init.m File Reference

Functions
stred	robota (osy kol) vzhledem k levemu zadnimu rohu robot.cx
Variables
	move_sample_time = 1/20
robot	w = 0.3
robot	l = 0.4
robot	cy = robot.l*1/3
stred otaceni laseru vzhledem ke stredu robota robot	laserx = 0
robot	lasery = 0
robot	wheelr = 0.05
area	h = 2.1
area	beacon = [0 area.h
same as in MCL shape	outline
shape	arrow
	initpos = [1 1 0]'
	path
	wayconstraints
desc	robot = robot
desc	area = area
desc	shape = shape

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Function Documentation

stred robota

(

osy

kol

)

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Variable Documentation

desc area = area

shape arrow

Initial value:

[
     1/5*robot.l 1/2*robot.w
     4/5*robot.l 1/2*robot.w
     3/5*robot.l 2/5*robot.w
     4/5*robot.l 1/2*robot.w
     3/5*robot.l 3/5*robot.w]

area beacon = [0 area.h

robot cy = robot.l*1/3

area w area h = 2.1

desc initpos = [1 1 0]'

robot l = 0.4

stred otaceni laseru vzhledem ke stredu robota robot laserx = 0

robot lasery = 0

move_sample_time = 1/20

same as in MCL shape outline

Initial value:

[
    0 0
    0 robot.w
    robot.l robot.w
    robot.l 0
    0 0]

desc path

Initial value:

 [
    1 1
    2 1.5
    2.5 0.5
    2.9 1.9
    1.5 0.3
    0.1 0.1
    0.5 1
    0.5 1.5
       ]'

desc robot = robot

desc shape = shape

area w = 0.3

desc wayconstraints

Initial value:

 [
    1 %maxv
    2.5 %maxomega
    1 %maxangacc
    1 %maxacc
    1 %maxcenacc
    robot.w/2 %maxe
    ]

robot wheelr = 0.05