updated pioneer flocking example

Author: rtv

examples/ctrl/CMakeLists.txt

@@ -5,7 +5,7 @@ SET( PLUGINS
      source
      wander
 #	  wander_pioneer
-#	  pioneer_flocking
+	  pioneer_flocking
      rasterize
 	  dynamic
 )

examples/ctrl/pioneer_flocking.cc

@@ -15,7 +15,6 @@ using namespace Stg;
 
 typedef struct
 {
-  ModelLaser* laser;
   ModelPosition* position;
   ModelRanger* ranger;
   ModelFiducial* fiducial;
@@ -73,8 +72,8 @@ int RangerUpdate( ModelRanger* rgr, robot_t* robot )
   // use the front-facing sensors only
   for( unsigned int i=0; i < 8; i++ )
 	 {
-		dx += sensors[i].range * cos( sensors[i].pose.a );
-		dy += sensors[i].range * sin( sensors[i].pose.a );
+		dx += sensors[i].ranges[0] * cos( sensors[i].pose.a );
+		dy += sensors[i].ranges[0] * sin( sensors[i].pose.a );
 	 }
 
   if( (dx == 0) || (dy == 0) )
@@ -86,12 +85,12 @@ int RangerUpdate( ModelRanger* rgr, robot_t* robot )
   double turn_speed = EXPAND_WGAIN * resultant_angle;
 
   // if the front is clear, drive forwards
-  if( (sensors[3].range > SAFE_DIST) && // forwards
-	  (sensors[4].range > SAFE_DIST) &&
-	  (sensors[5].range > SAFE_DIST ) && //
-	  (sensors[6].range > SAFE_DIST/2.0) && 
-	  (sensors[2].range > SAFE_DIST ) && 
-	  (sensors[1].range > SAFE_DIST/2.0) && 
+  if( (sensors[3].ranges[0] > SAFE_DIST) && // forwards
+	  (sensors[4].ranges[0] > SAFE_DIST) &&
+	  (sensors[5].ranges[0] > SAFE_DIST ) && //
+	  (sensors[6].ranges[0] > SAFE_DIST/2.0) && 
+	  (sensors[2].ranges[0] > SAFE_DIST ) && 
+	  (sensors[1].ranges[0] > SAFE_DIST/2.0) && 
 	  (fabs( resultant_angle ) < SAFE_ANGLE) )
 	{
 	  forward_speed = VSPEED;

worlds/pioneer_flocking.world

@@ -5,15 +5,15 @@
 include "pioneer.inc"
 include "map.inc"
 
-speedup 100
+speedup 0
 
 paused 1
 
 # low resolution gives fast raytracing. set this only as small as you need for your application
 resolution 0.1
 
 # this is very helpful if you have multiple CPUs - a good value is $(number of CPU cores) - 
-# threads 2
+threads 4
 
 # configure the GUI window
 window