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Added range limits to measurements which can be physically limited. #1631

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Added range limits to measurements which can be physically limited. #1631

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1 change: 1 addition & 0 deletions sdf/1.12/CMakeLists.txt
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Expand Up @@ -49,6 +49,7 @@ set (sdfs
population.sdf
pose.sdf
projector.sdf
range.sdf
ray.sdf
rfidtag.sdf
rfid.sdf
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1 change: 1 addition & 0 deletions sdf/1.12/air_pressure.sdf
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Expand Up @@ -10,6 +10,7 @@
Noise parameters for the pressure data.
</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>

</element>
1 change: 1 addition & 0 deletions sdf/1.12/air_speed.sdf
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Expand Up @@ -6,6 +6,7 @@
Noise parameters for the pressure data.
</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>

</element>
2 changes: 2 additions & 0 deletions sdf/1.12/altimeter.sdf
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Expand Up @@ -6,13 +6,15 @@
Noise parameters for vertical position
</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>

<element name="vertical_velocity" required="0">
<description>
Noise parameters for vertical velocity
</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>

</element>
6 changes: 6 additions & 0 deletions sdf/1.12/forcetorque.sdf
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Expand Up @@ -24,14 +24,17 @@
<element name="x" required="0">
<description>Force along the X axis</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>
<element name="y" required="0">
<description>Force along the Y axis</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>
<element name="z" required="0">
<description>Force along the Z axis</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>
</element>

Expand All @@ -41,14 +44,17 @@
<element name="x" required="0">
<description>Torque about the X axis</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>
<element name="y" required="0">
<description>Force about the Y axis</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>
<element name="z" required="0">
<description>Torque about the Z axis</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>
</element>
</element>
6 changes: 6 additions & 0 deletions sdf/1.12/imu.sdf
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Expand Up @@ -86,14 +86,17 @@
<element name="x" required="0">
<description>Angular velocity about the X axis</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>
<element name="y" required="0">
<description>Angular velocity about the Y axis</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>
<element name="z" required="0">
<description>Angular velocity about the Z axis</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>
</element>

Expand All @@ -103,14 +106,17 @@
<element name="x" required="0">
<description>Linear acceleration about the X axis</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>
<element name="y" required="0">
<description>Linear acceleration about the Y axis</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>
<element name="z" required="0">
<description>Linear acceleration about the Z axis</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>
</element>

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13 changes: 1 addition & 12 deletions sdf/1.12/lidar.sdf
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Expand Up @@ -45,18 +45,7 @@
</element> <!-- End Vertical -->
</element> <!-- End Scan -->

<element name="range" required="1">
<description>specifies range properties of each simulated lidar</description>
<element name="min" type="double" default="0" required="1">
<description>The minimum distance for each lidar ray.</description>
</element>
<element name="max" type="double" default="0" required="1">
<description>The maximum distance for each lidar ray.</description>
</element>
<element name="resolution" type="double" default="0" required="0">
<description>Linear resolution of each lidar ray.</description>
</element>
</element> <!-- End Range -->
<include filename="range.sdf" required="1"/>

<element name="noise" required="0">
<description>The properties of the noise model that should be applied to generated scans</description>
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3 changes: 3 additions & 0 deletions sdf/1.12/magnetometer.sdf
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Expand Up @@ -5,17 +5,20 @@
Parameters related to the body-frame X axis of the magnetometer
</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>
<element name="y" required="0">
<description>
Parameters related to the body-frame Y axis of the magnetometer
</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>
<element name="z" required="0">
<description>
Parameters related to the body-frame Z axis of the magnetometer
</description>
<include filename="noise.sdf" required="0"/>
<include filename="range.sdf" required="0"/>
</element>
</element>
12 changes: 12 additions & 0 deletions sdf/1.12/range.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,12 @@
<element name="range" required="0">
<description>Specifies range properties of a measurement</description>
<element name="min" type="double" default="0" required="1">
<description>The minimum measured value.</description>
</element>
<element name="max" type="double" default="0" required="1">
<description>The maximum measured value.</description>
</element>
<element name="resolution" type="double" default="0" required="0">
<description>Linear resolution of the measurements (quantization).</description>
</element>
</element> <!-- End Range -->
14 changes: 2 additions & 12 deletions sdf/1.12/ray.sdf
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Expand Up @@ -45,18 +45,8 @@
</element> <!-- End Vertical -->
</element> <!-- End Scan -->

<element name="range" required="1">
<description>specifies range properties of each simulated ray</description>
<element name="min" type="double" default="0" required="1">
<description>The minimum distance for each ray.</description>
</element>
<element name="max" type="double" default="0" required="1">
<description>The maximum distance for each ray.</description>
</element>
<element name="resolution" type="double" default="0" required="0">
<description>Linear resolution of each ray.</description>
</element>
</element> <!-- End Range -->

<include filename="range.sdf" required="1"/>

<element name="noise" required="0">
<description>The properties of the noise model that should be applied to generated scans</description>
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