Commit 72ae5b5a authored by Timothy Stack's avatar Timothy Stack

Flesh out the captions for the robotmap and webcam screenshots. In

particular, mention that the tape grid is used to calibrate the
tracking cameras.
parent 67ff3af6
......@@ -80,6 +80,16 @@ function NLCLINKFIG($link, $value, $caption)
</td>";
}
function NLCLINKFIG2($link, $value, $caption, $explanation)
{
echo "<td valign=\"top\" class=\"stealth\" width='50%'>
<a href=\"$link\" border=\"1\">
<center>$value</center></a>
<font size=\"-2\"><b>$caption:</b>
$explanation</font>
</td>";
}
function NLCEMPTY()
{
echo "<td class=\"stealth\"></td>";
......@@ -347,26 +357,34 @@ that updates in real time.
<p>
<table width="100%" cellpadding=0 cellspacing=0 border=0 class="stealth">
<tr>
<?php NLCLINKFIG("robotmap-ss.gif",
"<img src=\"robotmap-ss-thumb.gif\" border=1
alt=\"Robot Map Screenshot\">",
"Sample Robot Map Screenshot") ?>
<?php NLCLINKFIG("webcam-ss.gif",
"<img src=\"webcam-ss-thumb.gif\" border=1
alt=\"Webcam Screenshot\">",
"Sample Webcam Screenshot") ?>
<?php NLCLINKFIG2("robotmap-ss.gif",
"<img src=\"robotmap-ss-thumb.gif\" border=2
alt=\"Robot Map Screenshot\">",
"Sample Robot Map Screenshot",
"All four robots arranged in an 'L' shape. The real world
coordinates for the robots are in the bottom middle table.")
?>
<?php NLCLINKFIG2("webcam-ss.gif",
"<img src=\"webcam-ss-thumb.gif\" border=2
alt=\"Webcam Screenshot\">",
"Sample Webcam Screenshot",
"The real world view of the same four robots from the map
screenshot. Note that the grid on the floor is used to
calibrate the overhead tracking cameras and not lines for the
robots to follow.") ?>
</tr>
</table>
<p>
Take a few moments to familiarize yourself with those pages since we'll be
making use of them during the rest of the tutorial. One important item to note
is the "Elapsed event time" value, which displays how much time has elapsed
since the robots have reached their initial positions. The elapsed time is
also connected to when <code>"$ns at"</code> events in the NS file are run. In
this case, there were no events in the NS file, so we'll be moving the robot by
sending dynamic SETDEST events, much like sending START and STOP events to <a
href="docwrapper.php3?docname=advanced.html">traffic generators</a> and <a
on the robot map page is the "Elapsed event time" value, which displays how
much time has elapsed since the robots have reached their initial positions.
The elapsed time is also connected to when <code>"$ns at"</code> events in the
NS file are run. In this case, there were no events in the NS file, so we'll
be moving the robot by sending dynamic SETDEST events, much like sending START
and STOP events to <a href="docwrapper.php3?docname=advanced.html">traffic
generators</a> and <a
href="docwrapper.php3?docname=advanced.html#ProgramObjects">program
objects</a>.
......
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