Revision: 8523
http://playerstage.svn.sourceforge.net/playerstage/?rev=8523&view=rev
Author: rtv
Date: 2010-01-20 00:06:34 +0000 (Wed, 20 Jan 2010)
Log Message:
-----------
added the wheelbase option to the position model in car mode. Thanks to Patrick
Beeson and patch #2819185
Modified Paths:
--------------
code/stage/trunk/libstage/model_position.cc
code/stage/trunk/libstage/stage.hh
Modified: code/stage/trunk/libstage/model_position.cc
===================================================================
--- code/stage/trunk/libstage/model_position.cc 2010-01-19 23:54:08 UTC (rev
8522)
+++ code/stage/trunk/libstage/model_position.cc 2010-01-20 00:06:34 UTC (rev
8523)
@@ -1,11 +1,10 @@
///////////////////////////////////////////////////////////////////////////
//
-// File: model_laser.c
+// File: model_position.cc
// Author: Richard Vaughan
// Date: 10 June 2004
//
-// CVS info:
-// $Source:
/home/tcollett/stagecvs/playerstage-cvs/code/stage/libstage/model_position.cc,v
$
+// SVN info:
// $Author: rtv $
// $Revision$
//
@@ -47,6 +46,9 @@
# only used if localization is set to "odom"
odom_error [0.03 0.03 0.00 0.05]
+ # only used if drive is set to "car"
+ wheelbase 1.0
+
# model properties
# update position according to the current velocity state
@@ -67,6 +69,7 @@
- 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".
+ - wheelbase <float,meters>\nThe wheelbase used for the car steering model.
Only used if drive is set to "car". Defaults to 1.0m\n
*/
@@ -94,6 +97,7 @@
drand48() *
INTEGRATION_ERROR_MAX_Z - INTEGRATION_ERROR_MAX_Z/2.0,
drand48() *
INTEGRATION_ERROR_MAX_A - INTEGRATION_ERROR_MAX_A/2.0 ),
waypoints(),
+ wheelbase( 1.0 ),
wpvis(),
posevis()
{
@@ -138,7 +142,10 @@
PRINT_ERR1( "invalid position drive mode specified: \"%s\" -
should be one of: \"diff\", \"omni\" or \"car\". Using \"diff\" as default.",
mode_str.c_str() );
}
-
+
+ // choose a wheelbase
+ this->wheelbase = wf->ReadFloat( wf_entity, "wheelbase", this->wheelbase );
+
// load odometry if specified
if( wf->PropertyExists( wf_entity, "odom" ) )
{
@@ -246,7 +253,7 @@
// car like steering model based on
speed and turning angle
vel.x = goal.x * cos(goal.a);
vel.y = 0;
- vel.a = goal.x * sin(goal.a)/1.0; //
here 1.0 is the wheel base, this should be a config option
+ vel.a = goal.x * sin(goal.a)/wheelbase;
break;
default:
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2010-01-19 23:54:08 UTC (rev 8522)
+++ code/stage/trunk/libstage/stage.hh 2010-01-20 00:06:34 UTC (rev 8523)
@@ -2829,11 +2829,11 @@
private:
Pose goal;///< the current velocity or pose to reach, depending on the
value of control_mode
ControlMode control_mode;
- DriveMode drive_mode;
+ DriveMode drive_mode;
LocalizationMode localization_mode; ///< global or local mode
Velocity integration_error; ///< errors to apply in simple odometry
model
+ double wheelbase;
-
public:
// constructor
ModelPosition( World* world,
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