Revision 594c3bb9
| ID | 594c3bb9eb72bd9cd1a22685345ea66612634e78 |
Loads specific images for each scout if they exist
Otherwise, looks in the images folder for scout.png.
Added a few default scouts with numbers, and the xcf files they were created from.
| scout/scoutsim/src/sim_frame.cpp | ||
|---|---|---|
| 75 | 75 |
Connect(wxEVT_PAINT, wxPaintEventHandler(SimFrame::onPaint), |
| 76 | 76 |
NULL, this); |
| 77 | 77 |
|
| 78 |
std::string scouts[SCOUTSIM_NUM_SCOUTS] = |
|
| 79 |
{
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| 80 |
"scout.png" |
|
| 81 |
}; |
|
| 82 |
|
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| 83 |
std::string images_path = ros::package::getPath("scoutsim")+"/images/";
|
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| 84 |
for (size_t i = 0; i < SCOUTSIM_NUM_SCOUTS; ++i) |
|
| 85 |
{
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| 86 |
scout_images[i].LoadFile( |
|
| 87 |
wxString::FromAscii((images_path + scouts[i]).c_str())); |
|
| 88 |
scout_images[i].SetMask(true); |
|
| 89 |
scout_images[i].SetMaskColour(255, 255, 255); |
|
| 90 |
} |
|
| 78 |
images_path = ros::package::getPath("scoutsim") + "/images/";
|
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| 91 | 79 |
|
| 92 |
/// @todo This should change.
|
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| 93 |
meter = scout_images[0].GetHeight();
|
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| 80 |
// 200 pixels per meter. @todo make this a constant elsewhere.
|
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| 81 |
meter = 200;
|
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| 94 | 82 |
|
| 95 | 83 |
map_base_name = ros::package::getPath("scoutsim") + "/maps/" +
|
| 96 | 84 |
map_name + ".bmp"; |
| ... | ... | |
| 239 | 227 |
} |
| 240 | 228 |
} |
| 241 | 229 |
|
| 230 |
wxImage scout_image; |
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| 231 |
|
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// Try to load a name-specific image; if not, load the default scout |
|
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string specific_name = images_path + name + ".png"; |
|
| 234 |
if (fileExists(specific_name)) |
|
| 235 |
{
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scout_image.LoadFile(wxString::FromAscii(specific_name.c_str())); |
|
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scout_image.SetMask(true); |
|
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scout_image.SetMaskColour(255, 255, 255); |
|
| 239 |
} |
|
| 240 |
else |
|
| 241 |
{
|
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| 242 |
scout_image.LoadFile( |
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| 243 |
wxString::FromAscii((images_path + "scout.png").c_str())); |
|
| 244 |
scout_image.SetMask(true); |
|
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scout_image.SetMaskColour(255, 255, 255); |
|
| 246 |
} |
|
| 247 |
|
|
| 242 | 248 |
ScoutPtr t(new Scout(ros::NodeHandle(real_name), |
| 243 |
scout_images[rand() % SCOUTSIM_NUM_SCOUTS], |
|
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Vector2(x, y), &path_bitmap,angle)); |
|
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scout_image, Vector2(x, y), &path_bitmap, angle)); |
|
| 245 | 250 |
scouts[real_name] = t; |
| 246 | 251 |
|
| 247 | 252 |
ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",
|
| ... | ... | |
| 338 | 343 |
} |
| 339 | 344 |
} |
| 340 | 345 |
|
| 346 |
bool SimFrame::fileExists(const std::string& filename) |
|
| 347 |
{
|
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| 348 |
struct stat buf; |
|
| 349 |
if (stat(filename.c_str(), &buf) != -1) |
|
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{
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return true; |
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| 352 |
} |
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| 353 |
return false; |
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} |
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|
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| 341 | 356 |
void SimFrame::stopTeleop(wxCommandEvent& event) |
| 342 | 357 |
{
|
| 343 | 358 |
teleop_type = TELEOP_OFF; |
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