//-------------------------------------------------------------------------------------
void TutorialApplication::createScene(void)
{
// create your scene here :)
/* Create a new simulator instance. */
RVO::RVOSimulator *sim = new RVO::RVOSimulator();
Visualizer vis( sim );
/* Set up the scenario. */
setupScenario(sim);
// Set the scene's ambient light
mSceneMgr->setAmbientLight(Ogre::ColourValue(0.0f, 0.5f, 1.0f));
// Create an Entity
Ogre::Entity* sphere1_entity = mSceneMgr->createEntity("sphere1", "sphere.mesh");
// Create a SceneNode and attach the Entity to it
Ogre::SceneNode* sphere1_scene = mSceneMgr->getRootSceneNode()->createChildSceneNode("sphere1");
sphere1_scene->attachObject(sphere1_entity);
//another head
Ogre::Entity* sphere2_entity = mSceneMgr->createEntity( "sphere2", "sphere.mesh" );
Ogre::SceneNode* sphere2_scene = mSceneMgr->getRootSceneNode()->createChildSceneNode( "sphere2", Ogre::Vector3( 600, 0, 0 ) );
sphere2_scene->attachObject( sphere2_entity );
// Create a Light and set its position
Ogre::Light* light = mSceneMgr->createLight("MainLight");
light->setPosition(20.0f, 80.0f, 50.0f);
}
int main(int argc, char* argv[]) {
ros::init(argc, argv, "rvo_example");
ros::NodeHandle nh("rvo_example");
/* Create a new simulator instance. */
RVO::RVOSimulator* sim = new RVO::RVOSimulator();
/* Set up the scenario. */
setupScenario(sim);
/* Perform (and manipulate) the simulation. */
ROS_INFO("Iteration");
do {
#if RVO_OUTPUT_TIME_AND_POSITIONS
updateVisualization(sim);
#endif
setPreferredVelocities(sim);
sim->doStep();
} while (!reachedGoal(sim));
ROS_INFO("End");
delete sim;
return 0;
}
AgentClass::AgentClass(ros::NodeHandle handle)
{
//Definicija konstruktora klase
//const std::string cmd_vel = "/cmd_vel";
pub_ = handle.advertise<geometry_msgs::Twist>("/pioneer1/cmd_vel",1000,false); //Postavljanje publishera
//const std::string cmd_vel_pref = "/cmd_vel_pref";
sub[0] = handle.subscribe("/pioneer1/cmd_vel_pref",1000,&AgentClass::callback_function_main,this); //Postavljanje glavnog subscribera
sub[1] = handle.subscribe("/pioneer2/cmd_vel_pref",1000,&AgentClass::callback_function_2,this); //Preferirana brzina drugog pioneera
//Pracenje pozicije robota iz Gazeba
pozicija_ = handle.serviceClient<gazebo_msgs::GetModelState>("gazebo/get_model_state");
//Rezervacija memorije za novu instancu simulatora
simulator = new RVO::RVOSimulator();
setupScenario();
addAgent1True_ = true;
addAgent2True_ = true;
theta_prije = 0.0; //Primjena u AgentClas::Run() za izračun kutne brzine
}
int main(int argc, const char* argv[])
{
/* Create a new simulator instance. */
RVO::RVOSimulator* sim = new RVO::RVOSimulator();
/* Set up the scenario. */
setupScenario(sim);
/* Perform (and manipulate) the simulation. */
do {
updateVisualization(sim);
setPreferredVelocities(sim);
sim->doStep();
} while (!reachedGoal(sim));
delete sim;
return 0;
}
