Position model
Collaboration diagram for Position model:
The position model simulates a
mobile robot base. It can drive in one of two modes; either
<i>differential</i>, i.e. able to control its speed and turn rate by
driving left and roght wheels like a Pioneer robot, or
<i>omnidirectional</i>, i.e. able to control each of its three axes
independently.

API: Stg::ModelPosition

<h2>Worldfile properties</h2>

@par Summary and default values

@verbatim 
position
(
# position properties
drive "diff"

velocity [ 0.0 0.0 0.0 0.0 ]

localization "gps"
localization_origin [ <defaults to model's start pose> ]

# odometry error model parameters, 
# only used if localization is set to "odom"
odom_error [0.03 0.03 0.00 0.05]

# only used if drive is set to "car"
wheelbase 1.0

# [ xmin xmax ymin ymax zmin zmax amin amax ]               
velocity_bounds [-1 1 -1 1 -1 1 -90 90 ]                    
acceleration_bounds [-1 1 -1 1 -1 1 -90 90]

# model properties

)
Note
Since Stage-1.6.5 the odom property has been removed. Stage will generate a warning if odom is defined in your worldfile. See localization_origin instead.
Details

drive "diff", "omni" or "car"
select differential-steer model(like a Pioneer), omnidirectional mode or carlike (velocity and steering angle). omega:<float> ]
Specify the initial velocity of the model. Note that if the model hits an obstacle, its velocity will be set to zero.