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Merge pull request #419 from osrf/typeb
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Switch to Type B tiles
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@nkoenig
nkoenig authored May 19, 2020
2 parents 0eed307 + 86fa520 commit f869fb0
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58 changes: 29 additions & 29 deletions docker/download_models.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -107,32 +107,32 @@ ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/U
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Urban Large Room Split Lights" -v 4

# Download cave circuit tiles
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Cavern Split 01" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Cavern Split 02" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Starting Area" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Cap" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave 3 Way 01" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave 3 Way 01 Lights" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Vertical Shaft" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Vertical Shaft Lights" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Elevation" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Elevation Lights" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 01" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 01 Lights" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 02" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 02 Lights" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30 D" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30 D Lights" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30F" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30F D" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30F D Lights" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 01" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 01 Lights" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 02" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 02 Lights" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 03" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 04" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 04 Lights" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 05" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 05 Lights" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Cavern Split 01 Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Cavern Split 02 Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Starting Area Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Cap Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave 3 Way 01 Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave 3 Way 01 Lights Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Vertical Shaft Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Vertical Shaft Lights Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Elevation Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Elevation Lights Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 01 Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 01 Lights Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 02 Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 02 Lights Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30 Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30 D Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30 D Lights Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30F Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30F D Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30F D Lights Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 01 Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 01 Lights Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 02 Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 02 Lights Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 03 Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 04 Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 04 Lights Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 05 Type B" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 05 Lights Type B" -v 4
112 changes: 56 additions & 56 deletions subt_ign/src/ConnectionHelper.cc
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Expand Up @@ -70,34 +70,34 @@ std::map<std::string, std::vector<ignition::math::Vector3d>>
{"Urban 2 Story Large Side 2 Lights", {{0, -20, 0}, {0, 20, 0}}},
{"Urban Large Room Split", {{0, -20, 0}, {-20, 0, 0}, {0, 20, 0}}},
{"Urban Large Room Split Lights", {{0, -20, 0}, {-20, 0, 0}, {0, 20, 0}}},
{"Cave Starting Area", {{12.5, 0, 0}}},
{"Cave Straight 01", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 01 Lights", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 02", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 02 Lights", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 03", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 04", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 04 Lights", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 05", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 05 Lights", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Corner 01", {{-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 01 Lights", {{-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 02", {{-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 02 Lights", {{-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave 3 Way 01", {{12.5, 0, 0}, {-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave 3 Way 01 Lights", {{12.5, 0, 0}, {-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Elevation", {{0, 12.5, 0}, {0, -12.5, 10}}},
{"Cave Elevation Lights", {{0, 12.5, 0}, {0, -12.5, 10}}},
{"Cave Vertical Shaft", {{0, 12.5, 20}, {0, -12.5, 0}}},
{"Cave Vertical Shaft Lights", {{0, 12.5, 20}, {0, -12.5, 0}}},
{"Cave Cavern Split 01", {{0, 25, 25}, {12.5, 0, 0}, {-12.5, 0, 0}}},
{"Cave Cavern Split 02", {{12.5, 0, 0}, {-12.5, 0, 0}}},
{"Cave Corner 30", {{12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 30F", {{-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 30 D", {{12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 30 D Lights", {{12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 30F D", {{12.5, 0, 0}, {0, -12.5, 0}}},
{"Cave Corner 30F D Lights", {{12.5, 0, 0}, {0, -12.5, 0}}}
{"Cave Starting Area Type B", {{12.5, 0, 0}}},
{"Cave Straight 01 Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 01 Lights Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 02 Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 02 Lights Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 03 Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 04 Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 04 Lights Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 05 Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 05 Lights Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Corner 01 Type B", {{-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 01 Lights Type B", {{-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 02 Type B", {{-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 02 Lights Type B", {{-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave 3 Way 01 Type B", {{12.5, 0, 0}, {-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave 3 Way 01 Lights Type B", {{12.5, 0, 0}, {-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Elevation Type B", {{0, 12.5, 0}, {0, -12.5, 10}}},
{"Cave Elevation Lights Type B", {{0, 12.5, 0}, {0, -12.5, 10}}},
{"Cave Vertical Shaft Type B", {{0, 12.5, 20}, {0, -12.5, 0}}},
{"Cave Vertical Shaft Lights Type B", {{0, 12.5, 20}, {0, -12.5, 0}}},
{"Cave Cavern Split 01 Type B", {{0, 25, 25}, {12.5, 0, 0}, {-12.5, 0, 0}}},
{"Cave Cavern Split 02 Type B", {{12.5, 0, 0}, {-12.5, 0, 0}}},
{"Cave Corner 30 Type B", {{12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 30F Type B", {{-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 30 D Type B", {{12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 30 D Lights Type B", {{12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 30F D Type B", {{12.5, 0, 0}, {0, -12.5, 0}}},
{"Cave Corner 30F D Lights Type B", {{12.5, 0, 0}, {0, -12.5, 0}}}
};

std::map<std::string, subt::ConnectionHelper::ConnectionType>
Expand Down Expand Up @@ -142,34 +142,34 @@ std::map<std::string, subt::ConnectionHelper::ConnectionType>
{"Urban 2 Story Large Side 2 Lights", subt::ConnectionHelper::TURN},
{"Urban Large Room Split", subt::ConnectionHelper::TURN},
{"Urban Large Room Split Lights", subt::ConnectionHelper::TURN},
{"Cave Starting Area", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 01", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 01 Lights", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 02", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 02 Lights", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 03", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 04", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 04 Lights", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 05", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 05 Lights", subt::ConnectionHelper::STRAIGHT},
{"Cave Corner 01", subt::ConnectionHelper::TURN},
{"Cave Corner 01 Lights", subt::ConnectionHelper::TURN},
{"Cave Corner 02", subt::ConnectionHelper::TURN},
{"Cave Corner 02 Lights", subt::ConnectionHelper::TURN},
{"Cave 3 Way 01", subt::ConnectionHelper::TURN},
{"Cave 3 Way 01 Lights", subt::ConnectionHelper::TURN},
{"Cave Elevation", subt::ConnectionHelper::STRAIGHT},
{"Cave Elevation Lights", subt::ConnectionHelper::STRAIGHT},
{"Cave Vertical Shaft", subt::ConnectionHelper::STRAIGHT},
{"Cave Vertical Shaft Lights", subt::ConnectionHelper::STRAIGHT},
{"Cave Cavern Split 01", subt::ConnectionHelper::TURN},
{"Cave Cavern Split 02", subt::ConnectionHelper::STRAIGHT},
{"Cave Corner 30", subt::ConnectionHelper::TURN},
{"Cave Corner 30F", subt::ConnectionHelper::TURN},
{"Cave Corner 30 D", subt::ConnectionHelper::TURN},
{"Cave Corner 30 D Lights", subt::ConnectionHelper::TURN},
{"Cave Corner 30F D", subt::ConnectionHelper::TURN},
{"Cave Corner 30F D Lights", subt::ConnectionHelper::TURN}
{"Cave Starting Area Type B", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 01 Type B", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 01 Lights Type B", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 02 Type B", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 02 Lights Type B", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 03 Type B", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 04 Type B", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 04 Lights Type B", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 05 Type B", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 05 Lights Type B", subt::ConnectionHelper::STRAIGHT},
{"Cave Corner 01 Type B", subt::ConnectionHelper::TURN},
{"Cave Corner 01 Lights Type B", subt::ConnectionHelper::TURN},
{"Cave Corner 02 Type B", subt::ConnectionHelper::TURN},
{"Cave Corner 02 Lights Type B", subt::ConnectionHelper::TURN},
{"Cave 3 Way 01 Type B", subt::ConnectionHelper::TURN},
{"Cave 3 Way 01 Lights Type B", subt::ConnectionHelper::TURN},
{"Cave Elevation Type B", subt::ConnectionHelper::STRAIGHT},
{"Cave Elevation Lights Type B", subt::ConnectionHelper::STRAIGHT},
{"Cave Vertical Shaft Type B", subt::ConnectionHelper::STRAIGHT},
{"Cave Vertical Shaft Lights Type B", subt::ConnectionHelper::STRAIGHT},
{"Cave Cavern Split 01 Type B", subt::ConnectionHelper::TURN},
{"Cave Cavern Split 02 Type B", subt::ConnectionHelper::STRAIGHT},
{"Cave Corner 30 Type B", subt::ConnectionHelper::TURN},
{"Cave Corner 30F Type B", subt::ConnectionHelper::TURN},
{"Cave Corner 30 D Type B", subt::ConnectionHelper::TURN},
{"Cave Corner 30 D Lights Type B", subt::ConnectionHelper::TURN},
{"Cave Corner 30F D Type B", subt::ConnectionHelper::TURN},
{"Cave Corner 30F D Lights Type B", subt::ConnectionHelper::TURN}
};

using namespace ignition;
Expand Down
2 changes: 1 addition & 1 deletion subt_ign/src/ConnectionValidatorPrivate.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -229,7 +229,7 @@ void ConnectionValidatorPrivate::PopulateConnections()
if (this->worldName.find("urban") != std::string::npos)
dd.tileType = "Urban Starting Area";
else if (this->worldName.find("cave") != std::string::npos)
dd.tileType = "Cave Starting Area";
dd.tileType = "Cave Starting Area Type B";
dd.tileName = "staging_area";
}

Expand Down
6 changes: 3 additions & 3 deletions subt_ign/src/dot_generator.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,7 @@ void printGraph(std::vector<VertexData> &_vertexData)
// rely on this naming convention
std::string name = vd.tileName;
std::string type = vd.tileType;
if (type == "Cave Starting Area" ||
if (type == "Cave Starting Area Type B" ||
type == "Urban Starting Area")
{
type = "base_station";
Expand Down Expand Up @@ -106,9 +106,9 @@ void printGraph(std::vector<VertexData> &_vertexData)

// Is one of the tile a starting area? If so, the cost should be 1.
bool connectsToStaging =
_vertexData[i].tileType == "Cave Starting Area" ||
_vertexData[i].tileType == "Cave Starting Area Type B" ||
_vertexData[i].tileType == "Urban Starting Area" ||
_vertexData[j].tileType == "Cave Starting Area" ||
_vertexData[j].tileType == "Cave Starting Area Type B" ||
_vertexData[j].tileType == "Urban Starting Area";

if ((tp1 == subt::ConnectionHelper::STRAIGHT &&
Expand Down
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