p2os/robot_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/*
24 * robot_params.h
25 *
26 * ActivMedia robot parameters, automatically generated by saphconv.tcl from
27 * Saphira parameter files:
28 * Aria-2.7.3/params/amigo-sh.p
29 * Aria-2.7.3/params/amigo.p
30 * Aria-2.7.3/params/p2at.p
31 * Aria-2.7.3/params/p2at8+.p
32 * Aria-2.7.3/params/p2at8.p
33 * Aria-2.7.3/params/p2ce.p
34 * Aria-2.7.3/params/p2d8+.p
35 * Aria-2.7.3/params/p2d8.p
36 * Aria-2.7.3/params/p2de.p
37 * Aria-2.7.3/params/p2df.p
38 * Aria-2.7.3/params/p2dx.p
39 * Aria-2.7.3/params/p2it.p
40 * Aria-2.7.3/params/p2pb.p
41 * Aria-2.7.3/params/p2pp.p
42 * Aria-2.7.3/params/p3at-sh.p
43 * Aria-2.7.3/params/p3at.p
44 * Aria-2.7.3/params/p3atiw-sh.p
45 * Aria-2.7.3/params/p3dx-sh.p
46 * Aria-2.7.3/params/p3dx.p
47 * Aria-2.7.3/params/patrolbot-sh.p
48 * Aria-2.7.3/params/peoplebot-sh.p
49 * Aria-2.7.3/params/perfpb+.p
50 * Aria-2.7.3/params/perfpb.p
51 * Aria-2.7.3/params/pion1m.p
52 * Aria-2.7.3/params/pion1x.p
53 * Aria-2.7.3/params/pionat.p
54 * Aria-2.7.3/params/powerbot-sh-uarcs.p
55 * Aria-2.7.3/params/powerbot-sh.p
56 * Aria-2.7.3/params/powerbot.p
57 * Aria-2.7.3/params/psos1m.p
58 * Aria-2.7.3/params/psos1x.p
59 * Aria-2.7.3/params/psos43m.p
60 * Aria-2.7.3/params/researchPB.p
61 * Aria-2.7.3/params/seekur.p
62 * Aria-2.7.3/params/seekurjr.p
63 * Aria-2.7.3/params/wheelchair-sh.p
64*/
65
66#ifndef _ROBOT_PARAMS_H
67#define _ROBOT_PARAMS_H
68
69
70void initialize_robot_params(void);
71
72#define PLAYER_NUM_ROBOT_TYPES 36
73
74
75typedef struct
76{
77 double x;
78 double y;
79 double th;
81
82
83typedef struct
84{
85 double x;
86 double y;
87 double th;
88 double length;
89 double radius;
91
92
93typedef struct
94{
95 double AngleConvFactor; //
96 char* Class; //
97 char* CompassPort; //
98 char* CompassType; //
99 double DiffConvFactor; //
100 double DistConvFactor; //
101 int FrontBumpers; //
102 int GPSBaud; //
103 int GPSPX; //
104 int GPSPY; //
105 char* GPSPort; //
106 char* GPSType; //
107 double GyroScaler; //
108 int HasLatVel; //
109 int HasMoveCommand; //
110 int Holonomic; //
111 int IRNum; //
112 int IRUnit; //
113 char* LaserAutoBaudChoice; //
114 int LaserAutoConnect; //
115 int LaserCumulativeBufferSize; //
116 char* LaserDegreesChoice; //
117 char* LaserEndDegrees; //
118 int LaserFlipped; //
119 char* LaserIgnore; //
120 char* LaserIncrement; //
121 char* LaserIncrementChoice; //
122 int LaserMaxRange; //
123 char* LaserPort; //
124 char* LaserPortType; //
125 int LaserPowerControlled; //
126 char* LaserReflectorBitsChoice; //
127 char* LaserStartDegrees; //
128 char* LaserStartingBaudChoice; //
129 int LaserTh; //
130 char* LaserType; //
131 char* LaserUnitsChoice; //
132 int LaserX; //
133 int LaserY; //
134 int LaserZ; //
135 int LatAccel; //
136 int LatDecel; //
137 int LatVelMax; //
138 int MaxLatVelocity; //
139 int MaxRVelocity; //
140 int MaxVelocity; //
141 int NewTableSensingIR; //
142 int NumFrontBumpers; //
143 int NumRearBumpers; //
144 double RangeConvFactor; //
145 int RearBumpers; //
146 int RequestEncoderPackets; //
147 int RequestIOPackets; //
148 int RobotDiagonal; //
149 int RobotLength; //
150 int RobotLengthFront; //
151 int RobotLengthRear; //
152 int RobotRadius; //
153 int RobotWidth; //
154 int RotAccel; //
155 int RotDecel; //
156 int RotVelMax; //
157 int SettableAccsDecs; //
158 int SettableVelMaxes; //
159 int SonarNum; //
160 char* Subclass; //
161 int SwitchToBaudRate; //
162 int TableSensingIR; //
163 int TransAccel; //
164 int TransDecel; //
165 int TransVelMax; //
166 int Vel2Divisor; //
167 double VelConvFactor; //
168 sonar_pose_t sonar_pose[32];
169 bumper_def_t bumper_geom[12];
171
172
173extern RobotParams_t PlayerRobotParams[];
174
175
176#endif
Definition erratic/robot_params.h:36
Definition p2os/robot_params.h:84
Definition p2os/robot_params.h:76