Model

Collaboration diagram for Model:

Modules

 Actuator model
 Blinkenlight model
 Blobfinder model
 Camera model
 Fiducial detector model
 Gripper model
 Laser model
 Position model
 Ranger model
 Wifi model

Detailed Description

The basic model simulates an object with basic properties; position, size, velocity, 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.

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 ]
    velocity [ 0.0 0.0 0.0 0.0 ]

    color "red"
    color_rgba [ 0.0 0.0 0.0 1.0 ]
    bitmap ""
    ctrl ""

    # determine how the model appears in various sensors
    fiducial_return 0
    fiducial_key 0
    obstacle_return 1
    ranger_return 1
    blob_return 1
    laser_return LaserVisible
    gripper_return 0
    gravity_return 0
    sticky_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
    )
    
Details

Generated on Tue Oct 20 15:42:05 2009 for Stage by  doxygen 1.6.1