mirror of https://github.com/ArduPilot/ardupilot
SITL: adding wind simulation in Webots
This commit is contained in:
mhefny
Andrew Tridgell
parent
bfb7e3af3b
commit
375510ecc2
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@ -364,7 +364,6 @@ void Webots::output_rover(const struct sitl_input &input)
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const int len = snprintf(buf, sizeof(buf)-1, "{\"rover\": [%f, %f], \"wnd\": [%f, %f, %f, %f]}\n",
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motor1, motor2,
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input.wind.speed, wind_ef.x, wind_ef.y, wind_ef.z);
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//printf("rover motors m1: %f m2: %f\n", steer_angle, speed_ms);
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buf[len] = 0;
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@ -400,7 +399,6 @@ void Webots::output_quad(const struct sitl_input &input)
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m_front, m_right, m_back, m_left,
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input.wind.speed, wind_ef.x, wind_ef.y, wind_ef.z);
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buf[len] = 0;
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sim_sock->send(buf, len);
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}
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@ -0,0 +1,4 @@
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*.so
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*.o
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*.d
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*.wbproj
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Binary file not shown.
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@ -33,6 +33,7 @@
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#include <sys/types.h>
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#include <webots/robot.h>
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#include <webots/supervisor.h>
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#include <webots/emitter.h>
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#include "ardupilot_SITL_QUAD.h"
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#include "sockets.h"
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#include "sensors.h"
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@ -49,12 +50,13 @@ static WbDeviceTag compass;
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static WbDeviceTag gps;
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static WbDeviceTag camera;
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static WbDeviceTag inertialUnit;
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static WbDeviceTag emitter;
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static WbNodeRef world_info;
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static const double *northDirection;
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static double v[MOTOR_NUM];
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int port;
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float drafFactor = VEHICLE_DRAG_FACTOR;
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static int timestep;
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@ -192,6 +194,41 @@ void update_controls()
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#endif
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#ifdef WIND_SIMULATION
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/*
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Drag: Fd = ½ ρ Cd A v²
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Fd is drag force in Newtons
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ρ is the density of air in kg/m³
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Cd is the drag coefficient
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A is the cross section of our quad in m³ in the direction of movement
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v is the velocity in m/s
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*/
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if (northDirection[0] == 1)
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{
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wind_webots_axis.x = state.wind.x - linear_velocity[0];
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wind_webots_axis.z = -state.wind.y - linear_velocity[2]; // "-state.wind.y" as angle 90 wind is from EAST.
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wind_webots_axis.y = state.wind.z - linear_velocity[1];
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}
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else
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{ // as in pyramids and any open map street world.
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wind_webots_axis.x = state.wind.y - linear_velocity[0]; // always add "linear_velocity" as there is no axis transformation here.
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wind_webots_axis.z = -state.wind.x - linear_velocity[2];
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wind_webots_axis.y = state.wind.z - linear_velocity[1];
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}
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wind_webots_axis.x = drafFactor * wind_webots_axis.x * abs(wind_webots_axis.x);
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wind_webots_axis.z = drafFactor * wind_webots_axis.z * abs(wind_webots_axis.z);
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wind_webots_axis.y = drafFactor * wind_webots_axis.y * abs(wind_webots_axis.y);
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wb_emitter_send(emitter, &wind_webots_axis, sizeof(VECTOR4F));
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#ifdef DEBUG_WIND
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printf("wind sitl: %f %f %f %f\n",state.wind.w, state.wind.x, state.wind.y, state.wind.z);
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printf("wind ctrl: (drafFactor) %f %f %f %f %f\n",drafFactor, wind_webots_axis.w, wind_webots_axis.x, wind_webots_axis.y, wind_webots_axis.z);
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#endif
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#endif
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}
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@ -363,6 +400,15 @@ void initialize (int argc, char *argv[])
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if (argc > i+1 )
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{
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port = atoi (argv[i+1]);
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printf("socket port %d\n",port);
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}
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}
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else if (strcmp (argv[i],"-df")==0)
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{
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if (argc > i+1 )
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{
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drafFactor = atof (argv[i+1]);
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printf("drag Factor %f\n",drafFactor);
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}
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}
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}
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@ -373,7 +419,7 @@ void initialize (int argc, char *argv[])
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/* necessary to initialize webots stuff */
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wb_robot_init();
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// Get WorldInfo Node.
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WbNodeRef root, node;
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WbFieldRef children, field;
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int n, i;
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@ -390,14 +436,13 @@ void initialize (int argc, char *argv[])
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}
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}
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printf("\n");
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node = wb_supervisor_field_get_mf_node(children, 0);
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field = wb_supervisor_node_get_field(node, "northDirection");
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northDirection = wb_supervisor_field_get_sf_vec3f(field);
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if (northDirection[0] == 1)
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{
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printf ("Axis Default Directions");
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printf ("Axis Default Directions\n");
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}
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printf("WorldInfo.northDirection = %g %g %g\n\n", northDirection[0], northDirection[1], northDirection[2]);
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@ -405,6 +450,10 @@ void initialize (int argc, char *argv[])
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// get Self Node
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self_node = wb_supervisor_node_get_self();
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// keybaard
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timestep = (int)wb_robot_get_basic_time_step();
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wb_keyboard_enable(timestep);
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@ -435,7 +484,11 @@ void initialize (int argc, char *argv[])
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camera = wb_robot_get_device("camera1");
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wb_camera_enable(camera, timestep);
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#ifdef WIND_SIMULATION
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// emitter
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emitter = wb_robot_get_device("emitter_plugin");
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#endif
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const char *MOTOR_NAMES[] = {"motor1", "motor2", "motor3", "motor4"};
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// get motor device tags
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@ -1,9 +1,12 @@
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// #define DEBUG_MOTORS
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// #define DEBUG_MOTORS
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// #define DEBUG_WIND
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// #define DEBUG_SENSORS
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#define DEBUG_USE_KB
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// #define DEBUG_USE_KB
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// #define DEBUG_INPUT_DATA
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// #define LINEAR_THRUST
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// #define LINEAR_THRUST
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#define WIND_SIMULATION
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#define VEHICLE_DRAG_FACTOR 0.001
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#define ARRAY_SIZE(_arr) (sizeof(_arr) / sizeof(_arr[0]))
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@ -24,7 +27,16 @@ typedef struct vector4f VECTOR4F;
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struct {
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double timestamp;
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VECTOR4F motors;
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} state, last_state;
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VECTOR4F wind;
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/*
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struct {
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float speed; // m/s
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float direction; // degrees 0..360
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float turbulence;
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float dir_z; //degrees -90..90
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} wind;
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*/
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} state, last_state;
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@ -35,7 +47,15 @@ struct keytable {
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void *ptr;
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enum data_type type;
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} keytable[1] = {
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} keytable[2] = {
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//{ "", "timestamp", &state.timestamp, DATA_DOUBLE },
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{ "", "engines", &state.motors, DATA_VECTOR4F }
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};
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{ "", "eng", &state.motors, DATA_VECTOR4F },
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{ "", "wnd", &state.wind, DATA_VECTOR4F }
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};
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/*
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w: wind speed
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x , y, z: wind direction.
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*/
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VECTOR4F __attribute__((packed, aligned(1))) wind_webots_axis;
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@ -133,16 +133,16 @@ void getGyro (const WbDeviceTag gyro, const double *northDirection, char *buf)
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void getLinearVelocity (WbNodeRef nodeRef, const double *northDirection, char * buf)
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{
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const double * vel = wb_supervisor_node_get_velocity (nodeRef);
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if (vel != NULL)
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linear_velocity = wb_supervisor_node_get_velocity (nodeRef);
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if (linear_velocity != NULL)
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{
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if (northDirection[0] == 1)
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{
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sprintf (buf,"[%f, %f, %f]", vel[0], vel[2], vel[1]);
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sprintf (buf,"[%f, %f, %f]", linear_velocity[0], linear_velocity[2], linear_velocity[1]);
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}
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else
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{
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sprintf (buf,"[%f, %f, %f]", vel[2], -vel[0], vel[1]);
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sprintf (buf,"[%f, %f, %f]", linear_velocity[2], -linear_velocity[0], linear_velocity[1]);
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}
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}
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@ -186,7 +186,7 @@ void getAllSensors (char *buf, const double *northDirection, WbDeviceTag gyro, W
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getCompass(compass, northDirection, compass_buf);
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getGPS(gps, northDirection, gps_buf);
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getInertia (inertial_unit, northDirection, inertial_buf);
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getLinearVelocity(wb_supervisor_node_get_self(), northDirection, linear_velocity_buf);
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getLinearVelocity(self_node, northDirection, linear_velocity_buf);
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sprintf (buf,"{\"ts\": %s,\"vehicle.imu\": {\"av\": %s,\"la\": %s,\"mf\": %s,\"vehicle.gps\":{%s},\"vehicle.velocity\":{\"wlv\": %s},\"vehicle.pose\":{%s,%s}}\r\n"
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, szTime, gyro_buf, acc_buf, compass_buf, gps_buf, linear_velocity_buf, gps_buf, inertial_buf );
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@ -11,7 +11,8 @@
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#include <webots/camera.h>
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WbNodeRef self_node;
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double *linear_velocity;
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void getInertia (const WbDeviceTag inertialUnit, const double *northDirection, char *buf);
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void getLinearVelocity (WbNodeRef nodeRef, const double *northDirection, char * buf);
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@ -0,0 +1,74 @@
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# Copyright 1996-2019 Cyberbotics Ltd.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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### Generic Makefile.include for Webots controllers, physics plugins, robot
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### window libraries, remote control libraries and other libraries
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### to be used with GNU make
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###
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### Platforms: Windows, macOS, Linux
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### Languages: C, C++
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###
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### Authors: Olivier Michel, Yvan Bourquin, Fabien Rohrer
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### Edmund Ronald, Sergei Poskriakov
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###
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###-----------------------------------------------------------------------------
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###
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### This file is meant to be included from the Makefile files located in the
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### Webots projects subdirectories. It is possible to set a number of variables
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### to customize the build process, i.e., add source files, compilation flags,
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### include paths, libraries, etc. These variables should be set in your local
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### Makefile just before including this Makefile.include. This Makefile.include
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### should never be modified.
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###
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### Here is a description of the variables you may set in your local Makefile:
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###
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### ---- C Sources ----
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### if your program uses several C source files:
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### C_SOURCES = my_plugin.c my_clever_algo.c my_graphics.c
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###
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### ---- C++ Sources ----
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### if your program uses several C++ source files:
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### CXX_SOURCES = my_plugin.cc my_clever_algo.cpp my_graphics.c++
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###
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### ---- Compilation options ----
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### if special compilation flags are necessary:
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### CFLAGS = -Wno-unused-result
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###
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### ---- Linked libraries ----
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### if your program needs additional libraries:
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### INCLUDE = -I"/my_library_path/include"
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### LIBRARIES = -L"/path/to/my/library" -lmy_library -lmy_other_library
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###
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### ---- Linking options ----
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### if special linking flags are needed:
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### LFLAGS = -s
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###
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### ---- Webots included libraries ----
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### if you want to use the Webots C API in your C++ controller program:
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### USE_C_API = true
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### if you want to link with the Qt framework embedded in Webots:
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### QT = core gui widgets network
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###
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### ---- Debug mode ----
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### if you want to display the gcc command line for compilation and link, as
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### well as the rm command details used for cleaning:
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### VERBOSE = 1
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###
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###-----------------------------------------------------------------------------
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### Do not modify: this includes Webots global Makefile.include
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space :=
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space +=
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WEBOTS_HOME_PATH=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME))))
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include $(WEBOTS_HOME_PATH)/resources/Makefile.include
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@ -0,0 +1,106 @@
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/*
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* File:
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* Date:
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* Description:
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* Author:
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* Modifications:
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*/
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#include <ode/ode.h>
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#include <plugins/physics.h>
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dBodyID vehicleID;
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static pthread_mutex_t mutex; // needed to run with multi-threaded version of ODE
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/*
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* Note: This plugin will become operational only after it was compiled and associated with the current world (.wbt).
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* To associate this plugin with the world follow these steps:
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* 1. In the Scene Tree, expand the "WorldInfo" node and select its "physics" field
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* 2. Then hit the [Select] button at the bottom of the Scene Tree
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* 3. In the list choose the name of this plugin (same as this file without the extention)
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* 4. Then save the .wbt by hitting the "Save" button in the toolbar of the 3D view
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* 5. Then reload the world: the plugin should now load and execute with the current simulation
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*/
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void webots_physics_init() {
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pthread_mutex_init(&mutex, NULL);
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vehicleID = dWebotsGetBodyFromDEF("DEF_VEHICLE");
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if (vehicleID == NULL)
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{
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dWebotsConsolePrintf("WARNING: NO DEF_VEHICLE OBJECT TO CONTROL no wind calculations will be applied.\n");
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return ;
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}
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else
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{
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dWebotsConsolePrintf("DEF_VEHICLE object found.\n");
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}
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/*
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* Get ODE object from the .wbt model, e.g.
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* dBodyID body1 = dWebotsGetBodyFromDEF("MY_ROBOT");
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* dBodyID body2 = dWebotsGetBodyFromDEF("MY_SOLID");
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* dGeomID geom2 = dWebotsGetGeomFromDEF("MY_SOLID");
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* If an object is not found in the .wbt world, the function returns NULL.
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* Your code should correcly handle the NULL cases because otherwise a segmentation fault will crash Webots.
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*
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* This function is also often used to add joints to the simulation, e.g.
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* dWorldID world = dBodyGetWorld(body1);
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* pthread_mutex_lock(&mutex);
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* dJointID joint = dJointCreateBall(world, 0);
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* dJointAttach(joint, body1, body2);
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* pthread_mutex_unlock(&mutex);
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* ...
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*/
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}
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void webots_physics_step() {
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/*
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* Do here what needs to be done at every time step, e.g. add forces to bodies
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* dBodyAddForce(body1, f[0], f[1], f[2]);
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* ...
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*/
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int dataSize;
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if (vehicleID != NULL)
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{
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const char *data = (const char *)dWebotsReceive(&dataSize);
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if (dataSize > 0)
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{
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float wind[4];
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memcpy (&wind[0],data,sizeof(float)*4);
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#if 0
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dWebotsConsolePrintf("wind: %f %f %f %f \n", wind[0],wind[1],wind[2],wind[3]);
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#endif
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dBodyAddForce(vehicleID, wind[1], wind[2], wind[3]);
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}
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}
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}
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int webots_physics_collide(dGeomID g1, dGeomID g2) {
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/*
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* This function needs to be implemented if you want to overide Webots collision detection.
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* It must return 1 if the collision was handled and 0 otherwise.
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* Note that contact joints should be added to the contact_joint_group which can change over the time, e.g.
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* n = dCollide(g1, g2, MAX_CONTACTS, &contact[0].geom, sizeof(dContact));
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* dJointGroupID contact_joint_group = dWebotsGetContactJointGroup();
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* dWorldID world = dBodyGetWorld(body1);
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* ...
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* pthread_mutex_lock(&mutex);
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* dJointCreateContact(world, contact_joint_group, &contact[i])
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* dJointAttach(contact_joint, body1, body2);
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* pthread_mutex_unlock(&mutex);
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* ...
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*/
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return 0;
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}
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void webots_physics_cleanup() {
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/*
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* Here you need to free any memory you allocated in above, close files, etc.
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* You do not need to free any ODE object, they will be freed by Webots.
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*/
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pthread_mutex_destroy(&mutex);
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}
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@ -25,3 +25,7 @@ EK2_LOG_MASK 7
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LOG_BITMASK 978943
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LOG_MAV_BUFSIZE 32
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LOG_REPLAY 1
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WPNAV_SPEED 800
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SIM_WIND_DIR 90.0
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SIM_WIND_SPD 6.0
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SIM_WIND_TURB 0.0
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@ -25,3 +25,6 @@ EK2_LOG_MASK 7
|
|||
LOG_BITMASK 978943
|
||||
LOG_MAV_BUFSIZE 32
|
||||
LOG_REPLAY 1
|
||||
SIM_WIND_DIR 90.0
|
||||
SIM_WIND_SPD 5.0
|
||||
SIM_WIND_TURB 0.0
|
||||
|
|
@ -4,6 +4,7 @@ WorldInfo {
|
|||
"World generated using the Open Street Map to Webots importer"
|
||||
"Author: David Mansolino <david.mansolino@epfl.ch>"
|
||||
]
|
||||
physics "sitl_physics_env"
|
||||
basicTimeStep 2
|
||||
FPS 5
|
||||
optimalThreadCount 4
|
||||
|
|
@ -34,9 +35,13 @@ Floor {
|
|||
metalness 0
|
||||
}
|
||||
}
|
||||
Robot {
|
||||
DEF DEF_VEHICLE Robot {
|
||||
rotation -1.6967771456756733e-10 1 2.4151813868919206e-10 -0.7512383045779282
|
||||
children [
|
||||
Emitter {
|
||||
name "emitter_plugin"
|
||||
description "commuicates with physics plugin"
|
||||
}
|
||||
Shape {
|
||||
appearance Appearance {
|
||||
material Material {
|
||||
|
|
@ -343,7 +348,7 @@ Robot {
|
|||
}
|
||||
rotationStep 0.261799
|
||||
controller "ardupilot_SITL_QUAD"
|
||||
controllerArgs "-p 5599"
|
||||
controllerArgs "-p 5599 -df 0.02"
|
||||
supervisor TRUE
|
||||
}
|
||||
Road {
|
||||
|
|
|
|||
|
|
@ -1,11 +1,18 @@
|
|||
#VRML_SIM R2019b utf8
|
||||
WorldInfo {
|
||||
gravity 0 -9.80665 0
|
||||
physics "sitl_physics_env"
|
||||
basicTimeStep 2
|
||||
FPS 15
|
||||
optimalThreadCount 4
|
||||
randomSeed 52
|
||||
}
|
||||
Viewpoint {
|
||||
orientation 0.5542589845891367 0.8247263718920818 0.11235385844706426 5.801159266912386
|
||||
position -4.295082945651872 3.093288102690911 9.827811912728198
|
||||
follow "quad_plus_sitl"
|
||||
followOrientation TRUE
|
||||
}
|
||||
DogHouse {
|
||||
translation 34.82 0.76 -24.56
|
||||
name "dog house(1)"
|
||||
|
|
@ -18,12 +25,6 @@ DogHouse {
|
|||
translation 185.42 0.77 48.97
|
||||
name "dog house(5)"
|
||||
}
|
||||
Viewpoint {
|
||||
orientation 0.9206416250609748 0.36103346961097993 0.14857264898272837 5.442484201093071
|
||||
position -1.9234783002250637 6.507213279340571 5.620669046678885
|
||||
follow "quad_plus_sitl"
|
||||
followOrientation TRUE
|
||||
}
|
||||
Background {
|
||||
skyColor [
|
||||
0.15 0.5 1
|
||||
|
|
@ -47,10 +48,14 @@ Solid {
|
|||
]
|
||||
name "solid(1)"
|
||||
}
|
||||
Robot {
|
||||
translation -0.027600999999999997 0.674307 0.005031
|
||||
DEF DEF_VEHICLE Robot {
|
||||
translation -0.027601 0.674307 0.005031
|
||||
rotation -0.012461000916064287 0.999885073506054 -0.008635000634797779 -0.22761130717958622
|
||||
children [
|
||||
Emitter {
|
||||
name "emitter_plugin"
|
||||
description "commuicates with physics plugin"
|
||||
}
|
||||
Shape {
|
||||
appearance Appearance {
|
||||
material Material {
|
||||
|
|
@ -356,7 +361,7 @@ Robot {
|
|||
}
|
||||
rotationStep 0.261799
|
||||
controller "ardupilot_SITL_QUAD"
|
||||
controllerArgs "-p 5599"
|
||||
controllerArgs "-p 5599 -df 0.01"
|
||||
supervisor TRUE
|
||||
}
|
||||
DirectionalLight {
|
||||
|
|
|
|||
|
|
@ -1,6 +1,7 @@
|
|||
#VRML_SIM R2019b utf8
|
||||
WorldInfo {
|
||||
gravity 0 -9.80665 0
|
||||
physics "sitl_physics_env"
|
||||
basicTimeStep 2
|
||||
FPS 25
|
||||
optimalThreadCount 4
|
||||
|
|
@ -47,10 +48,14 @@ Solid {
|
|||
]
|
||||
name "solid(1)"
|
||||
}
|
||||
Robot {
|
||||
DEF DEF_VEHICLE Robot {
|
||||
translation -0.027601 0.674307 0.005031
|
||||
rotation 0 1 0 0.785388
|
||||
children [
|
||||
Emitter {
|
||||
name "emitter_plugin"
|
||||
description "commuicates with physics plugin"
|
||||
}
|
||||
Shape {
|
||||
appearance Appearance {
|
||||
material Material {
|
||||
|
|
@ -362,7 +367,7 @@ Robot {
|
|||
}
|
||||
rotationStep 0.261799
|
||||
controller "ardupilot_SITL_QUAD"
|
||||
controllerArgs "-p 5599"
|
||||
controllerArgs "-p 5599 -df 0.01"
|
||||
supervisor TRUE
|
||||
}
|
||||
DirectionalLight {
|
||||
|
|
|
|||
Loading…
Reference in New Issue