Changeset 214 in flair-src for trunk/demos/CircleFollower


Ignore:
Timestamp:
02/07/18 17:49:27 (5 years ago)
Author:
Sanahuja Guillaume
Message:

matrix

Location:
trunk/demos/CircleFollower
Files:
3 edited

Legend:

Unmodified
Added
Removed
  • trunk/demos/CircleFollower/simulator/build_x86_64/bin/setup_x4.xml

    r157 r214  
    2727    <DoubleSpinBox value="0.006" name="j_pitch:"/>
    2828    <DoubleSpinBox value="0.1" name="j_yaw:"/>
    29    </Tab>
     29   <SpinBox name="motor timeout:" value="100"/></Tab>
    3030   <Tab name="us">
    3131    <GroupBox name="position">
     
    4040    </GroupBox>
    4141    <DoubleSpinBox value="6" name="range:"/>
    42    <Vector3DSpinBox name="position" value_x="0.00" value_y="0.00" value_z="0.0400000000000000"/><Vector3DSpinBox name="direction" value_x="0" value_y="0" value_z="1"/></Tab>
     42   <Vector3DSpinBox name="position" value_x="0" value_y="0" value_z="0.04"/><Vector3DSpinBox name="direction" value_x="0" value_y="0" value_z="1"/></Tab>
    4343   <Tab name="bottom camera">
    4444    <GroupBox name="position">
  • trunk/demos/CircleFollower/simulator/build_x86_64/bin/setup_x8.xml

    r21 r214  
    1616    <DoubleSpinBox value="-1.2" name="z:"/>
    1717    <SpinBox value="90" name="yaw (deg):"/>
    18    <Vector3DSpinBox name="position" value_x="-1.50" value_y="0.00" value_z="-1.00"/></Tab>
     18   <Vector3DSpinBox name="position" value_x="-1.5" value_y="0" value_z="-1"/></Tab>
    1919   <Tab name="model">
    2020    <DoubleSpinBox value="1.6" name="mass (kg):"/>
     
    3131    <DoubleSpinBox value="0.72" name="sigma:"/>
    3232    <DoubleSpinBox value="1" name="S:"/>
    33    </Tab>
     33   <SpinBox name="motor timeout:" value="100"/></Tab>
    3434   <Tab name="us">
    3535    <GroupBox name="position">
     
    4444    </GroupBox>
    4545    <DoubleSpinBox value="6" name="range:"/>
    46    <Vector3DSpinBox name="position" value_x="0.00" value_y="0.00" value_z="0.04"/><Vector3DSpinBox name="direction" value_x="0.00" value_y="0.00" value_z="1.00"/></Tab>
     46   <Vector3DSpinBox name="position" value_x="0" value_y="0" value_z="0.04"/><Vector3DSpinBox name="direction" value_x="0" value_y="0" value_z="1"/></Tab>
    4747   <Tab name="bottom camera">
    4848    <GroupBox name="position">
     
    9696    <DoubleSpinBox value="0" name="z:"/>
    9797    <SpinBox value="90" name="yaw (deg):"/>
    98    <Vector3DSpinBox name="position" value_x="-1.50" value_y="1.00" value_z="0.00"/></Tab>
     98   <Vector3DSpinBox name="position" value_x="-1.5" value_y="1" value_z="0"/></Tab>
    9999   <Tab name="model">
    100100    <DoubleSpinBox value="1.3" name="translational speed (m/s):"/>
  • trunk/demos/CircleFollower/uav/src/CircleFollower.cpp

    r171 r214  
    2424#include <MetaVrpnObject.h>
    2525#include <TrajectoryGenerator2DCircle.h>
     26#include <Matrix.h>
    2627#include <cvmatrix.h>
    2728#include <cmath>
     
    6162
    6263    circle=new TrajectoryGenerator2DCircle(vrpnclient->GetLayout()->NewRow(),"circle");
    63     uavVrpn->xPlot()->AddCurve(circle->Matrix()->Element(0,0),DataPlot::Blue);
    64     uavVrpn->yPlot()->AddCurve(circle->Matrix()->Element(0,1),DataPlot::Blue);
    65     uavVrpn->VxPlot()->AddCurve(circle->Matrix()->Element(1,0),DataPlot::Blue);
    66     uavVrpn->VyPlot()->AddCurve(circle->Matrix()->Element(1,1),DataPlot::Blue);
    67     uavVrpn->XyPlot()->AddCurve(circle->Matrix()->Element(0,1),circle->Matrix()->Element(0,0),DataPlot::Blue,"circle");
     64    uavVrpn->xPlot()->AddCurve(circle->GetMatrix()->Element(0,0),DataPlot::Blue);
     65    uavVrpn->yPlot()->AddCurve(circle->GetMatrix()->Element(0,1),DataPlot::Blue);
     66    uavVrpn->VxPlot()->AddCurve(circle->GetMatrix()->Element(1,0),DataPlot::Blue);
     67    uavVrpn->VyPlot()->AddCurve(circle->GetMatrix()->Element(1,1),DataPlot::Blue);
     68    uavVrpn->XyPlot()->AddCurve(circle->GetMatrix()->Element(0,1),circle->GetMatrix()->Element(0,0),DataPlot::Blue,"circle");
    6869
    6970    uX=new Pid(setupLawTab->At(1,0),"u_x");
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