Position model
Collaboration diagram for Position model:

The position model simulates a mobile robot base. It can drive in one of two modes; either differential, i.e. able to control its speed and turn rate by driving left and roght wheels like a Pioneer robot, or omnidirectional, i.e. able to control each of its three axes independently.

API: Stg::ModelPosition

Worldfile properties

Summary and default values
    # position properties
    drive "diff"

    velocity [ 0.0 0.0 0.0 0.0 ]

    localization "gps"
    localization_origin [ <defaults to model's start pose> ]

    # odometry error model parameters, 
    # only used if localization is set to "odom"
    odom_error [0.03 0.03 0.00 0.05]

    # only used if drive is set to "car"
    wheelbase 1.0

    # [ xmin xmax ymin ymax zmin zmax amin amax ]				
    velocity_bounds [-1 1 -1 1 -1 1 -90 90 ]					
    acceleration_bounds [-1 1 -1 1 -1 1 -90 90]

    # model properties

Since Stage-1.6.5 the odom property has been removed. Stage will generate a warning if odom is defined in your worldfile. See localization_origin instead.

drive "diff", "omni" or "car"
select differential-steer model(like a Pioneer), omnidirectional mode or carlike (velocity and steering angle). omega:<float> ]
Specify the initial velocity of the model. Note that if the model hits an obstacle, its velocity will be set to zero.