Re: [Playerstage-users] VFH Config Options

[Brian G. <br...@ge...>]

Julian Hoare wrote:

> I have just upgraded player to 1.6.5 from 1.6.2 and I have noticed that the
> config options for the vfh driver have changed somewhat.

> The documentation has not been updated, so I was wondering if someone could
> tell me what the significance of the "0ms" and "1ms" are on some of the
> options?

Yep, those docs are out of date.  I opened a bug to remind myself to fix 
them:

http://sourceforge.net/tracker/index.php?func=detail&aid=1252299&group_id=42445&atid=433164

but haven't gotten around to it yet.

For vfh, the parameters foo_0ms and foo_1ms specify the value of foo as 
a linear function of translational velocity.  For example, 
safety_dist_0ms is the safety distance used when the robot is traveling 
at 0 m/s (i.e., not moving) and safety_dist_1ms is the safety distance 
used when the robot is traveling at 1 m/s.  The safety distance for any 
other velocity is interpolated (or extrapolated) from these two points, 
which define a line.

Then, for example, you can specify a smaller safety distance at lower 
speeds, and a larger safety distance at higher speeds.

> I'm also assuming that units are still in metres, seconds and degrees?

By default, yes, though you can change the units used for lengths and 
angles in your .cfg file with the "unit_length" and "unit_angle" 
options.  Look here for more info:

http://playerstage.sourceforge.net/doc/Player-current/player-html/configfile.php

	brian.

-- 
Brian Gerkey
br...@ge...
http://gerkey.org