scorpion-ir-range-stagemodel.inc

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00001 # Scorpion Robot infrared sensors model for Stage
00002 # ...Include file for the Scorpion Robot model for Stage
00003 
00004 # =========================================================================== #
00005 # A model describing a Evolution Robotics Scorpion robot infrared sensors
00006 #
00007 # This file is included in Scorpion Robot model for Stage, which again is 
00008 #  included in the Stage World files when simulation Scorpion robots
00009 
00010 # The Scorpion Robot model for Stage included this file first with::
00011 #  include "../scorpion-ir-ranger-stagemodel.inc"
00012 # Then it uses it in the model as: 
00013 #  define scorpionrobot position
00014 #     (
00015 #...
00016 #     scorpionirrangesensors()
00017 #...
00018 #     )
00019 
00020 # Jonas Fonseca <fonseca@diku.dk>
00021 # Bue Petersen <buep@diku.dk>
00022 # Department of Computer Science University of Copenhagen
00023 # January 2007
00024 # =========================================================================== #
00025 
00026 
00027 # A model of the Scorpion robots infrared sensor defined as a ranger model
00028 define scorpionirrangesensors ranger
00029 (
00030   # There is 13 Sharp GP2D12 IR sensor on the Scorpion
00031   scount 13
00032 
00033   # Define the position of each sensor:
00034   # spose[index] [xpos ypos heading]
00035   # The position is relative to its parents - that is the robots coordinate
00036   #  system because this model is intended to be included in the robot model
00037   # The Scorpion robot documentation also state placement of sensor in
00038   #  the robot coordinate system.
00039   
00040   # Index matches the defintion in the Player driver for the robot
00041   
00042   # Scorpion Device ID: IR_bn_ene
00043   # Position (cm): x=12.6 y=9,2 z=7.1 cm
00044   # Angles (rad): Roll=3.142, Pitch=0, Yaw=-1.134
00045   spose[0] [ 0.126 0.092 -64.973 ] 
00046   # Scorpion Device ID: IR_bn_wnw
00047   # Position (cm): x=12.6 y=-9,2 z=7.1 cm
00048   # Angles (rad): Roll=0, Pitch=0, Yaw=1.134
00049   spose[1] [ 0.126 -0.092 64.973 ]
00050   # Scorpion Device ID: IR_bn_n
00051   # Position (cm): x=4.9 y=0 z=7.2 cm
00052   # Angles (rad): Roll=0, Pitch=0, Yaw=0
00053   spose[2] [ 0.049 0.000 0 ]
00054   # Scorpion Device ID: IR_bn_ne
00055   # Position (cm): x=9.2 y=6.4 z=7.2 cm
00056   # Angles (rad): Roll=3.142, Pitch=0, Yaw=-0.611
00057   spose[3] [ 0.092 0.064 -35.008 ] 
00058   # Scorpion Device ID: IR_bn_nw
00059   # Position (cm): x=9.2 y=-6.4 z=7.2 cm
00060   # Angles (rad): Roll=0, Pitch=0, Yaw=0.611
00061   spose[4] [ 0.092 -0.064 35.008 ] 
00062   # Scorpion Device ID: IR_te_nnw
00063   # Position (cm): x=1.6 y=-17.3 z=11.4 cm
00064   # Angles (rad): Roll=3.142, Pitch=0, Yaw=0.175
00065   spose[5] [ 0.016 -0.173 10.027 ] 
00066   # Scorpion Device ID: IR_te_nne
00067   # Position (cm): x=-6.5 y=-16.9 z=14.6 cm
00068   # Angles (rad): Roll=1.571, Pitch=0, Yaw=-0.262
00069   spose[6] [ -0.065 -0.169 -15.011 ] 
00070   # Scorpion Device ID: IR_tw_nnw
00071   # Position (cm): x=-6.5 y=16.9 z=14.6 cm
00072   # Angles (rad): Roll=-1.571, Pitch=0, Yaw=0.262
00073   spose[7] [ -0.065 0.169 15.011 ] 
00074   # Scorpion Device ID: IR_tw_nne
00075   # Position (cm): x=1.6 y=17.3 z=11.4 cm
00076   # Angles (rad): Roll=0, Pitch=0, Yaw=0.-175
00077   spose[8] [ 0.016 0.173 -10.027 ] 
00078   # Scorpion Device ID: IR_bs_w
00079   # Position (cm): x=-17.2 y=1.9 z=8.7 cm
00080   # Angles (rad): Roll=3.142, Pitch=0, Yaw=1.571
00081   spose[9] [ -0.172 0.019 90.011 ] 
00082   # Scorpion Device ID: IR_bs_e
00083   # Position (cm): x=-17.2 y=-1.9 z=8.7 cm
00084   # Angles (rad): Roll=3.142, Pitch=0, Yaw=-1.571
00085   spose[10] [ -0.172 -0.019 -90.011 ] 
00086   # Scorpion Device ID: IR_bw_s
00087   # Position (cm): x=-7.7 y=6.9 z=8.7 cm
00088   # Angles (rad): Roll=3.142, Pitch=0, Yaw=3.054
00089   spose[11] [ -0.077 0.069 174.981 ] 
00090   # Scorpion Device ID: IR_be_s
00091   # Position (cm): x=-7.7 y=-6.9 z=8.7 cm
00092   # Angles (rad): Roll=3.142, Pitch=0, Yaw=-3.054
00093   spose[12] [ -0.077 -0.069 -174.981 ] 
00094 
00095   
00096   # Define the field of view of each transducer:
00097   # sview [range_min range_max view_angle]
00098   # But instead of doing it for every sensor, we do it for all by omitting
00099   #  the index as in: ssize[3] [0.01 0.05]
00100   # The Sharp GP2D12 sensor detects distance from 10 to 80 cm (according to 
00101   #  Sharp documentation)
00102   # View angle is unsure, but some says only 5 degree
00103   sview [0.10 .80 5]
00104 
00105   
00106   # Define the size of each sensor [xsize ysize] in meters
00107   # If all have same size this could be done with eg.: ssize [0.01 0.05]
00108   # The Sharp GP2D12 sensor dimension is (according to Sharp documentation):
00109   # (looking into the lens)
00110   # Width:  40.2 mm (37 mm + 0.5*2*3.2mm)
00111   # Depth:  13.5 mm
00112   # Height:    13.0 mm
00113   ssize [0.013 0.040]
00114   
00115   # Not all sensors have the same size as defined above.
00116   # It would be more correct to overwrite these to sensors sizes with the
00117   #  correct size- but it won't work with Stage though is should according
00118   #  to the documentation.
00119    
00120   # These sensors is "standing", so we set different sizes
00121  #ssize[6] [ 0.013 0.0135 ]
00122  #ssize[7] [ 0.013 0.0135 ]
00123   
00124 )
00125 

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