field.world

来自「Particle filtering implementation and ap」· WORLD 代码 · 共 88 行

interval_real   100
interval_sim    100
gui_interval    100
gui_disable 0
resolution      0.01
size [ 700.000 740.000 ]


# map
include "map.inc"

map
(
  name "field"
  bitmap "field.png" 
  map_resolution 0.02
  size [6 4] 
)


# beacon
include "beacon.inc"

beacon( pose [ 0.000 1.950 0.000] color "pink" )
beacon( pose [ 0.000 -1.950 0.000] color "magenta" )
beacon( pose [ -3.000 0.90 0.000] color "cyan" )
beacon( pose [ -3.000 -0.90 0.000] color "blue" )
beacon( pose [ 3.000 0.90 0.000] color "yellow" )
beacon( pose [ 3.000 -0.90 0.000] color "red" )

# create a position model - it can drive around like a robot
position
(
  name "aibo"
  color "red"

  # position properties
  drive "diff"

  pose [ 0 0 0 ]

  localization "odom"
  localization_origin [ 0 0 0 ]
 
  # odometry error model parameters, 
  # only used if localization is set to "odom"
  odom_error [0.03 0.03 0.05]

  # ptz
  ptz(
    pose [ 0.15 0 0 ]
    # blobfinder MUST be a child of a PTZ model
    blobfinder
    (
      # blobfinder properties
      channel_count 6
      channels [ "pink" "magenta" "cyan" "blue" "yellow" "red" ]
      range_max 4.0
      
      # model properties
      size [0.005 0.005]
    )
    #ptz[ 0.45 0.0 0.0 ]
  )
  
  # actual size
  size [0.3 0.2]

  # the pioneer's center of rotation is offset from its center of area
  origin [0.04 0.0 0]

  # draw a nose on the robot so we can see which way it points
  gui_nose 1

  # estimated mass in KG
  mass 2.5 

  polygons 1
  polygon[0].points 4
  polygon[0].point[0] [  0.15   0.05 ]
  polygon[0].point[1] [ -0.15   0.05 ]
  polygon[0].point[2] [ -0.15  -0.05 ]
  polygon[0].point[3] [  0.15  -0.05 ]
)