sdformat 0.1.0

Parsing library for sdformat in Rust
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65

<element name="spherical_coordinates" required="0">
  <element name="surface_model" type="string" default="EARTH_WGS84" required="1">
    <description>
      Name of planetary surface model, used to determine the surface altitude
      at a given latitude and longitude. The default is an ellipsoid model of
      the earth based on the WGS-84 standard. It is used in Gazebo's GPS sensor
      implementation.
    </description>
  </element>

  <element name="world_frame_orientation" type="string" default="ENU" required="0">
    <description>
      This field identifies how Gazebo world frame is aligned in Geographical
      sense.  The final Gazebo world frame orientation is obtained by rotating
      a frame aligned with following notation by the field heading_deg.
      Options are:
        - ENU (East-North-Up)
    </description>
  </element>
  <element name="latitude_deg" type="double" default="0.0" required="1">
    <description>
      Geodetic latitude at origin of gazebo reference frame, specified
      in units of degrees.
    </description>
  </element>

  <element name="longitude_deg" type="double" default="0.0" required="1">
    <description>
      Longitude at origin of gazebo reference frame, specified in units
      of degrees.
    </description>
  </element>

  <element name="elevation" type="double" default="0.0" required="1">
    <description>
      Elevation of origin of gazebo reference frame, specified in meters.
    </description>
  </element>

  <element name="surface_axis_equatorial" type="double" default="0.0" required="0">
    <description>
      Equatorial axis of a custom surface type, specified in meters.
      This is only required for custom surfaces.
    </description>
  </element>

  <element name="surface_axis_polar" type="double" default="0.0" required="0">
    <description>
      Polar axis of a custom surface type, specified in meters.
      This is only required for custom surfaces.
    </description>
  </element>

  <element name="heading_deg" type="double" default="0.0" required="1">
    <description>
      Heading offset of gazebo reference frame, measured as angle between
      Gazebo world frame and the world_frame_orientation type.
      The direction of rotation follows the right-hand rule, so a positive
      angle indicates clockwise rotation (from east to north) when viewed from top-down. Note
      that this is not consistent with compass heading convention.
      The angle is specified in degrees.
    </description>
  </element>

</element>