56 lines
1.7 KiB
PHP
56 lines
1.7 KiB
PHP
# Copyright (c) 2016, Miguel Angel Astor Romero
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice, this
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# list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
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# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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define ant_sensor sensor
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(
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size [0.01 0.05 0.01 ]
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range [0 5.0]
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fov 222
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samples 222
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color_rgba [ 0 1 0 0.2 ]
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)
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define ant_sonars ranger
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(
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ant_sensor( pose [ 0 0 0 0 ] )
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)
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define ant_bot position
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(
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block
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(
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points 6
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point[0] [ 0.75 0 ]
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point[1] [ 1 0.25 ]
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point[2] [ 1 0.75 ]
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point[3] [ 0.75 1 ]
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point[4] [ 0 1 ]
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point[5] [ 0 0 ]
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z [ 0 0.45 ]
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)
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drive "diff"
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localization "gps"
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ant_sonars()
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)
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