From: Vikram Harinath <harinath@op...>  20031109 15:27:49

Hi, Just another reason why I am interested in knowing is because, from what I have read, when speed = (((lvel) + (rvel))/2) then the equation for turnrate is: yawspeed = ((rvel  lvel)/2d) where 2d is the distance between the wheels. (multiply by 180/pi to convert to degrees/sec) I was wondering if (2.0/PlayerRobotParams[param_idx].DiffConvFactor) was the value of the distance between the two wheels of the pioneer robot. This is because I will be using the pioneer.inc model for my testing in stage and need to know what the distance between the two wheels is for the pioneer.inc model in stage. Thankyou. Vikram Vikram Harinath wrote: > Hi, > > I know I have spoken about this before but I can't seem to figure it > out. > > I was looking at how the speed & yawspeed are calculated in player > (under p2os) and saw this: > > data>position.xspeed = htonl((int32_t) (((lvel) + (rvel) ) / 2)); > data>position.yawspeed = htonl((int32_t) > (180*((double)(rvel  lvel) / > (2.0/PlayerRobotParams[param_idx].DiffConvFactor)) / > M_PI)); > > I was wondering what the values of > "PlayerRobotParams[param_idx].DiffConvFactor" and "M_PI" were. > > This is for the pioneer robot. > > This is because, as I can get the average speed and the yawspeed, then I > can calcuate the value of the speed of each wheel. > > Vik > >  > This SF.Net email sponsored by: ApacheCon 2003, > 1619 November in Las Vegas. Learn firsthand the latest > developments in Apache, PHP, Perl, XML, Java, MySQL, > WebDAV, and more! http://www.apachecon.com/ > _______________________________________________ > Playerstagedevelopers mailing list > Playerstagedevelopers@... > https://lists.sourceforge.net/lists/listinfo/playerstagedevelopers 