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}
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