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MPI_ALLGATHERV test2

This commit is contained in:
zhangshuai 2019-05-30 09:33:24 +08:00
parent ac53c85ace
commit cf29f6c2bd
3 changed files with 8 additions and 6 deletions
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9
Gazebo_Distributed_MPI/gazebo/physics/World.cc
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@ -935,8 +935,8 @@ void World::Update()
std::string tmp_model_name = this->distribution->GetGazeboIDPtr(this->gazeboLocalID)->GetModelName(i); std::string tmp_model_name = this->distribution->GetGazeboIDPtr(this->gazeboLocalID)->GetModelName(i);
modelPose->set_name(tmp_model_name); modelPose->set_name(tmp_model_name);
if (this->gazeboLocalID == tmp_gazebo_id) // if (this->gazeboLocalID == tmp_gazebo_id)
{ // {
modelPose->set_id(this->GetModel(tmp_model_name)->GetLink("canonical")->GetId()); modelPose->set_id(this->GetModel(tmp_model_name)->GetLink("canonical")->GetId());
modelPose->mutable_position()->set_x(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().pos.x); modelPose->mutable_position()->set_x(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().pos.x);
modelPose->mutable_position()->set_y(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().pos.y); modelPose->mutable_position()->set_y(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().pos.y);
@ -945,7 +945,7 @@ void World::Update()
modelPose->mutable_orientation()->set_y(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().rot.y); modelPose->mutable_orientation()->set_y(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().rot.y);
modelPose->mutable_orientation()->set_z(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().rot.z); modelPose->mutable_orientation()->set_z(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().rot.z);
modelPose->mutable_orientation()->set_w(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().rot.w); modelPose->mutable_orientation()->set_w(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().rot.w);
} // }
tmp_model_name.clear(); tmp_model_name.clear();
} }
@ -1045,6 +1045,9 @@ void World::Update()
} }
} }
delete[] sendBuffer;
delete[] receiveBuffer;
// Added by zhangshuai 2019.04.03 for count time ----Begin // Added by zhangshuai 2019.04.03 for count time ----Begin
#ifdef USE_COUNT_TIME #ifdef USE_COUNT_TIME
gettimeofday(&tv, NULL); gettimeofday(&tv, NULL);

2
Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_launch.sh
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@ -81,7 +81,7 @@ do
echo "${hosts[$i]}:start_good" echo "${hosts[$i]}:start_good"
done done
sleep 5m sleep 3m
#登入各节点kill相关进程以结束仿真（1.目前方式比较暴力，后续改进；2.cd ~/MPI 还要进行灵活性优化） #登入各节点kill相关进程以结束仿真（1.目前方式比较暴力，后续改进；2.cd ~/MPI 还要进行灵活性优化）
for((i=0;i<host_count;i++)) for((i=0;i<host_count;i++))

3
Gazebo_Distributed_MPI/mpi_run/hostfile
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@ -1,4 +1,3 @@
anwen slots=1
airc02-PowerEdge-T640 slots=1 airc02-PowerEdge-T640 slots=1
airc03-PowerEdge-T640 slots=1