SystemParameterModel SystemLaserObstacleAvoidP3dxWebotsSimulatorNew extendsSystem SystemLaserObstacleAvoidP3dxWebotsSimulatorNew {
	
	ComponentParameterInstance ComponentWebots refinesParamStruct ComponentWebots { 
		ParameterRefinement General {
			/** Webots world which contains the simulated environment, robot and lidar*/
			WorldPath = "$SMART_ROOT_ACE/repos/DataRepository/webots/worlds/P3dxHospital.wbt"	
		}  
	}
	
	ComponentParameterInstance ComponentWebotsMobileRobot refinesParamStruct ComponentWebotsMobileRobotParams {
		ParameterRefinement Webots { 
			/**Robot name in the Webots world */
			robotName = "Pioneer 3-DX"
			/** names of motors of wheels */
			motorName = ["left wheel", "right wheel"]
			/** radius of wheels in m */
			radius = [0.0975, 0.0975]
			/** distance of a wheel to the turning point (center) of the robot [m]*/
			distanceToRobotCentre = [-0.165, 0.165]
			/** the heading of the wheels [??], for differential drives set these to 0 */
			heading = [0, 0]
			/** maximum acceleration for front[m/s] sideways[m/s], rotation[radians/s] movements*/					
			maxAcceleration = [1.0, 0.0, 15.0]
		}
	}
	
	ComponentParameterInstance ComponentWebots2DLidar refinesParamStruct ComponentWebots2DLidarParams{
		ParameterRefinement webots {
		/** Name of the lidar in the Webots world*/
			robotName = "LidarPioneer"
		}
		ParameterRefinement scanner {      
			verbose = true
			on_turret = false
			/** position of the lidar relative to the robot in [mm] */			
			x = 70
			y = 0
			z = 0
			/** orientation of the lidar relative to the robot in [radians] */
			azimuth = 0
			elevation = 0
			roll = 0
			/** lidar minimum range in [mm]*/
			min_range = 10
			/** lidar maximum range in [mm]*/
			max_range = 80000			
			/** lidar field of view in [degrees]*/
			opening_angle = 180
			/** lidar resolution i.e the angle between two lidar rays in [degrees]*/			
			resolution = 1
		}
	}	
}