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Cave Qual release #405

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merged 1 commit into from Apr 22, 2020
Merged

Cave Qual release #405

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4 changes: 3 additions & 1 deletion subt_ign/include/subt_ign/CommonTypes.hh
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Expand Up @@ -76,7 +76,9 @@ namespace subt
TYPE_TOOLBOX,
TYPE_VALVE,
TYPE_VENT,
TYPE_GAS
TYPE_GAS,
TYPE_HELMET,
TYPE_ROPE
};

/// \def TeamMemberPtr
Expand Down
35 changes: 35 additions & 0 deletions subt_ign/launch/cave_circuit.ign
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Expand Up @@ -287,6 +287,41 @@
<name>gas_4</name>
<type>TYPE_GAS</type>
</artifact>

<artifact>
<name>helmet_1</name>
<type>TYPE_HELMET</type>
</artifact>
<artifact>
<name>helmet_2</name>
<type>TYPE_HELMET</type>
</artifact>
<artifact>
<name>helmet_3</name>
<type>TYPE_HELMET</type>
</artifact>
<artifact>
<name>helmet_4</name>
<type>TYPE_HELMET</type>
</artifact>

<artifact>
<name>rope_1</name>
<type>TYPE_ROPE</type>
</artifact>
<artifact>
<name>rope_2</name>
<type>TYPE_ROPE</type>
</artifact>
<artifact>
<name>rope_3</name>
<type>TYPE_ROPE</type>
</artifact>
<artifact>
<name>rope_4</name>
<type>TYPE_ROPE</type>
</artifact>

</plugin>
</plugin>

Expand Down
35 changes: 35 additions & 0 deletions subt_ign/launch/cloudsim_sim.ign
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Expand Up @@ -362,6 +362,41 @@
<name>gas_5</name>
<type>TYPE_GAS</type>
</artifact>

<artifact>
<name>helmet_1</name>
<type>TYPE_HELMET</type>
</artifact>
<artifact>
<name>helmet_2</name>
<type>TYPE_HELMET</type>
</artifact>
<artifact>
<name>helmet_3</name>
<type>TYPE_HELMET</type>
</artifact>
<artifact>
<name>helmet_4</name>
<type>TYPE_HELMET</type>
</artifact>

<artifact>
<name>rope_1</name>
<type>TYPE_ROPE</type>
</artifact>
<artifact>
<name>rope_2</name>
<type>TYPE_ROPE</type>
</artifact>
<artifact>
<name>rope_3</name>
<type>TYPE_ROPE</type>
</artifact>
<artifact>
<name>rope_4</name>
<type>TYPE_ROPE</type>
</artifact>

</plugin>
</plugin>

Expand Down
10 changes: 7 additions & 3 deletions subt_ign/src/ArtifactValidator.cc
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Expand Up @@ -110,7 +110,7 @@ class subt::ArtifactValidatorPrivate
{
/// \brief Map of artifact types to string representations.
public: const std::array<
const std::pair<subt::ArtifactType, std::string>, 12> kArtifactTypes
const std::pair<subt::ArtifactType, std::string>, 14> kArtifactTypes
{
{
{subt::ArtifactType::TYPE_BACKPACK , "TYPE_BACKPACK"},
Expand All @@ -124,7 +124,9 @@ class subt::ArtifactValidatorPrivate
{subt::ArtifactType::TYPE_TOOLBOX , "TYPE_TOOLBOX"},
{subt::ArtifactType::TYPE_VALVE , "TYPE_VALVE"},
{subt::ArtifactType::TYPE_VENT , "TYPE_VENT"},
{subt::ArtifactType::TYPE_GAS , "TYPE_GAS"}
{subt::ArtifactType::TYPE_GAS , "TYPE_GAS"},
{subt::ArtifactType::TYPE_HELMET , "TYPE_HELMET"},
{subt::ArtifactType::TYPE_ROPE , "TYPE_ROPE"}
}
};

Expand Down Expand Up @@ -304,7 +306,9 @@ void ArtifactValidatorPrivate::ParseArtifacts()
{ "toolbox", subt::ArtifactType::TYPE_TOOLBOX },
{ "valve", subt::ArtifactType::TYPE_VALVE},
{ "vent", subt::ArtifactType::TYPE_VENT},
{ "gas", subt::ArtifactType::TYPE_GAS}
{ "gas", subt::ArtifactType::TYPE_GAS},
{ "helmet", subt::ArtifactType::TYPE_HELMET},
{ "rope", subt::ArtifactType::TYPE_ROPE}
};

// Assuming 1 world per SDF, which is true for SubT.
Expand Down
3 changes: 2 additions & 1 deletion subt_ign/src/ConnectionValidatorPrivate.cc
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Expand Up @@ -72,7 +72,8 @@ bool ConnectionValidatorPrivate::Load(const std::string &_worldName)
"cave_circuit", suffix);
}
}
else if (_worldName.find("simple") == std::string::npos)
else if (_worldName.find("simple") == std::string::npos &&
_worldName.find("_qual") == std::string::npos)
{
ignwarn << "Unable to determine circuit number from["
<< _worldName << "].\n";
Expand Down
10 changes: 8 additions & 2 deletions subt_ign/src/GameLogicPlugin.cc
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Expand Up @@ -65,7 +65,7 @@ class subt::GameLogicPluginPrivate
{
/// \brief Mapping between enum types and strings.
public: const std::array<
const std::pair<subt::ArtifactType, std::string>, 12> kArtifactTypes
const std::pair<subt::ArtifactType, std::string>, 14> kArtifactTypes
{
{
{subt::ArtifactType::TYPE_BACKPACK , "TYPE_BACKPACK"},
Expand All @@ -79,7 +79,9 @@ class subt::GameLogicPluginPrivate
{subt::ArtifactType::TYPE_TOOLBOX , "TYPE_TOOLBOX"},
{subt::ArtifactType::TYPE_VALVE , "TYPE_VALVE"},
{subt::ArtifactType::TYPE_VENT , "TYPE_VENT"},
{subt::ArtifactType::TYPE_GAS , "TYPE_GAS"}
{subt::ArtifactType::TYPE_GAS , "TYPE_GAS"},
{subt::ArtifactType::TYPE_HELMET , "TYPE_HELMET"},
{subt::ArtifactType::TYPE_ROPE , "TYPE_ROPE"}
}
};

Expand Down Expand Up @@ -279,10 +281,14 @@ class subt::GameLogicPluginPrivate
ignition::math::Vector3d(-0.03557, -0.03509, 0.3479)},
{subt::ArtifactType::TYPE_GAS,
ignition::math::Vector3d(0, 0, 0)},
{subt::ArtifactType::TYPE_HELMET,
ignition::math::Vector3d(0, 0, 0.165)},
{subt::ArtifactType::TYPE_PHONE,
ignition::math::Vector3d(0, -0.004, 0.08)},
{subt::ArtifactType::TYPE_RESCUE_RANDY,
ignition::math::Vector3d(-0.071305, 0.021966, 0.39217)},
{subt::ArtifactType::TYPE_ROPE,
ignition::math::Vector3d(0.004, -0.03, 0.095)},
{subt::ArtifactType::TYPE_VENT,
ignition::math::Vector3d(0, 0, 0.138369)}
};
Expand Down
3 changes: 2 additions & 1 deletion subt_ign/src/VisibilityTable.cc
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Expand Up @@ -78,7 +78,8 @@ bool VisibilityTable::Load(const std::string &_worldName, bool _loadLUT)
"cave_circuit", suffix);
}
}
else if (this->worldName.find("simple") == std::string::npos)
else if (this->worldName.find("simple") == std::string::npos &&
this->worldName.find("_qual") == std::string::npos)
{
ignerr << "Unable to determine circuit number from["
<< this->worldName << "].\n";
Expand Down
Binary file added subt_ign/worlds/cave_qual.dat
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Binary file not shown.
165 changes: 165 additions & 0 deletions subt_ign/worlds/cave_qual.dot
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@@ -0,0 +1,165 @@
/* Visibility graph generated by dot_generator */

graph {
/* ==== Vertices ==== */

/* Base station / Staging area */
0 [label="0::base_station::BaseStation"];

1 [label="1::Cave 3 Way 01 Lights::tile_1"];
2 [label="2::Cave Corner 01::tile_2"];
3 [label="3::Cave Corner 02::tile_3"];
4 [label="4::Cave Elevation::tile_4"];
5 [label="5::Cave Straight 01::tile_5"];
6 [label="6::Cave Straight 02 Lights::tile_6"];
7 [label="7::Cave Straight 05 Lights::tile_7"];
8 [label="8::Cave Vertical Shaft Lights::tile_8"];
9 [label="9::Cave Cavern Split 01::tile_9"];
10 [label="10::Cave Cavern Split 02::tile_10"];
11 [label="11::Cave 3 Way 01::tile_11"];
12 [label="12::Cave Straight 03::tile_12"];
13 [label="13::Cave 3 Way 01 Lights::tile_13"];
14 [label="14::Cave Corner 02::tile_14"];
15 [label="15::Cave Elevation::tile_15"];
16 [label="16::Cave 3 Way 01 Lights::tile_16"];
17 [label="17::Cave Corner 30F D Lights::tile_17"];
18 [label="18::Cave Corner 30F D Lights::tile_18"];
19 [label="19::Cave Corner 30F D Lights::tile_19"];
20 [label="20::Cave Corner 30F D Lights::tile_20"];
21 [label="21::Cave 3 Way 01 Lights::tile_21"];
22 [label="22::Cave Corner 30F D Lights::tile_22"];
23 [label="23::Cave Elevation Lights::tile_23"];
24 [label="24::Cave Vertical Shaft Lights::tile_24"];
25 [label="25::Cave Corner 01 Lights::tile_25"];
26 [label="26::Cave Straight 01 Lights::tile_26"];
27 [label="27::Cave Corner 02 Lights::tile_27"];
28 [label="28::Cave Elevation::tile_28"];
29 [label="29::Cave Straight 03::tile_29"];
30 [label="30::Cave 3 Way 01::tile_30"];
31 [label="31::Cave Corner 01::tile_31"];
32 [label="32::Cave 3 Way 01::tile_32"];
33 [label="33::Cave Elevation::tile_33"];
34 [label="34::Cave Straight 01::tile_34"];
35 [label="35::Cave Straight 02::tile_35"];
36 [label="36::Cave Straight 03::tile_36"];
37 [label="37::Cave Corner 01::tile_37"];
38 [label="38::Cave Corner 30 D::tile_38"];
39 [label="39::Cave Elevation::tile_39"];
40 [label="40::Cave Straight 03::tile_40"];
41 [label="41::Cave Straight 02::tile_41"];
42 [label="42::Cave Corner 01::tile_42"];
43 [label="43::Cave Corner 02::tile_43"];
44 [label="44::Cave Straight 01::tile_44"];
45 [label="45::Cave Straight 04::tile_45"];
46 [label="46::Cave Straight 04::tile_46"];
47 [label="47::Cave Straight 02::tile_47"];
48 [label="48::Cave Straight 04::tile_48"];
49 [label="49::Cave Straight 01::tile_49"];
50 [label="50::Cave Straight 03::tile_50"];
51 [label="51::Cave Elevation::tile_51"];
52 [label="52::Cave 3 Way 01 Lights::tile_52"];
53 [label="53::Cave Straight 03::tile_53"];
54 [label="54::Cave Corner 02::tile_54"];
55 [label="55::Cave Corner 02::tile_55"];
56 [label="56::Cave Elevation::tile_56"];
57 [label="57::Cave 3 Way 01::tile_57"];
58 [label="58::Cave Corner 30 D::tile_58"];
59 [label="59::Cave Straight 03::tile_59"];
60 [label="60::Cave Corner 30 D::tile_60"];
61 [label="61::Cave Elevation::tile_61"];
62 [label="62::Cave Corner 30 D::tile_62"];
63 [label="63::Cave Corner 01::tile_63"];
64 [label="64::Cave Corner 02::tile_64"];
65 [label="65::Cave Elevation::tile_65"];
66 [label="66::Cave Straight 03::tile_66"];
67 [label="67::Cave Straight 04::tile_67"];
68 [label="68::Cave Corner 01::tile_68"];
69 [label="69::Cave Cavern Split 01::tile_69"];
70 [label="70::Cave Cavern Split 02::tile_70"];
71 [label="71::Cave Straight 01 Lights::tile_71"];
72 [label="72::Cave Straight 04 Lights::tile_72"];
73 [label="73::Cave 3 Way 01 Lights::tile_73"];
74 [label="74::Cave Corner 30F D Lights::tile_74"];
75 [label="75::Cave Corner 30 D Lights::tile_75"];

/* ==== Edges ==== */

/* Base station */
0 -- 71 [label=1];
1 -- 6 [label=3];
1 -- 8 [label=3];
1 -- 73 [label=6];
2 -- 3 [label=6];
2 -- 6 [label=3];
3 -- 11 [label=6];
4 -- 11 [label=3];
4 -- 12 [label=1];
5 -- 52 [label=3];
5 -- 53 [label=1];
7 -- 13 [label=3];
7 -- 16 [label=3];
8 -- 13 [label=3];
9 -- 10 [label=3];
9 -- 31 [label=6];
9 -- 36 [label=3];
10 -- 46 [label=1];
12 -- 55 [label=3];
13 -- 52 [label=6];
14 -- 53 [label=3];
14 -- 56 [label=3];
15 -- 52 [label=3];
15 -- 55 [label=3];
16 -- 17 [label=6];
16 -- 18 [label=6];
17 -- 19 [label=6];
18 -- 20 [label=6];
19 -- 27 [label=6];
20 -- 21 [label=6];
21 -- 22 [label=6];
21 -- 35 [label=3];
22 -- 23 [label=3];
23 -- 25 [label=3];
24 -- 25 [label=3];
24 -- 26 [label=1];
27 -- 28 [label=3];
28 -- 29 [label=1];
29 -- 30 [label=3];
30 -- 31 [label=6];
30 -- 33 [label=3];
32 -- 34 [label=3];
32 -- 35 [label=3];
32 -- 38 [label=6];
33 -- 34 [label=1];
36 -- 37 [label=3];
38 -- 39 [label=3];
39 -- 40 [label=1];
40 -- 41 [label=1];
41 -- 42 [label=3];
42 -- 44 [label=3];
43 -- 44 [label=3];
43 -- 45 [label=3];
46 -- 47 [label=1];
47 -- 50 [label=1];
48 -- 51 [label=1];
49 -- 50 [label=1];
49 -- 51 [label=1];
54 -- 56 [label=3];
54 -- 57 [label=6];
57 -- 58 [label=6];
57 -- 62 [label=6];
58 -- 59 [label=3];
59 -- 60 [label=3];
60 -- 61 [label=3];
62 -- 64 [label=6];
63 -- 64 [label=6];
63 -- 65 [label=3];
65 -- 67 [label=1];
66 -- 67 [label=1];
66 -- 68 [label=3];
68 -- 70 [label=3];
69 -- 70 [label=3];
71 -- 73 [label=3];
72 -- 73 [label=3];
72 -- 74 [label=3];
74 -- 75 [label=6];
}