Re: [Playerstage-users] DISTANCE covered by each robot?

 Re: [Playerstage-users] DISTANCE covered by each robot? From: Edward Rankin - 2008-04-29 13:46:28 That only gives you the linear distance from the starting point.

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.

Regards,

Edward

Sohaib Rashid wrote:

distance=sqrt { (y_final-y_initial)*(y_final-y_initial) + (i_final-i_initial)*(i_final-i_initial) }

the above formula tells you the actual distance that you're robot has covered from the starting/initial point
to the final/destination point.

if you also want the theta of orientation then

theta=atan { (y_final-y_initial) / (i_final-i_initial) }

go to cplusplus.com; for details on atan and atan2 which is actually theta inverse.

Hope this helps!

On Tue, Apr 29, 2008 at 5:39 PM, Richard Vaughan <rtvaughan@...> wrote:
There isn't one. You'll need to do the geometry.

Richard/

On Wed, Apr 23, 2008 at 7:55 PM, Giulio Zecca <Giulio.Zecca@...> wrote:
> Thanks for the answer, but that function only prints:
>  xpos   ypos    theta   speed   sidespeed       turn    stall
>
>  I need instead a function to show how many meters the robot covered up
>  to the time of the call, which, of course, is quite different from the
>  mere linear distance.
>  i.e. when the robot reaches its target, my code will print both the
>  shortest path and the real distance made by the robot.
>
>  So, is there a function to show the accumulated distance?
>  Or do I have to write one? (in that case, any hint will be appreciated)
>
>  Thanks
>
>
>  On Mon, 2008-04-14 at 22:53 +0500, Sohaib Rashid wrote:
>  > you can display the odometry at any time by the following commands
>  >
>  > std::cout<<pp<<std::endl;
>  >
>  > you can reset the odometry by the following commands
>  >
>  > pp.ResetOdometry(0,0,0);
>  >
>  >
>  > On Mon, Apr 14, 2008 at 10:17 PM, <gzecca@...> wrote:
>  >         Hi, I am using Player 2.0.5 and I would like the robots to
>  >         print at
>  >         certain times of the execution the distance covered from the
>  >         start.
>  >         Is it possible with simulated drivers or odometry or
>  >         position2dProxy or
>  >         other?
>  >
>  >         If so, is there a command to reset this distance when needed,
>  >         during the
>  >         execution?
>  >
>  >         Thanks
>  >
>  >
>  >
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