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::StgModel

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

  # GUI properties
  gui_nose 0
  gui_grid 0
  gui_outline 1
  gui_movemask <0 if top level or (STG_MOVE_TRANS | STG_MOVE_ROT)>;

  blocks 0
  block[0].points 0
  block[0].point[0] [ 0.0 0.0 ]
  block[0].z [ 0.0 1.0 ]
  block[0].color "<color>"

  boundary 0
  mass 10.0
  map_resolution 0.1
  say ""
  alwayson 0
)

Details

pose [ x:<float> y:<float> z:<float> heading:<float> ]
specify the pose of the model in its parent's coordinate system
size [ x:<float> y:<float> z:<float> ]
specify the size of the model in each dimension
origin [ x:<float> y:<float> z:<float> heading:<float> ]
specify the position of the object's center, relative to its pose
velocity [ x:<float> y:<float> z:<float> heading:<float> omega:<float> ]
Specify the initial velocity of the model. Note that if the model hits an obstacle, its velocity will be set to zero.

color <string>
specify the color of the object using a color name from the X11 database (rgb.txt)
bitmap filename:<string>
Draw the model by interpreting the lines in a bitmap (bmp, jpeg, gif, png supported). The file is opened and parsed into a set of lines. The lines are scaled to fit inside the rectangle defined by the model's current size.
ctrl <string>
specify the controller module for the model

fiducial_return fiducial_id:<int>
if non-zero, this model is detected by fiducialfinder sensors. The value is used as the fiducial ID.
fiducial_key <int> models are only detected by fiducialfinders if the fiducial_key values of model and fiducialfinder match. This allows you to have several independent types of fiducial in the same environment, each type only showing up in fiducialfinders that are "tuned" for it.
obstacle_return <int>
if 1, this model can collide with other models that have this property set
ranger_return <int>
if 1, this model can be detected by ranger sensors
blob_return <int>
if 1, this model can be detected in the blob_finder (depending on its color)
laser_return <int>
if 0, this model is not detected by laser sensors. if 1, the model shows up in a laser sensor with normal (0) reflectance. If 2, it shows up with high (1) reflectance.
gripper_return <int>
iff 1, this model can be gripped by a gripper and can be pushed around by collisions with anything that has a non-zero obstacle_return.

gui_nose <int>
if 1, draw a nose on the model showing its heading (positive X axis)
gui_grid <int>
if 1, draw a scaling grid over the model
gui_outline <int>
if 1, draw a bounding box around the model, indicating its size
gui_movemask <int>
define how the model can be moved by the mouse in the GUI window


Modules
	Blinkenlight model
	Blobfinder model
	Camera model
	Fiducial detector model
	Laser model
	Position model
	Ranger model
	Wifi model

Generated on Wed Jul 30 11:36:06 2008 for Stage by

1.4.7

Model

Detailed Description

Worldfile properties

Modules