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 180.0

  # model properties
  size [0.15 0.15]
  color "blue"
  watts 17.5 # approximately correct for SICK LMS200
)

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 degrees.
  • laser_sample_skip
    • 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 Thu Dec 13 13:55:22 2007 for Stage by  doxygen 1.4.6