Defines vehicle rig configuration.
This module manages the rig configuration of the car including vehicle properties, mounted sensors, and their calibration information. It takes output from the calibration tool provided with DriveWorks in the form of an XML file. The format of the file is as follows:
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<DRIVEWORKS ver="1.0">
<VEHICLE>
<PROPERTY Name="Height" Value="1.455"/>
<PROPERTY Name="Length" Value="4.915"/>
<PROPERTY Name="Width" Value="1.874"/>
<PROPERTY Name="Wheelbase" Value="2.912"/>
<PROPERTY Name="Front axlebase" Value="1.627"/>
<PROPERTY Name="Rear axlebase" Value="1.618"/>
<PROPERTY Name="Wheel diameter" Value="0.68"/>
<PROPERTY Name="Distance axle to rear bumper" Value="1.1091"/>
<PROPERTY Name="Distance axle to front bumper" Value="0.912"/>
<PROPERTY Name="Steering coefficient" Value="14.8"/>
</VEHICLE>
<SENSORS>
<CAMERA Type="gmsl" Name="FR">
<PROPERTY Name="Model" Value="ocam"/>
<PROPERTY Name="Quaternion" Value="0 0 0 1"/>
<PROPERTY Name="Position" Value="0 0 0"/>
</CAMERA>
<CAMERA Type="gmsl" Name="RE">
<PROPERTY Name="Model" Value="ocam"/>
<PROPERTY Name="Quaternion" Value="0 0 0 1"/>
<PROPERTY Name="Position" Value="0 0 0"/>
</CAMERA>
<GPS Name="dgps">
</GPS>
</SENSORS>
</DRIVEWORKS>
