Model

The basic model simulates an object with basic properties; position, size, color, visibility to various sensors, etc. The basic model also has a body made up of a list of lines. Internally, the basic model is used as the base class for all other model types. You can use the basic model to simulate environmental objects. More...

Collaboration diagram for Model:

Modules

 Actuator model
 The actuator model simulates a simple actuator, where child objects can be displaced in a single dimension, or rotated about the Z axis.
 
 Blinkenlight model
 Simulates a blinking light.
 
 Blobfinder model
 The blobfinder model simulates a color-blob-finding vision device, like a CMUCAM2, or the ACTS image processing software. It can track areas of color in a simulated 2D image, giving the location and size of the color 'blobs'. Multiple colors can be tracked at once; they are separated into channels, so that e.g. all red objects are tracked as channel one, blue objects in channel two, etc. The color associated with each channel is configurable.
 
 Bumper/Whisker model
 The bumper model simulates an array of binary touch sensors.
 
 Camera model
 The camera model simulates a camera.
 
 Fiducial detector model
 The fiducial model simulates a fiducial-detecting device.
 
 Gripper model
 The ranger model simulates a simple two-fingered gripper with two internal break-beams, similar to the the Pioneer gripper.
 
 Ranger model
 The ranger model simulates an array of sonar or infra-red (IR) range sensors.
 
 Wifi model
 

Detailed Description

The basic model simulates an object with basic properties; position, size, color, visibility to various sensors, etc. The basic model also has a body made up of a list of lines. Internally, the basic model is used as the base class for all other model types. You can use the basic model to simulate environmental objects.

$Rev$ API: Stg::Model

Worldfile properties

Summary and default values
model
(
pose [ 0.0 0.0 0.0 0.0 ]
size [ 0.1 0.1 0.1 ]
origin [ 0.0 0.0 0.0 0.0 ]

update_interval 100

color "red"
bitmap ""
ctrl ""

# determine how the model appears in various sensors
fiducial_return 0
fiducial_key 0
obstacle_return 1
ranger_return 1.0
blob_return 1
gripper_return 0

# GUI properties
gui_nose 0
gui_grid 0
gui_outline 1
gui_move 0 (1 if the model has no parents);

boundary 0
mass 10.0
map_resolution 0.1
say ""
alwayson 0

stack_children 1
)
Details