50 assert( robot->
laser );
66 const std::vector<ModelRanger::Sensor>& sensors = rgr->
GetSensors();
77 if( (dx == 0) || (dy == 0) )
80 double resultant_angle = atan2( dy, dx );
81 double forward_speed = 0.0;
82 double side_speed = 0.0;
83 double turn_speed =
WGAIN * resultant_angle;
Model * GetUnusedModelOfType(const std::string &type)
The Stage library uses its own namespace.
void SetSpeed(double x, double y, double a)
void Init(int *argc, char **argv[])
int(* model_callback_t)(Model *mod, void *user)
void AddCallback(callback_type_t type, model_callback_t cb, void *user)
int RangerUpdate(ModelRanger *mod, robot_t *robot)
const std::vector< Sensor > & GetSensors() const
radians_t a
rotation about the z axis.
std::vector< meters_t > ranges