64 const std::vector<ModelRanger::Sensor>& sensors = rgr->
GetSensors();
75 if( (dx == 0) || (dy == 0) )
78 double resultant_angle = atan2( dy, dx );
79 double forward_speed = 0.0;
80 double side_speed = 0.0;
81 double turn_speed =
WGAIN * resultant_angle;
93 (sensors[10].ranges[0] >
SAFE_DIST/3.0) &&
94 (sensors[11].ranges[0] >
SAFE_DIST/1.5) &&
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)
const std::vector< Sensor > & GetSensors() const
int RangerUpdate(ModelRanger *mod, robot_t *robot)
radians_t a
rotation about the z axis.
std::vector< meters_t > ranges