modify thirdparty package:sdformat
This commit is contained in:
AIRC exercise
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# Gazebo_exercise优化控制SDF标签使用说明
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2019-05-20 by tjpu_zenglei@sina.com
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## 优化控制SDF标签设计总体思路
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为方便用户使用，集中管理自主实现的优化SDF标签，统一设计并实现了基于SDFormat包的优化控制标签。
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针对目前Gazebo_exercise已经优化的模型预处理模块、UpdatePhysics模块、dxHashSpace::collide模块等分别添加标签<event_signal>（用于设置模型预处理模块并行参数）、<updatephysics_dxprocessislands>（用于设置UpdatePhysics模块并行参数）、<dxhashspace_collide>（用于设置collide模块并行参数）、<collide_space>（用于选择碰撞空间数据结构类型）。
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## SDF标签使用说明
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所有优化控制标签均为标签<exercise_opt>子标签，<exercise_opt>为标签<world>子标签，如下所示。
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```
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<world>
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...
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<exercise_opt>
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<event_signal parallel_type=1 threads=7 />
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<collide_space>1</collide_space>
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<dxhashspace_collide threads=7 />
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<updatephysics_dxprocessislands parallel_type=1 threads=4 />
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</exercise_opt>
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...
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</world>
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```
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标签释义如下：
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- <exercise_opt>标签：优化总开关。
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- <event_signal>标签：用于设置模型预处理模块并行优化参数，parallel_type为1~5表示OpenMp优化（一般设置为1即可，其他是采用不同的任务并发方式），threads为开启的线程数；parallel_type为其他数字时表示不开启优化。
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- <collide_space>标签：用于设置碰撞更新模块中碰撞空间的类型，值为1时表示SAP空间类型，其他数字表示默认的Hash空间类型。
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- <dxhashspace_collide>标签：用于设置碰撞更新模块中dxHashSpace::collide模块并行参数，当<collide_space>标签设置为1时，该参数没有意义；其他情况下，threads大于1，表示采用OpenMP并行优化，threads为开启的线程数，否则不开启优化。
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- <updatephysics_dxprocessislands>标签：用于设置物理更新模块中dxProcessIslands模块并行参数；parallel_type为1~5表示OpenMp优化（一般设置为1即可，其他是采用不同的任务并发方式），threads为开启的线程数；parallel_type为其他数字时表示不开启优化。
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@ -25,6 +25,9 @@ set (sdfs
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surface.sdf
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surface.sdf
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visual.sdf
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visual.sdf
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world.sdf
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world.sdf
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exercise_opt.sdf
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server.sdf
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event.sdf
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)
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)
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install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat/1.0/)
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install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat/1.0/)
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<!-- Exercise_opt -->
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<!--
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***********************************************************
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**Description: the gazebo_exercise labels to optimize *
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**Author: zenglei *
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**Date: 2019-05-15 *
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**Version: V1.0 *
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***********************************************************
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-->
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<element name="exercise_opt" required="0">
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<description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
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<element name="process_messages_switch" type="bool" default="1" required="0">
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<description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
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</element>
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<element name="collide_space" type="int" default="0" required="0">
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<description>target the type of the collide space</description>
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</element>
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<element name="event_signal" required="0">
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<description>target the number of the thread that used by parallel.</description>
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<attribute name="parallel_type" type="int" default="0" required="0">
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<description>The type of parallel.</description>
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</attribute>
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<attribute name="threads" type="int" default="8" required="0">
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<description>The numbers of the threads.</description>
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</attribute>
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</element>
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<element name="updatephysics_dxprocessislands" required="0">
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<description>target the number of the thread that used by parallel.</description>
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<attribute name="parallel_type" type="int" default="0" required="0">
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<description>The type of parallel.</description>
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</attribute>
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<attribute name="threads" type="int" default="8" required="0">
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<description>The numbers of the threads.</description>
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</attribute>
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</element>
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<element name="dxhashspace_collide" required="0">
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<description>target the number of the thread that used by parallel.</description>
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<attribute name="threads" type="int" default="0" required="0">
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<description>The number of thread to parallel.</description>
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</attribute>
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</element>
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</element> <!-- exercise_opt -->
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@ -63,4 +63,5 @@
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<include filename="population.sdf" required="*"/>
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<include filename="population.sdf" required="*"/>
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<include filename="event.sdf" required="0"/>
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<include filename="event.sdf" required="0"/>
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<include filename="server.sdf" required="0"/>
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<include filename="server.sdf" required="0"/>
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<include filename="exercise_opt.sdf" required="0"/>
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</element> <!-- End World -->
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</element> <!-- End World -->
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@ -26,6 +26,9 @@ set (sdfs
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surface.sdf
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surface.sdf
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visual.sdf
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visual.sdf
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world.sdf
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world.sdf
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exercise_opt.sdf
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server.sdf
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event.sdf
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)
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)
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install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat/1.2)
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install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat/1.2)
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<!-- Exercise_opt -->
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<!--
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***********************************************************
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**Description: the gazebo_exercise labels to optimize *
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**Author: zenglei *
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**Date: 2019-05-15 *
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**Version: V1.0 *
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***********************************************************
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-->
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<element name="exercise_opt" required="0">
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<description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
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<element name="process_messages_switch" type="bool" default="1" required="0">
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<description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
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</element>
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<element name="collide_space" type="int" default="0" required="0">
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<description>target the type of the collide space</description>
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</element>
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<element name="event_signal" required="0">
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<description>target the number of the thread that used by parallel.</description>
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<attribute name="parallel_type" type="int" default="0" required="0">
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<description>The type of parallel.</description>
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</attribute>
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<attribute name="threads" type="int" default="8" required="0">
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<description>The numbers of the threads.</description>
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</attribute>
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</element>
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<element name="updatephysics_dxprocessislands" required="0">
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<description>target the number of the thread that used by parallel.</description>
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<attribute name="parallel_type" type="int" default="0" required="0">
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<description>The type of parallel.</description>
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</attribute>
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<attribute name="threads" type="int" default="8" required="0">
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<description>The numbers of the threads.</description>
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</attribute>
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</element>
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<element name="dxhashspace_collide" required="0">
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<description>target the number of the thread that used by parallel.</description>
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<attribute name="threads" type="int" default="0" required="0">
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<description>The number of thread to parallel.</description>
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</attribute>
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</element>
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</element> <!-- exercise_opt -->
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@ -63,4 +63,5 @@
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<include filename="population.sdf" required="*"/>
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<include filename="population.sdf" required="*"/>
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<include filename="event.sdf" required="0"/>
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<include filename="event.sdf" required="0"/>
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<include filename="server.sdf" required="0"/>
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<include filename="server.sdf" required="0"/>
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<include filename="exercise_opt.sdf" required="0"/>
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</element> <!-- End World -->
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</element> <!-- End World -->
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@ -27,6 +27,9 @@ set (sdfs
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surface.sdf
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surface.sdf
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visual.sdf
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visual.sdf
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world.sdf
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world.sdf
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exercise_opt.sdf
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server.sdf
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event.sdf
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)
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)
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install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat/1.3)
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install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat/1.3)
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@ -0,0 +1,45 @@
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<!-- Exercise_opt -->
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<!--
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***********************************************************
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**Description: the gazebo_exercise labels to optimize *
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**Author: zenglei *
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**Date: 2019-05-15 *
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**Version: V1.0 *
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***********************************************************
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-->
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<element name="exercise_opt" required="0">
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<description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
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<element name="process_messages_switch" type="bool" default="1" required="0">
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<description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
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</element>
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<element name="collide_space" type="int" default="0" required="0">
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<description>target the type of the collide space</description>
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</element>
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<element name="event_signal" required="0">
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<description>target the number of the thread that used by parallel.</description>
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<attribute name="parallel_type" type="int" default="0" required="0">
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<description>The type of parallel.</description>
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</attribute>
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<attribute name="threads" type="int" default="8" required="0">
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<description>The numbers of the threads.</description>
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</attribute>
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</element>
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<element name="updatephysics_dxprocessislands" required="0">
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<description>target the number of the thread that used by parallel.</description>
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<attribute name="parallel_type" type="int" default="0" required="0">
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<description>The type of parallel.</description>
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</attribute>
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<attribute name="threads" type="int" default="8" required="0">
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<description>The numbers of the threads.</description>
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</attribute>
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</element>
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<element name="dxhashspace_collide" required="0">
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<description>target the number of the thread that used by parallel.</description>
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<attribute name="threads" type="int" default="0" required="0">
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<description>The number of thread to parallel.</description>
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</attribute>
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</element>
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</element> <!-- exercise_opt -->
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<include filename="population.sdf" required="*"/>
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<include filename="population.sdf" required="*"/>
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<include filename="event.sdf" required="0"/>
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<include filename="event.sdf" required="0"/>
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<include filename="server.sdf" required="0"/>
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<include filename="server.sdf" required="0"/>
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<include filename="exercise_opt.sdf" required="0"/>
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</element> <!-- End World -->
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</element> <!-- End World -->
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@ -42,6 +42,9 @@ set (sdfs
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transceiver.sdf
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transceiver.sdf
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visual.sdf
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visual.sdf
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world.sdf
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world.sdf
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exercise_opt.sdf
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server.sdf
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event.sdf
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)
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)
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install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat/1.4)
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install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat/1.4)
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<!-- Exercise_opt -->
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<!--
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***********************************************************
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**Description: the gazebo_exercise labels to optimize *
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**Author: zenglei *
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**Date: 2019-05-15 *
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**Version: V1.0 *
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***********************************************************
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-->
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<element name="exercise_opt" required="0">
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<description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
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<element name="process_messages_switch" type="bool" default="1" required="0">
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<description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
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</element>
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<element name="collide_space" type="int" default="0" required="0">
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<description>target the type of the collide space</description>
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</element>
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<element name="event_signal" required="0">
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<description>target the number of the thread that used by parallel.</description>
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<attribute name="parallel_type" type="int" default="0" required="0">
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<description>The type of parallel.</description>
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</attribute>
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<attribute name="threads" type="int" default="8" required="0">
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<description>The numbers of the threads.</description>
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</attribute>
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</element>
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<element name="updatephysics_dxprocessislands" required="0">
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<description>target the number of the thread that used by parallel.</description>
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<attribute name="parallel_type" type="int" default="0" required="0">
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<description>The type of parallel.</description>
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</attribute>
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<attribute name="threads" type="int" default="8" required="0">
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<description>The numbers of the threads.</description>
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</attribute>
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</element>
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<element name="dxhashspace_collide" required="0">
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<description>target the number of the thread that used by parallel.</description>
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<attribute name="threads" type="int" default="0" required="0">
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<description>The number of thread to parallel.</description>
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</attribute>
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</element>
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</element> <!-- exercise_opt -->
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<include filename="population.sdf" required="*"/>
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<include filename="population.sdf" required="*"/>
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<include filename="event.sdf" required="0"/>
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<include filename="event.sdf" required="0"/>
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<include filename="server.sdf" required="0"/>
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<include filename="server.sdf" required="0"/>
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<include filename="exercise_opt.sdf" required="0"/>
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</element> <!-- End World -->
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</element> <!-- End World -->
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@ -53,6 +53,9 @@ set (sdfs
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transceiver.sdf
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transceiver.sdf
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visual.sdf
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visual.sdf
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world.sdf
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world.sdf
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exercise_opt.sdf
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server.sdf
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event.sdf
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)
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)
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set (SDF_SCHEMA)
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set (SDF_SCHEMA)
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<!-- Exercise_opt -->
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<!--
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***********************************************************
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**Description: the gazebo_exercise labels to optimize *
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**Author: zenglei *
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**Date: 2019-05-15 *
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**Version: V1.0 *
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***********************************************************
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-->
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<element name="exercise_opt" required="0">
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<description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
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<element name="process_messages_switch" type="bool" default="1" required="0">
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<description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
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</element>
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<element name="collide_space" type="int" default="0" required="0">
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<description>target the type of the collide space</description>
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</element>
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<element name="event_signal" required="0">
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<description>target the number of the thread that used by parallel.</description>
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<attribute name="parallel_type" type="int" default="0" required="0">
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<description>The type of parallel.</description>
|
||||||
|
</attribute>
|
||||||
|
|
||||||
|
<attribute name="threads" type="int" default="8" required="0">
|
||||||
|
<description>The numbers of the threads.</description>
|
||||||
|
</attribute>
|
||||||
|
|
||||||
|
</element>
|
||||||
|
<element name="updatephysics_dxprocessislands" required="0">
|
||||||
|
<description>target the number of the thread that used by parallel.</description>
|
||||||
|
<attribute name="parallel_type" type="int" default="0" required="0">
|
||||||
|
<description>The type of parallel.</description>
|
||||||
|
</attribute>
|
||||||
|
|
||||||
|
<attribute name="threads" type="int" default="8" required="0">
|
||||||
|
<description>The numbers of the threads.</description>
|
||||||
|
</attribute>
|
||||||
|
</element>
|
||||||
|
<element name="dxhashspace_collide" required="0">
|
||||||
|
<description>target the number of the thread that used by parallel.</description>
|
||||||
|
<attribute name="threads" type="int" default="0" required="0">
|
||||||
|
<description>The number of thread to parallel.</description>
|
||||||
|
</attribute>
|
||||||
|
</element>
|
||||||
|
</element> <!-- exercise_opt -->
|
||||||
|
|
@ -63,4 +63,5 @@
|
||||||
<include filename="population.sdf" required="*"/>
|
<include filename="population.sdf" required="*"/>
|
||||||
<include filename="event.sdf" required="0"/>
|
<include filename="event.sdf" required="0"/>
|
||||||
<include filename="server.sdf" required="0"/>
|
<include filename="server.sdf" required="0"/>
|
||||||
|
<include filename="exercise_opt.sdf" required="0"/>
|
||||||
</element> <!-- End World -->
|
</element> <!-- End World -->
|
||||||
|
|
|
||||||
|
|
@ -54,6 +54,9 @@ set (sdfs
|
||||||
transceiver.sdf
|
transceiver.sdf
|
||||||
visual.sdf
|
visual.sdf
|
||||||
world.sdf
|
world.sdf
|
||||||
|
exercise_opt.sdf
|
||||||
|
server.sdf
|
||||||
|
event.sdf
|
||||||
)
|
)
|
||||||
|
|
||||||
set (SDF_SCHEMA)
|
set (SDF_SCHEMA)
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,60 @@
|
||||||
|
<!-- Exercise_opt -->
|
||||||
|
<!--
|
||||||
|
***********************************************************
|
||||||
|
**Description: the gazebo_exercise labels to optimize *
|
||||||
|
**Author: zenglei *
|
||||||
|
**Date: 2019-05-15 *
|
||||||
|
**Version: V1.0 *
|
||||||
|
***********************************************************
|
||||||
|
-->
|
||||||
|
<element name="exercise_opt" required="0">
|
||||||
|
<description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
|
||||||
|
<element name="process_messages_switch" type="bool" default="1" required="0">
|
||||||
|
<description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
|
||||||
|
</element>
|
||||||
|
<element name="collide_space" type="int" default="0" required="0">
|
||||||
|
<description>target the type of the collide space</description>
|
||||||
|
</element>
|
||||||
|
<element name="event_signal" required="0">
|
||||||
|
<description>target the number of the thread that used by parallel.</description>
|
||||||
|
<attribute name="parallel_type" type="int" default="0" required="0">
|
||||||
|
<description>The type of parallel.</description>
|
||||||
|
</attribute>
|
||||||
|
|
||||||
|
<attribute name="threads" type="int" default="8" required="0">
|
||||||
|
<description>The numbers of the threads.</description>
|
||||||
|
</attribute>
|
||||||
|
|
||||||
|
<attribute name="tbb_type" type="int" default="25" required="0">
|
||||||
|
<description>the size of block to tbb thread</description>
|
||||||
|
</attribute>
|
||||||
|
|
||||||
|
<attribute name="tbb_block_size" type="int" default="0" required="0">
|
||||||
|
<description>the type to block partion</description>
|
||||||
|
</attribute>
|
||||||
|
</element>
|
||||||
|
<element name="updatephysics_dxprocessislands" required="0">
|
||||||
|
<description>target the number of the thread that used by parallel.</description>
|
||||||
|
<attribute name="parallel_type" type="int" default="0" required="0">
|
||||||
|
<description>The type of parallel.</description>
|
||||||
|
</attribute>
|
||||||
|
|
||||||
|
<attribute name="threads" type="int" default="8" required="0">
|
||||||
|
<description>The numbers of the threads.</description>
|
||||||
|
</attribute>
|
||||||
|
|
||||||
|
<attribute name="tbb_type" type="int" default="25" required="0">
|
||||||
|
<description>the size of block to tbb thread</description>
|
||||||
|
</attribute>
|
||||||
|
|
||||||
|
<attribute name="tbb_block_size" type="int" default="0" required="0">
|
||||||
|
<description>the type to block partion</description>
|
||||||
|
</attribute>
|
||||||
|
</element>
|
||||||
|
<element name="dxhashspace_collide" required="0">
|
||||||
|
<description>target the number of the thread that used by parallel.</description>
|
||||||
|
<attribute name="threads" type="int" default="0" required="0">
|
||||||
|
<description>The number of thread to parallel.</description>
|
||||||
|
</attribute>
|
||||||
|
</element>
|
||||||
|
</element> <!-- exercise_opt -->
|
||||||
|
|
@ -0,0 +1,45 @@
|
||||||
|
<!-- Exercise_opt -->
|
||||||
|
<!--
|
||||||
|
***********************************************************
|
||||||
|
**Description: the gazebo_exercise labels to optimize *
|
||||||
|
**Author: zenglei *
|
||||||
|
**Date: 2019-05-15 *
|
||||||
|
**Version: V1.0 *
|
||||||
|
***********************************************************
|
||||||
|
-->
|
||||||
|
<element name="exercise_opt" required="0">
|
||||||
|
<description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
|
||||||
|
<element name="process_messages_switch" type="bool" default="1" required="0">
|
||||||
|
<description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
|
||||||
|
</element>
|
||||||
|
<element name="collide_space" type="int" default="0" required="0">
|
||||||
|
<description>target the type of the collide space</description>
|
||||||
|
</element>
|
||||||
|
<element name="event_signal" required="0">
|
||||||
|
<description>target the number of the thread that used by parallel.</description>
|
||||||
|
<attribute name="parallel_type" type="int" default="0" required="0">
|
||||||
|
<description>The type of parallel.</description>
|
||||||
|
</attribute>
|
||||||
|
|
||||||
|
<attribute name="threads" type="int" default="8" required="0">
|
||||||
|
<description>The numbers of the threads.</description>
|
||||||
|
</attribute>
|
||||||
|
|
||||||
|
</element>
|
||||||
|
<element name="updatephysics_dxprocessislands" required="0">
|
||||||
|
<description>target the number of the thread that used by parallel.</description>
|
||||||
|
<attribute name="parallel_type" type="int" default="0" required="0">
|
||||||
|
<description>The type of parallel.</description>
|
||||||
|
</attribute>
|
||||||
|
|
||||||
|
<attribute name="threads" type="int" default="8" required="0">
|
||||||
|
<description>The numbers of the threads.</description>
|
||||||
|
</attribute>
|
||||||
|
</element>
|
||||||
|
<element name="dxhashspace_collide" required="0">
|
||||||
|
<description>target the number of the thread that used by parallel.</description>
|
||||||
|
<attribute name="threads" type="int" default="0" required="0">
|
||||||
|
<description>The number of thread to parallel.</description>
|
||||||
|
</attribute>
|
||||||
|
</element>
|
||||||
|
</element> <!-- exercise_opt -->
|
||||||
|
|
@ -63,4 +63,5 @@
|
||||||
<include filename="population.sdf" required="*"/>
|
<include filename="population.sdf" required="*"/>
|
||||||
<include filename="event.sdf" required="0"/>
|
<include filename="event.sdf" required="0"/>
|
||||||
<include filename="server.sdf" required="0"/>
|
<include filename="server.sdf" required="0"/>
|
||||||
|
<include filename="exercise_opt.sdf" required="0"/>
|
||||||
</element> <!-- End World -->
|
</element> <!-- End World -->
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue