#19 Khepera IR support

Tom Quick

It is not possible to use Stage for the simulation of
the Khepera robot without a model of its IR system.
This involves a sensor device that detects ambient
light, and light from an emitter part of the device
reflected by obstacles.

The current IDAR sensor cannot, AFAICT, be used in this

Given the extensive use of the Khepera robot in
research institutions, it strikes me that support for
this robot would be very useful. Currently, users such
as myself have to either use Webots, which is an
expensive commercial package (with various, 'issues' of
its own), or a member of the Nolfi/KhepSim family tree
(KhepSim, Evorobot, YAKS), all of which are far less
feature-rich than Player/Stage.


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