## Re: [PlayerStage-Gazebo] Re: dudes with the code

 Re: [PlayerStage-Gazebo] Re: dudes with the code From: Nate Koenig - 2006-04-05 14:51:37 ```You're right, the odomVel[1] value should be set to 0.0 Thanks, -nate On 4/4/06, Jordi wrote: > > > I forgot to say that I was looking to the Atrv and B21R model. > > > Wednesday 05 April 2006 01:05、あなたは書きました: > > In the odometry calculation: > > > > // Compute odometric instantaneous velocity > > this->odomVel[0] = dr / step; > > this->odomVel[1] += dr; > > this->odomVel[2] = da / step; > > > > dr is the linear approximation of the distance the robot moved since the > > last update > > > > It seems that odomVel[0] will become the velocity in the x axis and > > odomVel[1] the velocity in the y axis. > > Maybe I'm just lacking theory but I can't get why this is calculated this > > way. > > > ------------------------------------------------------- > This SF.Net email is sponsored by xPML, a groundbreaking scripting language > that extends applications into web and mobile media. Attend the live webcast > and join the prime developer group breaking into this new coding territory! > http://sel.as-us.falkag.net/sel?cmdlnk&kid0944&bid\$1720&dat1642 > _______________________________________________ > Playerstage-gazebo mailing list > Playerstage-gazebo@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```

 [PlayerStage-Gazebo] dudes with the code From: Jordi - 2006-04-04 23:04:28 ```In the odometry calculation: // Compute odometric instantaneous velocity this->odomVel[0] = dr / step; this->odomVel[1] += dr; this->odomVel[2] = da / step; dr is the linear approximation of the distance the robot moved since the last update It seems that odomVel[0] will become the velocity in the x axis and odomVel[1] the velocity in the y axis. Maybe I'm just lacking theory but I can't get why this is calculated this way. ```
 [PlayerStage-Gazebo] Re: dudes with the code From: Jordi - 2006-04-04 23:58:45 ```I forgot to say that I was looking to the Atrv and B21R model.=20 Wednesday 05 April 2006 01:05=E3=80=81=E3=81=82=E3=81=AA=E3=81=9F=E3=81=AF= =E6=9B=B8=E3=81=8D=E3=81=BE=E3=81=97=E3=81=9F: > In the odometry calculation: > > // Compute odometric instantaneous velocity > this->odomVel[0] =3D dr / step; > this->odomVel[1] +=3D dr; > this->odomVel[2] =3D da / step; > > dr is the linear approximation of the distance the robot moved since the > last update > > It seems that odomVel[0] will become the velocity in the x axis and > odomVel[1] the velocity in the y axis. > Maybe I'm just lacking theory but I can't get why this is calculated this > way. ```
 Re: [PlayerStage-Gazebo] Re: dudes with the code From: Nate Koenig - 2006-04-05 14:51:37 ```You're right, the odomVel[1] value should be set to 0.0 Thanks, -nate On 4/4/06, Jordi wrote: > > > I forgot to say that I was looking to the Atrv and B21R model. > > > Wednesday 05 April 2006 01:05、あなたは書きました: > > In the odometry calculation: > > > > // Compute odometric instantaneous velocity > > this->odomVel[0] = dr / step; > > this->odomVel[1] += dr; > > this->odomVel[2] = da / step; > > > > dr is the linear approximation of the distance the robot moved since the > > last update > > > > It seems that odomVel[0] will become the velocity in the x axis and > > odomVel[1] the velocity in the y axis. > > Maybe I'm just lacking theory but I can't get why this is calculated this > > way. > > > ------------------------------------------------------- > This SF.Net email is sponsored by xPML, a groundbreaking scripting language > that extends applications into web and mobile media. Attend the live webcast > and join the prime developer group breaking into this new coding territory! > http://sel.as-us.falkag.net/sel?cmdlnk&kid0944&bid\$1720&dat1642 > _______________________________________________ > Playerstage-gazebo mailing list > Playerstage-gazebo@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```
 Re: [PlayerStage-Gazebo] Re: dudes with the code From: Jordi - 2006-04-06 16:26:12 ```I also don't get that. What's returning those models? IMHO if they are returning X axis and Y axis velocity, it must be set : this->odomVel[0] = dr * cos( this->odomPose[2] )/step; this->odomVel[1] = dr * sin( this->odomPose[2] )/step; But maybe those specific platforms are returning other values instead of velocities in both axis. If so, where can I find the pecularities of each model? -- Jordi Polo Wednesday 05 April 2006 16:51、Nate Koenig さんは書きました: > You're right, the odomVel[1] value should be set to 0.0 > Thanks, > > -nate > > On 4/4/06, Jordi wrote: > > I forgot to say that I was looking to the Atrv and B21R model. > > > > Wednesday 05 April 2006 01:05、あなたは書きました: > > > In the odometry calculation: > > > > > > // Compute odometric instantaneous velocity > > > this->odomVel[0] = dr / step; > > > this->odomVel[1] += dr; > > > this->odomVel[2] = da / step; > > > > > > dr is the linear approximation of the distance the robot moved since > > > the last update > > > > > > It seems that odomVel[0] will become the velocity in the x axis and > > > odomVel[1] the velocity in the y axis. > > > Maybe I'm just lacking theory but I can't get why this is calculated > > > this way. > > > > ------------------------------------------------------- > > This SF.Net email is sponsored by xPML, a groundbreaking scripting > > language that extends applications into web and mobile media. Attend the > > live webcast and join the prime developer group breaking into this new > > coding territory! > > http://sel.as-us.falkag.net/sel?cmdlnk&kid0944&bid\$1720&dat1642 > > _______________________________________________ > > Playerstage-gazebo mailing list > > Playerstage-gazebo@... > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > ------------------------------------------------------- > This SF.Net email is sponsored by xPML, a groundbreaking scripting language > that extends applications into web and mobile media. Attend the live > webcast and join the prime developer group breaking into this new coding > territory! > http://sel.as-us.falkag.net/sel?cmd=lnk&kid=110944&bid=241720&dat=121642 > _______________________________________________ > Playerstage-gazebo mailing list > Playerstage-gazebo@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo ```
 Re: [PlayerStage-Gazebo] Re: dudes with the code From: Nate Koenig - 2006-04-06 21:50:37 ```The velocities are in the robot's local coordinate system. The X-direction is aligned with robot's forward and backward movement. The Y-direction is perpendicular to that. So this->odomVel[0] = dr / step. -nate On 4/6/06, Jordi wrote: > > I also don't get that. > What's returning those models? > IMHO if they are returning X axis and Y axis velocity, it must be set : > > this->odomVel[0] = dr * cos( this->odomPose[2] )/step; > this->odomVel[1] = dr * sin( this->odomPose[2] )/step; > > But maybe those specific platforms are returning other values instead of > velocities in both axis. If so, where can I find the pecularities of each > model? > > -- > Jordi Polo > > Wednesday 05 April 2006 16:51、Nate Koenig さんは書きました: > > You're right, the odomVel[1] value should be set to 0.0 > > Thanks, > > > > -nate > > > > On 4/4/06, Jordi wrote: > > > I forgot to say that I was looking to the Atrv and B21R model. > > > > > > Wednesday 05 April 2006 01:05、あなたは書きました: > > > > In the odometry calculation: > > > > > > > > // Compute odometric instantaneous velocity > > > > this->odomVel[0] = dr / step; > > > > this->odomVel[1] += dr; > > > > this->odomVel[2] = da / step; > > > > > > > > dr is the linear approximation of the distance the robot moved since > > > > the last update > > > > > > > > It seems that odomVel[0] will become the velocity in the x axis and > > > > odomVel[1] the velocity in the y axis. > > > > Maybe I'm just lacking theory but I can't get why this is calculated > > > > this way. > > > > > > ------------------------------------------------------- > > > This SF.Net email is sponsored by xPML, a groundbreaking scripting > > > language that extends applications into web and mobile media. Attend the > > > live webcast and join the prime developer group breaking into this new > > > coding territory! > > > http://sel.as-us.falkag.net/sel?cmdlnk&kid0944&bid\$1720&dat1642 > > > _______________________________________________ > > > Playerstage-gazebo mailing list > > > Playerstage-gazebo@... > > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > ------------------------------------------------------- > > This SF.Net email is sponsored by xPML, a groundbreaking scripting language > > that extends applications into web and mobile media. Attend the live > > webcast and join the prime developer group breaking into this new coding > > territory! > > http://sel.as-us.falkag.net/sel?cmd=lnk&kid=110944&bid=241720&dat=121642 > > _______________________________________________ > > Playerstage-gazebo mailing list > > Playerstage-gazebo@... > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > ------------------------------------------------------- > This SF.Net email is sponsored by xPML, a groundbreaking scripting language > that extends applications into web and mobile media. Attend the live webcast > and join the prime developer group breaking into this new coding territory! > http://sel.as-us.falkag.net/sel?cmd=lnk&kid=110944&bid=241720&dat=121642 > _______________________________________________ > Playerstage-gazebo mailing list > Playerstage-gazebo@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```
 Re: [PlayerStage-Gazebo] Re: dudes with the code From: Jordi - 2006-04-06 22:00:54 ```Ok, understood. I was thinking about global coordinate system. Thursday 06 April 2006 23:50、Nate Koenig さんは書きました: > The velocities are in the robot's local coordinate system. The > X-direction is aligned with robot's forward and backward movement. The > Y-direction is perpendicular to that. So this->odomVel[0] = dr / step. > > -nate > > On 4/6/06, Jordi wrote: > > I also don't get that. > > What's returning those models? > > IMHO if they are returning X axis and Y axis velocity, it must be set : > > > > this->odomVel[0] = dr * cos( this->odomPose[2] )/step; > > this->odomVel[1] = dr * sin( this->odomPose[2] )/step; > > > > But maybe those specific platforms are returning other values instead of > > velocities in both axis. If so, where can I find the pecularities of each > > model? > > > > -- > > Jordi Polo > > > > Wednesday 05 April 2006 16:51、Nate Koenig さんは書きました: > > > You're right, the odomVel[1] value should be set to 0.0 > > > Thanks, > > > > > > -nate > > > > > > On 4/4/06, Jordi wrote: > > > > I forgot to say that I was looking to the Atrv and B21R model. > > > > > > > > Wednesday 05 April 2006 01:05、あなたは書きました: > > > > > In the odometry calculation: > > > > > > > > > > // Compute odometric instantaneous velocity > > > > > this->odomVel[0] = dr / step; > > > > > this->odomVel[1] += dr; > > > > > this->odomVel[2] = da / step; > > > > > > > > > > dr is the linear approximation of the distance the robot moved > > > > > since the last update > > > > > > > > > > It seems that odomVel[0] will become the velocity in the x axis and > > > > > odomVel[1] the velocity in the y axis. > > > > > Maybe I'm just lacking theory but I can't get why this is > > > > > calculated this way. > > > > > > > > ------------------------------------------------------- > > > > This SF.Net email is sponsored by xPML, a groundbreaking scripting > > > > language that extends applications into web and mobile media. Attend > > > > the live webcast and join the prime developer group breaking into > > > > this new coding territory! > > > > http://sel.as-us.falkag.net/sel?cmdlnk&kid0944&bid\$1720&dat1642 > > > > _______________________________________________ > > > > Playerstage-gazebo mailing list > > > > Playerstage-gazebo@... > > > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > > > ------------------------------------------------------- > > > This SF.Net email is sponsored by xPML, a groundbreaking scripting > > > language that extends applications into web and mobile media. Attend > > > the live webcast and join the prime developer group breaking into this > > > new coding territory! > > > http://sel.as-us.falkag.net/sel?cmd=lnk&kid=110944&bid=241720&dat=12164 > > >2 _______________________________________________ > > > Playerstage-gazebo mailing list > > > Playerstage-gazebo@... > > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > ------------------------------------------------------- > > This SF.Net email is sponsored by xPML, a groundbreaking scripting > > language that extends applications into web and mobile media. Attend the > > live webcast and join the prime developer group breaking into this new > > coding territory! > > http://sel.as-us.falkag.net/sel?cmd=lnk&kid=110944&bid=241720&dat=121642 > > _______________________________________________ > > Playerstage-gazebo mailing list > > Playerstage-gazebo@... > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > ------------------------------------------------------- > This SF.Net email is sponsored by xPML, a groundbreaking scripting language > that extends applications into web and mobile media. Attend the live > webcast and join the prime developer group breaking into this new coding > territory! > http://sel.as-us.falkag.net/sel?cmd=lnk&kid=110944&bid=241720&dat=121642 > _______________________________________________ > Playerstage-gazebo mailing list > Playerstage-gazebo@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo ```