robot_params.h

00001 /*
00002  *  Player - One Hell of a Robot Server
00003  *  Copyright (C) 2000
00004  *     Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
00005  *
00006  *
00007  *  This program is free software; you can redistribute it and/or modify
00008  *  it under the terms of the GNU General Public License as published by
00009  *  the Free Software Foundation; either version 2 of the License, or
00010  *  (at your option) any later version.
00011  *
00012  *  This program is distributed in the hope that it will be useful,
00013  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015  *  GNU General Public License for more details.
00016  *
00017  *  You should have received a copy of the GNU General Public License
00018  *  along with this program; if not, write to the Free Software
00019  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00020  *
00021  */
00022 
00023 /*
00024  * robot_params.h
00025  *
00026  * ActivMedia robot parameters, automatically generated by saphconv.tcl from
00027  * Saphira parameter files:
00028  *    /Users/gerkey/Desktop/params/params/amigo-sh.p
00029  *    /Users/gerkey/Desktop/params/params/amigo.p
00030  *    /Users/gerkey/Desktop/params/params/arnl.p
00031  *    /Users/gerkey/Desktop/params/params/default-arnl.p
00032  *    /Users/gerkey/Desktop/params/params/default-sonarnl.p
00033  *    /Users/gerkey/Desktop/params/params/p2at.p
00034  *    /Users/gerkey/Desktop/params/params/p2at8+.p
00035  *    /Users/gerkey/Desktop/params/params/p2at8.p
00036  *    /Users/gerkey/Desktop/params/params/p2ce.p
00037  *    /Users/gerkey/Desktop/params/params/p2d8+.p
00038  *    /Users/gerkey/Desktop/params/params/p2d8.p
00039  *    /Users/gerkey/Desktop/params/params/p2de.p
00040  *    /Users/gerkey/Desktop/params/params/p2df.p
00041  *    /Users/gerkey/Desktop/params/params/p2dx.p
00042  *    /Users/gerkey/Desktop/params/params/p2it.p
00043  *    /Users/gerkey/Desktop/params/params/p2pb.p
00044  *    /Users/gerkey/Desktop/params/params/p2pp.p
00045  *    /Users/gerkey/Desktop/params/params/p3at-sh.p
00046  *    /Users/gerkey/Desktop/params/params/p3at.p
00047  *    /Users/gerkey/Desktop/params/params/p3atiw-sh.p
00048  *    /Users/gerkey/Desktop/params/params/p3dx-sh.p
00049  *    /Users/gerkey/Desktop/params/params/p3dx.p
00050  *    /Users/gerkey/Desktop/params/params/patrolbot-sh.p
00051  *    /Users/gerkey/Desktop/params/params/peoplebot-sh.p
00052  *    /Users/gerkey/Desktop/params/params/perfpb+.p
00053  *    /Users/gerkey/Desktop/params/params/perfpb.p
00054  *    /Users/gerkey/Desktop/params/params/pion1m.p
00055  *    /Users/gerkey/Desktop/params/params/pion1x.p
00056  *    /Users/gerkey/Desktop/params/params/pionat.p
00057  *    /Users/gerkey/Desktop/params/params/powerbot-sh.p
00058  *    /Users/gerkey/Desktop/params/params/powerbot.p
00059  *    /Users/gerkey/Desktop/params/params/psos1m.p
00060  *    /Users/gerkey/Desktop/params/params/psos1x.p
00061  *    /Users/gerkey/Desktop/params/params/psos43m.p
00062  *    /Users/gerkey/Desktop/params/params/sonarnl.p
00063  *    /Users/gerkey/Desktop/params/params/wheelchair-sh.p
00064 */
00065 
00066 #ifndef _ROBOT_PARAMS_H
00067 #define _ROBOT_PARAMS_H
00068 
00069 
00070 void initialize_robot_params(void);
00071 
00072 #define PLAYER_NUM_ROBOT_TYPES 36
00073 
00074 
00075 typedef struct
00076 {
00077   double x;
00078   double y;
00079   double th;
00080 } sonar_pose_t;
00081 
00082 
00083 typedef struct
00084 {
00085   double x;
00086   double y;
00087   double th;
00088   double length;
00089   double radius;
00090 } bumper_def_t;
00091 
00092 
00093 typedef struct
00094 {
00095   int AdjustNumSamplesFlag; //
00096   int AlignAngle; //
00097   int AlignSpeed; //
00098   double AngleConvFactor; //
00099   int AngleIncrement; //
00100   int CenterAwayCost; //
00101   const char* Class;
00102   int ClearOnFail; //
00103   int CollisionRange; //
00104   double DiffConvFactor; //
00105   double DiscardThreshold; //
00106   double DistConvFactor; //
00107   double DistanceWt; //
00108   int DrivingRotAccel; //
00109   int DrivingRotDecel; //
00110   int DrivingRotVelMax; //
00111   int DrivingTransAccel; //
00112   int DrivingTransDecel; //
00113   int DrivingTransNegVelMax; //
00114   int DrivingTransVelMax; //
00115   int EmergencyMaxTransDecel; //
00116   int FailedTh; //
00117   int FailedX; //
00118   int FailedY; //
00119   int FastSpeed; //
00120   int FrontBumpers; //
00121   int FrontClearance; //
00122   int FrontPaddingAtFastSpeed; //
00123   int FrontPaddingAtSlowSpeed; //
00124   int FuseAllSensors; //
00125   int GoalAngleTol; //
00126   int GoalDistanceTol; //
00127   int GoalOccupiedFailDistance; //
00128   int GoalRotAccel; //
00129   int GoalRotDecel; //
00130   int GoalRotSpeed; //
00131   int GoalSpeed; //
00132   double GoalSwitchTime; //
00133   int GoalTransAccel; //
00134   int GoalTransDecel; //
00135   int GoalUseEncoder; //
00136   int GridRes; //
00137   double GyroScaler; //
00138   int HasMoveCommand; //
00139   int HeadingRotAccel; //
00140   int HeadingRotDecel; //
00141   int HeadingRotSpeed; //
00142   double HeadingWt; //
00143   int Holonomic; //
00144   int IRNum; //
00145   int IRUnit; //
00146   int IdleTimeTriggerTh; //
00147   int IdleTimeTriggerX; //
00148   int IdleTimeTriggerY; //
00149   double KDegPerDeg; //
00150   double KDegPerMm; //
00151   double KMmPerMm; //
00152   int LaserFlipped; //
00153   const char* LaserIgnore;
00154   const char* LaserPort;
00155   int LaserPossessed; //
00156   int LaserPowerControlled; //
00157   int LaserTh; //
00158   int LaserX; //
00159   int LaserY; //
00160   int LocalPathFailDistance; //
00161   const char* Map;
00162   double MarkOldPathFactor; //
00163   int MaxRVelocity; //
00164   int MaxRotSpeed; //
00165   int MaxSpeed; //
00166   int MaxVelocity; //
00167   int MinNumSamples; //
00168   int NewTableSensingIR; //
00169   int NforLinVelIncrements; //
00170   int NforRotVelIncrements; //
00171   int NumFrontBumpers; //
00172   int NumRearBumpers; //
00173   int NumSamples; //
00174   int NumSamplesAngleFactor; //
00175   int NumSplinePoints; //
00176   double ObsThreshold; //
00177   double OccThreshold; //
00178   int OneWayCost; //
00179   double PassThreshold; //
00180   double PeakFactor; //
00181   int PeakStdTh; //
00182   int PeakStdX; //
00183   int PeakStdY; //
00184   int PeturbTh; //
00185   int PeturbX; //
00186   int PeturbY; //
00187   int PlanEverytime; //
00188   double PlanFreeSpace; //
00189   double PlanRes; //
00190   int Qtt; //
00191   int Qxx; //
00192   int Qyy; //
00193   double RangeConvFactor; //
00194   int RearBumpers; //
00195   int RecoverOnFail; //
00196   int ReflectorMatchDist; //
00197   int ReflectorMaxAngle; //
00198   int ReflectorMaxRange; //
00199   int ReflectorVariance; //
00200   int RequestEncoderPackets; //
00201   int RequestIOPackets; //
00202   int Resistance; //
00203   int RobotDiagonal; //
00204   int RobotLength; //
00205   int RobotLengthFront; //
00206   int RobotLengthRear; //
00207   int RobotRadius; //
00208   int RobotWidth; //
00209   int RotAccel; //
00210   int RotDecel; //
00211   int RotVelMax; //
00212   int SecsToFail; //
00213   double SensorBelief; //
00214   int SettableAccsDecs; //
00215   int SettableVelMaxes; //
00216   int SideClearanceAtFastSpeed; //
00217   int SideClearanceAtSlowSpeed; //
00218   int SlowSpeed; //
00219   int SmoothWindow; //
00220   int SonarAngleRes; //
00221   int SonarAperture; //
00222   double SonarBetaMax; //
00223   double SonarBetaMin; //
00224   int SonarIncidenceLimit; //
00225   double SonarLambdaF; //
00226   double SonarLambdaR; //
00227   int SonarMaxRange; //
00228   int SonarMinLineSize; //
00229   int SonarNum; //
00230   int SonarRangeRes; //
00231   int SonarSigma; //
00232   int SplineDegree; //
00233   int StallRecoverDuration; //
00234   int StallRecoverRotation; //
00235   int StallRecoverSpeed; //
00236   int StdTh; //
00237   int StdX; //
00238   int StdY; //
00239   const char* Subclass;
00240   int SuperMaxTransDecel; //
00241   int SwitchToBaudRate; //
00242   int TableSensingIR; //
00243   int TransAccel; //
00244   int TransDecel; //
00245   int TransVelMax; //
00246   int Triangulate; //
00247   double TriangulateScoreThreshold; //
00248   int TriggerAngle; //
00249   int TriggerDistance; //
00250   int TriggerTime; //
00251   int TriggerTimeEnabled; //
00252   int UseCollisionRangeForPlanning; //
00253   int UseEStop; //
00254   int UseLaser; //
00255   int UseReflectorCenters; //
00256   int UseSonar; //
00257   int Vel2Divisor; //
00258   int VelConvFactor; //
00259   double VelocityWt; //
00260   sonar_pose_t sonar_pose[32];
00261   bumper_def_t bumper_geom[12];
00262 } RobotParams_t;
00263 
00264 
00265 extern RobotParams_t PlayerRobotParams[];
00266 
00267 
00268 #endif

Last updated 12 September 2005 21:38:45