# model for wanderbee
# arun ks 06/05/12

# first define all things that add on body
# ranger sensor
define wanderbee_sens ranger
(
    # range of distance
    #range_max 5.0
    
    #range_res 180
    # 
    #range_count 10
    #pose [0 0.5 1.5 0]
    #size [0.5 0.5 0.25]
    # model properties
      color "blue"
      # laser properties
      samples 180
      range_min 0.0
      range_max 8.0
      fov 180.0

      # model properties
      size [0.15 0.15 0.25]   
)
define bigbobs_sonars ranger
(
      # number of sonars
      scount 4

      # define the pose of each transducer [xpos ypos heading]
      spose[0] [ 0.75 0.1875 0 ]	#fr left tooth
      spose[1] [ 0.75 -0.1875 0 ]	#fr right tooth
      spose[2] [ 0.25 0.5 30]		# left corner
      spose[3] [ 0.25 -0.5 -30]	# right corner
		
      # define the field of view of each transducer 
      #[range_min range_max view_angle]
      sview [0.3 2.0 10]

      # define the size of each transducer
      # [xsize ysize] in meters
      ssize [0.01 0.05]
)


# define body of wander bee
define wanderbee position
(
    # actual box size
    size [2 2 1.5]
	# estimated mass in KG
	mass 0.5    
    # defining shape of wanderbee
    bitmap "./bitmaps/circle.png"
    gui_outline 0
   
    # differential steering model
    drive "diff"
    localization "gps"
    # sensors to be attached
    #wanderbee_sens()
    bigbobs_sonars()
    
)