OK, this is the *really* big one, it reworks much of
the position model's update function. It includes two
seperate features, which at the moment overlap.
One is to implement relative-position control, and
reimplement velocity and position control so that you
can do different kinds of control on heading and
The other is to accelerate and decelerate according to
parameters given in the world file, or given by the
SPEED_PROF player config request, and to limit speeds
to parameters from the world file or the SPEED_PROF
request. It also uses those max speeds for position
Translating in Y (for a non-differential robot) is not
really tested much.
There may be a few bugs in position control.
I can seperate out the latter from the former if you
want, that just takes some time, and we are discussing
a new kind of position interface for player, so all of
this migth change soon.
But I wanted to put the patch here in case anyone
needed it (and ActivMedia's version of modified-Stage
will include it).