World

Stage simulates a 'world' composed of `models', defined in a `world file'.

API: Stg::World

Worldfile properties

Summary and default values

    interval_real   100
    interval_sim    100
    resolution      0.02
    threads         0

    

Details

• interval_sim <int>
  The length of each simulation update cycle in milliseconds.

• interval_real <int>
  The amount of real-world (wall-clock) time the siulator will attempt to spend on each simulation cycle.

• resolution <float>
  The resolution (in meters) of the underlying bitmap model. Larger values speed up raytracing at the expense of fidelity in collision detection and sensing.

• threads <int>
  The number of worker threads to spawn. Some models can be updated in parallel (e.g. laser, ranger), and running 2 or more threads here may make the simulation run faster, depending on the number of CPU cores available and the worldfile. As a guideline, use one thread per core if you have high-resolution models, e.g. a laser with hundreds of samples

More examples

The Stage source distribution contains several example world files in (stage src)/worlds along with the worldfile properties described on the manual page for each model type.