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 
70 void initialize_robot_params(void);
71 
72 #define PLAYER_NUM_ROBOT_TYPES 36
73 
74 
75 typedef struct
76 {
77  double x;
78  double y;
79  double th;
80 } sonar_pose_t;
81 
82 
83 typedef struct
84 {
85  double x;
86  double y;
87  double th;
88  double length;
89  double radius;
90 } bumper_def_t;
91 
92 
93 typedef 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];
170 } RobotParams_t;
171 
172 
173 extern 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