Re: [PlayerStage-Gazebo] even more dudes

[Jordi <mu...@gm...>]

Thanks for your reply, it's really very useful for me your explanations.=20
Really!


> > Why Carchassis use hinge2 for the front wheels?
>
> Front wheels have two degrees of freedom.

Why other 4 wheeled robots (Atrv, ClodBuster, PioneerAt)  use only hinge=20
joints then?

> > Why not all the models have dParamSuspensionERP set?
>
> This is only applicable to the hinge2 joint. This is in the ODE
> documentation.

=46rom the models that support the position interface only Blimp and CarCha=
ssis=20
don't have dParamSuspensionERP. (Atrv, B21R, Blimp, ClodBuster, PeopleBot,=
=20
Pioneer*, SegwayRMP and Shrimp have)
And only WheelChair and CarChassis has hinge2 joints


Other question:
SegwayRMP  has the following code:
  this->wheelSpeed[0] =3D desLinVel + desAngVel * this->wheelSep;

Other models have this code:
  this->wheelSpeed[0] =3D desLinVel + desAngVel * this->wheelSep/2;


Other one:
Why only two models do NORMALIZE on the angle returned in=20
this->iface->data->rot[2]?


Thanks
Jordi