Collaboration diagram for Laser model:
The laser model simulates a scanning laser rangefinder
- Summary and default values
laser ( # laser properties samples 180 range_max 8.0 fov 3.14159 resolution 1 # model properties size [ 0.15 0.15 0.2 ] color "blue" )
- samples <int>
the number of laser samples per scan
- range_max <float>
the maximum range reported by the scanner, in meters. The scanner will not detect objects beyond this range.
- fov <float>
the angular field of view of the scanner, in radians.
- resolution <int>
Only calculate the true range of every nth laser sample. The missing samples are filled in with a linear interpolation. Generally it would be better to use fewer samples, but some (poorly implemented!) programs expect a fixed number of samples. Setting this number > 1 allows you to reduce the amount of computation required for your fixed-size laser vector.
Generated on Tue Oct 20 15:42:06 2009 for Stage by 1.6.1