Diff: main.cpp

Revision:

11:62f7183a03e7

Parent:

10:6f8e48dca1bd

Child:

13:9f03eac02700

--- a/main.cpp	Wed Apr 11 14:51:08 2012 +0000
+++ b/main.cpp	Thu Apr 12 05:16:48 2012 +0000
@@ -106,9 +106,9 @@
     // Tested modes:
     blobconf.clearConfig();
 //    blobconf.addOneElasticLoopContractCentral();
-  blobconf.addOneElasticContourFollowing();
+//  blobconf.addOneElasticContourFollowing();
 
-//    blobconf.addOneRigidLoopBouncing();
+    blobconf.addOneRigidLoopBouncing();
 //  blobconf.addOneRigidLoopBouncing();
 //blobconf.addOneRigidLoopFollowing();
 
@@ -278,7 +278,7 @@
     }
 
     // SIMPLE BEHAVIOUR MODES (to be read from an XML file in the future):
-    else if (!strcmp(address[0], "crawling")) { //
+    else if (!strcmp(address[0], "elastic_following")) { //
         timerForRendering.detach();
         // blobconf.computeBoundingBox();
         blobconf.clearConfig();
@@ -286,7 +286,8 @@
         lsr.setConfigToRender(&blobconf);
         timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
         // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
-    } else if (!strcmp(address[0], "loop")) { //
+  
+    } else if (!strcmp(address[0], "elastic_mouth")) { //
         timerForRendering.detach();
         // blobconf.computeBoundingBox();
         blobconf.clearConfig();
@@ -296,11 +297,21 @@
         // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
     }
 
-    else if (!strcmp(address[0], "bouncing")) {
+    else if (!strcmp(address[0], "spot_bouncing")) {
         timerForRendering.detach();
         // blobconf.computeBoundingBox();
         blobconf.clearConfig();
-        blobconf.addOneElasticBouncing();
+        blobconf.addOneRigidLoopBouncing();
+        lsr.setConfigToRender(&blobconf);
+        timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
+        // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
+    }
+    
+      else if (!strcmp(address[0], "spot_following")) {
+        timerForRendering.detach();
+        // blobconf.computeBoundingBox();
+        blobconf.clearConfig();
+        blobconf.addOneRigidLoopFollowing();
         lsr.setConfigToRender(&blobconf);
         timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
         // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);