Bumper/Whisker model
Collaboration diagram for Bumper/Whisker model:

The bumper model simulates an array of binary touch sensors.
Worldfile properties
- Summary and default values
bumper ( # bumper properties bcount 1 bpose[0] [ 0 0 0 0 ] blength 0.1 )
- Notes
The bumper model allows configuration of the pose and length parameters of each transducer seperately using bpose[index] and blength[index]. For convenience, the length of all bumpers in the array can be set at once with the blength property. If a blength with no index is specified, this global setting is applied first, then specific blengh[index] properties are applied afterwards. Note that the order in the worldfile is ignored.
- Details
- bcount int
- the number of bumper transducers
- bpose[<transducer index>] [float float float float]
- [x y z theta]
- pose of the center of the transducer relative to its parent.
- blength float
- sets the length in meters of all transducers in the array
- blength[<transducer index>] float
- length in meters of a specific transducer. This is applied after the global setting above.
- bcount int
Generated on Wed Jan 27 2021 00:00:00 for Stage by