Fiducial detector model

Collaboration diagram for Fiducial detector model:

The fiducial model simulates a fiducial-detecting device.

API: Stg::ModelFiducial

Worldfile properties

Summary and default values

fiducial
(
  # fiducial properties
  range_min 0.0
  range_max 8.0
  range_max_id 5.0
  fov 3.14159
  ignore_zloc 0

  # model properties
  size [ 0.1 0.1 0.1 ]
)

Details

• range_min <float>
  the minimum range reported by the sensor, in meters. The sensor will detect objects closer than this, but report their range as the minimum.
• range_max <float>
  the maximum range at which the sensor can detect a fiducial, in meters. The sensor may not be able to uinquely identify the fiducial, depending on the value of range_max_id.
• range_max_id <float>
  the maximum range at which the sensor can detect the ID of a fiducial, in meters.
• fov <float> the angular field of view of the scanner, in radians.
• ignore_zloc <1/0>
  default is 0. When set to 1, the fiducial finder ignores the z component when checking a fiducial. Using the default behaviour, a short object would not been seen by a fiducial finder placed on top of a tall robot. With this flag set to 1, the fiducial finder will see the shorter robot.