Position model

Collaboration diagram for Position model:

The position model simulates a mobile robot base. It can drive in one of two modes; either differential, i.e. able to control its speed and turn rate by driving left and roght wheels like a Pioneer robot, or omnidirectional, i.e. able to control each of its three axes independently.

API: Stg::ModelPosition

Worldfile properties

Summary and default values
    # position properties
    drive "diff"
    localization "gps"
    localization_origin [ <defaults to model's start pose> ]

    # odometry error model parameters, 
    # only used if localization is set to "odom"
    odom_error [0.03 0.03 0.00 0.05]

    # model properties

		# update position according to the current velocity state
		velocity_enable 1
Since Stage-1.6.5 the odom property has been removed. Stage will generate a warning if odom is defined in your worldfile. See localization_origin instead.

Generated on Tue Oct 20 15:42:06 2009 for Stage by  doxygen 1.6.1