beacon.inc

Particle filtering implementation and application to people tracking.

define beacon model
(
  pose [0 0 0]
  size [0.1 0.1]
  origin [0 0 0]
  velocity [0 0 0]

  # determine how the model appears in various sensors

  obstacle_return 1
  laser_return 1
  ranger_return 1
  #blobfinder_return 1
  fiducial_return 1
  gripper_return 0

  fiducial_key 0

  # GUI properties
  gui_nose 0
  gui_grid 0
  gui_movemask 0

  polygons 1
  polygon[0].points 8
  polygon[0].point[0] [  0.15  0.07 ]
  polygon[0].point[1] [  0.07  0.15 ]
  polygon[0].point[2] [ -0.07  0.15 ]
  polygon[0].point[3] [ -0.15  0.07 ]
  polygon[0].point[4] [ -0.15 -0.07 ]
  polygon[0].point[5] [ -0.07 -0.15 ]
  polygon[0].point[6] [  0.07 -0.15 ]
  polygon[0].point[7] [  0.15 -0.07 ]
)