Download Embedded Robotics - Thomas Braunl

SubSim Environment and Parameter Files
Program 13.6: AUV object file for the Mako
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<?xml version="1.0"?>
<Submarine name="Mako AUV">
<Origin x="10" y="0" z="0"/>
<Graphics>
<Origin x="0" y="0" z="0"/>
<Scale x="0.18" y="0.18" z="0.18" />
<Modelfile="mako.ms3d" />
</Graphics>
<Noise>
<WhiteNoise strength="5.0" connects="psd_down" />
<WhiteNoise strength="0.5" connects="psd_front"/>
</Noise>
<Physics>
<Primitives>
<Box name="Mako AUV">
<Position x="0" y="0" z="0" />
<Dimensions width="1.8" height="0.5"
depth="0.5" />
<Mass mass= "0.5"> </Mass>
</Box>
</Primitives>
<Sensors>
<Velocimeter name="vel0">
<Axis x="1" y="0" z="0"></Axis>
<Connection connects="Mako AUV">
</Connection>
</Velocimeter>
...
</Sensors>
<Actuators>
<ImpulseActuator name="fakeprop1">
<Position x="0" y="0" z="0.25"></Position>
<Axis x="1" y="0" z="0"></Axis>
<Connection connects="Mako AUV"></Connection>
</ImpulseActuator>
...
<Propeller name="prop0">
<Position x="0" y="0" z="0.25"></Position>
<Axis x="1" y="0" z="0"></Axis>
<Connection connects="Mako AUV"></Connection>
<Alpha lumped="0.05"></Alpha>
</Propeller>
...
</Actuators>
</Physics>
</Submarine>
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