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[simspark-svn] SF.net SVN: simspark:[43] trunk/rcssserver3d
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From: <he...@us...> - 2009-02-09 17:19:05
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Revision: 43
http://simspark.svn.sourceforge.net/simspark/?rev=43&view=rev
Author: hedayat
Date: 2009-02-09 17:19:01 +0000 (Mon, 09 Feb 2009)
Log Message:
-----------
Updated documentation:
- Say effector limit is 20 characters
- Updated RestrictedVisionPerceptor parameters
- minotorspark -> rcssmonitor3d
- Added information about renames of agentspark and monitorspark to NEWS and RELEASE
Modified Paths:
--------------
trunk/rcssserver3d/ChangeLog
trunk/rcssserver3d/NEWS
trunk/rcssserver3d/RELEASE
trunk/rcssserver3d/doc/TEXT_INSTEAD_OF_A_MANUAL.txt
trunk/rcssserver3d/doc/users/CMakeLists.txt
trunk/rcssserver3d/doc/users/definitions.tex
trunk/rcssserver3d/doc/users/gettingstarted.tex
trunk/rcssserver3d/doc/users/introduction.tex
trunk/rcssserver3d/doc/users/simspark.tex
trunk/rcssserver3d/doc/users/user-manual.tex
Added Paths:
-----------
trunk/rcssserver3d/doc/users/rcssmonitor3d.tex
Removed Paths:
-------------
trunk/rcssserver3d/doc/users/monitorspark.tex
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2009-02-08 00:25:53 UTC (rev 42)
+++ trunk/rcssserver3d/ChangeLog 2009-02-09 17:19:01 UTC (rev 43)
@@ -1,3 +1,17 @@
+2009-02-09 Hedayat Vatankhah <he...@gr...>
+
+ * doc/users/user-manual.tex:
+ * doc/users/simspark.tex:
+ * doc/users/rcssmonitor3d.tex:
+ * doc/users/introduction.tex:
+ * doc/users/gettingstarted.tex:
+ * doc/users/definitions.tex:
+ * doc/users/CMakeLists.txt:
+ * doc/TEXT_INSTEAD_OF_A_MANUAL.txt:
+ - monitorspark -> rcssmonitor3d
+ - Say effector message lenght limit is 20 characters now
+ - Updated some info about RestrictedVisionPerceptor
+
2009-01-29 Hedayat Vatankhah <he...@gr...>
* INSTALL:
Modified: trunk/rcssserver3d/NEWS
===================================================================
--- trunk/rcssserver3d/NEWS 2009-02-08 00:25:53 UTC (rev 42)
+++ trunk/rcssserver3d/NEWS 2009-02-09 17:19:01 UTC (rev 43)
@@ -16,6 +16,10 @@
- You'll need CMake 2.6 to configure and build the package
- this package depends on simspark package, so you should install it first
+* New program names:
+ - agentspark is now called rcssagent3d
+ - monitorspark is now called rcssmonitor3d
+
* Some small enhancements and bug fixes
[0.6]
Modified: trunk/rcssserver3d/RELEASE
===================================================================
--- trunk/rcssserver3d/RELEASE 2009-02-08 00:25:53 UTC (rev 42)
+++ trunk/rcssserver3d/RELEASE 2009-02-09 17:19:01 UTC (rev 43)
@@ -17,6 +17,10 @@
- You'll need CMake 2.6 to configure and build the package
- this package depends on simspark package, so you should install it first
+* New program names:
+ - agentspark is now called rcssagent3d
+ - monitorspark is now called rcssmonitor3d
+
* Some small enhancements and bug fixes
For details have a look into the ChangeLog coming with the package. (But some
Modified: trunk/rcssserver3d/doc/TEXT_INSTEAD_OF_A_MANUAL.txt
===================================================================
--- trunk/rcssserver3d/doc/TEXT_INSTEAD_OF_A_MANUAL.txt 2009-02-08 00:25:53 UTC (rev 42)
+++ trunk/rcssserver3d/doc/TEXT_INSTEAD_OF_A_MANUAL.txt 2009-02-09 17:19:01 UTC (rev 43)
@@ -310,7 +310,7 @@
-------------------
To broadcast messages to other players, you have to use the
-SayEffector. Messages can be sayMsgSize(for now 512) characters long,
+SayEffector. Messages can be sayMsgSize(for now 20) characters long,
where valid characters for say messages are the printing characters*
except space and (). Messages players say can be heard within a
distance of audioCutDist(for now 50 meters) by members of both
@@ -344,8 +344,7 @@
software attached :). If using the regular visionperceptor, Robots
have a 360 degrees view. With the RestrictedVisionPerceptor (which
became the default in version 0.5), the view field of the robot is
-restricted to 90 degrees (this is of course configurable in
-rcssserver3D.rb). The direction of the view (pan and tilt) can be
+restricted to 120 degrees (for Nao). The direction of the view (pan and tilt) can be
changed with the pantilt effector. The camera can pan to any angle
(the initial 0 degrees pan direction is the direction towards the
opponent side), and tilt around the horizontal plane.
@@ -376,7 +375,7 @@
complete match.
- Dynamic noise normally distributed around 0.0
- + distance error: sigma = 0.0965
+ + distance error: sigma = 0.0965 (also, distance error is multiplied by distance/100)
+ angle error (x-y plane): sigma = 0.1225
+ angle error (latitudal): sigma = 0.1480
Modified: trunk/rcssserver3d/doc/users/CMakeLists.txt
===================================================================
--- trunk/rcssserver3d/doc/users/CMakeLists.txt 2009-02-08 00:25:53 UTC (rev 42)
+++ trunk/rcssserver3d/doc/users/CMakeLists.txt 2009-02-09 17:19:01 UTC (rev 43)
@@ -4,7 +4,7 @@
if (PDFLATEX_COMPILER)
include(../../cmake/UseLATEX.cmake)
add_latex_document(user-manual.tex INPUTS rcssagent3d.tex gettingstarted.tex
- robots.tex introduction.tex monitorspark.tex simspark.tex license.tex
+ robots.tex introduction.tex rcssmonitor3d.tex simspark.tex license.tex
overview.tex simulations.tex definitions.tex resources.tex user-manual.tex
BIBFILES references.bib IMAGE_DIRS fig DEFAULT_PDF)
endif (PDFLATEX_COMPILER)
Modified: trunk/rcssserver3d/doc/users/definitions.tex
===================================================================
--- trunk/rcssserver3d/doc/users/definitions.tex 2009-02-08 00:25:53 UTC (rev 42)
+++ trunk/rcssserver3d/doc/users/definitions.tex 2009-02-09 17:19:01 UTC (rev 43)
@@ -107,8 +107,9 @@
Klaus Dorer\\%
Markus Rollmann\\%
Yuan Xu\\%
- Feng Xue\\%
- Marian Buchta\\%
+ Feng Xue\\%
+ Marian Buchta\\%
+ Hedayat Vatankhah\\%
}
}
\end{minipage}
@@ -117,7 +118,7 @@
\textsf{\Large\flushright{Version 1.2}}
\end{minipage}
- \vspace{-3cm}
+ \vspace{-4cm}
\begin{minipage}[t]{\linewidth}
\hspace*{2.25cm}
Modified: trunk/rcssserver3d/doc/users/gettingstarted.tex
===================================================================
--- trunk/rcssserver3d/doc/users/gettingstarted.tex 2009-02-08 00:25:53 UTC (rev 42)
+++ trunk/rcssserver3d/doc/users/gettingstarted.tex 2009-02-09 17:19:01 UTC (rev 43)
@@ -88,7 +88,7 @@
simspark core package like:
\begin{itemize}
\item Gendot: generates a graphviz dot file showing the zeitgeist class hierarchy, including all classes that are visible at runtime
-\item Monitorspark: external monitor implementation. Please refer to chapter \ref{cha:monitorspark}
+\item Monitorspark: external monitor implementation.
\item Sampleagent: sample of simple behaviour implementation
\item Samplesim: sample of simple simulation
\end{itemize}
@@ -235,7 +235,7 @@
The monitor is a separate application that connects to the server and
displays the simulated scene. To start the default monitor type
-\texttt{monitorspark}. By default the monitor is configured to connect to a simulation
+\texttt{rcssmonitor3d}. By default the monitor is configured to connect to a simulation
on the local machine. You can however run the server and monitor on
different machines.
@@ -255,7 +255,7 @@
After the monitor started you are able to use the mouse and keyboard
to navigate the scene. Please refer to chapter
-\ref{cha:monitorspark} for a complete list of the available key bindings.
+\ref{cha:rcssmonitor3d} for a complete list of the available key bindings.
You can use the numbers of the keypad to navigate to different
positions on the playing field. The view after pressing \texttt{3} is
@@ -325,7 +325,7 @@
\end{itemize}
-%I think for the initial outline of the manual it's easier to just focus on either app/simpark app/monitorspark or rsgedit.
+%I think for the initial outline of the manual it's easier to just focus on either app/simpark app/rcssmonitor3d or rsgedit.
%%% Local Variables:
%%% mode: latex
Modified: trunk/rcssserver3d/doc/users/introduction.tex
===================================================================
--- trunk/rcssserver3d/doc/users/introduction.tex 2009-02-08 00:25:53 UTC (rev 42)
+++ trunk/rcssserver3d/doc/users/introduction.tex 2009-02-09 17:19:01 UTC (rev 43)
@@ -101,7 +101,7 @@
to the agent and vice versa. These messages contain information about
agent percepts and agent command strings.
-In chapter \ref{cha:monitorspark} we give an overview about the
+In chapter \ref{cha:rcssmonitor3d} we give an overview about the
available monitor and log player setups. Their configuration and usage
is described in detail there.
Deleted: trunk/rcssserver3d/doc/users/monitorspark.tex
===================================================================
--- trunk/rcssserver3d/doc/users/monitorspark.tex 2009-02-08 00:25:53 UTC (rev 42)
+++ trunk/rcssserver3d/doc/users/monitorspark.tex 2009-02-09 17:19:01 UTC (rev 43)
@@ -1,89 +0,0 @@
-\chapter{Monitorspark}
-\label{cha:monitorspark}
-
-This chapter gives an overview about the available monitor and log
-player setups available in SimSpark, their configuration and usage.
-
-\section{Internal Monitor}
-
-The internal monitor implementation is part of the SimSpark server. It
-is enabled in the \texttt{simspark.rb} setup script by enabling the
-rendering and input plugins of the server. To do so please uncomment
-the lines \texttt{sparkSetupRendering()} and
-\texttt{sparkSetupInput()}, i.e. remove the leading \texttt{'\#'} comment markers.
-
-\section{External Monitor}
-
-The external monitor implementation is called
-\texttt{monitorspark}. It either connects to a running SimSpark
-instance or replays a simulation run from a log file.
-
-\section{Playing Log files}
-
-The monitor is able to replay a simulation that is recorded in a log
-file. It accepts a \texttt{--logfile} parameter on its command line
-that enables the log player mode.
-
-\section{Key Assignments}
-
-The monitor accepts a number of commands by key or mouse. These
-commands either control the movement of the camera or send commands
-back to the server to control the simulation. The soccer simulation
-uses these commands to implement the controls for the human referee.
-
-\begin{table}
-\label {table:monitorspark}
-\caption{Key assignments for monitorspark}
-\begin{center}
-\begin{tabular}{|l|l|}
-{\bf key} & {\bf function} \\
-\hline
-q & quit monitor \\
-\hline
-left mouse button & mouse look \\
-right mouse button & move camera up \\
-keypad plus & move camera up \\
-pageup & move camera up \\
-pagedown & move camera down \\
-keypad minus & move camera down \\
-a & move camera left \\
-left arrow & move camera left \\
-d & move camera right \\
-right arrow & move camera right \\
-w & move camera forward \\
-up arrow & move camera forward \\
-s & move camera backward \\
-down arrow & move camera backward \\
-\hline
-1 & camera to left goal \\
-2 & camera to left corner \\
-3 & camera to middle left \\
-4 & camera to middle right \\
-5 & camera to middle \\
-6 & camera to right corner \\
-7 & camera to right goal \\
-\hline
-l & free kick left \\
-r & free kick right \\
-k & kick off \\
-b & drop ball \\
-m & move agent \\
-n & shoot ball \\
-x & move ball \\
-\hline
-p & pause the playback of a log file \\
-f & move forward in the log file \\
-b & move backwards in the log file \\
-l & playback the log file \\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-The list of accepted default command short cuts is given in table
-\ref{table:monitorspark}. These short cuts are configured in the two setup
-scripts \texttt{bindings.rb} and \texttt{soccerbindings.rb} that the
-SimSpark monitor reads on start up.
-
- %%% Local Variables: %%% mode: latex %%% TeX-master:
-"user-manual" %%% End:
Copied: trunk/rcssserver3d/doc/users/rcssmonitor3d.tex (from rev 42, trunk/rcssserver3d/doc/users/monitorspark.tex)
===================================================================
--- trunk/rcssserver3d/doc/users/rcssmonitor3d.tex (rev 0)
+++ trunk/rcssserver3d/doc/users/rcssmonitor3d.tex 2009-02-09 17:19:01 UTC (rev 43)
@@ -0,0 +1,89 @@
+\chapter{Rcssmonitor3d}
+\label{cha:rcssmonitor3d}
+
+This chapter gives an overview about the available monitor and log
+player setups available in SimSpark, their configuration and usage.
+
+\section{Internal Monitor}
+
+The internal monitor implementation is part of the SimSpark server. It
+is enabled in the \texttt{simspark.rb} setup script by enabling the
+rendering and input plugins of the server. To do so please uncomment
+the lines \texttt{sparkSetupRendering()} and
+\texttt{sparkSetupInput()}, i.e. remove the leading \texttt{'\#'} comment markers.
+
+\section{External Monitor}
+
+The external monitor implementation is called
+\texttt{rcssmonitor3d}. It either connects to a running SimSpark
+instance or replays a simulation run from a log file.
+
+\section{Playing Log files}
+
+The monitor is able to replay a simulation that is recorded in a log
+file. It accepts a \texttt{--logfile} parameter on its command line
+that enables the log player mode.
+
+\section{Key Assignments}
+
+The monitor accepts a number of commands by key or mouse. These
+commands either control the movement of the camera or send commands
+back to the server to control the simulation. The soccer simulation
+uses these commands to implement the controls for the human referee.
+
+\begin{table}
+\label {table:rcssmonitor3d}
+\caption{Key assignments for rcssmonitor3d}
+\begin{center}
+\begin{tabular}{|l|l|}
+{\bf key} & {\bf function} \\
+\hline
+q & quit monitor \\
+\hline
+left mouse button & mouse look \\
+right mouse button & move camera up \\
+keypad plus & move camera up \\
+pageup & move camera up \\
+pagedown & move camera down \\
+keypad minus & move camera down \\
+a & move camera left \\
+left arrow & move camera left \\
+d & move camera right \\
+right arrow & move camera right \\
+w & move camera forward \\
+up arrow & move camera forward \\
+s & move camera backward \\
+down arrow & move camera backward \\
+\hline
+1 & camera to left goal \\
+2 & camera to left corner \\
+3 & camera to middle left \\
+4 & camera to middle right \\
+5 & camera to middle \\
+6 & camera to right corner \\
+7 & camera to right goal \\
+\hline
+l & free kick left \\
+r & free kick right \\
+k & kick off \\
+b & drop ball \\
+m & move agent \\
+n & shoot ball \\
+x & move ball \\
+\hline
+p & pause the playback of a log file \\
+f & move forward in the log file \\
+b & move backwards in the log file \\
+l & playback the log file \\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+The list of accepted default command short cuts is given in table
+\ref{table:rcssmonitor3d}. These short cuts are configured in the two setup
+scripts \texttt{bindings.rb} and \texttt{soccerbindings.rb} that the
+SimSpark monitor reads on start up.
+
+ %%% Local Variables: %%% mode: latex %%% TeX-master:
+"user-manual" %%% End:
Modified: trunk/rcssserver3d/doc/users/simspark.tex
===================================================================
--- trunk/rcssserver3d/doc/users/simspark.tex 2009-02-08 00:25:53 UTC (rev 42)
+++ trunk/rcssserver3d/doc/users/simspark.tex 2009-02-09 17:19:01 UTC (rev 43)
@@ -154,8 +154,7 @@
software attached :). If using the regular visionperceptor, Robots
have a 360 degrees view. With the RestrictedVisionPerceptor (which
became the default in version 0.5), the view field of the robot is
-restricted to 90 degrees (this is of course configurable in
-rcssserver3D.rb). The direction of the view (pan and tilt) can be
+restricted to 120 degrees (for Nao robot). The direction of the view (pan and tilt) can be
changed with the pantilt effector. The camera can pan to any angle
(the initial 0 degrees pan direction is the direction towards the
opponent side), and tilt around the horizontal plane.
@@ -196,9 +195,9 @@
axis, the error is uniformly distributed between -0.005 m and 0.005 m. The
error is calculated once and remains constant during the complete match.
\item Dynamic noise normally distributed around 0.0
- + distance error: sigma = 0.0965
- + angle error (x-y plane): sigma = 0.1225
- + angle error (latitudal): sigma = 0.1480
+ \subitem + distance error: sigma = 0.0965 (also, distance error is multiplied by distance/100)
+ \subitem + angle error (x-y plane): sigma = 0.1225
+ \subitem + angle error (latitudal): sigma = 0.1480
\end{itemize}
A vision message is started with See followed by the visible objects.
@@ -225,6 +224,7 @@
% The current soccer bot seems not to use it, still experimental/unsupported?
% Joschka: I'm not sure either. Oliver worked on that, and Yuan had several patches for it last year. Maybe Yuan has the best overview right now? The current Soccerbot doesn't use it.
+% Hedayat: Currently Nao robot uses this perceptor.
\subsubsection{GameState Perceptor}
\label{sec:gamestateperceptor}
@@ -405,7 +405,7 @@
\label{sec:sayeffector}
%klaus: is this old version only?
-%Joschka: no, the Soccerbot has a say effector in the current version. It is restricted to 8 bytes msgs.
+%Joschka: no, the Soccerbot has a say effector in the current version. It is restricted to 20 bytes msgs.
%description in TEXT_INSTEAD_... and Philipp Vorst's thesis
The \emph{say effector} permits communication among agents by broadcasting
messages. In order to say something, the following command has to be employed:
@@ -413,7 +413,7 @@
\item[Message format:] \texttt{(say <message>)}
\item[Example message:] \texttt{(say ``helloworld'')}
\end{itemize}
-$Message$ may consist of 8 characters, which may be taken from the ASCII
+$Message$ may consist of 20 characters, which may be taken from the ASCII
printing character subset $[{\tt 0x20}, {\tt 0x7E]}$ except the {\it white
space} character ($\sqcup$) and the normal brackets {\tt(} and {\tt )}.
For details and restrictions please see Section~\ref{sec:hearperceptor}, about
Modified: trunk/rcssserver3d/doc/users/user-manual.tex
===================================================================
--- trunk/rcssserver3d/doc/users/user-manual.tex 2009-02-08 00:25:53 UTC (rev 42)
+++ trunk/rcssserver3d/doc/users/user-manual.tex 2009-02-09 17:19:01 UTC (rev 43)
@@ -1,7 +1,7 @@
\include{definitions}
\author{Joschka Boedecker \\ Klaus Dorer \\ Markus Rollmann \\ Yuan Xu
-\\ Feng Xue \\ Marian Buchta}
+\\ Feng Xue \\ Marian Buchta \\ Hedayat Vatankhah}
\title{Simspark User Manual}
\date{February 2009}
@@ -25,7 +25,7 @@
\input{overview}
\input{gettingstarted}
\input{simspark}
-\input{monitorspark}
+\input{rcssmonitor3d}
\input{rcssagent3d}
\input{simulations}
\input{robots}
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