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Some cleanups

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This commit is contained in:
Oleg Kalachev 2023-11-11 06:15:20 +03:00
parent 8dad0a0918
commit 70eae3e556
3 changed files with 32 additions and 33 deletions
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5
Makefile
View File

@ -1,4 +1,3 @@
SRC := $(wildcard flix/*.ino flix/*.cpp flix/*.hpp)
BOARD = esp32:esp32:d1_mini32 BOARD = esp32:esp32:d1_mini32
PORT := $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP2104_USB_to_UART_Bridge_Controller_* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-*) PORT := $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP2104_USB_to_UART_Bridge_Controller_* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-*)
PORT := $(strip $(PORT)) PORT := $(strip $(PORT))
@ -31,10 +30,10 @@ simulator: build_simulator
GAZEBO_PLUGIN_PATH=$$GAZEBO_PLUGIN_PATH:${CURDIR}/gazebo/build \ GAZEBO_PLUGIN_PATH=$$GAZEBO_PLUGIN_PATH:${CURDIR}/gazebo/build \
gazebo --verbose ${CURDIR}/gazebo/flix.world gazebo --verbose ${CURDIR}/gazebo/flix.world
grab_log: log:
PORT=$(PORT) tools/grab_log.py PORT=$(PORT) tools/grab_log.py
clean: clean:
rm -rf gazebo/build flix/build flix/cache .dependencies rm -rf gazebo/build flix/build flix/cache .dependencies
.PHONY: build upload monitor dependencies cmake build_simulator simulator grab_log clean .PHONY: build upload monitor dependencies cmake build_simulator simulator log clean

2
flix/vector.h
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@ -32,7 +32,7 @@ public:
z /= n; z /= n;
} }
Vector operator * (float b) Vector operator * (const float b) const
{ {
return Vector(x * b, y * b, z * b); return Vector(x * b, y * b, z * b);
} }

58
gazebo/models/floor/floor.sdf
View File

@ -1,31 +1,31 @@
<?xml version="1.0" ?> <?xml version="1.0"?>
<sdf version="1.5"> <sdf version="1.5">
<model name="floor"> <model name="floor">
<static>true</static> <static>true</static>
<link name="link"> <link name="link">
<pose>0 0 -0.02 0 0 0</pose> <pose>0 0 -0.02 0 0 0</pose>
<collision name="collision"> <collision name="collision">
<geometry> <geometry>
<box> <box>
<size>200 200 .02</size> <size>200 200 .02</size>
</box> </box>
</geometry> </geometry>
</collision> </collision>
<visual name="visual"> <visual name="visual">
<cast_shadows>false</cast_shadows> <cast_shadows>false</cast_shadows>
<geometry> <geometry>
<box> <box>
<size>200 200 .02</size> <size>200 200 .02</size>
</box> </box>
</geometry> </geometry>
<material> <material>
<script> <script>
<uri>model://floor/materials/scripts</uri> <uri>model://floor/materials/scripts</uri>
<uri>model://floor/materials/textures</uri> <uri>model://floor/materials/textures</uri>
<name>parquet</name> <name>parquet</name>
</script> </script>
</material> </material>
</visual> </visual>
</link> </link>
</model> </model>
</sdf> </sdf>