WallyHackenslacker/IAS-SS
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OpenGL gui working. Added sketch of the pheromone map. Added shaders.

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Wally Hackenslacker
2016-06-26 02:20:29 -04:00
parent 6e21e87400
commit 87859fa044
17 changed files with 1723 additions and 28 deletions
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9
ias_robot.cpp
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@@ -34,12 +34,13 @@ static const long HALF_SECOND_USEC = 500000;
static const double MIN_DIST_M = 1.5;
static const double CRIT_DIST_M = 1.0;
IASSS_Robot::IASSS_Robot(std::string hostname, uint32_t port) : Robot(hostname, port) {
std::cout << "Creating IAS-SS robot on host \"" << hostname << "\" and port " << port << "." << std::endl;
IASSS_Robot::IASSS_Robot(std::string hostname, uint32_t port, PheromoneMap * phero_map) : Robot(hostname, port) {
_phero_map = phero_map;
log("Creating IAS-SS robot");
}
IASSS_Robot::~IASSS_Robot() {
std::cout << "Destroying IAS-SS robot on " << _host_name << ":" << _port << std::endl;
log("Destroying IAS-SS robot");
}
void IASSS_Robot::run() {
@@ -70,7 +71,7 @@ void IASSS_Robot::run() {
rv = gettimeofday(&tv, NULL);
now = tv.tv_usec;
delta = now - then;
// Sleep for a bit before finishing this control iteration.
wait = rv == 0 ? HALF_SECOND_USEC - delta : HALF_SECOND_USEC;
usleep(wait);