Laser model
[Model]

The laser model simulates a scanning laser rangefinder

Worldfile properties

Summary and default values

laser
(
  # laser properties
  samples 180
  range_min 0.0
  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_min <float>
the minimum range reported by the scanner, in meters. The scanner will detect objects closer than this, but report their range as the minimum.
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 Wed Jul 30 11:36:06 2008 for Stage by

1.4.7

Laser model [Model]

Worldfile properties

Laser model
[Model]