World plugin#36
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KnightArthurRen
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Oct 19, 2017
KnightArthurRen
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- Added virtual class FlatlandPlugin to be parent class for both Model Plugin and World Plugin
- Modified files to accept FlatlandPlugin
- Modified Model Plugin to inheritance from FlatlandPlugin
- Added World Plugin to support world modification
- Modified world.cpp and plugin_manager to read world plugin
- Added a example world plugin of random wall
| if (type.find("::") != std::string::npos) { | ||
| world_plugin = world_plugin_loader_->createInstance(type); | ||
| } else { | ||
| ROS_INFO_NAMED("PluginManager", "else"); |
Collaborator
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We probably don't need this debug bit or the below commented out parts any more
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| YamlReader world_plugin_reader = | ||
| world_reader.SubnodeOpt("plugins", YamlReader::LIST); | ||
| // world_reader.EnsureAccessedAllKeys(); |
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Does this break now with the plugins subnode?
| float RayTrace::ReportFixture(b2Fixture *fixture, const b2Vec2 &point, | ||
| const b2Vec2 &normal, float fraction) { | ||
| // only register hit in the specified layers | ||
| if (!(fixture->GetFilterData().categoryBits & 1)) { |
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Does this mean "only the first layer"? If so, that's not really the "specified" layers?
JoaoCostaIFG
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to JoaoCostaIFG/flatland
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Nov 30, 2022
World plugin
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