Input files contain the XYZ coordinates. If three filenames are given, they all should be single band files each containing X, Y and Z values in that order. If only one filename is given, it should be a 3-band file with bands in (X,Y,Z) order. The input files are in REAL (float) format.
Output file containing reachability informations for 6 instruments for 8 different arm configurations. The file will be in 6 band HALF (16-bit integer) format. See "OUTPUT FORMAT" in the main help for the file format.
Input files contain the UVW coordinates. If three filenames are given, they all should be single band files each containing U, V and W values in that order. If only one filename is given, it should be a 3-band file with bands in (U,V,W) order. The input files are in REAL (float) format.
This optional input file (.ht) contains Digital Elevation Model data generated by MARSORTHO program called on the same XYZ file that is input to M20REACH program. If provided, it is simply passed to the python reachability program for collision analysis. M20REACH does not do anything with the file. This optional input file must be a 1-band image file in REAL (float) format, and its data must be in RMECH coordinate system.
An optional xml file describing the turret model to use for drill placement. The format should follow the RST (Robot Simulation Toolkit)
The edge length (in meters) corresponding to a square voxel. A voxel grid is created where the individual square voxels have edge lengths of the specified value. The pixel/location closest to the center of the voxel is selected and tested for reachability (and collisions if specified) - the reachability value for that location is then assigned to all other pixels/locations in the corresponding voxel.
Prevents arm configurations from being simulated. Which can save significant simulation time the configuration is known to be unusable ahead of time. Any disabled configs will report 00: ik and collision problems. For M2020 the configurations that can be set are: so-eu-wu: Shoulder Out, Elbow Up, Wrist Up so-eu-wd: Shoulder Out, Elbow Up, Wrist Down so-ed-wu: Shoulder Out, Elbow Down, Wrist Up so-ed-wd: Shoulder Out, Elbow Down, Wrist Down si-eu-wu: Shoulder In, Elbow Up, Wrist Up si-eu-wd: Shoulder In, Elbow Up, Wrist Down si-ed-wu: Shoulder In, Elbow Down, Wrist Up si-ed-wd: Shoulder In, Elbow Down, Wrist Down For M2020 these configs should be disabled due to a hardware issue: DISABLE_ARM=\(so-eu-wu,so-ed-wu,so-ed-wd,si-eu-wd,si-ed-wu,si-ed-wd\)
Port to use for fsw_interface_server. An integer 10000 and 65000.
Must be 1 filename. The default value should not be changed. In general, there should be no reason to override the default value at the command line. The default value is used as a filename template. An occurrence of 'XXXXXX' (6 uppercase X's) is replaced with a random string of 6 uppercase and lowercase alphanumeric characters. The file itself is an intermediated temporary image file generated by m20reach to be an input the RSVP "reachability" program. The data contents of this temporary file are the same as the data contents of the input XYZ but converted to the coordinate system specified by COORD keyword parameter, which must always be RMECH.
Must be 1 filename. The default value should not be changed. In general, there should be no reason to override the default value at the command line. The default value is used as a filename template. An occurrence of 'XXXXXX' (6 uppercase X's) is replaced with a random string of 6 uppercase and lowercase alphanumeric characters. The file itself is an intermediated temporary image file generated by m20reach to be an input the RSVP "reachability" program. The data contents of this temporary file are the same as the data contents of the input UVW but converted to the coordinate system specified by COORD keyword parameter, which must always be RMECH.
Must be 1 filename. The default value should not be changed. In general, there should be no reason to override the default value at the command line. The default value is used as a filename template. An occurrence of 'XXXXXX' (6 uppercase X's) is replaced with a random string of 6 uppercase and lowercase alphanumeric characters. The file itself is an intermediated temporary image file generated by RSVP "reachability" program to be used by m20reach. The data contents of this temporary file are the desired reachability information that are simply copied to the main output (OUT) of m20reach program.
Path to the root directory of the RSVP "reachability" package. After doing a 'cd' into REACH_RSVP_PATH, you should be able to see reach.py at that location.
Path to the desired Python interpreter. This is not just a path to the location (directory) where the desired version of the interpreter resides. This points to the interpreter itself.
The number of processes that the RSVP "reachability" software should use to compute the reachability information. It should be an integer greater than zero.
A colon-separated list of directories in which to look for configuration and calibration files. Environment variables are allowed in the list (and may themselves contain colon-separated lists). The directories are searched in order for each config/cal file when it is loaded. This allows multiple projects to be supported simultaneously, and allows the user to override any given config/cal file. Note that the directory structure below the directories specified in this path must match what the project expects. For example, Mars 98 expects flat fields to be in a subdirectory named "flat_fields" while Mars Pathfinder expects them to be directly in the directory specified by the path (i.e. no intermediate subdirectories).
Specifies a mission-specific pointing method to use. Normally this parameter is not used, in which case the "default" pointing methods are used. Some missions may have special, or alternate, pointing methods available, which are indicated by this string (for example, backlash models, using arm joint angles instead of x/y/z/az/el, etc). A substring search is used, so multiple methods (where that makes sense) can be specified by separating the keywords with commas. Note that nav files created using one pointing method will most likely not be compatible with a mosaic created using a different pointing method. The methods available vary per mission, but some methods available at the time of this writing are: BACKLASH : Mars 98 SSI only. Selects a backlash pointing model, which adjusts the telemetered azimuth and elevation values based on knowledge of the camera's mechanical backlash and the direction the motor was travelling when the image was taken.
Disables all label-derived parameters to the Site mechanism which underlies coordinate systems. This forces all sites to be identical, with all rotations and offsets set the same. In the case of MPF or Mars 98, this disables the lander quaternion and offset (sets them to identity and 0, respectively). This option should not be used with images taken from different vantage points (e.g. the spacecraft moved, or mixing a lander and a rover) or invalid results will be obtained. The use of this option invalidates the Fixed coordinate frame; any values reported in the Fixed frame will not correctly reflect the orientation of the lander/rover. Obviously, this option should be rarely used; it is intended for when the image labels defining the site are invalid or inconsistent.
The DATA_SET_NAME typically identifies the instrument that acquired the data, the target of that instrument, and the processing level of the data. This value is copied to the output label, property IDENTIFICATION, keyword DATA_SET_NAME.
The DATA_SET_ID value for a given data set or product is constructed according to flight project naming conventions. In most cases the DATA_SET_ID is an abbreviation of the DATA_SET_NAME. This value is copied to the output label, property IDENTIFICATION, keyword DATA_SET_ID.
When a data set is released incrementally, such as every three months during a mission, the RELEASE_ID is updated each time part of the data set is released. For each mission(or host id if multiple spacecrafts), the first release of a data set should have a value of "0001". This value is copied to the output label, property IDENTIFICATION, keyword RELEASE_ID.
Specifies a permanent, unique identifier assigned to a data product by its producer. Most commonly, it is the filename minus the extension. This value is copied to the output label, property IDENTIFICATION, keyword PRODUCT_ID.
Specifies the unique identifier of an entity associated with the production of a data set. This value is copied to the output label, property IDENTIFICATION, keyword PRODUCER_ID.
Specifies the identity of a university, research center, NASA center or other institution associated with the production of a data set. This value is copied to the output label, property IDENTIFICATION, keyword PRODUCER_INSTITUTION_NAME.
Specifies a target. The target may be a planet, satelite, ring, region, feature, asteroid or comet. This value is copied to the output label, property IDENTIFICATION, keyword TARGET_NAME.
Specifies the type of a named target. This value is copied to the output label, property IDENTIFICATION, keyword TARGET_NAME.
Rover State File. This is a list of filenames to load containing Rover State information. These files contain position and orientation information for a rover (or other mobile spacecraft) at various sites. They are in XML format. See the "Rover Motion Counter (RMC) Master File SIS" for details on these files. Rover State Files have a priority order. The files listed first have the highest priority. Environment variables may be used in the list. For MER, if a directory is specified, then that directory is searched for RMC Master files and any found are loaded. The directory structure and filename convention is covered in the RMC SIS. The directory specified is the one containing "master", so if <dir> is the name specified in the RSF parameter, the following files will be searched for: <dir>/master/_Master.svf <dir>/master/ _Site_ _Master.rvf The name of each file loaded is printed to the stdout log for reference.
If enabled, this causes the internal database of RMC locations to be printed out to the stdout log. This is after the RSF files have been loaded and the coordinate systems read from the input label(s).
The coordinate system to use for the output roughness (really just determines
the unit of measurement). The interpretation of the values is dependent on
the mission. Some representative missions are listed here:
Fixed - The Fixed frame. This is the ultimate reference frame
(see also FIXED_SITE for rover missions).
Instrument - (default) The "natural" frame for the instrument
(of the first input image). MPF: Lander or Rover; M98: MVACS; MER: Rover.
Site - A major Site frame. For rover missions, COORD_INDEX specifies which
Site frame to use. Non-rover missions treat this as Fixed.
Rover - An instance of the Rover frame. For rover missions, COORD_INDEX
specifies which instance of the rover frame to use. Non-rover mission
use the spacecraft frame (e.g. Lander for M98).
Local_Level - An instance of a Local Level frame. This is typically
coincident with the Rover frame (in XYZ) but oriented toward North
like the Site and Fixed frames. For MER, this is an instance of a
Drive index move.
The index specifies which instance of a coordinate system to use. It is currently applicable only to rover-based missions, but could have other uses. The index is equivalent to the Rover Motion Counter (RMC) for MER and FIDO. For MER/FIDO, there are many Site frames. Each is numbered with a single index. For Site Frames, coord_index specifies which to use. Likewise, there are many Local_Level and Rover frames, corresponding to values of the RMC. The multiple instances of this frame are selected by COORD_INDEX. Generally COORD_INDEX defaults sensibly so you don't usually need to specify it. It will default to the instance used by the first input.
Specifies which major Site is the "Fixed" Site for this run.
Historically, MPF and M98 had a single "Surface Fixed" frame which never
moved, and which all other coordinate system frames were referenced to.
With the advent of long-range rovers (such as MER and FIDO), that became
insufficient. The rover traverses far enough that errors in knowledge of
coordinate system offset and orientation become unacceptable.
For this reason, a system of major Sites was introduced. Periodically
during the mission, a Site frame is declared. This then becomes the
reference frame for all activities until the next Site is declared.
References are kept local, and errors don't propogate across Sites.
However, if images from more than one Site are combined together, the
Site's must be placed relative to each other. Therefore a single reference
frame is still needed to combine different sites.
The FIXED_SITE parameter controls which of the major Site frames is
the reference ("fixed") site for this program run. This fixed frame
can vary in different program runs, but is constant throughout one
execution.
If not specified, FIXED_SITE defaults to the minimum Site number (i.e.
lowest numbered, or earliest chronologically) used in all input images.
Normally this default is sufficient; rarely must FIXED_SITE be specified.
One or more Rover State Files must usually be specified in order to combine
image from more than one Site. These describe the relationship between
sites. See the RSF parameter.
Specifies which solution ID to use when specifying the coordinate system. There are potentially many different definitions for the same coordinate system. These are identified via a unique Solution ID. If this parameter is given, only the specified solution's definition is searched for. Without it, the "best" available solution is chosen. It is extremely rare that this parameter should be needed. The default will be sufficient in almost every case. Note that the current MER implementation requires that a value for COORD_INDEX also be provided, in order for this parameter to take effect.