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1. MPI_Allgatherv, version 0.6.1 

2. in order to reduce time cost of UpdateCollision and UpdatePhysics, make the robots not simulated in local gazebo that is static.
3. modify the loadPlugins code, use ownModels list
This commit is contained in:
zhangshuai 2019-08-01 20:38:40 +08:00
parent 973375692c
commit ae1f030a0a
1 changed files with 18 additions and 85 deletions
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103
Gazebo_Distributed_MPI/gazebo/physics/World.cc
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@ -1362,7 +1362,8 @@ ModelPtr World::LoadModel(sdf::ElementPtr _sdf, BasePtr _parent)
{ {
if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(j)) if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(j))
{ {
this->dataPtr->ownModels.push_back(model); this->dataPtr->ownModels.push_back(model); // add model to ownModels list
this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(j, model->GetId()); // to maintain model ID list in GazeboID
} }
} }
} }
@ -1373,7 +1374,8 @@ ModelPtr World::LoadModel(sdf::ElementPtr _sdf, BasePtr _parent)
{ {
if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(j)) if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(j))
{ {
model->SetStatic(true); model->SetStatic(true); // model that not simulated in local gazebo is set to be static to reduce computation in UpdateCollision and UpdatePhysics
this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(j, model->GetId()); // to maintain model ID list in GazeboID
} }
} }
} }
@ -1914,58 +1916,24 @@ void World::LoadPlugins()
ModelPtr model = boost::static_pointer_cast<Model>( ModelPtr model = boost::static_pointer_cast<Model>(
this->dataPtr->rootElement->GetChild(i)); this->dataPtr->rootElement->GetChild(i));
// Modified by zhangshuai 2019.04.02 ----Begin // Modified by zhangshuai 2019.07.30 ----Begin
if (this->flag == 1) if (this->flag == 1)
{ {
// Judge if the model to load is simulated in this gazebo // Judge if the model to load is simulated in this gazebo
for (unsigned int i = 0; i < this->GetOwnModelCount(); i++)
// for (unsigned int i = 0; i < this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelCount(); i++)
// {
// if (model->GetName() == this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelName(i))
// {
// // Original part
// model->LoadPlugins();
// // Original part
// this->distribution->GetGazeboIDPtr(gazeboLocalID)->SetModelID(i, model->GetId());
// }
// }
int tmp_gazebo_count = this->distribution->GetGazeboCount();
for (int tmp_gazebo_id = 0; tmp_gazebo_id < tmp_gazebo_count; tmp_gazebo_id++)
{ {
if (this->gazeboLocalID == tmp_gazebo_id) if (model->GetName() == this->GetOwnModel(i)->GetName())
{ model->LoadPlugins();
unsigned int tmp_model_count = this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelCount();
for (unsigned int j = 0; j < tmp_model_count; j++)
{
if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(j))
{
// Original part
model->LoadPlugins();
// Original part
this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(j, model->GetId());
}
}
}
else
{
unsigned int tmp_model_count = this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelCount();
for (unsigned int j = 0; j < tmp_model_count; j++)
{
if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(j))
{
this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(j, model->GetId());
}
}
}
} }
} }
else else
{ {
// Original part
model->LoadPlugins(); model->LoadPlugins();
// Original part
} }
// Modified by zhangshuai 2019.07.30 ----End
// Modified by zhangshuai 2019.04.02 ----End
// model->LoadPlugins(); // model->LoadPlugins();
} }
} }
@ -2479,58 +2447,23 @@ void World::ProcessFactoryMsgs()
if (model != nullptr) if (model != nullptr)
{ {
model->Init(); model->Init();
// Modified by zhangshuai 2019.04.02 ----Begin // Modified by zhangshuai 2019.07.30 ----Begin
if (this->flag == 1) if (this->flag == 1)
{ {
// Judge if the model to load is simulated in this gazebo // Judge if the model to load is simulated in this gazebo
for (unsigned int i = 0; i < this->GetOwnModelCount(); i++)
// for (unsigned int i = 0; i < this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelCount(); i++)
// {
// if (model->GetName() == this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelName(i))
// {
// // Original part
// model->LoadPlugins();
// // Original part
// this->distribution->GetGazeboIDPtr(gazeboLocalID)->SetModelID(i, model->GetId());
// }
// }
int tmp_gazebo_count = this->distribution->GetGazeboCount();
for (int tmp_gazebo_id = 0; tmp_gazebo_id < tmp_gazebo_count; tmp_gazebo_id++)
{ {
if (this->gazeboLocalID == tmp_gazebo_id) if (model->GetName() == this->GetOwnModel(i)->GetName())
{ model->LoadPlugins();
unsigned int tmp_model_count = this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelCount();
for (unsigned int i = 0; i < tmp_model_count; i++)
{
if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(i))
{
// Original part
model->LoadPlugins();
// Original part
this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(i, model->GetId());
}
}
}
else
{
unsigned int tmp_model_count = this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelCount();
for (unsigned int i = 0; i < tmp_model_count; i++)
{
if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(i))
{
this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(i, model->GetId());
}
}
}
} }
} }
else else
{ {
// Original part
model->LoadPlugins(); model->LoadPlugins();
// Original part
} }
// Modified by zhangshuai 2019.07.30 ----End
// Modified by zhangshuai 2019.04.02 ----End
} }
} }
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