/
sick1.inc
61 lines (49 loc) · 1.23 KB
/
sick1.inc
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define sicklaser laser
(
# laser-specific properties
# factory settings for LMS200
range_min 0.0
#range_max 8.0
range_max 4.0
fov 180.0
#fov 230.0
samples 181
#samples 231
#samples 90 # still useful but much faster to compute
# generic model properties
color "blue"
size [ 0.156 0.155 0.19 ] # dimensions from LMS200 data sheet
)
define fancysicklaser sicklaser
(
blocks 4
# bottom
block[0].points 4
block[0].point[0] [ -0.02 -0.077 ]
block[0].point[1] [ 0.078 -0.077 ]
block[0].point[2] [ 0.078 0.077 ]
block[0].point[3] [ -0.02 0.077 ]
block[0].z [0 0.02 ]
# back
block[1].points 4
block[1].point[0] [ -0.078 -0.077 ]
block[1].point[1] [ -0.02 -0.077 ]
block[1].point[2] [ -0.02 0.077 ]
block[1].point[3] [ -0.078 0.077 ]
block[1].z [0 0.21 ]
# top
block[2].points 4
block[2].point[0] [ -0.02 -0.077 ]
block[2].point[1] [ 0.078 -0.077 ]
block[2].point[2] [ 0.078 0.077 ]
block[2].point[3] [ -0.02 0.077 ]
block[2].z [0.12 0.21 ]
# laser bit
block[3].points 4
block[3].point[0] [ -0.02 -0.05 ]
block[3].point[1] [ 0.06 -0.05 ]
block[3].point[2] [ 0.06 0.05 ]
block[3].point[3] [ -0.02 0.05 ]
block[3].z [0.02 0.12 ]
block[3].color "gray10"
)