robot-pmaptest(1) General Commands Manual robot-pmaptest(1)NAME
robot-pmaptest - occupancy grid map creation tool
SYNOPSIS
robot-pmaptest [options] <logfilename>
DESCRIPTION
robot-pmaptest is utility demonstrates the basic functionality of the pmap library and serves a handy mapping utility in its own right.
Given a Player logfile containing odometry and laser data, robot-pmaptest will produce an occupancy grid map of the environment.
OPTIONS -g disable the GUI (run in console mode only).
--range_max range
maximum effective range for the laser in meter (default: range saved in logfile).
--position_index index
index of odometry device in logfile (defualt: 0).
--laser_index index
index of laser device in logfile (default: 0).
--num_samples number
number of samples in particle filter (default: 200).
--resample_interval number
number of scans between resampling steps.
--resample_sigma width
width of resampling gaussian.
--num_cycles number
number of optimization cycles in the fine phase (default: 100).
--robot_x position
initial position of the robot on the x-axis.
--robot_y position
initial position of the robot on the y-axis.
--robot_rot rotation
initial rotation of the robot in degrees.
--grid_width width
width of the grid in meters (default: 64.0).
--grid_height height
height of the grid in meters (default: 48.0).
--grid_scale scale
scale of the grid in meters per cell (default: 0.10).
--laser_x position
position of the laser scanner on the robot.
--laser_rot rotation
rotation of the laser scanner on the robot in degrees.
--robot_hostname hostname
the hostname of the robot to verify in the logfile.
--robot_hostname hostname
the hostname of the robot to verify in the logfile.
--skip time
amount of time to skip between log entries.
--range_resresolution
resolution of the laser (only used inlodo, not lodo2 which is currentlyused).
--action_model_xx factor
believe factors in the change of the robot's pose.
--action_model_rx factor
believe factors in the change of the robot's pose.
--action_model_rr factor
believe factors in the change of the robot's pose.
AUTHOR
Player was written by Brian Gerkey <gerkey@users.sourceforge.net> and contributors. This manual page was written by Daniel Hess for the
Debian Project.
SEE ALSO
The HTML documentation in /usr/share/doc/player/html of the robot-player-doc package. robot-playervcr(1)Player May 2009 robot-pmaptest(1)
Check Out this Related Man Page
netris(6) Netris netris(6)NAME
netris - networked version of tetris
SYNOPSIS
netris [-wFDSCHR] [-c host] [-p port] [-k keys] [-i sec] [-r robot] [-s seed]
DESCRIPTION
The object of the game Tetris is to fit the shapes together forming complete rows, which then vanish. When the shapes fill up to the top,
the game ends. This version of Tetris can be played against other people over a network.
OPTIONS -w Wait for connection from another host running netris.
-c host
Initiate connection to waiting netris running on host.
-p port
Set the port number to use for connecting to netris, the default port is 9284.
-k keys
Remap keys, the argument is a prefix of the string containing the keys in order: left, rotate, right, drop, down-faster, toggle-spy-
ing, pause, faster, redraw and new game. Use the "^" character to prefixes controls. The default is to use "jkl mspf^ln".
-i sec
Set the step-down interval, in seconds.
-r robot
Execute robot (a command) as a robot controlling the game instead of the keyboard.
-F Use fair robot interface.
-s seed
Start with given random seed.
-D Drops go into drop mode, this means that sliding off a cliff after a drop causes another drop automatically.
-S Disable inverse/bold/color for slow terminals.
-C Disable color.
-H Show distribution and warranty information.
-R Show the rules of the game.
RULES
Two player mode
It's just like normal Tetris except that when you clear more than one row with a single piece, the other player's board is moved up and
junk rows are added to the bottom. If you clear 2, 3 or 4 rows, 1, 2 or 4 junk rows are added to your opponent's board, respectively. The
junk rows have exactly one empty column. For each group of junk rows given, the empty columns will line up. This is intentional.
The longest surviving player wins the game.
One player mode
This mode is currently very boring, because there's no scoring and it never gets any faster. This will be rectified at some point. I'm
not very motivated to do it right now because I'm sick of one player Tetris. For now, use the "f" key (by default) to make the game go
faster. Speed-ups cannot be reversed for the remainder of the game.
AUTHORS
Netris was written by Mark H. Weaver <mhw@netris.org>.
This manual page was written by Edward Betts <edward@debian.org>, for the Debian GNU/Linux system (but may be used by others).
0.5 3 Aug 2001 netris(6)