TAILIEUCHUNG - Robot Localization and Map Building Part 6

Tham khảo tài liệu 'robot localization and map building part 6', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Key Elements for Motion Planning Algorithms 169 GEMPA Architecture GEMPA architecture is supported by necessary elements to represent objects geometric transformation tools and visualization controls. These elements are integrated to reach initial goals of visualization and animation applied to motion planning problems. Fig. 11. Several modules are coupled to integrate the initial GEMPA architecture which offer interesting functionalities visualization 3-D environments as well as animation of motion planning algorithms. Recovering Objects Representation People focus to solve problems using computer graphics virtual reality and simulation of motion planning techniques used to recover information related to objects inside the environment through files which can storage information about triangle meshes. Hence several objects can be placed on different positions and orientations to simulate a threedimensional environment. There exist different formats to represent objects in threedimensional spaces 3-D however two conventions used for many tools to represent triangle meshes are the most popular objects based on off - files and objects based on txt -files. In motion planning community there exist benchmarks represented through this kind of files. GEMPA is able to load the triangle meshes used to represent objects from txt or off -files. On the other hand GEMPA allows the user to built news environments using predefined figures as spheres cones cubes etc. These figures are chosen from a option menu and the user build environments using translation rotation and scale transformations. Each module on GEMPA architecture is presented in Figure 11 There we can see that initially the main goal is the visualization of 3-D environments and the animation of motion planning algorithms. In the case of visualization of 3-D environments information is recovered form files and the user can navigate through the environment using mouse and keyboard controls. In the second case .

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