Laser model
[Model]

Collaboration diagram for Laser model:

The laser model simulates a scanning laser rangefinder

API: Stg::ModelLaser

Worldfile properties

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"
   )
   

Details

• 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.