From: SourceForge.net <no...@so...> - 2007-12-26 07:15:21
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Patches item #1858357, was opened at 2007-12-26 08:15 Message generated for change (Tracker Item Submitted) made by Item Submitter You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=433166&aid=1858357&group_id=42445 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: None Group: None Status: Open Resolution: None Priority: 5 Private: No Submitted By: Jordi Polo (robotos) Assigned to: Nobody/Anonymous (nobody) Summary: General Steering Initial Comment: After much thinking about the car interface... A new interface: steering. It supports any number of wheels in 3 configurations: Drive: This wheel only goes forwards or backwards (HingeJoint) Steer: This wheel only turns (Hinge2Joint) Full: Both (Hinge2Joint) The truck, car, tricycle, whatever is defined like this: <controller:steering_position2d name="a car"> <wheel> <joint>front-left-joint-name</joint> <type>steer</type> </wheel> <wheel> <joint>front-right-joint-name</joint> <type>steer</type> </wheel> <wheel> <joint>rear-left-joint-name</joint> <type>drive</type> </wheel> <wheel> <joint>rear-right-joint-name</joint> <type>drive</type> </wheel> <torque>1000</torque> <steerTorque>100</steerTorque> <steerPD></steerPD> <steerMaxAngle></steerMaxAngle> <interface:position name="iface-name"/> </controller:car_position2d> Any number of wheels can be defined. This code is still experimental, some documentation is lacking and names of properties, etc. Can be changed. Also I have a bug that I am not able to solve, try the SimpleCar.world, first move the front wheels and then start moving forward, the car is not turning, but the wheels are rotating in the x axis. I'd like to see this code in the SVN, so people can try to use, comment on the interface, etc. I'll try to add odometric measurement soon. The simpleCar.model is simple and silly model just for testing purposes. ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=433166&aid=1858357&group_id=42445 |
From: rbpRenato <10...@is...> - 2009-06-05 14:48:53
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Odometri is fixed?? -- View this message in context: http://www.nabble.com/--playerstage-Patches-1858357---General-Steering-tp14568227p23889686.html Sent from the playerstage-developers mailing list archive at Nabble.com. |