Revision: 7954
http://playerstage.svn.sourceforge.net/playerstage/?rev=7954&view=rev
Author: rtv
Date: 2009-07-04 00:20:11 +0000 (Sat, 04 Jul 2009)
Log Message:
-----------
added hokuyo model
Modified Paths:
--------------
code/stage/trunk/worlds/autolab.world
code/stage/trunk/worlds/benchmark/expand_swarm.cc
code/stage/trunk/worlds/chatterbox.inc
Added Paths:
-----------
code/stage/trunk/worlds/hokuyo.inc
Modified: code/stage/trunk/worlds/autolab.world
===================================================================
--- code/stage/trunk/worlds/autolab.world 2009-07-04 00:10:50 UTC (rev
7953)
+++ code/stage/trunk/worlds/autolab.world 2009-07-04 00:20:11 UTC (rev
7954)
@@ -45,7 +45,6 @@
cb( name "cb07" pose [1.463 6.393 0 -108.654] )
cb( name "cb08" pose [1.449 4.534 0 -108.654] )
cb( name "cb09" pose [0.737 5.217 0 -108.654] )
-
cb( name "cbr10" pose [1.085 -1.274 0 0] )
cb( name "cbr11" pose [2.587 -1.832 0 0] )
cb( name "cbr12" pose [1.812 -0.283 0 -53.892] )
Modified: code/stage/trunk/worlds/benchmark/expand_swarm.cc
===================================================================
--- code/stage/trunk/worlds/benchmark/expand_swarm.cc 2009-07-04 00:10:50 UTC
(rev 7953)
+++ code/stage/trunk/worlds/benchmark/expand_swarm.cc 2009-07-04 00:20:11 UTC
(rev 7954)
@@ -85,7 +85,7 @@
(rgr->sensors[9].range > SAFE_DIST/5.0) &&
(rgr->sensors[10].range > SAFE_DIST/3.0) &&
- (rgr->sensors[11].range > SAFE_DIST/1.4) &&
+ (rgr->sensors[11].range > SAFE_DIST/1.5) &&
(fabs( resultant_angle ) < SAFE_ANGLE) )
{
forward_speed = VSPEED;
Modified: code/stage/trunk/worlds/chatterbox.inc
===================================================================
--- code/stage/trunk/worlds/chatterbox.inc 2009-07-04 00:10:50 UTC (rev
7953)
+++ code/stage/trunk/worlds/chatterbox.inc 2009-07-04 00:20:11 UTC (rev
7954)
@@ -4,6 +4,7 @@
# $Id: chatterbox.inc,v 1.5 2008-01-15 01:25:42 rtv Exp $
include "irobot.inc"
+include "hokuyo.inc"
define chatterbox create
(
@@ -51,7 +52,7 @@
define laserchatterbox chatterbox
(
- laser()
+ hokuyolaser()
)
Added: code/stage/trunk/worlds/hokuyo.inc
===================================================================
--- code/stage/trunk/worlds/hokuyo.inc (rev 0)
+++ code/stage/trunk/worlds/hokuyo.inc 2009-07-04 00:20:11 UTC (rev 7954)
@@ -0,0 +1,17 @@
+
+define hokuyolaser laser
+(
+ # laser-specific properties
+ # factory settings for LMS200
+ range_min 0.0
+ range_max 5.0
+ fov 270.0
+ samples 270
+
+ # generic model properties
+ color "blue"
+ size [ 0.07 0.07 0.05 ] # dimensions from LMS200 data sheet
+)
+
+
+
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