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Include windows instructions in examples README.md and fix examples to compile them on Windows #48

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merged 3 commits into from
Mar 30, 2021
Merged

Include windows instructions in examples README.md and fix examples to compile them on Windows #48

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629e08f
Include windows instructions in examples README.md and fix examples t…
ahcorde Mar 26, 2021
cc6f546
updated
ahcorde Mar 30, 2021
2e7f867
Merge branch 'ign-plugin1' into ahcorde/examples/windows
ahcorde Mar 30, 2021
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7 changes: 5 additions & 2 deletions examples/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -8,9 +8,13 @@ set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
find_package(ignition-common2 QUIET)
set(IGN_COMMON_VER ${ignition-common2_VERSION_MAJOR})
if(NOT ignition-common2_FOUND)
find_package(ignition-common3 QUIET REQUIRED)
find_package(ignition-common3 QUIET)
set(IGN_COMMON_VER ${ignition-common3_VERSION_MAJOR})
endif()
if(NOT ignition-common2_FOUND AND NOT ignition-common3_FOUND)
find_package(ignition-common4 QUIET REQUIRED)
set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
endif()

find_package(ignition-math5 QUIET)
set(IGN_MATH_VER ${ignition-math5_VERSION_MAJOR})
Expand Down Expand Up @@ -56,4 +60,3 @@ foreach(example_file ${example_files})
endif()

endforeach()

41 changes: 41 additions & 0 deletions examples/README.md
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Original file line number Diff line number Diff line change
@@ -0,0 +1,41 @@
# Examples

These examples demonstrate various Ignition Plugin features.

## Build

After installing Ignition Plugin, from source or from binaries, build with:

```
git clone https://github.com/ignitionrobotics/ign-plugin/
cd ign-plugin/examples
mkdir build
cd build
cmake ..
```

### Ubuntu and MacOS

```bash
make
```

### Windows

```bash
cmake --build . --config Release
```

## Run

Two executables are created inside the `build` folder for each example.

You can run each executable from the build folder with `./executablename`. For example:

### Ubuntu and MacOS

`./robot`

### Windows

`.\Release\robot.exe`
2 changes: 1 addition & 1 deletion examples/plugins/CrashBot.cc
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Expand Up @@ -41,7 +41,7 @@ class CrashBot
return ignition::math::Vector3d(1.0, 0.0, 0.0);

// If we have not detected a wall, drive in a spiral, searching for a wall
return ignition::math::Vector3d(0.5, 0.0, 20.0*M_PI/180.0);
return ignition::math::Vector3d(0.5, 0.0, 20.0*IGN_PI/180.0);
}

// Documentation inherited
Expand Down
5 changes: 3 additions & 2 deletions examples/robot.cc
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Expand Up @@ -15,6 +15,7 @@
*
*/

#include <array>
#include <cassert>
#include <iostream>
#include <set>
Expand Down Expand Up @@ -206,14 +207,14 @@ void Simulate(const EnvironmentPluginPtr &_environment,
if (_printState)
{
std::cout << "Location: (" << x[0] << "m, " << x[1] << "m) | Yaw: "
<< 180.0*theta/M_PI << "-degrees | Time: " << time
<< 180.0*theta/IGN_PI << "-degrees | Time: " << time
<< "s |==| Velocity output: " << vel << std::endl;
}
}

std::cout << "The simulation has finished (time: " << time << "s).\n"
<< " -- Final robot location: (" << x[0] << "m, " << x[1] << "m)\n"
<< " -- Yaw: " << 180.0*theta/M_PI << "-degrees\n" << std::endl;
<< " -- Yaw: " << 180.0*theta/IGN_PI << "-degrees\n" << std::endl;
}

/////////////////////////////////////////////////
Expand Down