Gazebo Tutorial and partial Oops assignment added.

Shivam/Gazebo/my_robots/model.config

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>My Robot</name>
+  <version>1.0</version>
+  <sdf version='1.4'>model.sdf</sdf>
+
+  <author>
+   <name>My Name</name>
+   <email>me@my.email</email>
+  </author>
+
+  <description>
+    My awesome robot.
+  </description>
+</model>

Shivam/Gazebo/my_robots/model.sdf

@@ -0,0 +1,118 @@
+<?xml version='1.0'?>
+<sdf version='1.4'>
+  <model name="my_robot">
+  	<static>false</static>
+  		<link name='chassis'>
+  			<pose>0 0 0.1 0 0 0</pose>
+
+  			<visual name='visual'>
+  				<geometry>
+  					<box>
+  						<size>0.4 0.2 0.1</size>
+  					</box>
+  				</geometry>
+  			</visual>
+
+         <collision name='collision'>
+          <geometry>
+            <box>
+              <size>.4 .2 .1</size>
+            </box>
+          </geometry>
+        </collision>
+
+
+
+        <visual name='caster_visual'>
+          <pose>-0.15 0 -.05 0 0 0</pose>
+            <geometry>
+              <sphere>
+                <radius>0.05</radius>
+              </sphere>
+            </geometry>
+          </visual>
+
+
+
+          <collision name='caster_collision'>
+          <pose>-0.15 0 -0.05 0 0 0</pose>
+            <geometry>
+              <sphere>
+                <radius>0.05</radius>
+              </sphere>
+            </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0</mu>
+                <mu2>0</mu2>
+                <slip1>1.0</slip1>
+                <slip2>1.0</slip2>
+              </ode>
+            </friction>
+          </surface>
+        </collision>
+      </link>
+
+      <link name='left_wheel'>
+        <pose>0.1 0.13 0.1 0 1.5707 1.5707</pose>
+        <visual name="left_wheel_visual">
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.05</length>
+            </cylinder>
+          </geometry>
+        </visual>
+        <collision name="left_collision">
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.05</length>
+            </cylinder>
+          </geometry>
+        </collision>
+      </link>
+      <link name="right_wheel">
+    <pose>0.1 -0.13 0.1 0 1.5707 1.5707</pose>
+    <collision name="right_collision">
+      <geometry>
+        <cylinder>
+          <radius>0.1</radius>
+          <length>0.05</length>
+        </cylinder>
+      </geometry>
+    </collision>
+    <visual name="visual">
+      <geometry>
+        <cylinder>
+          <radius>.1</radius>
+          <length>.05</length>
+        </cylinder>
+      </geometry>
+    </visual>
+  </link>
+
+   <joint type="revolute" name="left_wheel_hinge">
+      <pose>0 0 -0.03 0 0 0</pose>
+      <child>left_wheel</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+
+    <joint type="revolute" name="right_wheel_hinge">
+      <pose>0 0 0.03 0 0 0</pose>
+      <child>right_wheel</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+
+
+  </model>
+</sdf>
+
+

Shivam/Oops/OOPs.cpp

@@ -0,0 +1,160 @@
+#include <iostream>
+#include <cv_bridge.h>
+#include <opencv2>
+
+struct pos
+    {
+        int x;
+        int y;
+        int colour;
+    };
+
+
+struct node 
+{ 
+    int x; 
+    int y; 
+    struct node *next; 
+};
+
+
+class image
+    {   int score1=0;
+        int score2=0;
+        img* a;
+        int** visited;
+        pos* c;
+
+    public:
+        pos current_pos1;
+        pos current_pos2; 
+        pos findcentroid(img* a,int blobno,int** visited);
+        pos newposition(img*a);
+
+
+	};
+
+	 pos image::findcentroid(img *img,int blobno,int **visited)
+	 {
+
+		int tx=0,ty=0,n=0;
+		float cx,cy;
+		pos c;
+		int i,j;
+		for(i=0;i<img->height;i++)
+			for(j=0;j<img->width;j++)
+				if(visited[i][j]==blobno)
+				{
+					tx+=i;
+					ty+=j;
+					n++;					
+				}
+
+		c.x=tx/n;
+		c.y=ty/n;
+		return c;
+	}
+
+int** visitedlist(img* a,int *count)
+{ 
+    int i,j,k,l,x,y; 
+    *count=0; 
+	int blobsize=500;
+    int height = a->height; 
+    int width = a->width; 
+    int **visited; 
+    int** visited =new int*;
+    for(i=0;i<a->height;i++) 
+    int visited[i]=new int; 
+    for(i=0;i<a->height;i++) 
+        for(j=0;j<a->width;j++) 
+            visited[i][j]=-1; 
+
+    for(i=1;i<a->height-1;i++) 
+        for(j=1;j<a->width-1;j++){ 
+            if(colour(a,i,j,0)==255)
+            {    
+                if(visited[i][j]==-1)
+                {
+
+                   front=NULL; 
+                    enqueue(i,j); 
+                    queuefront(&x,&y); 
+                    while(!isEmpty())
+                    { 
+                        queuefront(&x,&y); 
+                        dequeue();
+                    }
+
+                    for(k=x-1;k<=x+1;k++) 
+                        for(l=y-1;l<=y+1;l++)
+                         	{ 
+								if((k>0)&&(k<a->height)&&(l>0)&&(l<a->width))
+								if(colour(a,k,l,0)==255 && visited[k][l]==-1){ 
+                                        enqueue(k,l); 
+                                        visited[k][l]=*count; 
+										blobsize++;
+                                    } 
+								 } 
+                        visited[x][y]=*count; 
+						} 
+
+					}   
+				} 
+			} 
+        return visited; 
+}
+
+
+
+node *rear,*front;
+
+int isEmpty()
+{ 
+    if(front==NULL) 
+        return 1; 
+    else return 0; 
+} 
+
+void enqueue(int x,int y)
+{ 
+    node* t; 
+    node* t=new node;
+    t->x=x; 
+    t->y=y; 
+    t->next=NULL; 
+    if(isEmpty()){ 
+        front=t; 
+        rear=front; 
+    } 
+    else
+    	{ 
+            rear->next=t; 
+            rear=t; 
+            rear->next=NULL; 
+   		} 
+} 
+void queuefront(int *x,int *y)
+{ 
+    *x=front->x; 
+    *y=front->y; 
+    return; 
+} 
+void dequeue()
+{ 
+    node* t; 
+    if(isEmpty()){ 
+        cout<<"Queue Underflow"<endl; 
+        return; 
+    } 
+    t=front; 
+    front=t->next; 
+    delete t; 
+}
+
+
+int main()
+{
+	image i;
+	return 0;
+}

Shivam/Oops/Oops.cpp

@@ -0,0 +1,22 @@
+#include <iostream>
+#include <opencv/highgui.h>
+#include <opencv/cv.h>
+#include "blobDetect.h"
+#include "Oops_class.h"
+
+image image;
+
+int main()
+{   pos cu
+    int count=0;
+	cv::Mat bin,edit;
+    image.img = cv::imread("/home/aries/Desktop/1.jpg",0);
+    bin=binary(image.img,190.0);
+    count= bfs(image);
+    image.count=count;
+    findCentroid(int count) ;
+
+
+
+    return 0;
+}

Shivam/Oops/Oops_class.h

@@ -0,0 +1,46 @@
+#ifndef guard
+#include <iostream>
+#include "pos.h"
+
+class image
+    {   int score1;
+        int score2;
+        pos currentpos1;
+        pos currentpos2;
+
+    public:
+        int count;
+        cv::Mat img;
+        int **visited;
+        image();
+        pos *centroid;
+        void updatepos1;
+        void updatepos2;
+        void centroidUpdate();
+        void findCentroid(image image);
+        pos newposition();
+
+
+	};
+
+    image::image()
+    {    
+        score1=0,score2=0;
+        currentpos1=(0,0);
+        currentpos2=(0,0);
+        count=0;
+        score1=0;
+        score2=0;
+        int rows=img.rows;
+        int cols=img.cols;
+        visited= new int*[rows];
+        for(int j=0;j<rows;j++)
+        {   visited[j]= new int[cols];
+        for(int i=0;i<cols;i++)
+          visited[i][j]=-1;
+        }
+        centroid= new pos[count];
+
+    }   
+
+#endif