[ahoward <ahoward@po...>]

On Mon, 2 Sep 2002, jayesh ametha wrote:

> Hi Andrew,
> I got the basic idea, but I since I have not used truth device and dont have
> player-stage right now to test, I wanted to clarify.
>
> Do you mean that, in my C++ program, I would have to create an object of
> type TruthProxy, connected to the port of that puck. (I am asking, as there
> is no mention of "TruthProxy" in cppclient.pdf).
>
> 2. How do I set the pose, of this TruthProxy object? Since you did not
> mention a function, it seems, x, y and theta would be its attributes
> (public), and I can simply set them directly. Can you please confirm?
>
> 3. What is the warp function in gps? It is only mentioned in the document.
> Can you tell how to use it also?
>
> Thanks a lot,
> Jayesh


Ok, this all depends on what version of player you are using.  As of
Player 1.2, there is a "truth" device for getting the true pose of objects
in Stage and for teleporting them around.  In earlier versions, the same
thing could be done with the "gps" device.  In Player 1.2.X, you use
TruthProxy class, and the SetPose() function to move the objects.  In
Player < 1.2, you use the GpsProxy class, and the Teleport() function to
move objects.

I could be clearer about this if you could tell me which version you are
using.

	A.


> //////////////////////////////////////////////////////////////////////
>
> >From: ahoward <ahoward@...>
> >To: jayesh ametha <jayeshametha@...>
> >CC: <playerstage-users@...>
> >Subject: Re: [Playerstage-users] moving objects (puck, boxes) in stage
> >Date: Sun, 1 Sep 2002 10:53:50 -0700 (PDT)
> >
> >
> >Hi Jayesh:
> >
> >Sorry 'bout the slow reply.
> >
> >On Wed, 28 Aug 2002, jayesh ametha wrote:
> >
> > > I wanted to know, if it is possible, that the passive objects in Stage
> > > world, such as pucks, and boxed, can be automatically created and/or
> > > moved to a different position.
> >
> >While objects cannot be created or destroyed in Stage, they can be moved.
> >The way I usually do this is by placing a Player device and a truth device
> >on the object to be moved.  In the 1.2.3 worldfile it would look something
> >like this:
> >
> >   puck (pose [10 10 0] player (port 10000) truth ())
> >
> >You can now connect to the player server associated with this object (on
> >port 10000) and teleport the object using the truth device.  If you are
> >using an older version of Stage, you can do a similar trick using the GPS
> >device.
> >
> >	A.
> >
> >Andrew Howard                           email: ahoward@...
> >Department of Computer Science          http:
> >www-robotics.usc.edu/~ahoward
> >University of Southern California       phone: 1 (213) 740 6416
> >Los Angeles, CA, U.S.A. 90089-0781      fax:   1 (213) 821 5696
> >     << Insert pithy saying here >>>
>
>
>
>
> _________________________________________________________________
> Chat with friends online, try MSN Messenger: http://messenger.msn.com
>
>

Andrew Howard                           email: ahoward@...
Department of Computer Science          http:  www-robotics.usc.edu/~ahoward
University of Southern California       phone: 1 (213) 740 6416
Los Angeles, CA, U.S.A. 90089-0781      fax:   1 (213) 821 5696
    << Insert pithy saying here >>>