White Box Robotics PC-Bot 914 Quick Start Manual page 34

# Desc: Device definitions for Whitebox Robotics PC-BOT 914 robot.
# Author: Neil Schubert
# Date: 10 Mar 2007
# The PC-BOT IR array
define wbr914_ir ranger
(
# sensor count used in this ranger
scount 8
# define the pose of each (sensor) transducer [xpos ypos heading]
spose[4] [ 0.03 0.19 90 ]
spose[3] [ 0.19 0.09 25 ]
spose[2] [ 0.21 0.00 0 ]
spose[1] [ 0.19 -0.09 -25 ]
spose[0] [ 0.03 -0.19 -90 ]
# these 3 transducers are the downward pointing for stairs and drops
# because they point down, they have little effect in the Stage 2D
# environment
spose[7] [ 0.20 0.06 56 ]
spose[6] [ 0.21 0.00 0 ]
spose[5] [ 0.20 -0.06 -56 ]
# define the field of view of each transducer [range_min range_max view_angle]
Coordinates for the IR sensors
'wbr914.inc' file code
© Copyright 2006-2007 White Box Robotics Inc. and Frontline Robotics Inc