Tekkotsu Wiki - Recent changes [en]

State Machine Composer Design Notes

Touretzky — Thu, 17 May 2012 20:12:58 GMT

Enumerated Types Model:

← Older revision		Revision as of 20:12, 17 May 2012
Line 15:		Line 15:
	The components of an enumerated type are:		The components of an enumerated type are:
	# Type name, e.g., MapBuilderRequestType_t		# Type name, e.g., MapBuilderRequestType_t
-	# ~~Prefix~~, e.g., MapBuilderRequest (omit the "::" scope operator at the end	+	# Scope resolution prefix, e.g., MapBuilderRequest (omit the "::" scope operator at the end)
	# Ordered list of enum elements, e.g., cameraMap, localMap, worldMap		# Ordered list of enum elements, e.g., cameraMap, localMap, worldMap

Lab: Examining Vision Results

Touretzky — Sun, 13 May 2012 12:41:51 GMT

Collections of Shapes:

← Older revision		Revision as of 12:41, 13 May 2012
(2 intermediate revisions not shown)
Line 69:		Line 69:

	The example program below speaks the shape id number of the first green ellipse it finds. If there are no green ellipses, it recognizes that find_if returned an invalid shape and reports that no green ellipses were found.		The example program below speaks the shape id number of the first green ellipse it finds. If there are no green ellipses, it recognizes that find_if returned an invalid shape and reports that no green ellipses were found.
-
-
	<font color="#a06000"><b>#include</b></font> "Behaviors/StateMachine.h"		<font color="#a06000"><b>#include</b></font> "Behaviors/StateMachine.h"

Line 95:		Line 93:

	REGISTER_BEHAVIOR(ShapeTest2);		REGISTER_BEHAVIOR(ShapeTest2);
-
	'''Exercises:'''		'''Exercises:'''
	# Run the ShapeTest2 behavior and test the cases where a green ellipse is visible, and where no green ellipse is visible.		# Run the ShapeTest2 behavior and test the cases where a green ellipse is visible, and where no green ellipse is visible.
Line 107:		Line 104:
	Frequently you'll want to iterate over an entire vector of shapes instead of just processing the first element. You can do this with the usual STL iterator methods if you're familiar with them. But Tekkotsu provides some syntactic sugar for this common operation that eliminates the need to deal with iterators explicity. It's called the SHAPEVEC_ITERATE macro. Here's an example that prints the semimajor axis length of each ellipse the MapBuilder found:		Frequently you'll want to iterate over an entire vector of shapes instead of just processing the first element. You can do this with the usual STL iterator methods if you're familiar with them. But Tekkotsu provides some syntactic sugar for this common operation that eliminates the need to deal with iterators explicity. It's called the SHAPEVEC_ITERATE macro. Here's an example that prints the semimajor axis length of each ellipse the MapBuilder found:
	NEW_SHAPEVEC(ellipses, EllipseData, select_type<EllipseData>(camShS));		NEW_SHAPEVEC(ellipses, EllipseData, select_type<EllipseData>(camShS));
		+
	SHAPEVEC_ITERATE(ellipses, EllipseData, e) {		SHAPEVEC_ITERATE(ellipses, EllipseData, e) {
	cout << "Ellipse " << e->getID() << " has semimajor axis length " << e->getSemiMajor() << endl;		cout << "Ellipse " << e->getID() << " has semimajor axis length " << e->getSemiMajor() << endl;
Line 112:		Line 110:

	Many algorithms require finding a distinguished element of a collection, such as the longest line or the ellipse with the greatest area. An easy way to do this is to sort the collection, then take the first element of the result. Tekkotsu provides a stable_sort method, inspired by the STL method of the same name. But Tekkotsu's version operates on vectors of shapes and takes a binary shape predicate as its second argument. For ellipses there is a predicate functor called AreaLessThan that will do what we want. Here is example code:		Many algorithms require finding a distinguished element of a collection, such as the longest line or the ellipse with the greatest area. An easy way to do this is to sort the collection, then take the first element of the result. Tekkotsu provides a stable_sort method, inspired by the STL method of the same name. But Tekkotsu's version operates on vectors of shapes and takes a binary shape predicate as its second argument. For ellipses there is a predicate functor called AreaLessThan that will do what we want. Here is example code:
-	NEW_SHAPEVEC(ellipses, EllipseData, select_type<EllipseData>(camShS));	+	Shape<EllipseData> findBiggestEllipse() {
-	NEW_SHAPEVEC(sortedEllipses, EllipseData, stable_sort(ellipses, not2(EllipseData::AreaLessThan())));	+	NEW_SHAPEVEC(ellipses, EllipseData, select_type<EllipseData>(camShS));
-	Shape<EllipseData> biggestEllipse;	+	NEW_SHAPEVEC(sortedEllipses, EllipseData, stable_sort(ellipses, not2(EllipseData::AreaLessThan())));
-	if ( sortedEllipses.size() > 0 ) {	+	Shape<EllipseData> biggestEllipse;
-	biggestEllipse = sortedEllipses[0];	+	if ( sortedEllipses.size() > 0 ) {
-	biggestEllipse->setName("~~biggest~~");	+	biggestEllipse = sortedEllipses[0];
		+	biggestEllipse->setName("biggestEllipse");
		+	}
		+	return biggestEllipse;
	}		}

	There are several things to note in this code.		There are several things to note in this code.
	* In order to sort the ellipses in ''descending'' order by area we had to negate the AreaLessThan predicate, which we did using not2().		* In order to sort the ellipses in ''descending'' order by area we had to negate the AreaLessThan predicate, which we did using not2().
-	* Instead of using NEW_SHAPE to declare biggestEllipse, we used a simple Shape<EllipseData> declaration. This initializes biggestEllipse to an invalid shape. Then, if sortedEllipses is not empty, we assign sortedEllises[0] to biggestEllipse.	+	* Instead of using NEW_SHAPE to declare biggestEllipse, we used a simple Shape<EllipseData> declaration. This initializes biggestEllipse to an invalid shape. Then, if sortedEllipses is not empty, we assign sortedEllises[0] to biggestEllipse, replacing the invalid shape with a valid one.
-	* Ellipse shapes created by the MapBuilder have a default name of "EllipseData". We use a call to setName to change the name of the selected ellipse to "~~biggest~~", so that we can see it in the SketchGUI. The NEW_SHAPE macro ~~generates~~ this setName call automatically. Thus, another way to achieve the same effect as the last 5 lines of code would be to write:	+	* Ellipse shapes created by the MapBuilder have a default name of "EllipseData". We use a call to setName to change the name of the selected ellipse to "biggestEllipse", so that we can see it in the SketchGUI. The NEW_SHAPE macro makes this setName call automatically if the shape is valid. Thus, another way to achieve the same effect as the last 5 lines of code would be to write:
	NEW_SHAPE(biggestEllipse, EllipseData,		NEW_SHAPE(biggestEllipse, EllipseData,
	sortedEllipses.size() == 0 ? Shape<EllipseData>() : sortedEllipses[0]);		sortedEllipses.size() == 0 ? Shape<EllipseData>() : sortedEllipses[0]);

Mirage WorldBuilder syntax

Touretzky — Sun, 13 May 2012 09:29:17 GMT

Logo Turtle Mode:

← Older revision		Revision as of 09:29, 13 May 2012
(One intermediate revision not shown)
Line 67:		Line 67:
	\|cmodel=''shape'' \|\| Collision model to use (cube, sphere, cylinder, plane)		\|cmodel=''shape'' \|\| Collision model to use (cube, sphere, cylinder, plane)
	\|-		\|-
-	\|cmoffset=[''x'',''y'',''z''] \|\| Offset of the model relative to parent coordinate frame	+	\|cmoffset=[''x'',''y'',''z''] \|\| Offset of the collision model relative to parent coordinate frame
	\|-		\|-
-	\|cmrotation=[''x'',''y'',''z''] \|\| Rotation of the model relative to the parent coordinate frame, expressed as a unit quaternion	+	\|cmrotation=[''x'',''y'',''z''] \|\| Rotation of the collision model relative to the parent coordinate frame, expressed as a unit quaternion
	\|-		\|-
-	\|cmscale=[''x'',''y'',''z''] \|\| Scale of the model (defaults to the regular ''scale'' attribute)	+	\|cmscale=[''x'',''y'',''z''] \|\| Scale of the collision model (defaults to the regular ''scale'' attribute)
	\|}		\|}

Line 284:		Line 284:

	=Logo Turtle Mode=		=Logo Turtle Mode=
		+	(To be written.)

Lab: Examining Vision Results

Touretzky — Sun, 13 May 2012 07:55:55 GMT

Heterogeneous Collections of Shapes:

Show changes

Mirage install instructions

Touretzky — Thu, 10 May 2012 06:21:49 GMT

Installing Mirage Under Ubuntu 10.04:

← Older revision		Revision as of 06:21, 10 May 2012
(2 intermediate revisions not shown)
Line 1:		Line 1:
	Mirage is a simulation environment that provides Tekkotsu (running on a workstation instead of a robot) with a virtual world.		Mirage is a simulation environment that provides Tekkotsu (running on a workstation instead of a robot) with a virtual world.

-	==Installing Mirage Under Ubuntu 9.10 or 10.04 ==	+	==Installing Mirage Under Ubuntu 10.04 or 12.04 ==
	1. Install '''hardware graphics drivers'''. Ubuntu installs by default with the Mesa indirect software renderer, but OGRE3D requires the hardware driver specific to the graphics board being used. If you're running on an ASUS netbook, you're fine; skip this step. But on a desktop workstation you may not be. To check whether you have the hardware graphics driver installed on your workstation or non-ASUS laptop, type:		1. Install '''hardware graphics drivers'''. Ubuntu installs by default with the Mesa indirect software renderer, but OGRE3D requires the hardware driver specific to the graphics board being used. If you're running on an ASUS netbook, you're fine; skip this step. But on a desktop workstation you may not be. To check whether you have the hardware graphics driver installed on your workstation or non-ASUS laptop, type:
	sudo apt-get install mesa-utils		sudo apt-get install mesa-utils
Line 45:		Line 45:
	The "make install" may print an error message about failure to remove a non-existent file. This can be ignored.		The "make install" may print an error message about failure to remove a non-existent file. This can be ignored.

-	5. Install the '''OGRE3D rendering system''' version 1.7.1:	+	5. Install the '''OGRE3D rendering system''' version 1.7.4:
	cd /opt		cd /opt
-	wget http://downloads.sourceforge.net/project/ogre/ogre/1.7/ogre_src_v1-7-1.tar.bz2	+	wget http://downloads.sourceforge.net/project/ogre/ogre/1.7/ogre_src_v1-7-4.tar.bz2
-	tar xjf ogre_src_v1-7-1.tar.bz2	+	tar xjf ogre_src_v1-7-4.tar.bz2
-	cd ogre_src_v1-7-1	+	cd ogre_src_v1-7-4
	mkdir build		mkdir build
	cd build		cd build
Line 57:		Line 57:
	Note: You can obtain other Ogre releases by going to the [http://sourceforge.net/projects/ogre/files OGRE Sourceforge download page] (latest release) or the [http://www.ogre3d.org/download/source OGRE3D source download page] and clicking on the version you want.		Note: You can obtain other Ogre releases by going to the [http://sourceforge.net/projects/ogre/files OGRE Sourceforge download page] (latest release) or the [http://www.ogre3d.org/download/source OGRE3D source download page] and clicking on the version you want.

-	6. Install release ~~2050~~ (not the latest release) of the '''Bullet physics engine'''. Download it from the subversion repository and compile it by following the steps below.	+	6. Install release 2531 (might not be the latest release) of the '''Bullet physics engine'''. Download it from the subversion repository and compile it by following the steps below.
	cd /opt		cd /opt
-	svn checkout -r ~~2050~~ <nowiki>http://bullet.googlecode.com/svn/trunk/</nowiki> bullet-~~read-only~~	+	svn checkout -r 2531 <nowiki>http://bullet.googlecode.com/svn/trunk/</nowiki> bullet-280
-	cd bullet-~~read-only~~	+	cd bullet-280
	cmake -DBUILD_SHARED_LIBS=ON -DBUILD_EXTRAS=OFF -DBUILD_DEMOS=OFF -DGLUT_INCLUDE_DIR=Glut -DINSTALL_LIBS=ON		cmake -DBUILD_SHARED_LIBS=ON -DBUILD_EXTRAS=OFF -DBUILD_DEMOS=OFF -DGLUT_INCLUDE_DIR=Glut -DINSTALL_LIBS=ON
	make -j4		make -j4