Revision: 7984
http://playerstage.svn.sourceforge.net/playerstage/?rev=7984&view=rev
Author: rtv
Date: 2009-07-10 21:11:11 +0000 (Fri, 10 Jul 2009)
Log Message:
-----------
added front-sonar-only Pioneer 2dx model
Modified Paths:
--------------
code/stage/trunk/worlds/pioneer.inc
code/stage/trunk/worlds/pioneer_flocking.world
Modified: code/stage/trunk/worlds/pioneer.inc
===================================================================
--- code/stage/trunk/worlds/pioneer.inc 2009-07-10 17:23:01 UTC (rev 7983)
+++ code/stage/trunk/worlds/pioneer.inc 2009-07-10 21:11:11 UTC (rev 7984)
@@ -34,6 +34,37 @@
ssize [0.01 0.05]
)
+define p2dx_sonar_front ranger
+(
+ scount 8 # the number of transducers
+
+ # define the pose of each transducer [xpos ypos heading]
+ spose[0] [ 0.075 0.130 90 ]
+ spose[1] [ 0.115 0.115 50 ]
+ spose[2] [ 0.150 0.080 30 ]
+ spose[3] [ 0.170 0.025 10 ]
+ spose[4] [ 0.170 -0.025 -10 ]
+ spose[5] [ 0.150 -0.080 -30 ]
+ spose[6] [ 0.115 -0.115 -50 ]
+ spose[7] [ 0.075 -0.130 -90 ]
+
+# spose[8] [ -0.155 -0.130 -90 ]
+# spose[9] [ -0.195 -0.115 -130 ]
+# spose[10] [ -0.230 -0.080 -150 ]
+# spose[11] [ -0.250 -0.025 -170 ]
+# spose[12] [ -0.250 0.025 170 ]
+# spose[13] [ -0.230 0.080 150 ]
+# spose[14] [ -0.195 0.115 130 ]
+# spose[15] [ -0.155 0.130 90 ]
+
+ # define the field of view of each transducer [range_min range_max
view_angle]
+ sview [0 5.0 15]
+
+ # define the size of each transducer [xsize ysize] in meters
+ ssize [0.01 0.05]
+)
+
+
# The Pioneer3DX sonar array
define p3dx_sonar ranger
(
@@ -115,7 +146,8 @@
)
-define pioneer2dx_base pioneer_base
+
+define pioneer2dx_base_no_sonar pioneer_base
(
# actual size
size [0.44 0.38 0.22] # sizes from MobileRobots' web site
@@ -128,15 +160,26 @@
# estimated mass in KG
mass 23.0
+ # differential steering model
+ drive "diff"
+ )
+
+define pioneer2dx_base pioneer2dx_base_no_sonar
+(
# use the sonar array defined above with a small vertical offset to
# drop the sensors into the robot body
p2dx_sonar( pose [0 0 -0.03 0] )
+)
- # differential steering model
- drive "diff"
- )
+define pioneer2dx_base_front_sonar pioneer2dx_base_no_sonar
+(
+ # use the sonar array defined above with a small vertical offset to
+ # drop the sensors into the robot body
+ p2dx_sonar_front( pose [0 0 -0.03 0] )
+)
+
define pioneer2dx pioneer2dx_base
(
# simplified Body shape:
@@ -154,7 +197,25 @@
)
)
+# as above, but with front sonar only
+define pioneer2dx_front_sonar pioneer2dx_base_front_sonar
+(
+ # simplified Body shape:
+ block(
+ points 8
+ point[0] [-0.2 0.12]
+ point[1] [-0.2 -0.12]
+ point[2] [-0.12 -0.2555]
+ point[3] [0.12 -0.2555]
+ point[4] [0.2 -0.12]
+ point[5] [0.2 0.12]
+ point[6] [0.12 0.2555]
+ point[7] [-0.12 0.2555]
+ z [0 0.22]
+ )
+)
+
# a Pioneer 2 or 3 in standard configuration
define fancypioneer2dx pioneer2dx_base
(
Modified: code/stage/trunk/worlds/pioneer_flocking.world
===================================================================
--- code/stage/trunk/worlds/pioneer_flocking.world 2009-07-10 17:23:01 UTC
(rev 7983)
+++ code/stage/trunk/worlds/pioneer_flocking.world 2009-07-10 21:11:11 UTC
(rev 7984)
@@ -34,7 +34,7 @@
)
-define flocker pioneer2dx
+define flocker pioneer2dx_front_sonar
(
color "random"
ctrl "pioneer_flocking"
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