	      
+	  this->AddBlockRect(-width/2.0, height/2.0-epsilon, width, epsilon );
+	  this->AddBlockRect(width/2.0-epsilon, -height/2.0, epsilon, height );
+	}     
 
-		this->Map();
-	}
+      this->Map();
+    }
 
-	if( wf->PropertyExists( wf_entity, "mass" ))
-		this->SetMass( wf->ReadFloat(wf_entity, "mass", this->mass ));
+  if( wf->PropertyExists( wf_entity, "mass" ))
+    this->SetMass( wf->ReadFloat(wf_entity, "mass", this->mass ));
 
-	if( wf->PropertyExists( wf_entity, "fiducial_return" ))
-		this->SetFiducialReturn( wf->ReadInt( wf_entity, "fiducial_return", this->fiducial_return ));
+  if( wf->PropertyExists( wf_entity, "fiducial_return" ))
+    this->SetFiducialReturn( wf->ReadInt( wf_entity, "fiducial_return", this->fiducial_return ));
 
-	if( wf->PropertyExists( wf_entity, "fiducial_key" ))
-		this->SetFiducialKey( wf->ReadInt( wf_entity, "fiducial_key", this->fiducial_key ));
+  if( wf->PropertyExists( wf_entity, "fiducial_key" ))
+    this->SetFiducialKey( wf->ReadInt( wf_entity, "fiducial_key", this->fiducial_key ));
 
-	if( wf->PropertyExists( wf_entity, "obstacle_return" ))
-		this->SetObstacleReturn( wf->ReadInt( wf_entity, "obstacle_return", this->obstacle_return ));
+  if( wf->PropertyExists( wf_entity, "obstacle_return" ))
+    this->SetObstacleReturn( wf->ReadInt( wf_entity, "obstacle_return", this->obstacle_return ));
 
-	if( wf->PropertyExists( wf_entity, "ranger_return" ))
-		this->SetRangerReturn( wf->ReadInt( wf_entity, "ranger_return", this->ranger_return ));
+  if( wf->PropertyExists( wf_entity, "ranger_return" ))
+    this->SetRangerReturn( wf->ReadInt( wf_entity, "ranger_return", this->ranger_return ));
 
-	if( wf->PropertyExists( wf_entity, "blob_return" ))
-		this->SetBlobReturn( wf->ReadInt( wf_entity, "blob_return", this->blob_return ));
+  if( wf->PropertyExists( wf_entity, "blob_return" ))
+    this->SetBlobReturn( wf->ReadInt( wf_entity, "blob_return", this->blob_return ));
 
-	if( wf->PropertyExists( wf_entity, "laser_return" ))
-		this->SetLaserReturn( (stg_laser_return_t)wf->ReadInt(wf_entity, "laser_return", this->laser_return ));
+  if( wf->PropertyExists( wf_entity, "laser_return" ))
+    this->SetLaserReturn( (stg_laser_return_t)wf->ReadInt(wf_entity, "laser_return", this->laser_return ));
 
-	if( wf->PropertyExists( wf_entity, "gripper_return" ))
-		this->SetGripperReturn( wf->ReadInt( wf_entity, "gripper_return", this->gripper_return ));
+  if( wf->PropertyExists( wf_entity, "gripper_return" ))
+    this->SetGripperReturn( wf->ReadInt( wf_entity, "gripper_return", this->gripper_return ));
 
-	if( wf->PropertyExists( wf_entity, "gui_nose" ))
-		this->SetGuiNose( wf->ReadInt(wf_entity, "gui_nose", this->gui_nose ));
+  if( wf->PropertyExists( wf_entity, "gui_nose" ))
+    this->SetGuiNose( wf->ReadInt(wf_entity, "gui_nose", this->gui_nose ));
 
-	if( wf->PropertyExists( wf_entity, "gui_grid" ))
-		this->SetGuiGrid( wf->ReadInt(wf_entity, "gui_grid", this->gui_grid ));
+  if( wf->PropertyExists( wf_entity, "gui_grid" ))
+    this->SetGuiGrid( wf->ReadInt(wf_entity, "gui_grid", this->gui_grid ));
 
-	if( wf->PropertyExists( wf_entity, "gui_outline" ))
-		this->SetGuiOutline( wf->ReadInt(wf_entity, "gui_outline", this->gui_outline ));
+  if( wf->PropertyExists( wf_entity, "gui_outline" ))
+    this->SetGuiOutline( wf->ReadInt(wf_entity, "gui_outline", this->gui_outline ));
 
-	if( wf->PropertyExists( wf_entity, "gui_movemask" ))
-		this->SetGuiMask( wf->ReadInt(wf_entity, "gui_movemask", this->gui_mask ));
+  if( wf->PropertyExists( wf_entity, "gui_movemask" ))
+    this->SetGuiMask( wf->ReadInt(wf_entity, "gui_movemask", this->gui_mask ));
 
-	if( wf->PropertyExists( wf_entity, "map_resolution" ))
-		this->SetMapResolution( wf->ReadFloat(wf_entity, "map_resolution", this->map_resolution ));
+  if( wf->PropertyExists( wf_entity, "map_resolution" ))
+    this->SetMapResolution( wf->ReadFloat(wf_entity, "map_resolution", this->map_resolution ));
 
-	if( wf->PropertyExists( wf_entity, "ctrl" ))
-	{
-		char* lib = (char*)wf->ReadString(wf_entity, "ctrl", NULL );
+  if( wf->PropertyExists( wf_entity, "ctrl" ))
+    {
+      char* lib = (char*)wf->ReadString(wf_entity, "ctrl", NULL );
 
-		if( !lib )
-			puts( "Error - NULL library name" );
-		else
-			LoadControllerModule( lib );
-	}
+      if( !lib )
+	puts( "Error - NULL library name" );
+      else
+	LoadControllerModule( lib );
+    }
 
-	if( wf->PropertyExists( wf_entity, "say" ))
-		this->Say( wf->ReadString(wf_entity, "say", NULL ));
+  if( wf->PropertyExists( wf_entity, "say" ))
+    this->Say( wf->ReadString(wf_entity, "say", NULL ));
 
-	// call any type-specific load callbacks
-	this->CallCallbacks( &this->load_hook );
+  // call any type-specific load callbacks
+  this->CallCallbacks( &this->load_hook );
 
-	// MUST BE THE LAST THING LOADED
-	if( wf->PropertyExists( wf_entity, "alwayson" ))
-	{
-		if( wf->ReadInt( wf_entity, "alwayson", 0) > 0 )
-			Startup();
-	}
+  // MUST BE THE LAST THING LOADED
+  if( wf->PropertyExists( wf_entity, "alwayson" ))
+    {
+      if( wf->ReadInt( wf_entity, "alwayson", 0) > 0 )
+	Startup();
+    }
 
-	if( this->debug )
-		printf( "Model \"%s\" is in debug mode\n", token );
+  if( this->debug )
+    printf( "Model \"%s\" is in debug mode\n", token );
 
-	PRINT_DEBUG1( "Model \"%s\" loading complete", token );
+  PRINT_DEBUG1( "Model \"%s\" loading complete", token );
 }
 
 
@@ -372,70 +367,70 @@
   assert( wf );
   assert( wf_entity );
 		
-	PRINT_DEBUG1( "Model \"%s\" saving...", token );
+  PRINT_DEBUG1( "Model \"%s\" saving...", token );
 
-	PRINT_DEBUG4( "saving model %s pose %.2f %.2f %.2f",
-			this->token,
-			this->pose.x,
-			this->pose.y,
-			this->pose.a );
+  PRINT_DEBUG4( "saving model %s pose %.2f %.2f %.2f",
+		this->token,
+		this->pose.x,
+		this->pose.y,
+		this->pose.a );
 
-	// right now we only save poses
-	wf->WriteTupleLength( wf_entity, "pose", 0, this->pose.x);
-	wf->WriteTupleLength( wf_entity, "pose", 1, this->pose.y);
-	wf->WriteTupleAngle( wf_entity, "pose", 2, this->pose.a);
+  // right now we only save poses
+  wf->WriteTupleLength( wf_entity, "pose", 0, this->pose.x);
+  wf->WriteTupleLength( wf_entity, "pose", 1, this->pose.y);
+  wf->WriteTupleAngle( wf_entity, "pose", 2, this->pose.a);
 
-	wf->WriteTupleLength( wf_entity, "pose3", 0, this->pose.x);
-	wf->WriteTupleLength( wf_entity, "pose3", 1, this->pose.y);
-	wf->WriteTupleLength( wf_entity, "pose3", 2, this->pose.z);
-	wf->WriteTupleAngle( wf_entity, "pose3", 3, this->pose.a);
+  wf->WriteTupleLength( wf_entity, "pose3", 0, this->pose.x);
+  wf->WriteTupleLength( wf_entity, "pose3", 1, this->pose.y);
+  wf->WriteTupleLength( wf_entity, "pose3", 2, this->pose.z);
+  wf->WriteTupleAngle( wf_entity, "pose3", 3, this->pose.a);
 
-	// call any type-specific save callbacks
-	this->CallCallbacks( &this->save_hook );
+  // call any type-specific save callbacks
+  this->CallCallbacks( &this->save_hook );
 
-	PRINT_DEBUG1( "Model \"%s\" saving complete.", token );
+  PRINT_DEBUG1( "Model \"%s\" saving complete.", token );
 }
 
 
 void StgModel::LoadControllerModule( char* lib )
 {
-	printf( "[Ctrl \"%s\"", lib );
-	fflush(stdout);
+  printf( "[Ctrl \"%s\"", lib );
+  fflush(stdout);
 
-	/* Initialise libltdl. */
-	int errors = lt_dlinit();
-	assert(errors==0);
+  /* Initialise libltdl. */
+  int errors = lt_dlinit();
+  assert(errors==0);
 
-	char* stagepath = getenv("STAGEPATH");
-	if( stagepath == NULL )
-		stagepath = ".";
+  char* stagepath = getenv("STAGEPATH");
+  if( stagepath == NULL )
+    stagepath = (char*)".";
 
-	lt_dlsetsearchpath( stagepath );
+  lt_dlsetsearchpath( stagepath );
 
-	lt_dlhandle handle = NULL;
+  lt_dlhandle handle = NULL;
 
-	if(( handle = lt_dlopenext( lib ) ))
-	{
-		printf( "]" );
+  if(( handle = lt_dlopenext( lib ) ))
+    {
+      printf( "]" );
 
-		this->initfunc = (ctrlinit_t*)lt_dlsym( handle, "Init" );
-		if( this->initfunc  == NULL )
-		{
-			printf( "Libtool error: %s. Something is wrong with your plugin. Quitting\n",
-					lt_dlerror() ); // report the error from libtool
-			exit(-1);
-		}
-	}
-	else
+      this->initfunc = (ctrlinit_t*)lt_dlsym( handle, "Init" );
+      if( this->initfunc  == NULL )
 	{
-		printf( "Libtool error: %s. Can't open your plugin controller. Quitting\n",
-				lt_dlerror() ); // report the error from libtool
-
-		PRINT_ERR1( "Failed to open \"%s\". Check that it can be found by searching the directories in your STAGEPATH environment variable, or the current directory if STAGEPATH is not set.]\n", lib );
-		exit(-1);
+	  printf( "Libtool error: %s. Something is wrong with your plugin. Quitting\n",
+		  lt_dlerror() ); // report the error from libtool
+	  exit(-1);
 	}
+    }
+  else
+    {
+      printf( "Libtool error: %s. Can't open your plugin controller. Quitting\n",
+	      lt_dlerror() ); // report the error from libtool
 
-	fflush(stdout);
+      PRINT_ERR1( "Failed to open \"%s\". Check that it can be found by searching the directories in your STAGEPATH environment variable, or the current directory if STAGEPATH is not set.]\n", lib );
+      exit(-1);
+    }
+
+  fflush(stdout);
 }
 
 

Modified: code/stage/trunk/libstage/model_position.cc
===================================================================
--- code/stage/trunk/libstage/model_position.cc	2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/model_position.cc	2008-07-04 22:58:26 UTC (rev 6765)
@@ -170,12 +170,11 @@
 	// specified
 	est_origin = this->GetGlobalPose();
 
-	keyword = "localization_origin";
 	if( wf->PropertyExists( wf_entity, keyword ) )
 	{  
-		est_origin.x = wf->ReadTupleLength( wf_entity, keyword, 0, est_origin.x );
-		est_origin.y = wf->ReadTupleLength( wf_entity, keyword, 1, est_origin.y );
-		est_origin.a = wf->ReadTupleAngle( wf_entity,keyword, 2, est_origin.a );
+		est_origin.x = wf->ReadTupleLength( wf_entity, "localization_origin", 0, est_origin.x );
+		est_origin.y = wf->ReadTupleLength( wf_entity, "localization_origin", 1, est_origin.y );
+		est_origin.a = wf->ReadTupleAngle( wf_entity, "localization_origin", 2, est_origin.a );
 
 		// compute our localization pose based on the origin and true pose
 		stg_pose_t gpose = this->GetGlobalPose();
@@ -195,15 +194,14 @@
 	}
 
 	// odometry model parameters
-	keyword = "odom_error";
 	if( wf->PropertyExists( wf_entity, keyword ) )
 	{
 		integration_error.x = 
-			wf->ReadTupleLength( wf_entity, keyword, 0, integration_error.x );
+			wf->ReadTupleLength( wf_entity, "odom_error", 0, integration_error.x );
 		integration_error.y = 
-			wf->ReadTupleLength( wf_entity, keyword, 1, integration_error.y );
+			wf->ReadTupleLength( wf_entity, "odom_error", 1, integration_error.y );
 		integration_error.a 
-			= wf->ReadTupleAngle( wf_entity, keyword, 2, integration_error.a );
+			= wf->ReadTupleAngle( wf_entity, "odom_error", 2, integration_error.a );
 	}
 
 	// choose a localization model

Modified: code/stage/trunk/libstage/stage.cc
===================================================================
--- code/stage/trunk/libstage/stage.cc	2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/stage.cc	2008-07-04 22:58:26 UTC (rev 6765)
@@ -193,7 +193,7 @@
 
 	if( file == NULL )
 	{
-		char* searchfiles[] = {
+		const char* searchfiles[] = {
 			"./rgb.txt",
 #ifdef RGBFILE
 			RGBFILE,
@@ -205,7 +205,7 @@
 				searchfiles[i];
 				i++ )
 		{
-			char* filename = searchfiles[i];
+			const char* filename = searchfiles[i];
 			PRINT_DEBUG1( "Attempting to open \"%s\"", filename );
 			if( (file = fopen( filename, "r")) )
 				break; // opened a file ok - jump out of for loop

Modified: code/stage/trunk/libstage/stest.cc
===================================================================
--- code/stage/trunk/libstage/stest.cc	2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/stest.cc	2008-07-04 22:58:26 UTC (rev 6765)
@@ -25,8 +25,8 @@
 	StgModelLaser* laser;
 	StgModelPosition* position;
 	StgModelRanger* ranger;
-	StgModelFiducial* fiducial;
-	StgModelBlobfinder* blobfinder;
+  //StgModelFiducial* fiducial;
+  //StgModelBlobfinder* blobfinder;
 } robot_t;
 
 #define VSPEED 0.4 // meters per second
@@ -58,16 +58,16 @@
 
 	for( int i=0; i<POPSIZE; i++ )
 	{
-		char* base = "r";
+		const char* base = "r";
 		sprintf( namebuf, "%s%d", base, i );
 		robots[i].position = (StgModelPosition*)world.GetModel( namebuf );
 		assert(robots[i].position);
 		robots[i].position->Subscribe();
 
-		robots[i].laser = (StgModelLaser*)
-			robots[i].position->GetUnsubscribedModelOfType( "laser" );	 
-		assert(robots[i].laser);
-		robots[i].laser->Subscribe();
+	// 	robots[i].laser = (StgModelLaser*)
+// 		robots[i].position->GetUnsubscribedModelOfType( MODEL_TYPE_LASER );	 
+// 		assert(robots[i].laser);
+		//robots[i].laser->Subscribe();
 
 		//        robots[i].fiducial = (StgModelFiducial*)
 		// 	 robots[i].position->GetUnsubscribedModelOfType( "fiducial" );	 
@@ -75,7 +75,7 @@
 		//        robots[i].fiducial->Subscribe();
 
 		robots[i].ranger = (StgModelRanger*)
-			robots[i].position->GetUnsubscribedModelOfType( "ranger" );
+			robots[i].position->GetUnsubscribedModelOfType( MODEL_TYPE_RANGER );
 		assert(robots[i].ranger);
 		robots[i].ranger->Subscribe();
 
@@ -86,11 +86,10 @@
 	}
 
 	// start the clock
-	//world.Start();
-	//puts( "done" );
+	//world.Start();readltime	//puts( "done" );
 
-	while( ! world.TestQuit() )
-		if( world.RealTimeUpdate() )
+	while( 1 )
+		if( world.Update() )
 			//   if( world.Update() )
 			for( int i=0; i<POPSIZE; i++ )
 			{

Modified: code/stage/trunk/libstage/test.cc
===================================================================
--- code/stage/trunk/libstage/test.cc	2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/test.cc	2008-07-04 22:58:26 UTC (rev 6765)
@@ -14,13 +14,13 @@
   wg->Update();
 }
 
-void test( char* str, double a, double b )
+void test( const char* str, double a, double b )
 {
   if( fabs(a-b) > epsilon )
 	 printf( "FAIL %s expected %.3f saw %.3f\n", str, a, b );  
 }
 
-void test( char* str, stg_pose_t a, stg_pose_t b )
+void test( const char* str, stg_pose_t a, stg_pose_t b )
 {
   if( fabs(a.x-b.x) > epsilon )
 	 printf( "POSE FAIL %s expected pose.x %.3f saw pose.x %.3f\n", str, a.x, b.x );  

Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc	2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/world.cc	2008-07-04 22:58:26 UTC (rev 6765)
@@ -449,145 +449,152 @@
 		stg_raytrace_sample_t* sample,
 		bool ztest ) 
 {
+ //  printf( "raytracing at [ %.2f %.2f %.2f %.2f ] for %.2f \n",
+// 	  pose.x,
+// 	  pose.y,
+// 	  pose.z,
+// 	  pose.a,
+// 	  range );
+
 	// initialize the sample
-	memcpy( &sample->pose, &pose, sizeof(stg_pose_t)); // pose stays fixed
-	sample->range = range; // we might change this below
-	sample->block = NULL; // we might change this below
+  sample->pose = pose;
+  sample->range = range; // we might change this below
+  sample->block = NULL; // we might change this below
+  
+  // find the global integer bitmap address of the ray  
+  int32_t x = (int32_t)(pose.x*ppm);
+  int32_t y = (int32_t)(pose.y*ppm);
+  int32_t z = 0;
+  
+  int32_t xstart = x;
+  int32_t ystart = y;
+  
+  // and the x and y offsets of the ray
+  int32_t dx = (int32_t)(ppm*range * cos(pose.a));
+  int32_t dy = (int32_t)(ppm*range * sin(pose.a));
+  int32_t dz = 0;
+  
+  //   if( finder->debug )
+  //     RecordRay( pose.x, 
+  // 	       pose.y, 
+  // 	       pose.x + range.max * cos(pose.a),
+  // 	       pose.y + range.max * sin(pose.a) );
+  
+  // fast integer line 3d algorithm adapted from Cohen's code from
+  // Graphics Gems IV
+  int n, sx, sy, sz, exy, exz, ezy, ax, ay, az, bx, by, bz;
+  sx = sgn(dx);  sy = sgn(dy);  sz = sgn(dz);
+  ax = abs(dx);  ay = abs(dy);  az = abs(dz);
+  bx = 2*ax;	 by = 2*ay;	bz = 2*az;
+  exy = ay-ax;   exz = az-ax;	ezy = ay-az;
+  n = ax+ay+az;
+  
+  //  printf( "Raytracing from (%d,%d,%d) steps (%d,%d,%d) %d\n",
+  //  x,y,z,  dx,dy,dz, n );
+  
+  // superregion coords
+  stg_point_int_t lastsup;
+  lastsup.x = INT_MAX; // an unlikely first raytrace
+  lastsup.y = INT_MAX;
+  
+  stg_point_int_t lastreg = {0,0};
+  lastsup.x = INT_MAX; // an unlikely first raytrace
+  lastsup.y = INT_MAX;
+  
+  SuperRegion* sr = NULL;
+  Region* r = NULL;
+  
+  //puts( "RAYTRACE" );
+  
+  while ( n-- ) 
+    {         
+      // superregion coords
+      stg_point_int_t sup;
+      sup.x = x >> SRBITS;
+      sup.y = y >> SRBITS;
+      
+      //  printf( "pixel [%d %d]\tS[ %d %d ]\t",
+      //      x, y, sup.x, sup.y );
 
-	// find the global integer bitmap address of the ray  
-	int32_t x = (int32_t)(pose.x*ppm);
-	int32_t y = (int32_t)(pose.y*ppm);
-	int32_t z = 0;
+      if( ! (sup.x == lastsup.x && sup.y == lastsup.y )) 
+	{
+	  sr = (SuperRegion*)g_hash_table_lookup( superregions, (void*)&sup );
+	  lastsup = sup; // remember these coords
+	}
 
-	int32_t xstart = x;
-	int32_t ystart = y;
+      if( sr )
+	{	  
+	  // find the region coords inside this superregion
+	  stg_point_int_t reg;
+	  reg.x = (x - ( sup.x << SRBITS)) >> RBITS;
+	  reg.y = (y - ( sup.y << SRBITS)) >> RBITS;
 
-	// and the x and y offsets of the ray
-	int32_t dx = (int32_t)(ppm*range * cos(pose.a));
-	int32_t dy = (int32_t)(ppm*range * sin(pose.a));
-	int32_t dz = 0;
+	  //  printf( "R[ %d %d ]\t", reg.x, reg.y );
 
-	//   if( finder->debug )
-	//     RecordRay( pose.x, 
-	// 	       pose.y, 
-	// 	       pose.x + range.max * cos(pose.a),
-	// 	       pose.y + range.max * sin(pose.a) );
+	  if( ! (reg.x == lastreg.x && reg.y == lastreg.y ))
+	    {
+	      r = sr->GetRegion( reg.x, reg.y );
+	      lastreg = reg;
+	    }
 
-	// fast integer line 3d algorithm adapted from Cohen's code from
-	// Graphics Gems IV
-	int n, sx, sy, sz, exy, exz, ezy, ax, ay, az, bx, by, bz;
-	sx = sgn(dx);  sy = sgn(dy);  sz = sgn(dz);
-	ax = abs(dx);  ay = abs(dy);  az = abs(dz);
-	bx = 2*ax;	 by = 2*ay;	bz = 2*az;
-	exy = ay-ax;   exz = az-ax;	ezy = ay-az;
-	n = ax+ay+az;
+	  if( r && r->count )
+	    {
+	      // compute the pixel offset inside this region
+	      stg_point_int_t cell;
+	      cell.x = x - ((sup.x << SRBITS) + (reg.x << RBITS));
+	      cell.y = y - ((sup.y << SRBITS) + (reg.y << RBITS));
 
-	//  printf( "Raytracing from (%d,%d,%d) steps (%d,%d,%d) %d\n",
-	//  x,y,z,  dx,dy,dz, n );
+	      //  printf( "C[ %d %d ]\t", cell.x, cell.y );
 
-	// superregion coords
-	stg_point_int_t lastsup;
-	lastsup.x = INT_MAX; // an unlikely first raytrace
-	lastsup.y = INT_MAX;
+	      for( GSList* list = r->GetCell( cell.x, cell.y )->list;
+		   list;
+		   list = list->next )      
+		{	      	      
+		  StgBlock* block = (StgBlock*)list->data;
+		  assert( block );
 
-	stg_point_int_t lastreg = {0,0};
-	lastsup.x = INT_MAX; // an unlikely first raytrace
-	lastsup.y = INT_MAX;
-
-	SuperRegion* sr = NULL;
-	Region* r = NULL;
-
-	//puts( "RAYTRACE" );
-
-	while ( n-- ) 
-	{         
-		// superregion coords
-		stg_point_int_t sup;
-		sup.x = x >> SRBITS;
-		sup.y = y >> SRBITS;
-
-		//  printf( "pixel [%d %d]\tS[ %d %d ]\t",
-		//      x, y, sup.x, sup.y );
-
-		if( ! (sup.x == lastsup.x && sup.y == lastsup.y )) 
-		{
-			sr = (SuperRegion*)g_hash_table_lookup( superregions, (void*)&sup );
-			lastsup = sup; // remember these coords
+		  // if this block does not belong to the searching model and it
+		  // matches the predicate and it's in the right z range
+		  if( //block && (block->Model() != finder) && 
+		     (ztest ? block->IntersectGlobalZ( pose.z ) : true) &&
+		     (*func)( block, mod, arg ) )
+		    {
+		      // a hit!
+		      sample->block = block;
+		      sample->range = hypot( (x-xstart)/ppm, (y-ystart)/ppm );
+		      return;
+		    }
 		}
+	    }
+	}      
 
-		if( sr )
-		{	  
-			// find the region coords inside this superregion
-			stg_point_int_t reg;
-			reg.x = (x - ( sup.x << SRBITS)) >> RBITS;
-			reg.y = (y - ( sup.y << SRBITS)) >> RBITS;
+      //      printf( "\t step %d n %d   pixel [ %d, %d ] block [ %d %d ] index [ %d %d ] \n", 
+      //      //coarse [ %d %d ]\n",
+      //      count++, n, x, y, blockx, blocky, b_dx, b_dy );
 
-			//  printf( "R[ %d %d ]\t", reg.x, reg.y );
-
-			if( ! (reg.x == lastreg.x && reg.y == lastreg.y ))
-			{
-				r = sr->GetRegion( reg.x, reg.y );
-				lastreg = reg;
-			}
-
-			if( r && r->count )
-			{
-				// compute the pixel offset inside this region
-				stg_point_int_t cell;
-				cell.x = x - ((sup.x << SRBITS) + (reg.x << RBITS));
-				cell.y = y - ((sup.y << SRBITS) + (reg.y << RBITS));
-
-				//  printf( "C[ %d %d ]\t", cell.x, cell.y );
-
-				for( GSList* list = r->GetCell( cell.x, cell.y )->list;
-						list;
-						list = list->next )      
-				{	      	      
-					StgBlock* block = (StgBlock*)list->data;
-					assert( block );
-
-					// if this block does not belong to the searching model and it
-					// matches the predicate and it's in the right z range
-					if( //block && (block->Model() != finder) && 
-							(ztest ? block->IntersectGlobalZ( pose.z ) : true) &&
-							(*func)( block, mod, arg ) )
-					{
-						// a hit!
-						sample->block = block;
-						sample->range = hypot( (x-xstart)/ppm, (y-ystart)/ppm );
-						return;
-					}
-				}
-			}
-		}      
-
-		//      printf( "\t step %d n %d   pixel [ %d, %d ] block [ %d %d ] index [ %d %d ] \n", 
-		//      //coarse [ %d %d ]\n",
-		//      count++, n, x, y, blockx, blocky, b_dx, b_dy );
-
-		// increment our pixel in the correct direction
-		if ( exy < 0 ) {
-			if ( exz < 0 ) {
-				x += sx; exy += by; exz += bz;
-			}
-			else  {
-				z += sz; exz -= bx; ezy += by;
-			}
-		}
-		else {
-			if ( ezy < 0 ) {
-				z += sz;
-				exz -= bx; ezy += by;
-			}
-			else  {
-				y += sy; exy -= bx; ezy -= bz;
-			}
-		}
-		//     puts("");
+      // increment our pixel in the correct direction
+      if ( exy < 0 ) {
+	if ( exz < 0 ) {
+	  x += sx; exy += by; exz += bz;
 	}
+	else  {
+	  z += sz; exz -= bx; ezy += by;
+	}
+      }
+      else {
+	if ( ezy < 0 ) {
+	  z += sz;
+	  exz -= bx; ezy += by;
+	}
+	else  {
+	  y += sy; exy -= bx; ezy -= bz;
+	}
+      }
+      //     puts("");
+    }
 
-	// hit nothing
-	return;
+  // hit nothing
+  return;
 }
 
 static void _save_cb( gpointer key, gpointer data, gpointer user )

Modified: code/stage/trunk/libstage/worldfile.cc
===================================================================
--- code/stage/trunk/libstage/worldfile.cc	2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/worldfile.cc	2008-07-04 22:58:26 UTC (rev 6765)
@@ -1402,7 +1402,7 @@
 }
 
 
-bool Worldfile::PropertyExists( int section, char* token )
+bool Worldfile::PropertyExists( int section, const char* token )
 {
   return( this->GetProperty( section, token ) ? true : false );
 }

Modified: code/stage/trunk/libstage/worldfile.hh
===================================================================
--- code/stage/trunk/libstage/worldfile.hh	2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/worldfile.hh	2008-07-04 22:58:26 UTC (rev 6765)
@@ -268,7 +268,7 @@
 
   // returns true iff the property exists in the file, so that you can
   // be sure that GetProperty() will work
-  bool PropertyExists( int section, char* token );
+  bool PropertyExists( int section, const char* token );
 
   // Set the value of an property.
   private: void SetPropertyValue( CProperty* property, int index, const char *value);

Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc	2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/worldgui.cc	2008-07-04 22:58:26 UTC (rev 6765)
@@ -115,20 +115,25 @@
 #endif
 
 StgWorldGui::StgWorldGui(int W,int H,const char* L) : 
-  Fl_Window(W,H,L)
+  Fl_Window(W,H,L )
 {
   //size_range( 100,100 ); // set minimum window size
   oDlg = NULL;
   graphics = true;
   paused = false;
 
+  // improve the title bar to say "Stage: <worldfile name>"
+  std::string title = "Stage: ";
+  title += L;
+  label( title.c_str() );
+
   interval_real = (stg_usec_t)thousand * DEFAULT_INTERVAL_REAL;
 	
   for( unsigned int i=0; i<INTERVAL_LOG_LEN; i++ )
     this->interval_log[i] = this->interval_real;
 
   // build the menus
-  mbar = new Fl_Menu_Bar(0,0, W, 30);// 640, 30);
+  mbar = new Fl_Menu_Bar(0,0, W, 30);
   mbar->textsize(12);
 
   canvas = new StgCanvas( this,0,30,W,H-30 );
@@ -166,6 +171,7 @@
   delete canvas;
 }
 
+
 void StgWorldGui::Load( const char* filename )
 {
   PRINT_DEBUG1( "%s.Load()", token );


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[Playerstage-commit] SF.net SVN: playerstage: [6764] code/stage/trunk/libstage/model_laser.cc

From: <jeremy_asher@us...> - 2008-07-04 15:10:11

Revision: 6764
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6764&view=rev
Author:   jeremy_asher
Date:     2008-07-04 15:10:13 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
Temporary change to show laser data while paused

Modified Paths:
--------------
    code/stage/trunk/libstage/model_laser.cc

Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc	2008-07-04 22:05:58 UTC (rev 6763)
+++ code/stage/trunk/libstage/model_laser.cc	2008-07-04 22:10:13 UTC (rev 6764)
@@ -313,7 +313,7 @@
 	glPushMatrix();
 	
   // we only regenerate the list if there's new data
-  if( data_dirty )
+  if( 1 /* (temp hack) data_dirty*/ )
     {	    
       data_dirty = false;
 
@@ -387,7 +387,7 @@
 
 		//glDisableClientState( GL_VERTEX_ARRAY );           
       glEndList();
-    }
+    } // end if ( data_dirty )
   
   glCallList( data_dl );
 	    


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[Playerstage-commit] SF.net SVN: playerstage: [6763] code/stage/trunk/libstage

From: <jeremy_asher@us...> - 2008-07-04 15:05:49

Revision: 6763
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6763&view=rev
Author:   jeremy_asher
Date:     2008-07-04 15:05:58 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
Rewrote model selection code to mirror standard selection functionality and to fix bugs

Modified Paths:
--------------
    code/stage/trunk/libstage/canvas.cc
    code/stage/trunk/libstage/stage.hh

Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc	2008-07-04 22:01:25 UTC (rev 6762)
+++ code/stage/trunk/libstage/canvas.cc	2008-07-04 22:05:58 UTC (rev 6763)
@@ -73,8 +73,6 @@
   interval = 50; //msec between redraws
 
   graphics = true;
-  dragging = false;
-  rotating = false;
 
   // // start the timer that causes regular redraws
   Fl::add_timeout( ((double)interval/1000), 
@@ -86,12 +84,8 @@
 {
 }
 
-StgModel* StgCanvas::Select( int x, int y )
+StgModel* StgCanvas::getModel( int x, int y )
 {
-  // TODO XX
-  //return NULL;
-
-	
   // render all models in a unique color
   make_current(); // make sure the GL context is current
   glClearColor ( 1,1,1,1 ); // white
@@ -158,30 +152,47 @@
   glEnable(GL_DITHER);
   glEnable(GL_BLEND);
   glClearColor ( 0.7, 0.7, 0.8, 1.0);
+  
+  return mod;
+}
 
-  if( mod ) // we clicked on a root model
+bool StgCanvas::selected( StgModel* mod ) {
+	if( g_list_find( selected_models, mod ) )
+		return true;
+	else
+		return false;
+}
+
+void StgCanvas::select( StgModel* mod ) {
+	if( mod )
     {
-      // if it's already selected
-      if( GList* link = g_list_find( selected_models, mod ) )
-	{
-	  // remove it from the selected list
-	  selected_models = 
-	    g_list_remove_link( selected_models, link );
-	  mod->Disable();
-	}			  
-      else      
-	{
-	  last_selection = mod;
-	  selected_models = g_list_prepend( selected_models, mod );
-	  mod->Enable();
-	}
-
-      invalidate();
+		last_selection = mod;
+		selected_models = g_list_prepend( selected_models, mod );
+//		mod->Disable();
     }
+}
 
-  return mod;
+void StgCanvas::unSelect( StgModel* mod ) {
+	if( mod )
+	{
+		if ( GList* link = g_list_find( selected_models, mod ) ) 
+		{
+			// remove it from the selected list
+			selected_models = 
+			g_list_remove_link( selected_models, link );
+//			mod->Enable();
+		}
+	}  
 }
 
+void StgCanvas::unSelectAll() { 
+//	for( GList* it=selected_models; it; it=it->next )
+//		((StgModel*)it->data)->Enable();
+	
+	g_list_free( selected_models );
+	selected_models = NULL;
+}
+
 // convert from 2d window pixel to 3d world coordinates
 void StgCanvas::CanvasToWorld( int px, int py, 
 			       double *wx, double *wy, double* wz )
@@ -207,194 +218,205 @@
 	case FL_MOUSEWHEEL:
 		if( selected_models )
 		{
-	  // rotate all selected models
-	  for( GList* it = selected_models; it; it=it->next )
-	    {
-	      StgModel* mod = (StgModel*)it->data;
-	      mod->AddToPose( 0,0,0, 0.1*(double)Fl::event_dy() );
-	    }
-	  redraw();
+			// rotate all selected models
+			for( GList* it = selected_models; it; it=it->next )
+			{
+				StgModel* mod = (StgModel*)it->data;
+				mod->AddToPose( 0,0,0, 0.1*(double)Fl::event_dy() );
+			}
+			redraw();
 		}
-      else
-	{
-	  if( perspectiveCam == true ) {
-	    perspective_camera.scroll( Fl::event_dy() / 10.0 );
-	  } else {
-	    camera.scale( Fl::event_dy(),  Fl::event_x(), w(), Fl::event_y(), h() );
-	  }
-	  invalidate();
-	  redraw();
-	}
-      return 1;
+		else
+		{
+			if( perspectiveCam == true ) {
+				perspective_camera.scroll( Fl::event_dy() / 10.0 );
+			}
+			else {
+				camera.scale( Fl::event_dy(),  Fl::event_x(), w(), Fl::event_y(), h() );
+			}
+			invalidate();
+			redraw();
+		}
+		return 1;
+			
+	case FL_MOVE: // moused moved while no button was pressed
+		if( Fl::event_state( FL_CTRL ) )
+		{          
+			int dx = Fl::event_x() - startx;
+			int dy = Fl::event_y() - starty;
 
-    case FL_MOVE: // moused moved while no button was pressed
-      if( Fl::event_state( FL_CTRL ) )
-	{          
-	  int dx = Fl::event_x() - startx;
-	  int dy = Fl::event_y() - starty;
+			if( perspectiveCam == true ) {
+				perspective_camera.addYaw( -dx );
+				perspective_camera.addPitch( -dy );
+			} 
+			else {
+				camera.pitch( 0.5 * static_cast<double>( dy ) );
+				camera.yaw( 0.5 * static_cast<double>( dx ) );
+			}
+			invalidate();
+			redraw();
+		}
+		else if( Fl::event_state( FL_ALT ) )
+		{   
+			int dx = Fl::event_x() - startx;
+			int dy = Fl::event_y() - starty;
 
-	  if( perspectiveCam == true ) {
-	    perspective_camera.addYaw( -dx );
-	    perspective_camera.addPitch( -dy );
-	  } else {
-	    camera.pitch( 0.5 * static_cast<double>( dy ) );
-	    camera.yaw( 0.5 * static_cast<double>( dx ) );
-	  }
+			if( perspectiveCam == true ) {
+				perspective_camera.move( -dx, dy, 0.0 );
+			} 
+			else {
+				camera.move( -dx, dy );
+			}
+			invalidate();
 
-	  invalidate();
-	  redraw();
-	}
-      else if( Fl::event_state( FL_ALT ) )
-	{   
-	  int dx = Fl::event_x() - startx;
-	  int dy = Fl::event_y() - starty;
+		}
+		startx = Fl::event_x();
+		starty = Fl::event_y();
+		return 1;
 
-	  if( perspectiveCam == true ) {
-	    perspective_camera.move( -dx, dy, 0.0 );
-	  } else {
-	    camera.move( -dx, dy );
+	case FL_PUSH: // button pressed
+		StgModel* mod = getModel( startx, starty );
+		startx = Fl::event_x();
+		starty = Fl::event_y();
+		selectedModel = false;
+		switch( Fl::event_button() )
+		{
+		case 1:			
+			if( mod ) { 
+				// clicked a model
+				if ( Fl::event_state( FL_SHIFT ) ) {
+					// holding shift, toggle selection
+					if ( selected( mod ) ) 
+						unSelect( mod );
+					else {
+						select( mod );
+						selectedModel = true; // selected a model
+					}
+				}
+				else {
+					if ( !selected( mod ) ) {
+						// clicked on an unselected model while
+						//  not holding shift, this is the new
+						//  selection
+						unSelectAll();
+						select( mod );
+					}
+					selectedModel = true; // selected a model
+				}
+			}
+			else {
+				// clicked on empty space, unselect all
+				unSelectAll();
+			}
+			return 1;
+		case 3:
+		{
+			// leave selections alone
+			// rotating handled within FL_DRAG
+			return 1;
+		}
+		default:
+			return 0;
+		}    
 
-	  }
-	  invalidate();
-
-	}
-
-      startx = Fl::event_x();
-      starty = Fl::event_y();
-			
-      return 1;
-
-    case FL_PUSH: // button pressed
-      switch( Fl::event_button() )
+	case FL_DRAG: // mouse moved while button was pressed
 	{
-	case 1:
-	  startx = Fl::event_x();
-	  starty = Fl::event_y();
-	  if( Select( startx, starty ) )
-	    dragging = true;	  
-	  return 1;
-	case 3:
-	  {
-	    startx = Fl::event_x();
-	    starty = Fl::event_y();
-	    if( Select( startx, starty ) )
-	      rotating = true;	  
-	    return 1;
-	  }
-	default:
-	  return 0;
-	}    
+		int dx = Fl::event_x() - startx;
+		int dy = Fl::event_y() - starty;
 
-    case FL_DRAG: // mouse moved while button was pressed
-      {
-	int dx = Fl::event_x() - startx;
-	int dy = Fl::event_y() - starty;
+		if ( Fl::event_state( FL_BUTTON1 ) ) {
+			// Left mouse button drag
+			if ( selectedModel ) {
+				// started dragging on a selected model
+				
+				double sx,sy,sz;
+				CanvasToWorld( startx, starty,
+							  &sx, &sy, &sz );
+				double x,y,z;
+				CanvasToWorld( Fl::event_x(), Fl::event_y(),
+							  &x, &y, &z );
+				// move all selected models to the mouse pointer
+				for( GList* it = selected_models; it; it=it->next )
+				{
+					StgModel* mod = (StgModel*)it->data;
+					mod->AddToPose( x-sx, y-sy, 0, 0 );
+				}
+			}
+			else {
+				// started dragging on empty space or an
+				//  unselected model, move the canvas
+				camera.move( -dx, dy );
+				invalidate(); // so the projection gets updated
+			}
+		}
+		else if ( Fl::event_state( FL_BUTTON3 ) ) {
+				// rotate all selected models
+				for( GList* it = selected_models; it; it=it->next )
+				{
+					StgModel* mod = (StgModel*)it->data;
+					mod->AddToPose( 0,0,0, 0.05*dx );
+				}
+		}
+		
+		startx = Fl::event_x();
+		starty = Fl::event_y();
 
-	switch( Fl::event_button() )
-	  {
-	  case 1:
-	    if( dragging )
-	      {
-		assert(selected_models);
+		redraw();
+		return 1;
+	} // end case FL_DRAG
 
-		double sx,sy,sz;
-		CanvasToWorld( startx, starty,
-			       &sx, &sy, &sz );
-		double x,y,z;
-		CanvasToWorld( Fl::event_x(), Fl::event_y(),
-			       &x, &y, &z );
+	case FL_RELEASE:   // mouse button released
+		
+		return 1;
 
-		// move all selected models to the mouse pointer
-		for( GList* it = selected_models; it; it=it->next )
-		  {
-		    StgModel* mod = (StgModel*)it->data;
-		    mod->AddToPose( x-sx, y-sy, 0, 0 );
-		  }
-	      }
-	    else
-	      {
-		camera.move( -dx, dy );
-		invalidate(); // so the projection gets updated
-	      }
-	    break;	    
-	  case 3: // right button
-	    if( rotating )
-	      {
-		// move all selected models to the mouse pointer
-		for( GList* it = selected_models; it; it=it->next )
-		  {
-		    StgModel* mod = (StgModel*)it->data;
-		    mod->AddToPose( 0,0,0, 0.05*dx );
-		  }
-	      }
-	    break;
-	  }
-      }
-      startx = Fl::event_x();
-      starty = Fl::event_y();
+	case FL_FOCUS:
+	case FL_UNFOCUS:
+		//.... Return 1 if you want keyboard events, 0 otherwise
+		return 1;
 
-      redraw();
-      return 1; // end case FL_DRAG
-
-    case FL_RELEASE:   // mouse button released
-      // unselect everyone unless shift is pressed
-      if( ! Fl::event_state( FL_SHIFT ) )
-	{
-	  for( GList* it=selected_models; it; it=it->next )
-	    ((StgModel*)it->data)->Enable();
-
-	  g_list_free( selected_models );
-	  selected_models = NULL;
-	  dragging = false;
-	  rotating = false;
-	  redraw();
-	}
-      return 1;
-
-    case FL_FOCUS :
-    case FL_UNFOCUS :
-      //.... Return 1 if you want keyboard events, 0 otherwise
-      return 1;
-    case FL_KEYBOARD:
-      switch( Fl::event_key() )
-	{
-	case 'p': // pause
-	  world->TogglePause();
-	  break;
-	case ' ': // space bar
-	  camera.resetAngle();
-	  //invalidate();
-	  if( Fl::event_state( FL_CTRL ) ) {
-		  resetCamera();
-	  }
-	  redraw();
-	  break;
-	case FL_Left:
-	  if( perspectiveCam == false ) { camera.move( -10, 0 ); } 
-	  else { perspective_camera.strafe( -0.5 ); } break;
-	case FL_Right: 
-	  if( perspectiveCam == false ) {camera.move( 10, 0 ); } 
-	  else { perspective_camera.strafe( 0.5 ); } break;
-	case FL_Down:  
-	  if( perspectiveCam == false ) {camera.move( 0, -10 ); } 
-	  else { perspective_camera.forward( -0.5 ); } break;
-	case FL_Up:  
-	  if( perspectiveCam == false ) {camera.move( 0, 10 ); } 
-	  else { perspective_camera.forward( 0.5 ); } break;
+	case FL_KEYBOARD:
+		switch( Fl::event_key() )
+		{
+		case 'p': // pause
+			world->TogglePause();
+			break;
+		case ' ': // space bar
+			camera.resetAngle();
+			//invalidate();
+			if( Fl::event_state( FL_CTRL ) ) {
+				resetCamera();
+			}
+			redraw();
+			break;			
+		case FL_Left:
+			if( perspectiveCam == false ) { camera.move( -10, 0 ); } 
+			else { perspective_camera.strafe( -0.5 ); } break;
+		case FL_Right: 
+			if( perspectiveCam == false ) {camera.move( 10, 0 ); } 
+			else { perspective_camera.strafe( 0.5 ); } break;
+		case FL_Down:  
+			if( perspectiveCam == false ) {camera.move( 0, -10 ); } 
+			else { perspective_camera.forward( -0.5 ); } break;
+		case FL_Up:  
+			if( perspectiveCam == false ) {camera.move( 0, 10 ); } 
+			else { perspective_camera.forward( 0.5 ); } break;
+		default:
+			return 0; // keypress unhandled
+		}
+		
+		invalidate(); // update projection
+		return 1;
+			
+//	case FL_SHORTCUT:
+//		//... shortcut, key is in Fl::event_key(), ascii in Fl::event_text()
+//		//... Return 1 if you understand/use the shortcut event, 0 otherwise...
+//		return 1;
 	default:
-	  return 0; // keypress unhandled
-	}
-      invalidate(); // update projection
-      return 1;
-      //case FL_SHORTCUT:
-      ///... shortcut, key is in Fl::event_key(), ascii in Fl::event_text()
-      // ... Return 1 if you understand/use the shortcut event, 0 otherwise...
-      //return 1;
-    default:
-      // pass other events to the base class...
-      //printf( "EVENT %d\n", event );
-      return Fl_Gl_Window::handle(event);
-    }
+		// pass other events to the base class...
+		//printf( "EVENT %d\n", event );
+		return Fl_Gl_Window::handle(event);
+			
+    } // end switch( event )
 }
 
 void StgCanvas::FixViewport(int W,int H) 
@@ -595,15 +617,17 @@
   
   // draw the model-specific visualizations
 	if( showData ) {
-		GList* it;
-		if ( visualizeAll )
-			it = world->StgWorld::children;
-		else
-			it = selected_models;
-			for( ; it; it=it->next ) 
+		if ( visualizeAll ) {
+			for( GList* it = world->StgWorld::children; it; it=it->next ) 
 				((StgModel*)it->data)->DataVisualizeTree();
-
-		
+		}
+		else if ( selected_models ) {
+			for( GList* it = selected_models; it; it=it->next ) 
+				((StgModel*)it->data)->DataVisualizeTree();
+		}
+		else if ( last_selection ) {
+			last_selection->DataVisualizeTree();
+		}
 	}
   
   if( showGrid ) 

Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh	2008-07-04 22:01:25 UTC (rev 6762)
+++ code/stage/trunk/libstage/stage.hh	2008-07-04 22:05:58 UTC (rev 6763)
@@ -1928,8 +1928,7 @@
   StgPerspectiveCamera perspective_camera;
   
   int startx, starty;
-  bool dragging;
-  bool rotating;
+  bool selectedModel;
   GList* selected_models; ///< a list of models that are currently
   ///selected by the user
   StgModel* last_selection; ///< the most recently selected model
@@ -1986,7 +1985,11 @@
 	void CanvasToWorld( int px, int py, 
 			double *wx, double *wy, double* wz );
 
-	StgModel* Select( int x, int y );
+	StgModel* getModel( int x, int y );
+	bool selected( StgModel* mod );
+	void select( StgModel* mod );
+	void unSelect( StgModel* mod );
+	void unSelectAll();
 
 	inline void PushColor( stg_color_t col )
 	{ colorstack.Push( col ); } 


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[Playerstage-commit] SF.net SVN: playerstage: [6762] code/stage/trunk/libstage/stage.hh

From: <alexcb@us...> - 2008-07-04 15:01:17

Revision: 6762
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6762&view=rev
Author:   alexcb
Date:     2008-07-04 15:01:25 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
fixed infinite scrolling bug when camera pitch is 90degrees

Modified Paths:
--------------
    code/stage/trunk/libstage/stage.hh

Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh	2008-07-04 21:53:04 UTC (rev 6761)
+++ code/stage/trunk/libstage/stage.hh	2008-07-04 22:01:25 UTC (rev 6762)
@@ -1870,6 +1870,12 @@
 			//adjust for pitch angle
 			y = y / cos( dtor( _pitch ) );
 
+			//don't allow huge values
+			if( y > 100 ) 
+				y = 100;
+			else if( y < -100 ) 
+				y = -100;
+
 			//adjust for yaw angle
 			_x += cos( dtor( _yaw ) ) * x;
 			_y += -sin( dtor( _yaw ) ) * x;


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[Playerstage-commit] SF.net SVN: playerstage: [6761] code/stage/trunk

From: <rtv@us...> - 2008-07-04 14:52:56

Revision: 6761
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6761&view=rev
Author:   rtv
Date:     2008-07-04 14:53:04 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
fixed vertexarray bug

Modified Paths:
--------------
    code/stage/trunk/examples/ctrl/swarmbenchmark.cc
    code/stage/trunk/libstage/canvas.cc
    code/stage/trunk/libstage/model.cc
    code/stage/trunk/libstage/model_camera.cc
    code/stage/trunk/libstage/model_laser.cc
    code/stage/trunk/libstage/model_ranger.cc
    code/stage/trunk/worlds/everything.world
    code/stage/trunk/worlds/pioneer.inc
    code/stage/trunk/worlds/swarmbenchmark/cave.world

Modified: code/stage/trunk/examples/ctrl/swarmbenchmark.cc
===================================================================
--- code/stage/trunk/examples/ctrl/swarmbenchmark.cc	2008-07-04 19:55:31 UTC (rev 6760)
+++ code/stage/trunk/examples/ctrl/swarmbenchmark.cc	2008-07-04 21:53:04 UTC (rev 6761)
@@ -14,10 +14,6 @@
 #include "stage.hh"
 using namespace Stg;
 
-static double minfrontdistance = 0.750;
-static double speed = 0.400;
-static double turnrate = M_PI/3.0;
-
 typedef struct
 {
 	StgModelLaser* laser;
@@ -25,10 +21,10 @@
 	StgModelRanger* ranger;
 } robot_t;
 
-#define VSPEED 0.4 // meters per second
-#define WGAIN 1.0 // turn speed gain
+#define VSPEED 0.5 // meters per second
+#define WGAIN 1.5 // turn speed gain
 #define SAFE_DIST 0.6 // meters
-#define SAFE_ANGLE 0.25 // radians
+#define SAFE_ANGLE 1 // radians
 
 // forward declare
 int RangerUpdate( StgModel* mod, robot_t* robot );
@@ -48,8 +44,8 @@
   robot->ranger->AddUpdateCallback( (stg_model_callback_t)RangerUpdate, robot );
 
   // subscribe to the laser, though we don't use it for navigating
-  robot->laser = (StgModelLaser*)mod->GetModel( "laser:0" );
-  assert( robot->laser );
+  //robot->laser = (StgModelLaser*)mod->GetModel( "laser:0" );
+  //assert( robot->laser );
   //robot->laser->Subscribe();
 
   return 0; //ok
@@ -71,6 +67,8 @@
 		
 		dx += srange * cos( rgr->sensors[s].pose.a );
 		dy += srange * sin( rgr->sensors[s].pose.a );
+
+		//printf( "sensor %d angle= %.2f\n", s, rgr->sensors[s].pose.a );	 
 	 }
   
   if( (dx == 0) || (dy == 0) )
@@ -84,15 +82,21 @@
   double side_speed = 0.0;	   
   double turn_speed = WGAIN * resultant_angle;
   
-  int forward = rgr->sensor_count/2 -1 ;
+  //printf( "resultant %.2f turn_speed %.2f\n", resultant_angle, turn_speed );
+
+  int forward = 0 ;
   // if the front is clear, drive forwards
-  if( (rgr->samples[forward-1] > SAFE_DIST/5.0) &&
-		(rgr->samples[forward  ] > SAFE_DIST) &&
-		(rgr->samples[forward+1] > SAFE_DIST/5.0) && 
+  if( (rgr->samples[0] > SAFE_DIST) &&
+		(rgr->samples[1] > SAFE_DIST/2.0) &&
+		(rgr->samples[2] > SAFE_DIST/5.0) && 
+		(rgr->samples[15] > SAFE_DIST/2.0) && 
+		(rgr->samples[14] > SAFE_DIST/5.0) && 
 		(fabs( resultant_angle ) < SAFE_ANGLE) )
 	 {
 		forward_speed = VSPEED;
 	 }
+
+  //printf( "forward angle = %.2f\n", rgr->sensors[forward].pose.a );
   
   // 	// send a command to the robot
   // 	stg_velocity_t vel;

Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc	2008-07-04 19:55:31 UTC (rev 6760)
+++ code/stage/trunk/libstage/canvas.cc	2008-07-04 21:53:04 UTC (rev 6761)
@@ -874,8 +874,8 @@
       glHint( GL_LINE_SMOOTH_HINT, GL_FASTEST );
       glDepthMask( GL_TRUE );
       glEnable( GL_TEXTURE_2D );
+		glEnableClientState( GL_VERTEX_ARRAY );
 
-
       //TODO find a better home for loading textures
       if( loaded_texture == false ) {
 	std::string fullpath = world->fileMan->fullPath( "stall.png" );

Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc	2008-07-04 19:55:31 UTC (rev 6760)
+++ code/stage/trunk/libstage/model.cc	2008-07-04 21:53:04 UTC (rev 6761)
@@ -1181,7 +1181,7 @@
   PushLocalCoords();
   DataVisualize(); // virtual function overridden by most model types  
 
-  // shift to top of this model
+  // shift to top of this model - why is this not necessary?
   glTranslatef( 0,0, geom.size.z );
 
   // and draw the children

Modified: code/stage/trunk/libstage/model_camera.cc
===================================================================
--- code/stage/trunk/libstage/model_camera.cc	2008-07-04 19:55:31 UTC (rev 6760)
+++ code/stage/trunk/libstage/model_camera.cc	2008-07-04 21:53:04 UTC (rev 6761)
@@ -329,7 +329,7 @@
 	}
 	
 
-	glEnableClientState( GL_VERTEX_ARRAY );
+	//glEnableClientState( GL_VERTEX_ARRAY );
 	glEnableClientState( GL_COLOR_ARRAY );
 	
 	glVertexPointer( 3, GL_FLOAT, 0, _camera_quads );

Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc	2008-07-04 19:55:31 UTC (rev 6760)
+++ code/stage/trunk/libstage/model_laser.cc	2008-07-04 21:53:04 UTC (rev 6761)
@@ -318,9 +318,18 @@
       data_dirty = false;
 
       glNewList( data_dl, GL_COMPILE );
-      
+		//glEnableClientState( GL_VERTEX_ARRAY );     
       glTranslatef( 0,0, geom.size.z/2.0 ); // shoot the laser beam out at the right height
       
+      PushColor( 0, 0, 1, 0.5 );
+      
+      glPointSize( 4.0 );
+
+		// DEBUG - draw the origin of the laser beams
+		glBegin( GL_POINTS );
+		glVertex2f( 0,0 );
+		glEnd();
+		
       // pack the laser hit points into a vertex array for fast rendering
       static float* pts = NULL;
       pts = (float*)g_realloc( pts, 2 * (sample_count+1) * sizeof(float));
@@ -328,10 +337,7 @@
       pts[0] = 0.0;
       pts[1] = 0.0;
       
-      PushColor( 0, 0, 1, 0.5 );
       
-      glPointSize( 4.0 );
-      
       glVertexPointer( 2, GL_FLOAT, 0, pts );
       
       for( unsigned int s=0; s<sample_count; s++ )
@@ -379,7 +385,7 @@
       glDepthMask( GL_TRUE );
 
 
-      
+		//glDisableClientState( GL_VERTEX_ARRAY );           
       glEndList();
     }
   

Modified: code/stage/trunk/libstage/model_ranger.cc
===================================================================
--- code/stage/trunk/libstage/model_ranger.cc	2008-07-04 19:55:31 UTC (rev 6760)
+++ code/stage/trunk/libstage/model_ranger.cc	2008-07-04 21:53:04 UTC (rev 6761)
@@ -80,9 +80,12 @@
 #include <math.h>
 
 static const stg_watts_t DEFAULT_RANGER_WATTSPERSENSOR = 0.2;
-static const stg_meters_t DEFAULT_RANGER_SIZEX = 0.01;
-static const stg_meters_t DEFAULT_RANGER_SIZEY = 0.04;
-static const stg_meters_t DEFAULT_RANGER_SIZEZ = 0.04;
+static const stg_meters_t DEFAULT_RANGER_SIZEX = 0.4;
+static const stg_meters_t DEFAULT_RANGER_SIZEY = 0.4;
+static const stg_meters_t DEFAULT_RANGER_SIZEZ = 0.05;
+static const stg_meters_t DEFAULT_RANGER_TRANSDUCER_SIZEX = 0.01;
+static const stg_meters_t DEFAULT_RANGER_TRANSDUCER_SIZEY = 0.04;
+static const stg_meters_t DEFAULT_RANGER_TRANSDUCER_SIZEZ = 0.04;
 static const stg_meters_t DEFAULT_RANGER_RANGEMAX = 5.0;
 static const stg_meters_t DEFAULT_RANGER_RANGEMIN = 0.0;
 static const unsigned int DEFAULT_RANGER_RAYCOUNT = 3;
@@ -113,12 +116,16 @@
 
 	stg_geom_t geom;
 	memset( &geom, 0, sizeof(geom)); // no size
+	geom.size.x = DEFAULT_RANGER_SIZEX;
+	geom.size.y = DEFAULT_RANGER_SIZEY;
+	geom.size.z = DEFAULT_RANGER_SIZEZ;
 	this->SetGeom( geom );
 
 	samples = NULL;
 	sensor_count = DEFAULT_RANGER_SENSORCOUNT;
 	sensors = new stg_ranger_sensor_t[sensor_count];
 
+	// spread the transducers around the ranger's body
 	double offset = MIN(geom.size.x, geom.size.y) / 2.0;
 
 	// create default ranger config
@@ -127,11 +134,11 @@
 		sensors[c].pose.a = (2.0*M_PI)/sensor_count * c;
 		sensors[c].pose.x = offset * cos( sensors[c].pose.a );
 		sensors[c].pose.y = offset * sin( sensors[c].pose.a );
-		sensors[c].pose.z = 0;//geom.size.z / 2.0; // half way up
+		sensors[c].pose.z = geom.size.z / 2.0; // half way up
 
-		sensors[c].size.x = DEFAULT_RANGER_SIZEX;
-		sensors[c].size.y = DEFAULT_RANGER_SIZEY;
-		sensors[c].size.z = DEFAULT_RANGER_SIZEZ;
+		sensors[c].size.x = DEFAULT_RANGER_TRANSDUCER_SIZEX;
+		sensors[c].size.y = DEFAULT_RANGER_TRANSDUCER_SIZEY;
+		sensors[c].size.z = DEFAULT_RANGER_TRANSDUCER_SIZEZ;
 
 		sensors[c].bounds_range.min = DEFAULT_RANGER_RANGEMIN;
 		sensors[c].bounds_range.max = DEFAULT_RANGER_RANGEMAX;;
@@ -356,11 +363,6 @@
 		{ 
 			stg_ranger_sensor_t* rngr = &sensors[s];
 
-			//double dx =  rngr->size.x/2.0;
-			//double dy =  rngr->size.y/2.0;
-			//double dz =  rngr->size.z/2.0;
-
-
 			// sensor FOV 
 			double sidelen = samples[s];
 			double da = rngr->fov/2.0;
@@ -384,12 +386,13 @@
 	glDepthMask( GL_FALSE );
 	glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
 	PushColor( 0, 1, 0, 0.1 ); // transparent pale green       
-	glEnableClientState( GL_VERTEX_ARRAY );
+	//glEnableClientState( GL_VERTEX_ARRAY );
 	glVertexPointer( 3, GL_FLOAT, 0, pts );
 	glDrawArrays( GL_TRIANGLES, 0, 3 * sensor_count );
 
 	// restore state 
 	glDepthMask( GL_TRUE );
+	//glDisableClientState( GL_VERTEX_ARRAY );
 	PopColor();
 }
 

Modified: code/stage/trunk/worlds/everything.world
===================================================================
--- code/stage/trunk/worlds/everything.world	2008-07-04 19:55:31 UTC (rev 6760)
+++ code/stage/trunk/worlds/everything.world	2008-07-04 21:53:04 UTC (rev 6761)
@@ -18,8 +18,8 @@
 
 window( 
   size [ 1059.000 541.000 ] 
-  center [-3.707 -1.447] 
-  scale 25.877 # pixels per meter
+  center [-6.333 2.011] 
+  scale 80.217 # pixels per meter
 )
 
 floorplan( 
@@ -47,44 +47,44 @@
 
 puck( pose [-9.114 2.467 -105.501 ] color "red" )
 puck( pose [-9.045 2.624 -37.717 ] color "purple" )
-puck( pose [-8.959 2.752 -461.643 ] color "orange" )
+puck( pose [-8.959 2.752 -101.643 ] color "orange" )
 
 
+ranger( alwayson 1 )
+
+ sicklaser( pose [0.030 0.000 0.000 ] alwayson 1  )
+
+
 # extend the pioneer2dx definition from pioneer.inc
 #
 define trickedoutpioneer pioneer2dx
 (
-  sicklaser( alwayson 1
-    pose [0.030 0.000 0.000 ]
-    fiducial( range_max 8 range_max_id 5 ) 
+	ranger( alwayson 1 )
 
-      blobfinder( alwayson 1
+  sicklaser( pose [0.030 0.000 0.000 ] alwayson 1  )
+
+  fiducial( range_max 8 range_max_id 5 ) 
+
+  blobfinder( 
         channel_count 6 
         channels [ "red" "blue" "green" "cyan" "yellow" "magenta" ]  
+		  alwayson 1
     )
-  )
+  
+  #camera( alwayson 1 )
 
-
   fiducial_return 17
   gripper_return 0
 
   localization "gps"
   localization_origin [ 0 0 0 ]
-
-#  bumper( bcount 3  
-#	  blength 0.2
-#          bpose[0] [0 -0.165  90]
-#          bpose[1] [0  0.165 -90] 
-#          bpose[2] [-0.26  0 0] 
-#	  blength[2] 0.1 # set the length of a single bumper
-#        )
 )
 
 
 trickedoutpioneer
 (
   name "robot1"
-  pose [-10.071 3.186 -722.333]
+  pose [-10.071 3.186 -2.333]
 
   #gripper( pose [0.23 0.000 0.000] color "gray" )
   #speech()
@@ -105,21 +105,21 @@
   fiducial_return 18	
   color "blue"
   name "p2"
-  pose [-6.009 2.481 -194.220]
+  pose [-6.009 2.481 165.780]
 )
 
 trickedoutpioneer
 (
   color "green"
   name "p3"
-  pose [-6.492 2.156 -199.781]
+  pose [-6.492 2.156 160.219]
 )
 
 trickedoutpioneer
 (
   color "cyan"
   name "p4"
-  pose [-7.641 3.989 -487.216]
+  pose [-7.641 3.989 -127.216]
 )
 
 trickedoutpioneer
@@ -165,5 +165,5 @@
 
 roomba(
   name "roomba1"
-  pose [-9 0.5 0]
+  pose [-9.000 0.500 0.000]
 )

Modified: code/stage/trunk/worlds/pioneer.inc
===================================================================
--- code/stage/trunk/worlds/pioneer.inc	2008-07-04 19:55:31 UTC (rev 6760)
+++ code/stage/trunk/worlds/pioneer.inc	2008-07-04 21:53:04 UTC (rev 6761)
@@ -52,7 +52,7 @@
 
   # use the sonar array defined above with a small vertical offset to
   # drop the sensors into the robot body
-  p2dx_sonar( pose4 [0.04 0 -0.03 0] ) 
+  #p2dx_sonar( pose4 [0.04 0 -0.03 0] ) 
 
   # differential steering model
   drive "diff"

Modified: code/stage/trunk/worlds/swarmbenchmark/cave.world
===================================================================
--- code/stage/trunk/worlds/swarmbenchmark/cave.world	2008-07-04 19:55:31 UTC (rev 6760)
+++ code/stage/trunk/worlds/swarmbenchmark/cave.world	2008-07-04 21:53:04 UTC (rev 6761)
@@ -8,17 +8,17 @@
 
 resolution 0.02    # resolution of the underlying raytrace mode
 interval_sim 100  # simulation timestep in milliseconds
-interval_real 10  # real-time interval between simulation updates in milliseconds 
+interval_real 100  # real-time interval between simulation updates in milliseconds 
 
 paused 1
 
 # configure the GUI window
 window
 (
-  size [ 1000.000 1000.000 ] 
   center [-0.932 -0.088]
   rotate [ -61.500 -50.000 ]
   scale 51.828 
+  interval 10
 )
 
 floorplan
@@ -32,10 +32,11 @@
 define rob fancypioneer2dx
 (
  fancysicklaser( pose [ 0.040 0.000 0.000 ] samples 180 ) 
+ ranger( pose4 [ 0 0 -0.05 0 ] )
+
  ctrl "swarmbenchmark"
 )
 
-
 define redrob rob( color "red" )
 define greenrob rob( color "green" )
 define magentarob rob( color "magenta" )
@@ -58,7 +59,7 @@
 redrob( pose [-4.393 4.938 114.269] )
 redrob( pose [-6.277 4.252 -97.494] )
 redrob( pose [-5.202 5.566 -89.743] )
-
+#
 bluerob( pose [-7.014 6.409 -103.088] )
 bluerob( pose [-6.139 5.649 -29.509] )
 bluerob( pose [-6.315 6.277 -35.740] )
@@ -69,7 +70,7 @@
 bluerob( pose [-6.810 4.727 -41.884] )
 bluerob( pose [-7.415 7.485 -14.803] )
 bluerob( pose [-6.722 7.120 -70.950] )
-
+#
 greenrob( pose [-2.686 6.660 -20.602] )
 greenrob( pose [-3.274 5.174 63.058] )
 greenrob( pose [-2.477 6.075 -93.720] )


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[Playerstage-commit] SF.net SVN: playerstage: [6760] code/stage/trunk/libstage

From: <alexcb@us...> - 2008-07-04 12:55:25

Revision: 6760
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6760&view=rev
Author:   alexcb
Date:     2008-07-04 12:55:31 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
fixed drawing issue with laser and camera

Modified Paths:
--------------
    code/stage/trunk/libstage/model_camera.cc
    code/stage/trunk/libstage/model_laser.cc

Modified: code/stage/trunk/libstage/model_camera.cc
===================================================================
--- code/stage/trunk/libstage/model_camera.cc	2008-07-04 18:18:25 UTC (rev 6759)
+++ code/stage/trunk/libstage/model_camera.cc	2008-07-04 19:55:31 UTC (rev 6760)
@@ -237,16 +237,17 @@
 
 //TODO create lines outlining camera frustrum, then iterate over each depth measurement and create a square
 void StgModelCamera::DataVisualize( void )
-{
+{	
+	
 	if( _frame_data == NULL || !showCameraData )
 		return;
-
+	
 	float w_fov = _camera.horizFov();
 	float h_fov = _camera.vertFov();
-	
+
 	float start_fov = w_fov / 2.0 + 180.0; //start at right
 	float start_vert_fov = h_fov / 2.0 + 90.0; //start at top
-		
+
 	int w = _width;
 	int h = _height;
 	float a_space = w_fov / w; //degrees between each sample
@@ -284,7 +285,6 @@
 		_valid_vertexbuf_cache = true;
 	}
 	
-	glTranslatef( 0, 0, CAMERA_HEIGHT / 2.0 );
 	glDisable( GL_CULL_FACE );
 	glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
 	//glBegin( GL_QUADS );

Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc	2008-07-04 18:18:25 UTC (rev 6759)
+++ code/stage/trunk/libstage/model_laser.cc	2008-07-04 19:55:31 UTC (rev 6760)
@@ -310,6 +310,8 @@
   if ( ! (showLaserData || showLaserStrikes) )
     return;
     
+	glPushMatrix();
+	
   // we only regenerate the list if there's new data
   if( data_dirty )
     {	    
@@ -383,4 +385,5 @@
   
   glCallList( data_dl );
 	    
+	glPopMatrix();
 }


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[Playerstage-commit] SF.net SVN: playerstage: [6759] code/stage/trunk

From: <alexcb@us...> - 2008-07-04 11:18:16

Revision: 6759
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6759&view=rev
Author:   alexcb
Date:     2008-07-04 11:18:25 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
fixed stall icon positioning for perspective camera mode

Modified Paths:
--------------
    code/stage/trunk/CMakeLists.txt
    code/stage/trunk/libstage/camera.cc
    code/stage/trunk/libstage/canvas.cc
    code/stage/trunk/libstage/model.cc
    code/stage/trunk/libstage/model_camera.cc
    code/stage/trunk/libstage/stage.hh
    code/stage/trunk/worlds/everything.world
    code/stage/trunk/worlds/fasr.world
    code/stage/trunk/worlds/pantilt.inc
    code/stage/trunk/worlds/swarmbenchmark/cave.world

Modified: code/stage/trunk/CMakeLists.txt
===================================================================
--- code/stage/trunk/CMakeLists.txt	2008-07-04 17:44:35 UTC (rev 6758)
+++ code/stage/trunk/CMakeLists.txt	2008-07-04 18:18:25 UTC (rev 6759)
@@ -80,6 +80,7 @@
 include_directories( . 
 		     libstage 
 		     replace 
+			 /opt/local/include/
 		     ${GLIB_INCLUDE_DIRS} 
                      ${LIBPNG_INCLUDE_DIRS}
 		     ${CMAKE_INCLUDE_PATH}

Modified: code/stage/trunk/libstage/camera.cc
===================================================================
--- code/stage/trunk/libstage/camera.cc	2008-07-04 17:44:35 UTC (rev 6758)
+++ code/stage/trunk/libstage/camera.cc	2008-07-04 18:18:25 UTC (rev 6759)
@@ -14,8 +14,9 @@
 //perspective camera
 //perspective camera
 StgPerspectiveCamera::StgPerspectiveCamera( void ) : 
-		_x( 0 ), _y( 0 ), _z( 0 ), _pitch( 90 ), _yaw( 0 ), _z_near( 0.2 ), _z_far( 40.0 ), _vert_fov( 40 ), _horiz_fov( 60 ), _aspect( 1.0 )
+		_z_near( 0.2 ), _z_far( 40.0 ), _vert_fov( 40 ), _horiz_fov( 60 ), _aspect( 1.0 )
 {
+	setYaw( 90 );
 }
 
 void StgPerspectiveCamera::move( float x, float y, float z )

Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc	2008-07-04 17:44:35 UTC (rev 6758)
+++ code/stage/trunk/libstage/canvas.cc	2008-07-04 18:18:25 UTC (rev 6759)
@@ -65,6 +65,7 @@
 
   perspective_camera.setPose( -3.0, 0.0, 1.0 );
   perspective_camera.setPitch( 70.0 ); //look down
+  current_camera = &camera;
 	
   startx = starty = 0;
   //panx = pany = stheta = sphi = 0.0;
@@ -925,10 +926,12 @@
       if( perspectiveCam == true ) {
 	perspective_camera.setAspect( static_cast< float >( w() ) / static_cast< float >( h() ) );
 	perspective_camera.SetProjection();
+		  current_camera = &perspective_camera;
       } else {
 	stg_bounds3d_t extent = world->GetExtent();
 	camera.SetProjection( w(), h(), extent.y.min, extent.y.max );
 	camera.Draw();
+		  current_camera = &camera;
       }
 
       // enable vertex arrays

Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc	2008-07-04 17:44:35 UTC (rev 6758)
+++ code/stage/trunk/libstage/model.cc	2008-07-04 18:18:25 UTC (rev 6759)
@@ -915,9 +915,17 @@
   // draw speech bubble
   if( say_string )
     {
-      float stheta = -dtor( canvas->camera.getPitch() );
-      float sphi = dtor( canvas->camera.getYaw() );
+      float stheta = -dtor( canvas->current_camera->pitch() );
+      float sphi = dtor( canvas->current_camera->yaw() );
       float scale = canvas->camera.getScale();
+		if( canvas->perspectiveCam == true ) {
+			sphi = atan2(
+						 ( pose.x - canvas->current_camera->x() )
+						 ,
+						 ( pose.y - canvas->current_camera->y() )
+						 );
+			stheta = -stheta;
+		}
 		
       glPushMatrix();
 		
@@ -969,8 +977,16 @@
 
 void StgModel::DrawImage( uint32_t texture_id, Stg::StgCanvas* canvas, float alpha )
 {
-  float stheta = -dtor( canvas->camera.getPitch() );
-  float sphi = dtor( canvas->camera.getYaw() );
+  float stheta = -dtor( canvas->current_camera->pitch() );
+  float sphi = dtor( canvas->current_camera->yaw() );
+	if( canvas->perspectiveCam == true ) {
+		sphi = atan2(
+			( pose.x - canvas->current_camera->x() )
+			,
+			( pose.y - canvas->current_camera->y() )
+		);
+		stheta = -stheta;
+	}
 
   glEnable(GL_TEXTURE_2D);
   glBindTexture( GL_TEXTURE_2D, texture_id );

Modified: code/stage/trunk/libstage/model_camera.cc
===================================================================
--- code/stage/trunk/libstage/model_camera.cc	2008-07-04 17:44:35 UTC (rev 6758)
+++ code/stage/trunk/libstage/model_camera.cc	2008-07-04 18:18:25 UTC (rev 6759)
@@ -19,8 +19,8 @@
 
 Option StgModelCamera::showCameraData( "Show Camera Data", "show_camera", "", true );
 
-static const stg_size_t DEFAULT_SIZE = {0.15, 0.15, 0.2 };
-static const char DEFAULT_GEOM_COLOR[] = "blue";
+static const stg_size_t DEFAULT_SIZE = {0.1, 0.07, 0.05 };
+static const char DEFAULT_GEOM_COLOR[] = "black";
 
 /**
  @ingroup model

Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh	2008-07-04 17:44:35 UTC (rev 6758)
+++ code/stage/trunk/libstage/stage.hh	2008-07-04 18:18:25 UTC (rev 6759)
@@ -1781,12 +1781,24 @@
 
 class StgCamera 
 {
+	protected:
+		float _pitch; //left-right (about y)
+		float _yaw; //up-down (about x)
+		float _x, _y, _z;
+	
 	public:
-		StgCamera() { }
+		StgCamera() : _pitch( 0 ), _yaw( 0 ), _x( 0 ), _y( 0 ), _z( 0 ) { }
 		virtual ~StgCamera() { }
 
 		virtual void Draw( void ) const = 0;
 
+		inline float yaw( void ) const { return _yaw; }
+		inline float pitch( void ) const { return _pitch; }
+	
+		inline float x( void ) const { return _x; }
+		inline float y( void ) const { return _y; }
+		inline float z( void ) const { return _z; }
+
 		//TODO data should be passed in somehow else. (at least min/max stuff)
 		//virtual void SetProjection( float pixels_width, float pixels_height, float y_min, float y_max ) const = 0;
 };
@@ -1794,9 +1806,6 @@
 class StgPerspectiveCamera : public StgCamera
 {
 	private:
-		float _x, _y, _z;
-		float _pitch; //left-right (about y)
-		float _yaw; //up-down (about x)
 
 		float _z_near;
 		float _z_far;
@@ -1826,8 +1835,6 @@
 			_aspect = aspect;
 		}
 		inline void setYaw( float yaw ) { _yaw = yaw; }
-		inline float yaw( void ) const { return _yaw; }
-		inline float pitch( void ) const { return _pitch; }
 		inline float horizFov( void ) const { return _horiz_fov; }
 		inline float vertFov( void ) const { return _vert_fov; }
 		inline void addYaw( float yaw ) { _yaw += yaw; }
@@ -1848,13 +1855,10 @@
 class StgOrthoCamera : public StgCamera
 {
 	private:
-		float _x, _y, _z;
-		float _pitch; //left-right (about y)
-		float _yaw; //up-down (about x)
 		float _scale;
 
 	public:
-		StgOrthoCamera( void ) : _x( 0 ), _y( 0 ), _z( 0 ), _pitch( 0 ), _yaw( 0 ), _scale( 15 ) { }
+		StgOrthoCamera( void ) : _scale( 15 ) { }
 		virtual void Draw() const;
 		virtual void SetProjection( float pixels_width, float pixels_height, float y_min, float y_max ) const;
 
@@ -1913,6 +1917,7 @@
 private:
   GlColorStack colorstack;
   
+  StgCamera* current_camera;
   StgOrthoCamera camera;
   StgPerspectiveCamera perspective_camera;
   

Modified: code/stage/trunk/worlds/everything.world
===================================================================
--- code/stage/trunk/worlds/everything.world	2008-07-04 17:44:35 UTC (rev 6758)
+++ code/stage/trunk/worlds/everything.world	2008-07-04 18:18:25 UTC (rev 6759)
@@ -64,7 +64,6 @@
     )
   )
 
-  camera( alwayson 1 )
 
   fiducial_return 17
   gripper_return 0
@@ -94,8 +93,11 @@
 trickedoutpioneer
 (
   color "red"
-  name "redrobot"
+  name "redrobot_w_camera"
   pose [-5.645 3.034 -162.098]
+  camera( alwayson 1 
+	  
+	  )
 )
 
 trickedoutpioneer

Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world	2008-07-04 17:44:35 UTC (rev 6758)
+++ code/stage/trunk/worlds/fasr.world	2008-07-04 18:18:25 UTC (rev 6759)
@@ -21,10 +21,10 @@
 # configure the GUI window
 window
 ( 
-  size [ 1641.000 953.000 ] 
-  center [0.265 0.145] 
-  rotate [ -57.500 -29.500 ]
-  scale 62.271 
+  size [ 833.000 605.000 ] 
+  center [0.000 0.000] 
+  rotate [ -47.500 -12.500 ]
+  scale 32.344 
   
   show_data 0
   show_flags 1
@@ -59,15 +59,17 @@
 (
  color "red"
 
- sicklaser( pose [ 0.040 0.000 0.000 ] samples 30 range_max 5 laser_return 2  )
- camera( pose [ 0.000 0.000 0.000 ] width 100 height 100 horizfov 70 vertfov 40 yaw 0 )
+ sicklaser( pose [ 0.040 0.000 0.000 ] samples 30 range_max 5 laser_return 2  
+	 
+   camera( pose [ 0.000 0.000 0.000 ] width 100 height 100 horizfov 70 vertfov 40 yaw 0 )
+ )
  ctrl "fasr"
 
- # say "Autolab"
+# say "Autolab"
 )
 
 
-autorob( pose [4.461 6.406 1.930]  )
+autorob( pose [1.633 4.021 1.930]  )
 #autorob( pose [6.635 6.458 -52.629] )
 #autorob( pose [6.385 5.805 -87.082] )
 #autorob( pose [7.004 5.327 170.536] )

Modified: code/stage/trunk/worlds/pantilt.inc
===================================================================
--- code/stage/trunk/worlds/pantilt.inc	2008-07-04 17:44:35 UTC (rev 6758)
+++ code/stage/trunk/worlds/pantilt.inc	2008-07-04 18:18:25 UTC (rev 6759)
@@ -17,6 +17,17 @@
 )
 
 #TODO make a fancier model
-#define fancypantiltcamer pantiltcamera
-#(
-#)
+define fancypantiltcamer pantiltcamera
+(
+   blocks 1
+
+  # bottom
+  block[0].points 4
+  block[0].point[0] [ -2.1 0.07 ]
+  block[0].point[1] [ -2.1 -0.07 ]
+  block[0].point[2] [  2.1 -0.07 ]
+  block[0].point[3] [  2.1 0.07 ]
+  block[0].z [0 0.2 ]
+
+
+)

Modified: code/stage/trunk/worlds/swarmbenchmark/cave.world
===================================================================
--- code/stage/trunk/worlds/swarmbenchmark/cave.world	2008-07-04 17:44:35 UTC (rev 6758)
+++ code/stage/trunk/worlds/swarmbenchmark/cave.world	2008-07-04 18:18:25 UTC (rev 6759)
@@ -17,7 +17,7 @@
 (
   size [ 1000.000 1000.000 ] 
   center [-0.932 -0.088]
-  rotate [ 0.000 0.000 ]
+  rotate [ -61.500 -50.000 ]
   scale 51.828 
 )
 
@@ -48,114 +48,114 @@
 define goldrob rob( color "gold" )
 define darkredrob rob( color "DarkRed" )
 
-redrob( pose [-5.285 4.915 158.268] )
-redrob( pose [-4.464 5.679 -52.629] )
-redrob( pose [-5.518 4.157 22.445] )
-redrob( pose [-6.007 5.008 156.191] )
-redrob( pose [-5.559 3.371 -109.062] )
-redrob( pose [-6.932 3.655 89.455] )
-redrob( pose [-7.521 4.062 -164.935] )
-redrob( pose [-4.377 4.901 -103.425] )
-redrob( pose [-6.277 4.252 -57.759] )
-redrob( pose [-5.216 5.750 -57.823] )
+redrob( pose [-5.285 4.915 150.459] )
+redrob( pose [-4.432 5.655 -85.494] )
+redrob( pose [-5.518 4.157 -10.236] )
+redrob( pose [-6.007 5.008 144.441] )
+redrob( pose [-5.599 3.365 -172.038] )
+redrob( pose [-6.852 3.655 4.679] )
+redrob( pose [-7.483 4.049 -12.199] )
+redrob( pose [-4.393 4.938 114.269] )
+redrob( pose [-6.277 4.252 -97.494] )
+redrob( pose [-5.202 5.566 -89.743] )
 
-bluerob( pose [-6.984 6.565 -113.456] )
-bluerob( pose [-6.243 5.709 -1.177] )
-bluerob( pose [-6.382 6.320 46.585] )
-bluerob( pose [-7.527 6.162 135.162] )
-bluerob( pose [-6.973 5.568 -3.588] )
-bluerob( pose [-7.611 6.835 93.535] )
-bluerob( pose [-7.601 5.135 -35.760] )
-bluerob( pose [-6.983 4.818 -17.538] )
-bluerob( pose [-7.415 7.485 -23.903] )
-bluerob( pose [-6.738 7.157 -17.092] )
+bluerob( pose [-7.014 6.409 -103.088] )
+bluerob( pose [-6.139 5.649 -29.509] )
+bluerob( pose [-6.315 6.277 -35.740] )
+bluerob( pose [-7.527 6.162 -18.380] )
+bluerob( pose [-6.897 5.544 -2.394] )
+bluerob( pose [-7.535 6.860 11.282] )
+bluerob( pose [-7.332 5.061 -0.348] )
+bluerob( pose [-6.810 4.727 -41.884] )
+bluerob( pose [-7.415 7.485 -14.803] )
+bluerob( pose [-6.722 7.120 -70.950] )
 
-greenrob( pose [-2.693 6.699 -97.306] )
-greenrob( pose [-3.304 5.100 2.962] )
-greenrob( pose [-2.477 6.075 -120.224] )
-greenrob( pose [-3.507 5.901 -82.019] )
-greenrob( pose [-2.462 7.492 -143.143] )
-greenrob( pose [-1.908 6.870 -5.633] )
-greenrob( pose [-1.583 6.080 -95.405] )
-greenrob( pose [-0.600 7.526 0.097] )
-greenrob( pose [-0.563 6.815 -52.433] )
-greenrob( pose [-1.367 7.506 163.390] )
+greenrob( pose [-2.686 6.660 -20.602] )
+greenrob( pose [-3.274 5.174 63.058] )
+greenrob( pose [-2.477 6.075 -93.720] )
+greenrob( pose [-3.473 5.829 -57.467] )
+greenrob( pose [-2.462 7.492 -65.482] )
+greenrob( pose [-1.836 6.835 -59.739] )
+greenrob( pose [-1.654 6.043 -171.672] )
+greenrob( pose [-0.519 7.392 -67.052] )
+greenrob( pose [-0.563 6.815 -106.072] )
+greenrob( pose [-1.404 7.436 -110.338] )
 
-magentarob( pose [1.702 7.364 -37.146] )
-magentarob( pose [2.628 6.716 -88.712] )
-magentarob( pose [2.686 5.754 -17.092] )
-magentarob( pose [3.723 7.426 160.525] )
-magentarob( pose [2.625 7.473 108.959] )
-magentarob( pose [3.460 6.754 -24.723] )
-magentarob( pose [3.418 5.967 -85.847] )
-magentarob( pose [0.349 7.510 0.097] )
-magentarob( pose [1.769 6.270 -17.092] )
-magentarob( pose [0.561 6.752 -27.588] )
+magentarob( pose [1.731 7.249 -92.107] )
+magentarob( pose [2.586 6.521 -100.329] )
+magentarob( pose [3.001 5.447 -46.977] )
+magentarob( pose [3.611 7.214 -116.841] )
+magentarob( pose [2.625 7.473 -48.982] )
+magentarob( pose [3.660 6.559 -74.307] )
+magentarob( pose [3.434 5.808 -83.857] )
+magentarob( pose [0.624 7.277 -40.753] )
+magentarob( pose [2.017 6.083 -52.575] )
+magentarob( pose [0.561 6.752 4.367] )
 
-yellowrob( pose [-7.548 3.117 150.967] )
-yellowrob( pose [-6.811 2.501 108.959] )
-yellowrob( pose [-7.632 2.151 -85.847] )
-yellowrob( pose [-7.089 1.777 153.832] )
-yellowrob( pose [-6.317 3.246 -140.278] )
-yellowrob( pose [-6.323 1.862 179.615] )
-yellowrob( pose [-5.979 2.590 -54.334] )
-yellowrob( pose [-5.358 1.495 -62.929] )
-yellowrob( pose [-5.279 2.419 0.097] )
-yellowrob( pose [-4.685 1.709 -62.929] )
+yellowrob( pose [-7.548 3.117 12.515] )
+yellowrob( pose [-6.811 2.501 83.166] )
+yellowrob( pose [-7.475 2.119 -0.137] )
+yellowrob( pose [-7.052 1.708 -48.147] )
+yellowrob( pose [-6.352 3.226 -146.472] )
+yellowrob( pose [-6.323 1.862 -155.344] )
+yellowrob( pose [-5.966 2.552 -75.391] )
+yellowrob( pose [-5.358 1.495 -128.137] )
+yellowrob( pose [-5.279 2.419 32.326] )
+yellowrob( pose [-4.698 1.671 -113.009] )
 
-goldrob( pose [5.734 7.537 -32.379] )
-goldrob( pose [7.335 7.494 63.122] )
-goldrob( pose [6.403 6.182 -19.957] )
-goldrob( pose [7.441 6.661 -88.712] )
-goldrob( pose [5.541 6.778 156.697] )
-goldrob( pose [6.593 6.929 162.426] )
-goldrob( pose [4.757 7.353 -17.092] )
-goldrob( pose [5.228 6.159 -17.092] )
-goldrob( pose [4.738 6.752 -17.092] )
-goldrob( pose [4.217 6.192 -17.092] )
+goldrob( pose [5.834 7.276 -74.706] )
+goldrob( pose [7.335 7.494 -146.899] )
+goldrob( pose [6.407 5.942 -91.539] )
+goldrob( pose [7.258 6.175 -116.576] )
+goldrob( pose [5.541 6.778 -92.857] )
+goldrob( pose [6.564 6.902 -120.722] )
+goldrob( pose [4.799 7.285 -75.638] )
+goldrob( pose [5.271 6.005 -74.373] )
+goldrob( pose [4.769 6.595 -86.730] )
+goldrob( pose [4.340 5.941 -65.977] )
 
-darkredrob( pose [-7.630 0.425 -45.740] )
-darkredrob( pose [-7.571 1.112 -74.388] )
-darkredrob( pose [-6.158 1.168 177.714] )
-darkredrob( pose [-4.509 0.635 24.916] )
-darkredrob( pose [-7.625 -0.265 68.852] )
-darkredrob( pose [-6.805 0.167 23.015] )
-darkredrob( pose [-6.897 0.859 -51.469] )
-darkredrob( pose [-6.055 0.262 25.880] )
-darkredrob( pose [-5.195 0.771 -33.318] )
-darkredrob( pose [-5.483 -0.245 -17.092] )
+darkredrob( pose [-7.630 0.425 -15.747] )
+darkredrob( pose [-7.571 1.112 1.397] )
+darkredrob( pose [-6.158 1.168 32.866] )
+darkredrob( pose [-4.509 0.635 4.689] )
+darkredrob( pose [-7.549 -0.241 1.423] )
+darkredrob( pose [-6.728 0.180 -22.542] )
+darkredrob( pose [-6.824 0.826 -11.285] )
+darkredrob( pose [-6.015 0.257 -2.367] )
+darkredrob( pose [-5.195 0.771 -64.592] )
+darkredrob( pose [-5.483 -0.245 70.044] )
 
-cyanrob( pose [-2.544 4.684 -143.143] )
-cyanrob( pose [-0.542 3.423 32.573] )
-cyanrob( pose [-1.731 4.304 -125.954] )
-cyanrob( pose [-2.152 5.502 -94.441] )
-cyanrob( pose [-2.424 3.799 137.607] )
-cyanrob( pose [-1.440 3.502 -37.145] )
-cyanrob( pose [-2.603 2.866 130.914] )
-cyanrob( pose [-1.958 2.886 -5.633] )
-cyanrob( pose [-2.183 2.102 -3.731] )
-cyanrob( pose [-1.483 5.050 8.691] )
+cyanrob( pose [-2.544 4.684 -134.461] )
+cyanrob( pose [-0.366 3.260 -44.509] )
+cyanrob( pose [-1.760 4.277 -118.276] )
+cyanrob( pose [-2.211 5.401 -160.089] )
+cyanrob( pose [-2.281 3.871 17.255] )
+cyanrob( pose [-1.440 3.502 -67.215] )
+cyanrob( pose [-2.532 2.902 -6.938] )
+cyanrob( pose [-1.919 2.877 -13.437] )
+cyanrob( pose [-1.725 1.970 -17.763] )
+cyanrob( pose [-1.483 5.050 8.818] )
 
-orangerob( pose [-7.692 -2.013 129.012] )
-orangerob( pose [-6.974 -2.159 83.176] )
-orangerob( pose [-6.795 -1.320 -120.224] )
-orangerob( pose [-7.641 -0.996 74.581] )
-orangerob( pose [-6.801 -0.515 -94.441] )
-orangerob( pose [-7.611 -3.107 -103.036] )
-orangerob( pose [-6.788 -3.163 -91.577] )
-orangerob( pose [-6.028 -2.820 -105.900] )
-orangerob( pose [-6.163 -1.853 -45.740] )
-orangerob( pose [-6.026 -0.817 65.987] )
+orangerob( pose [-7.652 -2.012 -0.754] )
+orangerob( pose [-6.934 -2.155 -40.701] )
+orangerob( pose [-6.798 -1.520 -93.732] )
+orangerob( pose [-7.525 -0.994 -9.450] )
+orangerob( pose [-6.679 -0.670 -70.140] )
+orangerob( pose [-7.611 -3.107 -51.626] )
+orangerob( pose [-6.656 -3.665 -70.493] )
+orangerob( pose [-6.139 -3.326 -90.309] )
+orangerob( pose [-6.163 -1.853 -115.649] )
+orangerob( pose [-6.026 -0.817 -11.811] )
 
-purplerob( pose [-3.873 1.694 -97.306] )
-purplerob( pose [-2.893 1.951 -177.520] )
-purplerob( pose [-3.912 1.127 -19.957] )
-purplerob( pose [-3.152 1.184 -114.495] )
-purplerob( pose [-3.878 0.364 -88.712] )
-purplerob( pose [-3.058 0.453 -19.956] )
-purplerob( pose [-3.848 -0.468 -5.633] )
-purplerob( pose [-3.114 -0.386 -60.064] )
-purplerob( pose [-2.506 1.261 -82.982] )
-purplerob( pose [-4.611 -0.180 -17.092] )
+purplerob( pose [-3.863 1.615 -84.575] )
+purplerob( pose [-2.826 1.856 -44.148] )
+purplerob( pose [-3.889 1.094 -50.194] )
+purplerob( pose [-3.124 1.034 -72.759] )
+purplerob( pose [-3.878 0.244 -74.604] )
+purplerob( pose [-2.846 0.345 -36.704] )
+purplerob( pose [-3.651 -0.504 -8.212] )
+purplerob( pose [-2.736 -0.851 -45.703] )
+purplerob( pose [-2.477 1.234 -50.431] )
+purplerob( pose [-4.471 -0.104 26.367] )
 
 


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[Playerstage-commit] SF.net SVN: playerstage: [6758] code/stage/trunk/libstage

From: <jeremy_asher@us...> - 2008-07-04 10:44:31

Revision: 6758
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6758&view=rev
Author:   jeremy_asher
Date:     2008-07-04 10:44:35 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
Extended Option class to allow custom callbacks on menu option selection to permit perspective cam mode to invalidate canvas

Modified Paths:
--------------
    code/stage/trunk/libstage/canvas.cc
    code/stage/trunk/libstage/option.cc
    code/stage/trunk/libstage/option.hh

Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc	2008-07-04 17:07:49 UTC (rev 6757)
+++ code/stage/trunk/libstage/canvas.cc	2008-07-04 17:44:35 UTC (rev 6758)
@@ -201,12 +201,11 @@
 
 int StgCanvas::handle(int event) 
 {
-
-  switch(event) 
-    {
-    case FL_MOUSEWHEEL:
-      if( selected_models )
+	switch(event) 
 	{
+	case FL_MOUSEWHEEL:
+		if( selected_models )
+		{
 	  // rotate all selected models
 	  for( GList* it = selected_models; it; it=it->next )
 	    {
@@ -214,7 +213,7 @@
 	      mod->AddToPose( 0,0,0, 0.1*(double)Fl::event_dy() );
 	    }
 	  redraw();
-	}
+		}
       else
 	{
 	  if( perspectiveCam == true ) {
@@ -759,6 +758,11 @@
   printf( "Saved %s\n", filename );
 }
 
+void perspectiveCb( Fl_Widget* w, void* p ) 
+{
+	StgCanvas* canvas = static_cast<StgCanvas*>( p );
+	canvas->invalidate();
+}
 
 void StgCanvas::createMenuItems( Fl_Menu_Bar* menu, std::string path )
 {
@@ -773,6 +777,7 @@
   showGrid.createMenuItem( menu, path );
   showStatus.createMenuItem( menu, path );
   perspectiveCam.createMenuItem( menu, path );
+  perspectiveCam.menuCallback( perspectiveCb, this );
   showOccupancy.createMenuItem( menu, path );
   showTrailArrows.createMenuItem( menu, path );
   showTrails.createMenuItem( menu, path );

Modified: code/stage/trunk/libstage/option.cc
===================================================================
--- code/stage/trunk/libstage/option.cc	2008-07-04 17:07:49 UTC (rev 6757)
+++ code/stage/trunk/libstage/option.cc	2008-07-04 17:44:35 UTC (rev 6758)
@@ -9,17 +9,13 @@
 wf_token( tok ), 
 shortcut( key ), 
 menu( NULL ),
-menuIndex( -1 )
+menuCb( NULL )
 { }
 
-Option::Option( const Option& o ) : 
-optName( o.optName ), 
-value( o.value ), 
-wf_token( o.wf_token ), 
-shortcut( o.shortcut ), 
-menu( o.menu ),
-menuIndex( o.menuIndex )
-{ }
+Fl_Menu_Item* getMenuItem( Fl_Menu_* menu, int i ) {
+	const Fl_Menu_Item* mArr = menu->menu();
+	return const_cast<Fl_Menu_Item*>( &mArr[ i ] );
+}
 
 
 void Option::Load( Worldfile* wf, int section )
@@ -32,13 +28,20 @@
   wf->WriteInt(section, wf_token.c_str(), value );
 }
 
-void toggleCb( Fl_Widget* w, void* p ) 
+void Option::toggleCb( Fl_Widget* w, void* p ) 
 {
 	//Fl_Menu_* menu = static_cast<Fl_Menu_*>( w );
 	Option* opt = static_cast<Option*>( p );
 	opt->invert();
+	if ( opt->menuCb )
+		opt->menuCb( NULL, opt->menuCbParam );
 }
 
+void Option::menuCallback( Fl_Callback* cb, void* p ) {
+	menuCb = cb;
+	menuCbParam = p;
+}
+
 void Option::createMenuItem( Fl_Menu_Bar* m, std::string path )
 {
 	menu = m;
@@ -47,15 +50,14 @@
 	menuIndex = menu->add( path.c_str(), shortcut.c_str(), 
 				 toggleCb, this, 
 				 FL_MENU_TOGGLE | (value ? FL_MENU_VALUE : 0 ) );
-}		
+}
 
 void Option::set( bool val )
 {
 	value = val;
 
 	if( menu ) {
-		const Fl_Menu_Item* mArr = menu->menu();
-		Fl_Menu_Item* item = const_cast<Fl_Menu_Item*>( &mArr[ menuIndex ] );
+		Fl_Menu_Item* item = getMenuItem( menu, menuIndex );
 		value ? item->set() : item->clear();
 	}
 }

Modified: code/stage/trunk/libstage/option.hh
===================================================================
--- code/stage/trunk/libstage/option.hh	2008-07-04 17:07:49 UTC (rev 6757)
+++ code/stage/trunk/libstage/option.hh	2008-07-04 17:44:35 UTC (rev 6758)
@@ -29,10 +29,11 @@
 		std::string shortcut;
 		Fl_Menu_* menu;
 		int menuIndex;
+		Fl_Callback* menuCb;
+		void* menuCbParam;
 	  
 	public:
 		Option( std::string n, std::string tok, std::string key, bool v );	  
-		Option( const Option& o );
 
 		const std::string name() const { return optName; }
 		inline bool val() const { return value; }
@@ -50,6 +51,8 @@
 
 
 		void createMenuItem( Fl_Menu_Bar* menu, std::string path );
+		void menuCallback( Fl_Callback* cb, void* p );
+		static void toggleCb( Fl_Widget* w, void* p );
 		void Load( Worldfile* wf, int section );
 		void Save( Worldfile* wf, int section );	  
 	};


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[Playerstage-commit] SF.net SVN: playerstage: [6757] code/stage/trunk/libstage/model_camera.cc

From: <alexcb@us...> - 2008-07-04 10:07:39

Revision: 6757
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6757&view=rev
Author:   alexcb
Date:     2008-07-04 10:07:49 -0700 (Fri, 04 Jul 2008)

Log Message:
-----------
camera model drawing

Modified Paths:
--------------
    code/stage/trunk/libstage/model_camera.cc

Modified: code/stage/trunk/libstage/model_camera.cc
===================================================================
--- code/stage/trunk/libstage/model_camera.cc	2008-07-04 02:44:27 UTC (rev 6756)
+++ code/stage/trunk/libstage/model_camera.cc	2008-07-04 17:07:49 UTC (rev 6757)
@@ -19,6 +19,9 @@
 
 Option StgModelCamera::showCameraData( "Show Camera Data", "show_camera", "", true );
 
+static const stg_size_t DEFAULT_SIZE = {0.15, 0.15, 0.2 };
+static const char DEFAULT_GEOM_COLOR[] = "blue";
+
 /**
  @ingroup model
  @defgroup model_camera Camera model 
@@ -110,19 +113,18 @@
 		printf( "Unable to use Camera Model - it must be run with a GUI world\n" );
 		assert( 0 );
 	}
-	
 	_canvas = world_gui->GetCanvas();
 	
-	// Set up sensible defaults
 	_camera.setPitch( 90.0 );
 	
-	SetColor( stg_lookup_color( "green" ) );
-
 	stg_geom_t geom;
-	memset( &geom, 0, sizeof(geom)); // no size
-	//TODO can't draw this as it blocks the laser
+	memset( &geom, 0, sizeof(geom));
+	geom.size = DEFAULT_SIZE;
 	SetGeom( geom );
 	
+	// set default color
+	SetColor( stg_lookup_color(DEFAULT_GEOM_COLOR));
+	
 	registerOption( &showCameraData );
 
 	Startup();
@@ -198,8 +200,9 @@
 	glViewport( 0, 0, _width, _height );
 	_camera.update();
 	_camera.SetProjection();
+	float height = GetGlobalPose().z;
 	//TODO reposition the camera so it isn't inside the model ( or don't draw the parent when calling renderframe )
-	_camera.setPose( parent->GetGlobalPose().x, parent->GetGlobalPose().y, CAMERA_HEIGHT ); //TODO use something smarter than a #define - make it configurable
+	_camera.setPose( parent->GetGlobalPose().x, parent->GetGlobalPose().y, height ); //TODO use something smarter than a #define - make it configurable
 	_camera.setYaw( rtod( parent->GetGlobalPose().a ) - 90.0 - _yaw_offset ); //-90.0 points the camera infront of the robot instead of pointing right
 	_camera.setPitch( 90.0 - _pitch_offset );
 	_camera.Draw();


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