{"id":85,"date":"2024-04-04T08:01:29","date_gmt":"2024-04-04T05:01:29","guid":{"rendered":"https:\/\/sisu.ut.ee\/rosak\/ratasroboti-parameetrilise-kirjelduse-lopetamine\/"},"modified":"2024-04-04T08:03:55","modified_gmt":"2024-04-04T05:03:55","slug":"ratasroboti-parameetrilise-kirjelduse-lopetamine","status":"publish","type":"page","link":"https:\/\/sisu.ut.ee\/rosak\/ratasroboti-parameetrilise-kirjelduse-lopetamine\/","title":{"rendered":"8. Ratasroboti parameetrilise kirjelduse l\u00f5petamine"},"content":{"rendered":"<blockquote>\n<p>\n\t\tEelmises \u00fclesandes tutvusime XACRO mudeliga ja \u00f5ppisime neljarattalise roboti mudelit parametriseerima. Saavutasime mudeli, mis skaleerub, kui muuta roboti kere laiust (y-teljes).\n\t<\/p>\n<p>\n\t\tSelle \u00fclesande eesm\u00e4rk on <strong>mudel l\u00f5puni teha<\/strong> ja tagada, et see <strong>skaleerub \u00f5igesti<\/strong> ka siis, kui muudetakse kere pikkust (x-teljes) v\u00f5i k\u00f5rgust (z-teljes).\n\t<\/p>\n<\/blockquote>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"873\" height=\"291\" class=\"alignnone wp-image-209\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/4wheeler_drawings.png\" title=\"4wheeler_drawings.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/4wheeler_drawings.png 873w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/4wheeler_drawings-300x100.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/4wheeler_drawings-768x256.png 768w\" sizes=\"auto, (max-width: 873px) 100vw, 873px\">\n<\/p>\n<p>\n\t<span>Sinu \u00fclesandeks on lisada k\u00f5ik vajalikud muutujad (<span style=\"font-family:Courier New,Courier,monospace\">base_width<\/span>, <span style=\"font-family:Courier New,Courier,monospace\">base_length<\/span>, <span style=\"font-family:Courier New,Courier,monospace\">base_height<\/span>, <span style=\"font-family:Courier New,Courier,monospace\">wheel_width<\/span>, <span style=\"font-family:Courier New,Courier,monospace\">wheel_radius<\/span>) ja x-telje jaoks koordinaatide peegeldamine sarnaselt y-teljega.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-5bc9c9f3-7fff-3635-8508-33dc1176b712\">Mudeli viimistlemiseks lisa ka XACRO muutuja <\/span><span>lowrider<\/span><span>. Selle muutujaga peaks saama muuta, kui k\u00f5rgel paikneb roboti kere maapinnast. Nii saab robotist kergesti teha madalal istuva s\u00f5iduki v\u00f5i maastikus\u00f5iduki.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-bbd95f8b-7fff-f7e0-3e17-3eccf5ca338f\">J\u00e4rgnevates animatsioonides on n\u00e4ha erinevate muutujate oodatavat efekti. Muuda k\u00f5ikide muutujate v\u00e4\u00e4rtusi sarnaselt animatsioonides toodule ja veendu, et mudel skaleerub \u00f5igesti.<\/span>\n<\/p>\n<p>\n\t<em>Animatsioonide n\u00e4gemiseks klikka vahepealkirjadele.<\/em>\n<\/p>\n<p>\n\t<span><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69db8aa005bb8-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69db8aa005bb8-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69db8aa005bb8-collapse\">Kui k\u00f5ik muutujad on lisatud, v\u00f5iks robot n\u00e4ha v\u00e4lja umbes selline<\/button>\n        <\/h2>\n        <div id=\"accordion-69db8aa005bb8-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69db8aa005bb8-heading\">\n            <div class=\"accordion-body\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"405\" class=\"alignnone wp-image-202\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/1_intro_trimmed.gif\" title=\"1_intro_trimmed.gif\" alt=\".\"><span><\/span><\/div>\n        <\/div>\n        <\/div>\n    <\/div><\/span>\n<\/p>\n<p>\n\t<span><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69db8aa005bc9-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69db8aa005bc9-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69db8aa005bc9-collapse\">Muutuja <span style=\"font-family:Courier New,Courier,monospace\">base_width<\/span> muutmisel oodatav tulemus<\/button>\n        <\/h2>\n        <div id=\"accordion-69db8aa005bc9-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69db8aa005bc9-heading\">\n            <div class=\"accordion-body\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"405\" class=\"alignnone wp-image-203\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/2_base_width_trimmed.gif\" title=\"2_base_width_trimmed.gif\" alt=\".\"><span><\/span><\/div>\n        <\/div>\n        <\/div>\n    <\/div><\/span>\n<\/p>\n<p>\n\t<span><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69db8aa005bcc-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69db8aa005bcc-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69db8aa005bcc-collapse\">Muutuja <span style=\"font-family:Courier New,Courier,monospace\">base_length<\/span> muutmisel oodatav tulemus<\/button>\n        <\/h2>\n        <div id=\"accordion-69db8aa005bcc-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69db8aa005bcc-heading\">\n            <div class=\"accordion-body\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"405\" class=\"alignnone wp-image-204\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/3_base_length_trimmed.gif\" title=\"3_base_length_trimmed.gif\" alt=\".\"><span><\/span><\/div>\n        <\/div>\n        <\/div>\n    <\/div><\/span>\n<\/p>\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69db8aa005bce-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69db8aa005bce-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69db8aa005bce-collapse\">Muutuja <span style=\"font-family:Courier New,Courier,monospace\">base_height<\/span> muutmisel oodatav tulemus<\/button>\n        <\/h2>\n        <div id=\"accordion-69db8aa005bce-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69db8aa005bce-heading\">\n            <div class=\"accordion-body\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"405\" class=\"alignnone wp-image-205\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/4_base_height_trimmed.gif\" title=\"4_base_height_trimmed.gif\" alt=\".\"><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69db8aa005bd0-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69db8aa005bd0-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69db8aa005bd0-collapse\">Muutuja <span style=\"font-family:Courier New,Courier,monospace\">wheel_width<\/span> muutmisel oodatav tulemus<\/button>\n        <\/h2>\n        <div id=\"accordion-69db8aa005bd0-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69db8aa005bd0-heading\">\n            <div class=\"accordion-body\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"405\" class=\"alignnone wp-image-206\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/5_wheel_width_trimmed.gif\" title=\"5_wheel_width_trimmed.gif\" alt=\".\"><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69db8aa005bd1-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69db8aa005bd1-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69db8aa005bd1-collapse\">Muutuja <span style=\"font-family:Courier New,Courier,monospace\">wheel_radius<\/span> muutmisel oodatav tulemus:<\/button>\n        <\/h2>\n        <div id=\"accordion-69db8aa005bd1-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69db8aa005bd1-heading\">\n            <div class=\"accordion-body\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"405\" class=\"alignnone wp-image-207\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/6_wheel_radius_trimmed.gif\" title=\"6_wheel_radius_trimmed.gif\" alt=\".\"><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69db8aa005bd3-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69db8aa005bd3-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69db8aa005bd3-collapse\">Muutuja <span style=\"font-family:Courier New,Courier,monospace\">lowrider<\/span> muutmisel oodatav tulemus<\/button>\n        <\/h2>\n        <div id=\"accordion-69db8aa005bd3-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69db8aa005bd3-heading\">\n            <div class=\"accordion-body\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"405\" class=\"alignnone wp-image-208\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/7_lowrider_trimmed.gif\" title=\"7_lowrider_trimmed.gif\" alt=\".\"><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n","protected":false},"excerpt":{"rendered":"<p>Eelmises \u00fclesandes tutvusime XACRO mudeliga ja \u00f5ppisime neljarattalise roboti mudelit parametriseerima. Saavutasime mudeli, mis skaleerub, kui muuta roboti kere laiust (y-teljes). Selle \u00fclesande eesm\u00e4rk on mudel l\u00f5puni teha ja tagada, et see skaleerub \u00f5igesti ka siis, kui muudetakse kere pikkust &#8230;<\/p>\n","protected":false},"author":98,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"inline_featured_image":false,"footnotes":""},"class_list":["post-85","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/85","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/users\/98"}],"replies":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/comments?post=85"}],"version-history":[{"count":1,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/85\/revisions"}],"predecessor-version":[{"id":316,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/85\/revisions\/316"}],"wp:attachment":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/media?parent=85"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}