Re: reset position of the controller using supervisor_field_set

mmm.... I understand that the normal controller send a message to
supervisor for reset the position of the robot, the supervisor is in a
infinity loop reciever messages, when recieve a message, read it and
reset the position of the boot using supervisor_field_set.

But the controller's supervisor is possible do it in Java?


2006/5/24, fernando alonso <[email protected]>:
> This is my simplify  controller's code :
>
>
>  static int robot;                   //descriptor del robot
>  static float[] posicion_inicial;    //posicion inicial
>
>
>  public static void main() {
>
>      for (int i =3D 0; i < 10; i++){
>            .....
>            robot_step(64);
>      }
>      resetPosition();
>  }
>
>
>  /** Get the beginning position*/
>  public static void getBeginningPosition(){
>    supervisor_field_get(robot, SUPERVISOR_FIELD_TRANSLATION_Z |
> SUPERVISOR_FIELD_TRANSLATION_X, posicion_inicial,64);
>  }
>
>
>  /** Reset the position to the begining position */
>  public static void resetPosition(){
>    supervisor_field_set(robot, SUPERVISOR_FIELD_TRANSLATION_Z |
> SUPERVISOR_FIELD_TRANSLATION_X, posicion_inicial);
>  }
>
>
>
> how I can do it in webots?
>
>
>
>
> 2006/5/24, fernando alonso <[email protected]>:
> > I just want to reset the position of my robot, but I don't want to
> > receive the real position in it.
> > Instead of that, I only want to use the normal controls of the robot
> > to place my robot in a determinate coordinate.
> >
> > I am implementing "Swarm Intelligence" algorithm to learn how to move
> > within the labyrinth and it's necessary that
> > the "fitness" function leaves the position of the robot in the same
> > place in which it was before its execution.
> > That is the reason why I need resetting the position of the robot in
> > the robot controller and .
> >
> > What I don't understand is why I must use the supervisor and if I only
> > want to move my robot with its
> > controller, I would not need sending anything from the emitter. In
> > addition to this I want to reset the position when
> > I need it not when the supervisor would think it is the time for that.
> >
> > 2006/5/24, fernando alonso <[email protected]>:
> > > Sorry, me English es very poor:
> > >
> > > I want reset the position of the my robot, I wan't receiver
> > > information in my robot. I only want put my robot in a place when nee=
d
> > > it. I want the code for put my robot in a coordenades when the normal
> > > controller need it.
> > >
> > > I want apply Swarm Intelligence for learning to move for the laberint
> > > and I need use fitness funtion that each execute reset the position
> > > the robot for can evaluate the fitness of the movement. I don't
> > > understand why I have to use the supervisor.
> > >
> > > 2006/5/24, Olivier Michel <[email protected]>:
> > > > Hello,
> > > >
> > > > The "stand me up" trick won't work with Webots 5.1.6 as it was not
> > > > implemented in the roboka world.
> > > > However, I just ported it from the previous contest and integrated =
it
> > > > into Webots 5.1.7 which I just released now. So, rush to download W=
ebots
> > > > 5.1.7 and you will see in the source code of the Roboka0.java contr=
oller
> > > > how to set the robot at any position in the maze (this is done when
> > > > pressing the Esc key, but you can do it programmatically as well). =
Of
> > > > course this feature will be disabled in the contest matches (real r=
obots
> > > > can't fly that way), but I believe it is very useful for developing
> > > > robot controllers.
> > > >
> > > > Moreover, as requested by several people, I added new sample roboka
> > > > worlds called roboka0.wbt, roboka1.wbt, roboka2.wbt and roboka3.wbt
> > > > which offer different maze configurations.
> > > >
> > > > Cheers,
> > > >
> > > > -Olivier
> > > >
> > > > L=E1szl=F3 M=E1rton wrote:
> > > > > Hello,
> > > > >
> > > > > In last two robojudo conets I used for training
> > > > > pruposes a different robot like the one from contest.
> > > > >
> > > > > It was capable to reset himself if it was necessary.
> > > > > I don't know if it works with the new controlers but
> > > > > it  worths a try.
> > > > >
> > > > > The code looks like that:
> > > > >
> > > > > //first declare the desired coordinates and position
> > > > >
> > > > > //String message=3D"stand me up 0 0 1 0";
> > > > > String message=3D"stand me up 0 0 0.5f 3.14f";
> > > > > //String message=3D"stand me up 0";
> > > > > // the figures here mean the following:
> > > > > // 0: robot =3D Judoka0 1: robot =3D Judoka1
> > > > > // 0.5 the X position of the robot
> > > > > // 0.5 the Z position of the robot
> > > > > // 0 the orientation of the robot (radians)
> > > > > // It is also possible to simply pass "stand me up 0"
> > > > > // the supervisor will then use the last initial
> > > > > position
> > > > >
> > > > > byte [] msg=3Dnull;
> > > > > try
> > > > > { // convert the String into bytes using the
> > > > >   // ISO-8859-1 encoding
> > > > >   msg=3Dmessage.getBytes("ISO-8859-1");
> > > > > } catch(Exception e) {}
> > > > >
> > > > >
> > > > >
> > > > > //then when you want to reset the robot position call
> > > > >  emitter_send(emitter,msg.length,msg);
> > > > >
> > > > > Best regards
> > > > > M=E1rton L=E1szl=F3
> > > > >
> > > > >
> > > > >> fernando alonso wrote:
> > > > >> Hello, i need some help:
> > > > >>
> > > > >> I'm not able to put my bot in a determinate
> > > > >>
> > > > > position. I want to
> > > > >
> > > > >> execute  my controller and finally put my bot
> > > > >>
> > > > > again at the beginning,
> > > > >
> > > > >> but Webot doesn't work as I want. I'd very much
> > > > >>
> > > > > like to know how to do
> > > > >
> > > > >> it!!
> > > > >>
> > > > >> I send you the Controller and the World.
> > > > >>
> > > > >>
> > > > >
> > > > >
> > > > > __________________________________________________
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> > > >
> > >
> > >
> > > --
> > > Fernando Alonso Mart=EDn
> > > NIA: 100033362
> > >
> >
> >
> > --
> > Fernando Alonso Mart=EDn
> > NIA: 100033362
> >
>
>
> --
> Fernando Alonso Mart=EDn
> NIA: 100033362
>


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Fernando Alonso Mart=EDn
NIA: 100033362


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