Revision: 8085
http://playerstage.svn.sourceforge.net/playerstage/?rev=8085&view=rev
Author: thjc
Date: 2009-07-23 10:10:52 +0000 (Thu, 23 Jul 2009)
Log Message:
-----------
small doc fix
Modified Paths:
--------------
code/stage/trunk/libstage/model_position.cc
Modified: code/stage/trunk/libstage/model_position.cc
===================================================================
--- code/stage/trunk/libstage/model_position.cc 2009-07-23 08:51:15 UTC (rev
8084)
+++ code/stage/trunk/libstage/model_position.cc 2009-07-23 10:10:52 UTC (rev
8085)
@@ -60,9 +60,9 @@
select differential-steer model(like a Pioneer), omnidirectional mode or
carlike (velocity and steering angle).
- localization "gps" or "odom"\n
if "gps" the position model reports its position with perfect accuracy. If
"odom", a simple odometry model is used and position data drifts from the
ground truth over time. The odometry model is parameterized by the odom_error
property.
- - localization_origin [x y theta]
- - set the origin of the localization coordinate system. By default, this
is copied from the model's initial pose, so the robot reports its position
relative to the place it started out. Tip: If localization_origin is set to [0
0 0] and localization is "gps", the model will return its true global position.
This is unrealistic, but useful if you want to abstract away the details of
localization. Be prepared to justify the use of this mode in your research!
- - odom_error [x y theta]
+ - localization_origin [x y z theta]
+ - set the origin of the localization coordinate system. By default, this
is copied from the model's initial pose, so the robot reports its position
relative to the place it started out. Tip: If localization_origin is set to [0
0 0 0] and localization is "gps", the model will return its true global
position. This is unrealistic, but useful if you want to abstract away the
details of localization. Be prepared to justify the use of this mode in your
research!
+ - odom_error [x y z theta]
- parameters for the odometry error model used when specifying
localization "odom". Each value is the maximum proportion of error in
intergrating x, y, and theta velocities to compute odometric position estimate.
For each axis, if the the value specified here is E, the actual proportion is
chosen at startup at random in the range -E/2 to +E/2. Note that due to
rounding errors, setting these values to zero does NOT give you perfect
localization - for that you need to choose localization "gps".
*/
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