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Re: [Playerstage-users] DISTANCE covered by each robot?
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From: Edward R. <er...@gm...> - 2008-04-29 13:46:28
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That only gives you the linear distance from the starting point. <br>
<br>
Giulio is asking for accumulated distance which is has to be computed
cumulatively. What you want to do is to pull the current x/y of the
robot at regular intervals use the below formula to find the distance
travelled since the last time you obtained the x/y and add it to the
distance already computed in past intervals.<br>
<br>
Regards,<br>
<br>
Edward<br>
<br>
Sohaib Rashid wrote:
<blockquote
cite="mid:ed8...@ma..."
type="cite">
<div><a moz-do-not-send="true" href="mailto:Giu...@ir...">Giulio</a>,</div>
<div> </div>
<div>distance=sqrt { (y_final-y_initial)*(y_final-y_initial) +
(i_final-i_initial)*(i_final-i_initial) }</div>
<div> </div>
<div>the above formula tells you the actual distance that you're
robot has covered from the starting/initial point</div>
<div>to the final/destination point.</div>
<div> </div>
<div>if you also want the theta of orientation then</div>
<div> </div>
<div>theta=atan { (y_final-y_initial) / (i_final-i_initial) }</div>
<div> </div>
<div>go to <a moz-do-not-send="true" href="http://cplusplus.com">cplusplus.com</a>
for details on atan and atan2 which is actually theta inverse. </div>
<div> </div>
<div>Hope this helps!</div>
<div> </div>
<div><br>
<br>
</div>
<div class="gmail_quote">On Tue, Apr 29, 2008 at 5:39 PM, Richard
Vaughan <<a moz-do-not-send="true" href="mailto:rtv...@gm...">rtv...@gm...</a>>
wrote:<br>
<blockquote class="gmail_quote"
style="border-left: 1px solid rgb(204, 204, 204); margin: 0px 0px 0px 0.8ex; padding-left: 1ex;">There
isn't one. You'll need to do the geometry.<br>
<br>
Richard/<br>
<br>
On Wed, Apr 23, 2008 at 7:55 PM, Giulio Zecca <<a
moz-do-not-send="true" href="mailto:Giu...@ir...">Giu...@ir...</a>>
wrote:<br>
> Thanks for the answer, but that function only prints:<br>
> xpos ypos theta speed sidespeed turn stall<br>
><br>
> I need instead a function to show how many meters the robot
covered up<br>
> to the time of the call, which, of course, is quite different
from the<br>
> mere linear distance.<br>
> i.e. when the robot reaches its target, my code will print both
the<br>
> shortest path and the real distance made by the robot.<br>
><br>
> So, is there a function to show the accumulated distance?<br>
> Or do I have to write one? (in that case, any hint will be
appreciated)<br>
><br>
> Thanks<br>
><br>
><br>
> On Mon, 2008-04-14 at 22:53 +0500, Sohaib Rashid wrote:<br>
> > you can display the odometry at any time by the following
commands<br>
> ><br>
> > robot.Read();<br>
> > std::cout<<pp<<std::endl;<br>
> ><br>
> > you can reset the odometry by the following commands<br>
> ><br>
> > robot.Read();<br>
> > pp.ResetOdometry(0,0,0);<br>
> ><br>
> ><br>
> > On Mon, Apr 14, 2008 at 10:17 PM, <<a
moz-do-not-send="true" href="mailto:gz...@ir...">gz...@ir...</a>>
wrote:<br>
> > Hi, I am using Player 2.0.5 and I would like the
robots to<br>
> > print at<br>
> > certain times of the execution the distance covered
from the<br>
> > start.<br>
> > Is it possible with simulated drivers or odometry or<br>
> > position2dProxy or<br>
> > other?<br>
> ><br>
> > If so, is there a command to reset this distance
when needed,<br>
> > during the<br>
> > execution?<br>
> ><br>
> > Thanks<br>
> ><br>
> ><br>
> ><br>
> >
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> > --<br>
> > Sohaib Rashid<br>
> > Voice +92-321-5876844<br>
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</blockquote>
</div>
<br>
<br clear="all">
<br>
-- <br>
Sohaib Rashid<br>
Voice +92-321-5876844
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