Model
Collaboration diagram for Model:

Modules

 Actuator model
 Blinkenlight model
 Blobfinder model
 Camera model
 Fiducial detector model
 Gripper model
 Position model
 Ranger model
 Wifi model

Detailed Description

$Rev$

The basic model simulates an object with basic properties; position, size, color, visibility to various sensors, etc. The basic model also has a body made up of a list of lines. Internally, the basic model is used as the base class for all other model types. You can use the basic model to simulate environmental objects.

API: Stg::Model

Worldfile properties

Summary and default values
    model
    (
    pose [ 0.0 0.0 0.0 0.0 ]
    size [ 0.1 0.1 0.1 ]
    origin [ 0.0 0.0 0.0 0.0 ]

    update_interval 100

    color "red"
    color_rgba [ 0.0 0.0 0.0 1.0 ]
    bitmap ""
    ctrl ""

    # determine how the model appears in various sensors
    fiducial_return 0
    fiducial_key 0
    obstacle_return 1
    ranger_return 1.0
    blob_return 1
    ranger_return 1.0
    gripper_return 0

    # GUI properties
    gui_nose 0
    gui_grid 0
    gui_outline 1
    gui_move 0 (1 if the model has no parents);

    boundary 0
    mass 10.0
    map_resolution 0.1
    say ""
    alwayson 0

    stack_children 1
    )
    
Details