executer.xml~

2007年最新的多种路径规划算法的仿真软件包。At the later releases more world models and sample planners will be distribut

  <ExecuterProp>
    <controllers>
      <controller>
        <RRTConnectAlgorithm>
          <CollisionWorld>
            <bounds>
              <bound>-500.0</bound>
              <bound>500.0</bound>
              <bound>-500.0</bound>
              <bound>500.0</bound>
              <bound>-3.141592653589793</bound>
              <bound>3.141592653589793</bound>
            </bounds>
          </CollisionWorld>
          <collisionEnlargement>1.3</collisionEnlargement>
          <controllerType>RRTConnect_Controller</controllerType>
          <stepCount>3000</stepCount>
          <stepSize>200.0</stepSize>
          <threshold>200.0</threshold>
        </RRTConnectAlgorithm>
        <name>control0</name>
        <takingStatistics>true</takingStatistics>
        <worldContent>
          <dynamicObstacles>
            <dynamicObstacle>
              <entityId>CIRCULAR_ENTITY</entityId>
              <name>dynamicObstacle0</name>
              <scale>2.0</scale>
            </dynamicObstacle>
            <dynamicObstacle>
              <entityId>CIRCULAR_ENTITY</entityId>
              <name>dynamicObstacle1</name>
              <scale>2.0</scale>
            </dynamicObstacle>
            <dynamicObstacle>
              <entityId>CIRCULAR_ENTITY</entityId>
              <name>dynamicObstacle2</name>
              <scale>2.0</scale>
            </dynamicObstacle>
            <dynamicObstacle>
              <entityId>CIRCULAR_ENTITY</entityId>
              <name>dynamicObstacle3</name>
              <scale>2.0</scale>
            </dynamicObstacle>
          </dynamicObstacles>
          <obstacles>
            <obstacle>
              <entityId>RECTANGULAR116_ENTITY</entityId>
              <name>obstacleLeftWall</name>
              <scale>3.125</scale>
            </obstacle>
            <obstacle>
              <entityId>RECTANGULAR116_ENTITY</entityId>
              <name>obstacleRightWall</name>
              <scale>3.125</scale>
            </obstacle>
            <obstacle>
              <entityId>RECTANGULAR116_ENTITY</entityId>
              <name>obstacleTop</name>
              <scale>3.125</scale>
            </obstacle>
            <obstacle>
              <entityId>RECTANGULAR116_ENTITY</entityId>
              <name>obstacleBottom</name>
              <scale>3.125</scale>
            </obstacle>
            <obstacle>
              <entityId>RECTANGULAR18_ENTITY</entityId>
              <name>obstacleCenter</name>
              <scale>2.0</scale>
            </obstacle>
          </obstacles>
          <robots>
            <robot>
              <communication>true</communication>
              <entityId>CIRCULAR_ENTITY</entityId>
              <name>robot0</name>
              <scale>2.0</scale>
            </robot>
          </robots>
        </worldContent>
      </controller>
      <controller>
        <RandomWalk>
          <CollisionWorld>
            <bounds>
              <bound>-500.0</bound>
              <bound>500.0</bound>
              <bound>-500.0</bound>
              <bound>500.0</bound>
              <bound>-3.141592653589793</bound>
              <bound>3.141592653589793</bound>
            </bounds>
          </CollisionWorld>
          <controllerType>RandomWalk_Controller</controllerType>
        </RandomWalk>
        <name>obstacleController1</name>
        <takingStatistics>false</takingStatistics>
        <worldContent>
          <dynamicObstacles>
            <dynamicObstacle>
              <entityId>CIRCULAR_ENTITY</entityId>
              <name>robot0</name>
              <scale>2.0</scale>
            </dynamicObstacle>
            <dynamicObstacle>
              <entityId>CIRCULAR_ENTITY</entityId>
              <name>dynamicObstacle1</name>
              <scale>2.0</scale>
            </dynamicObstacle>
            <dynamicObstacle>
              <entityId>CIRCULAR_ENTITY</entityId>
              <name>dynamicObstacle2</name>
              <scale>2.0</scale>
            </dynamicObstacle>
            <dynamicObstacle>
              <entityId>CIRCULAR_ENTITY</entityId>
              <name>dynamicObstacle3</name>
              <scale>2.0</scale>
            </dynamicObstacle>
          </dynamicObstacles>
          <obstacles>
            <obstacle>
              <entityId>RECTANGULAR116_ENTITY</entityId>
              <name>obstacleLeftWall</name>
              <scale>3.125</scale>
            </obstacle>
            <obstacle>
              <entityId>RECTANGULAR116_ENTITY</entityId>
              <name>obstacleRightWall</name>
              <scale>3.125</scale>
            </obstacle>
            <obstacle>
              <entityId>RECTANGULAR116_ENTITY</entityId>
              <name>obstacleTop</name>
              <scale>3.125</scale>
            </obstacle>
            <obstacle>
              <entityId>RECTANGULAR116_ENTITY</entityId>
              <name>obstacleBottom</name>
              <scale>3.125</scale>
            </obstacle>
            <obstacle>
              <entityId>RECTANGULAR18_ENTITY</entityId>
              <name>obstacleCenter</name>
              <scale>2.0</scale>
            </obstacle>
          </obstacles>
          <robots>
            <robot>
              <communication>true</communication>
              <entityId>CIRCULAR_ENTITY</entityId>
              <name>dynamicObstacle0</name>
              <scale>2.0</scale>
            </robot>
          </robots>
        </worldContent>
      </controller>
      <controller>
        <RandomWalk>
          <CollisionWorld>
            <bounds>
              <bound>-500.0</bound>
              <bound>500.0</bound>
              <bound>-500.0</bound>
              <bound>500.0</bound>
              <bound>-3.141592653589793</bound>
              <bound>3.141592653589793</bound>
            </bounds>
          </CollisionWorld>
          <controllerType>RandomWalk_Controller</controllerType>
        </RandomWalk>
        <name>obstacleController0</name>
        <takingStatistics>false</takingStatistics>
        <worldContent>
          <dynamicObstacles>
            <dynamicObstacle>
              <entityId>CIRCULAR_ENTITY</entityId>
              <name>robot0</name>
              <scale>2.0</scale>
            </dynamicObstacle>
            <dynamicObstacle>
              <entityId>CIRCULAR_ENTITY</entityId>
              <name>dynamicObstacle0</name>
              <scale>2.0</scale>
            </dynamicObstacle>
            <dynamicObstacle>
              <entityId>CIRCULAR_ENTITY</entityId>
              <name>dynamicObstacle2</name>
              <scale>2.0</scale>
            </dynamicObstacle>
            <dynamicObstacle>
              <entityId>CIRCULAR_ENTITY</entityId>
              <name>dynamicObstacle3</name>
              <scale>2.0</scale>
            </dynamicObstacle>
          </dynamicObstacles>
          <obstacles>
            <obstacle>
              <entityId>RECTANGULAR116_ENTITY</entityId>
              <name>obstacleLeftWall</name>
              <scale>3.125</scale>
            </obstacle>
            <obstacle>
              <entityId>RECTANGULAR116_ENTITY</entityId>
              <name>obstacleRightWall</name>
              <scale>3.125</scale>
            </obstacle>
            <obstacle>
              <entityId>RECTANGULAR116_ENTITY</entityId>
              <name>obstacleTop</name>
              <scale>3.125</scale>
            </obstacle>
            <obstacle>
              <entityId>RECTANGULAR116_ENTITY</entityId>
              <name>obstacleBottom</name>
              <scale>3.125</scale>
            </obstacle>
            <obstacle>
              <entityId>RECTANGULAR18_ENTITY</entityId>
              <name>obstacleCenter</name>
              <scale>2.0</scale>
            </obstacle>
          </obstacles>
          <robots>
            <robot>
              <communication>true</communication>
              <entityId>CIRCULAR_ENTITY</entityId>
              <name>dynamicObstacle1</name>
              <scale>2.0</scale>
            </robot>
          </robots>
        </worldContent>
      </controller>
      <controller>
	      <RandomWalk>
		      <CollisionWorld>
			      <bounds>
				      <bound>-500.0</bound>
				      <bound>500.0</bound>
				      <bound>-500.0</bound>
				      <bound>500.0</bound>
				      <bound>-3.141592653589793</bound>
				      <bound>3.141592653589793</bound>
			      </bounds>
		      </CollisionWorld>
		      <controllerType>RandomWalk_Controller</controllerType>
	      </RandomWalk>
	      <name>obstacleController2</name>
	      <takingStatistics>false</takingStatistics>
	      <worldContent>
		      <dynamicObstacles>
			      <dynamicObstacle>
				      <entityId>CIRCULAR_ENTITY</entityId>
				      <name>robot0</name>
				      <scale>2.0</scale>
			      </dynamicObstacle>
			      <dynamicObstacle>
				      <entityId>CIRCULAR_ENTITY</entityId>
				      <name>dynamicObstacle0</name>
				      <scale>2.0</scale>
			      </dynamicObstacle>
			      <dynamicObstacle>
				      <entityId>CIRCULAR_ENTITY</entityId>
				      <name>dynamicObstacle1</name>
				      <scale>2.0</scale>
			      </dynamicObstacle>
			      <dynamicObstacle>
				      <entityId>CIRCULAR_ENTITY</entityId>
				      <name>dynamicObstacle3</name>
				      <scale>2.0</scale>
			      </dynamicObstacle>
		      </dynamicObstacles>
		      <obstacles>
			      <obstacle>
				      <entityId>RECTANGULAR116_ENTITY</entityId>
				      <name>obstacleLeftWall</name>
				      <scale>3.125</scale>
			      </obstacle>
			      <obstacle>
				      <entityId>RECTANGULAR116_ENTITY</entityId>
				      <name>obstacleRightWall</name>
				      <scale>3.125</scale>
			      </obstacle>
			      <obstacle>
				      <entityId>RECTANGULAR116_ENTITY</entityId>
				      <name>obstacleTop</name>
				      <scale>3.125</scale>
			      </obstacle>
			      <obstacle>
				      <entityId>RECTANGULAR116_ENTITY</entityId>
				      <name>obstacleBottom</name>
				      <scale>3.125</scale>
			      </obstacle>
			      <obstacle>
				      <entityId>RECTANGULAR18_ENTITY</entityId>
				      <name>obstacleCenter</name>
				      <scale>2.0</scale>
			      </obstacle>
		      </obstacles>
		      <robots>
			      <robot>
				      <communication>true</communication>
				      <entityId>CIRCULAR_ENTITY</entityId>
				      <name>dynamicObstacle0</name>
				      <scale>2.0</scale>
			      </robot>
		      </robots>
	      </worldContent>
      </controller>
      <controller>
	      <RandomWalk>
		      <CollisionWorld>
			      <bounds>
				      <bound>-500.0</bound>
				      <bound>500.0</bound>
				      <bound>-500.0</bound>
				      <bound>500.0</bound>
				      <bound>-3.141592653589793</bound>
				      <bound>3.141592653589793</bound>
			      </bounds>
		      </CollisionWorld>
		      <controllerType>RandomWalk_Controller</controllerType>
	      </RandomWalk>
	      <name>obstacleController3</name>
	      <takingStatistics>false</takingStatistics>
	      <worldContent>
		      <dynamicObstacles>
			      <dynamicObstacle>
				      <entityId>CIRCULAR_ENTITY</entityId>
				      <name>robot0</name>
				      <scale>2.0</scale>
			      </dynamicObstacle>
			      <dynamicObstacle>
				      <entityId>CIRCULAR_ENTITY</entityId>
				      <name>dynamicObstacle0</name>
				      <scale>2.0</scale>
			      </dynamicObstacle>
			      <dynamicObstacle>
				      <entityId>CIRCULAR_ENTITY</entityId>
				      <name>dynamicObstacle1</name>
				      <scale>2.0</scale>
			      </dynamicObstacle>
			      <dynamicObstacle>
				      <entityId>CIRCULAR_ENTITY</entityId>
				      <name>dynamicObstacle2</name>
				      <scale>2.0</scale>
			      </dynamicObstacle>
		      </dynamicObstacles>
		      <obstacles>
			      <obstacle>
				      <entityId>RECTANGULAR116_ENTITY</entityId>
				      <name>obstacleLeftWall</name>
				      <scale>3.125</scale>
			      </obstacle>
			      <obstacle>
				      <entityId>RECTANGULAR116_ENTITY</entityId>
				      <name>obstacleRightWall</name>
				      <scale>3.125</scale>
			      </obstacle>
			      <obstacle>
				      <entityId>RECTANGULAR116_ENTITY</entityId>
				      <name>obstacleTop</name>
				      <scale>3.125</scale>
			      </obstacle>
			      <obstacle>
				      <entityId>RECTANGULAR116_ENTITY</entityId>
				      <name>obstacleBottom</name>
				      <scale>3.125</scale>
			      </obstacle>
			      <obstacle>
				      <entityId>RECTANGULAR18_ENTITY</entityId>
				      <name>obstacleCenter</name>
				      <scale>2.0</scale>
			      </obstacle>
		      </obstacles>
		      <robots>
			      <robot>
				      <communication>true</communication>
				      <entityId>CIRCULAR_ENTITY</entityId>
				      <name>dynamicObstacle3</name>
				      <scale>2.0</scale>
			      </robot>
		      </robots>
	      </worldContent>
      </controller>
    </controllers>
    <drawCollisionTrees>false</drawCollisionTrees>
    <drawFoundPath>true</drawFoundPath>
    <drawOptimizedPath>false</drawOptimizedPath>
    <drawRoadmapGraph>false</drawRoadmapGraph>
  </ExecuterProp>