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Field name | Description |
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Robots | Number of robots used (default = 1) |
Pose | Robots pose [ (meters); (meters); angle (radians)] |
Initial_pose | Initial pose of robots |
Sampling_time | Sampling time (seconds) |
Iteration | Actual iteration of the main simulation loop |
Time | Elapsed experiment time (seconds) |
Stop_time | Max duration of the experiment (seconds) |
Workspace | Vertexes defining the polygonal workspace in clockwise order |
Bounds | Bounds of the outer box of the workspace (meters) [min_, max_, min_, max_] |
Non-holonomic | True if robots have nonholonomic drive; false for holonomic drive (default = true) |
Command_delay | Transmission delay (seconds) |
Geometric_center | Coordinates of the geometric center of the robot |
Exp_over | True if the experiment is over |
Exp_over_msg | Message describing why the experiment is over |
Filename | Name of the controller file |
Version | Simulator version |
Addons | List of add-ons to be used |
Addons_suffix | List of suffixes to be used in add-on’s filename |
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Robot | Robot mechanical characteristics |
Robot.Max_linear_speed | Maximum linear speed (m/s) |
Robot.Wheels_semiaxis_length | Semiaxis length (m) |
Robot.Diameter | Diameter of robot chassis (m) |
Robot.Distance_center_barycenter | Distance from the geometric center of the robot to the center of rotation |
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Animation | Animation structure |
Animation.Title | Title of the simulation (default = “[Simulation]”) |
Animation.Grid | Enable/disable grid (default = true) |
Animation.Show_initial_pose | Show/hide initial pose of robots (default = true) |
Animation.Show_real_shape | If true, the actual robot shape is shown; otherwise, a pointwise robot is depicted (default = true) |
Animation.Wake | Enable/disable robots’ wake (default = true) |
Animation.Wake_style | If wake is enabled, use the defined style; styles are the same as in the Matlab function plot (default = “-”) |
Animation.Playback_speed | Simulation playback speed in seconds (default = 1) |
Animation.Enable | Enable the animation (default = true) |
Animation.Base_colors | Base colors to be used in the animation; they will be repeated if needed |
Animation.Colors | Robot colors to be used in the animation; they are computed repeating the base colors if needed |
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History | Historical data structure |
History.Time | Simulation time |
History.Pose | Robot pose |
History.Command | Robot command |
History.Command_time | Time when the command is received |
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