EyeSim - Parameter File
A number of settings are performed via the EyeSim parameter file
eyesim.p. EyeSim looks for the parameter
file in several places:
- 1. in the current local directory ("./")
- 2. if this does not exist, look in dir. specified by environment
variable EYESIM_HOME
- 3. if this does not exist, look in dir. "/usr/lib"
- otherwise, an error is generated.
Most important: you can specify any number of sensors on the robot
for a simulation, and specify their position and orientation on the
robot.
Robot Keywords and Settings
- name robot name
- diameter robot diameter in mm
- speed robot max. speed in cm/s
- turn robot max. rotational speed in deg/s
General Keywords and Settings
- world load specified world environment as default
- maze load specified maze environment as default
- pause (followed by "on" or "off")
switch pause-flag in VWInit on/off
- debug (followed by "on" or "off")
switch debug mode on/off
Sensor Keywords and Settings
- enter one line for each sensor
- comments start with "#" until end of line
- psd PSD sensor (infra-red position sensitive device),
sensor position and orientation is specified by 3 values:
- sensor position by angle and distance from robot center (polar coordinates)
(angle 0 is straight ahead, left is positive, 180 is back)
- sensor orientation is usually in same direction as position from center
however, can be offset by an angle as specified by 3rd parameter
- example:
psd PSD_LEFT -205 90 80 0
# name (PSD_LEFT) and id-num (-205) from file "hdt.h"
# 90 deg. to the left, 80mm off center, no deviat.
- ir Infra-red proximity sensors
same 3 parameters as PSD
- bump robot bumpers (tactile sensors)
sensor position is specified by 2 values:
- start angle and end angle (always counter-clockwise) around robot's outer perimeter
- angle sectors may overlap
- example:
bump BUMP_RIGHT -500 -180 0
# name (BUMP_RIGHT) and id-num (-500) from file "hdt.h"
# from back to front on right side
Error Modeling
- errors in robot actuators and sensors can be modeled
- each error setting begins with keyword error
followed by a name and an integer error value
- names are
- linear robot's linear accuracy
- rotate robot's rotational accuracy
- psd PSD sensor accuracy
- ir infra-red sensor accuracy
- error values are integers greater or equal to 0.
Eg. an error value of 50 for a sensor means that the measured (simulated)
value may be in the range [actual value - 50 .. actual value + 50]
- a random function with uniform distribution is used to model errors
Thomas Bräunl,
braunl@ee.uwa.edu.au