reb_params.h
1/*
2 * Player - One Hell of a Robot Server
3 * Copyright (C) 2000
4 * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
5 *
6 *
7 * This program is free software; you can redistribute it and/or modify
8 * it under the terms of the GNU General Public License as published by
9 * the Free Software Foundation; either version 2 of the License, or
10 * (at your option) any later version.
11 *
12 * This program is distributed in the hope that it will be useful,
13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15 * GNU General Public License for more details.
16 *
17 * You should have received a copy of the GNU General Public License
18 * along with this program; if not, write to the Free Software
19 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
20 *
21 */
22/*
23 * Copyright (C) 2002
24 * John Sweeney, Laboratory for Perceptual Robotics, UMASS, Amherst
25 *
26 * $Id$
27 *
28 * reb_params.h
29 *
30 * Parameters for the UMASS Ubots.
31*/
32
33#ifndef _REB_PARAMS_H
34#define _REB_PARAMS_H
35
36#include <player.h>
37
38void initialize_reb_params(void);
39
40#define PLAYER_NUM_UBOT_ROBOT_TYPES 2
41
42
43// here are some parameters for the ubot
44typedef struct {
45 char *Class;
46 char *Subclass;
47 int32_t MaxVelocity; // max translational velocity in mm/s
48 int32_t MaxRVelocity; // max rotational velocity in deg/s
49 int32_t RobotRadius; // radius in mm
50 int32_t RobotAxleLength; // length from wheel contact to contact in mm
51 double PulsesPerMM; // number of pulses per MM
52 int32_t PulsesPerMMF; // fixed point of previous (previous * REB_FIXED_FACTOR)
53 double MMPerPulses; // for completeness, inverse of previous, reduce # of floating ops
54 int32_t MMPerPulsesF;
55 double PulsesPerMMMS; // previous constants adjusted for time factor in velocity
56 int32_t PulsesPerMMMSF;
57 double MMPerPulsesMS;
58 int32_t MMPerPulsesMSF;
59 uint16_t NumberIRSensors;
60 int16_t ir_pose[PLAYER_IR_MAX_SAMPLES][3]; // each row is {x, y, theta} in robo-centric coords (mm, mm, deg)
61 uint16_t pos_kp, pos_ki, pos_kd;
63
64extern UBotRobotParams_t PlayerUBotRobotParams[];
65
66#endif
Definition reb_params.h:44