resolution     0.047
interval_sim 100  # milliseconds per update step
interval_real 100 # real-time milliseconds per update step
include "homer.inc"
include "map.inc"
size [47 20]
#size [33 38]
window
( 
  size [ 1000 500 ] 
  center [0 0] 
  scale 0.047
  #scale 0.064
)

map
(
  name "CAS AREA"
  #size [15.5 11.4]
  #bitmap "bitmaps/casarea.pnm"
  bitmap "casarea.jpeg"
  #bitmap "semi-cas.jpeg"
  #bitmap "cas.png"
  #bitmap_resolution 0.044
  size [46.53 19.74]  # casarea
  #size [13.332 10.78] # semi-cas
  #size [32.192 37.184 ] # cas
)

define hokuyolaser1 laser
(
  range_min 0.0
  range_max 4.0
  fov 240.0
  samples 768
  color "LightBlue"
  size [ 0.05 0.05 ]
  pose [0 0 0]
)


define hokuyolaser2 laser
(
  range_min 0.0
  range_max 4.0
  fov 240.0
  samples 768
  color "LightBlue"
  size [ 0.05 0.05 ]
  pose [-0.2 0 180 ]
)

define sicklaser laser
(
  range_min 0.0
  range_max 8.0
  fov 184.0
  samples 183
  color "LightBlue"
  size [ 0.14 0.14 ]
  pose [0.4 -0.15 0 ]
  #pose [0.46 -0.15 0 ]
)

# extend the wheelchair definition from wheelchair.inc

homer
( 
   name "robot"
   pose [14.2 -4.6 180]
#   sicklaser()
   hokuyolaser1()
#   hokuyolaser2()
)

