Is it possible to calculate the incidence angle ??

asked 2018-04-04 03:07:44 -0500

Peterss
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Hi, I am new in Gazebo. I have a question. Is it possible to calculate the incidence angle between a beam of ray and an object ? If it is not possible, is there any method to get incidence angle with another library...?

Thanks

answered 2018-04-06 15:49:37 -0500

nkoenig
7443 ●8 ●43 ●69 http://gazebosim.org/

Yes, it is possible but you'll have to do the calculation. You can write a plugin that creates a RayShape. The RayShape can tell you what entity the Ray intersects. Next, you would have to get the entity, and use its pose information along with the entity's collision shapes to figure out the incident angle.

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I think that normal vector at contact point is needed in order to calculate incidence angle. If I do what you mentioned, it is not possible to get incidence angle..is it right?

Peterss ( 2019-01-17 21:31:57 -0500 )edit

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Is it possible to calculate the incidence angle ??