Revision: 6856
http://playerstage.svn.sourceforge.net/playerstage/?rev=6856&view=rev
Author: natepak
Date: 2008-07-11 16:37:55 -0700 (Fri, 11 Jul 2008)
Log Message:
-----------
Implemented timeout feature, and preliminary disabling of the physics engine.
Modified Paths:
--------------
code/gazebo/trunk/server/Entity.hh
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/Simulator.hh
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/main.cc
code/gazebo/trunk/worlds/test.world
Modified: code/gazebo/trunk/server/Entity.hh
===================================================================
--- code/gazebo/trunk/server/Entity.hh 2008-07-11 23:05:24 UTC (rev 6855)
+++ code/gazebo/trunk/server/Entity.hh 2008-07-11 23:37:55 UTC (rev 6856)
@@ -108,7 +108,7 @@
protected: Entity *parent;
/// \brief Children of this entity
- private: std::vector< Entity* > children;
+ protected: std::vector< Entity* > children;
/// \brief This entities ID
private: unsigned int id;
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2008-07-11 23:05:24 UTC (rev 6855)
+++ code/gazebo/trunk/server/Model.cc 2008-07-11 23:37:55 UTC (rev 6856)
@@ -379,7 +379,7 @@
Body *body;
std::map<std::string, Body* >::iterator iter;
- Pose3d bodyPose, origPose;
+ Pose3d newPose, origPose;
origPose = this->pose;
this->pose = setPose;
@@ -392,15 +392,27 @@
body = iter->second;
// Compute the pose relative to the model
- bodyPose = body->GetPose() - origPose;
+ newPose = body->GetPose() - origPose;
// Compute the new pose
- bodyPose += this->pose;
+ newPose += this->pose;
+ body->SetPose(newPose);
+ }
- body->SetPose(bodyPose);
+ // Update the child models as well
+ std::vector<Entity*>::iterator citer;
+ for (citer = this->children.begin(); citer != this->children.end(); citer++)
+ {
+ Model *childModel = dynamic_cast<Model*>(*citer);
+ if (childModel)
+ {
+ newPose = childModel->GetPose() - origPose;
+ newPose += this->pose;
+
+ childModel->SetPose(newPose);
+ }
}
-
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2008-07-11 23:05:24 UTC (rev
6855)
+++ code/gazebo/trunk/server/Simulator.cc 2008-07-11 23:37:55 UTC (rev
6856)
@@ -65,7 +65,9 @@
userStep(false),
userStepInc(false),
userQuit(false),
- guiEnabled(true)
+ guiEnabled(true),
+ physicsEnabled(true),
+ timeout(-1)
{
}
@@ -294,6 +296,9 @@
{
usleep( (int)((1.0/MAX_FRAME_RATE - elapsedTime) * 1e6) );
}
+
+ if (this->timeout > 0 && this->GetRealTime() > this->timeout)
+ break;
}
}
@@ -441,4 +446,23 @@
return this->guiEnabled;
}
+////////////////////////////////////////////////////////////////////////////////
+/// Set the length of time the simulation should run.
+void Simulator::SetTimeout(double time)
+{
+ this->timeout = time;
+}
+////////////////////////////////////////////////////////////////////////////////
+// Set the physics enabled/disabled
+void Simulator::SetPhysicsEnabled( bool enabled )
+{
+ this->physicsEnabled = enabled;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Get the physics enabled/disabled
+bool Simulator::GetPhysicsEnabled() const
+{
+ return this->physicsEnabled;
+}
Modified: code/gazebo/trunk/server/Simulator.hh
===================================================================
--- code/gazebo/trunk/server/Simulator.hh 2008-07-11 23:05:24 UTC (rev
6855)
+++ code/gazebo/trunk/server/Simulator.hh 2008-07-11 23:37:55 UTC (rev
6856)
@@ -148,7 +148,15 @@
/// \brief Return true if the gui is enabled
public: bool GetGuiEnabled() const;
-
+ /// \brief Set the length of time the simulation should run.
+ public: void SetTimeout(double time);
+
+ /// \brief Set the physics enabled/disabled
+ public: void SetPhysicsEnabled(bool enabled);
+
+ /// \brief Get the physics enabled/disabled
+ public: bool GetPhysicsEnabled() const;
+
///pointer to the XML Data
private: XMLConfig *xmlFile;
@@ -199,6 +207,12 @@
/// True if the GUI is enabled
private: bool guiEnabled;
+ /// True if physics is enabled
+ private: bool physicsEnabled;
+
+ /// Length of time the simulation should run
+ private: double timeout;
+
//Singleton implementation
private: friend class DestroyerT<Simulator>;
private: friend class SingletonT<Simulator>;
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2008-07-11 23:05:24 UTC (rev 6855)
+++ code/gazebo/trunk/server/World.cc 2008-07-11 23:37:55 UTC (rev 6856)
@@ -179,7 +179,8 @@
}
}
- if (!Simulator::Instance()->IsPaused())
+ if (!Simulator::Instance()->IsPaused() &&
+ Simulator::Instance()->GetPhysicsEnabled())
{
this->physicsEngine->Update();
}
Modified: code/gazebo/trunk/server/main.cc
===================================================================
--- code/gazebo/trunk/server/main.cc 2008-07-11 23:05:24 UTC (rev 6855)
+++ code/gazebo/trunk/server/main.cc 2008-07-11 23:37:55 UTC (rev 6856)
@@ -118,8 +118,8 @@
double optTimeout = -1;
unsigned int optMsgLevel = 1;
int optTimeControl = 1;
+bool optPhysicsEnabled = true;
-
////////////////////////////////////////////////////////////////////////////////
// TODO: Implement these options
void PrintUsage()
@@ -133,6 +133,7 @@
fprintf(stderr, " -g : Run without a GUI\n");
fprintf(stderr, " -l <logfile> : Log to indicated file.\n");
fprintf(stderr, " -n : Do not do any time control\n");
+ fprintf(stderr," -p : Run without physics engine\n");
fprintf(stderr, " <worldfile> : load the the indicated world file\n");
return;
}
@@ -155,7 +156,7 @@
{
FILE *tmpFile;
int ch;
- char *flags = (char*)("l:hd:s:fgxt:nq");
+ char *flags = (char*)("l:hd:s:fgxt:nqp");
// Get letter options
while ((ch = getopt(argc, argv, flags)) != -1)
@@ -195,6 +196,10 @@
optGuiEnabled = false;
break;
+ case 'p':
+ optPhysicsEnabled = false;
+ break;
+
case 'h':
default:
PrintUsage();
@@ -260,6 +265,8 @@
try
{
gazebo::Simulator::Instance()->Load(worldFileName, optServerId);
+ gazebo::Simulator::Instance()->SetTimeout(optTimeout);
+ gazebo::Simulator::Instance()->SetPhysicsEnabled(optPhysicsEnabled);
}
catch (gazebo::GazeboError e)
{
Modified: code/gazebo/trunk/worlds/test.world
===================================================================
--- code/gazebo/trunk/worlds/test.world 2008-07-11 23:05:24 UTC (rev 6855)
+++ code/gazebo/trunk/worlds/test.world 2008-07-11 23:37:55 UTC (rev 6856)
@@ -86,7 +86,7 @@
<model:physical name="sphere1_model">
<xyz>2.15 -1.68 .7</xyz>
<rpy>0.0 0.0 0.0</rpy>
- <static>true</static>
+ <static>false</static>
<body:sphere name="sphere1_body">
<geom:sphere name="sphere1_geom">
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