[simspark-svn] SF.net SVN: simspark:[135] trunk/rcssserver3d/doc/users/simspark.tex

[<yx...@us...>]

Revision: 135
          http://simspark.svn.sourceforge.net/simspark/?rev=135&view=rev
Author:   yxu
Date:     2010-01-04 11:19:19 +0000 (Mon, 04 Jan 2010)

Log Message:
-----------
document for accelerometer

Modified Paths:
--------------
    trunk/rcssserver3d/doc/users/simspark.tex

Modified: trunk/rcssserver3d/doc/users/simspark.tex
===================================================================
--- trunk/rcssserver3d/doc/users/simspark.tex	2010-01-04 04:51:19 UTC (rev 134)
+++ trunk/rcssserver3d/doc/users/simspark.tex	2010-01-04 11:19:19 UTC (rev 135)
@@ -141,6 +141,17 @@
 	13.07))}
 \end{itemize}
 
+\subsubsection{Accelerometer}
+This perceptor measures the proper acceleration it experiences
+relative to free fall. As a consequence an accelerometer at rest
+relative to the Earth's surface will indicate approximately 1 g
+upwards. To obtain the acceleration due to motion with respect to the
+earth, this ``gravity offset" should be subtracted.
+\begin{itemize}
+	\item[Message format:] \texttt{(ACC (n <name>) (a <x> <y> <z>))}
+	\item[Example message:] \texttt{(ACC (n torso) (a 0.00 0.00 9.81))}
+\end{itemize}
+
 \subsection{Soccer Perceptors}
 \label{sec:soccerperceptors}
 


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.