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

Timestamp:

Feb 7, 2018, 5:49:27 PM (7 years ago)

Author:

Sanahuja Guillaume

Message:

matrix

Location:

trunk/demos/CircleFollower

Files:

• simulator/build_x86_64/bin/setup_x4.xml (modified) (2 diffs)
• simulator/build_x86_64/bin/setup_x8.xml (modified) (4 diffs)
• uav/src/CircleFollower.cpp (modified) (2 diffs)

trunk/demos/CircleFollower/simulator/build_x86_64/bin/setup_x4.xml

@@ -27 +27 @@
     <DoubleSpinBox value="0.006" name="j_pitch:"/>
     <DoubleSpinBox value="0.1" name="j_yaw:"/>
-   </Tab>
+   <SpinBox name="motor timeout:" value="100"/></Tab>
    <Tab name="us">
     <GroupBox name="position">
@@ -40 +40 @@
     </GroupBox>
     <DoubleSpinBox value="6" name="range:"/>
-   <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>
+   <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>
    <Tab name="bottom camera">
     <GroupBox name="position">

trunk/demos/CircleFollower/simulator/build_x86_64/bin/setup_x8.xml

@@ -16 +16 @@
     <DoubleSpinBox value="-1.2" name="z:"/>
     <SpinBox value="90" name="yaw (deg):"/>
-   <Vector3DSpinBox name="position" value_x="-1.50" value_y="0.00" value_z="-1.00"/></Tab>
+   <Vector3DSpinBox name="position" value_x="-1.5" value_y="0" value_z="-1"/></Tab>
    <Tab name="model">
     <DoubleSpinBox value="1.6" name="mass (kg):"/>
@@ -31 +31 @@
     <DoubleSpinBox value="0.72" name="sigma:"/>
     <DoubleSpinBox value="1" name="S:"/>
-   </Tab>
+   <SpinBox name="motor timeout:" value="100"/></Tab>
    <Tab name="us">
     <GroupBox name="position">
@@ -44 +44 @@
     </GroupBox>
     <DoubleSpinBox value="6" name="range:"/>
-   <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>
+   <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>
    <Tab name="bottom camera">
     <GroupBox name="position">
@@ -96 +96 @@
     <DoubleSpinBox value="0" name="z:"/>
     <SpinBox value="90" name="yaw (deg):"/>
-   <Vector3DSpinBox name="position" value_x="-1.50" value_y="1.00" value_z="0.00"/></Tab>
+   <Vector3DSpinBox name="position" value_x="-1.5" value_y="1" value_z="0"/></Tab>
    <Tab name="model">
     <DoubleSpinBox value="1.3" name="translational speed (m/s):"/>

trunk/demos/CircleFollower/uav/src/CircleFollower.cpp

@@ -24 +24 @@
 #include <MetaVrpnObject.h>
 #include <TrajectoryGenerator2DCircle.h>
+#include <Matrix.h>
 #include <cvmatrix.h>
 #include <cmath>
@@ -61 +62 @@
 
     circle=new TrajectoryGenerator2DCircle(vrpnclient->GetLayout()->NewRow(),"circle");
-    uavVrpn->xPlot()->AddCurve(circle->Matrix()->Element(0,0),DataPlot::Blue);
-    uavVrpn->yPlot()->AddCurve(circle->Matrix()->Element(0,1),DataPlot::Blue);
-    uavVrpn->VxPlot()->AddCurve(circle->Matrix()->Element(1,0),DataPlot::Blue);
-    uavVrpn->VyPlot()->AddCurve(circle->Matrix()->Element(1,1),DataPlot::Blue);
-    uavVrpn->XyPlot()->AddCurve(circle->Matrix()->Element(0,1),circle->Matrix()->Element(0,0),DataPlot::Blue,"circle");
+    uavVrpn->xPlot()->AddCurve(circle->GetMatrix()->Element(0,0),DataPlot::Blue);
+    uavVrpn->yPlot()->AddCurve(circle->GetMatrix()->Element(0,1),DataPlot::Blue);
+    uavVrpn->VxPlot()->AddCurve(circle->GetMatrix()->Element(1,0),DataPlot::Blue);
+    uavVrpn->VyPlot()->AddCurve(circle->GetMatrix()->Element(1,1),DataPlot::Blue);
+    uavVrpn->XyPlot()->AddCurve(circle->GetMatrix()->Element(0,1),circle->GetMatrix()->Element(0,0),DataPlot::Blue,"circle");
 
     uX=new Pid(setupLawTab->At(1,0),"u_x");