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irobot.inc
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irobot.inc
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# The roomba sonar array
define roomba_sonar ranger
(
scount 5 # the number of transducers
# define the pose of each transducer [xpos ypos heading]
spose[0] [ 0.0 0.15 90 ]
spose[1] [ 0.105 0.105 45 ]
spose[2] [ 0.15 0.0 0 ]
spose[3] [ 0.105 -0.105 -45 ]
spose[4] [ 0.0 -0.15 -90 ]
# define the field of view of each transducer [range_min range_max view_angle]
sview [0 1.0 30]
# define the size of each transducer [xsize ysize] in meters
ssize [0.02 0.02]
)
# roomba robot
define roomba position
(
size [0.33 0.33 0.1]
# this block approximates the circular shape of a Roomba
block(
points 16
point[0] [ 0.225 0.000 ]
point[1] [ 0.208 0.086 ]
point[2] [ 0.159 0.159 ]
point[3] [ 0.086 0.208 ]
point[4] [ 0.000 0.225 ]
point[5] [ -0.086 0.208 ]
point[6] [ -0.159 0.159 ]
point[7] [ -0.208 0.086 ]
point[8] [ -0.225 0.000 ]
point[9] [ -0.208 -0.086 ]
point[10] [ -0.159 -0.159 ]
point[11] [ -0.086 -0.208 ]
point[12] [ -0.000 -0.225 ]
point[13] [ 0.086 -0.208 ]
point[14] [ 0.159 -0.159 ]
point[15] [ 0.208 -0.086 ]
# color "gray50"
)
# bumper_1 case
block
(
points 3
point[0] [ 0.200 0.096 ]
point[1] [ 0.200 0.066 ]
point[2] [ 0.190 0.080 ]
#z [ 0.2 0.2 ]
color "red"
)
# bumper_2 case
block
(
points 3
point[0] [ 0.200 -0.096 ]
point[1] [ 0.200 -0.066 ]
point[2] [ 0.190 -0.080 ]
#z [ 0.2 0.2 ]
color "red"
)
# this bumper array VERY crudely approximates the Roomba's bumpers
# bumper
# (
# bcount 2
# blength 0.33
# bpose[0] [0.12 0.12 45]
# bpose[1] [0.12 -0.12 -45]
# )
roomba_sonar( pose [0 0 0.1 0] )
color "gray50"
)
define create roomba( color "gray90" )
# background object bg
define bg position
(
size [0.10 0.10 0.10]
color "blue"
)
define create bg( color "blue" )