server » models » B21R

B21RConst.hh File Reference

Go to the source code of this file.

Classes

struct RFLEX_CONFIG

struct RFLEX_SONARS_CONFIG

Defines

#define RA_UP_TH   0.2525

#define RA_UP   (0.66/2)

#define RA_DOWN_TH   0.2625

#define RA_DOWN   (0.66/2)

#define THETA_US_UP   (0.065/RA_UP_TH)

#define THETA_UP_2   (THETA_US_UP/2)

#define THETA_US_DOWN   THETA_US_UP

#define THETA_DOWN_2   (THETA_US_DOWN/2)

#define X_SONAR_UP(ang)   RA_UP*cos(ang)

#define Y_SONAR_UP(ang)   RA_UP*sin(ang)

#define X_SONAR_DOWN(ang)   RA_DOWN*cos(ang)

#define Y_SONAR_DOWN(ang)   RA_DOWN*sin(ang)

#define RFLEX_SONARS_UP_CONFIG_CONST

#define RFLEX_SONARS_DOWN_CONFIG_CONST

#define RFLEX_SONARS_CONFIG_CONST

Typedefs

typedef RFLEX_CONFIG RFLEX_CONFIG

typedef RFLEX_SONARS_CONFIG RFLEX_SONARS_CONFIG

Define Documentation

#define RA_UP_TH 0.2525

#define RA_UP (0.66/2)

#define RA_DOWN_TH 0.2625

#define RA_DOWN (0.66/2)

#define THETA_US_UP (0.065/RA_UP_TH)

#define THETA_UP_2 (THETA_US_UP/2)

#define THETA_US_DOWN THETA_US_UP

#define THETA_DOWN_2 (THETA_US_DOWN/2)

#define X_SONAR_UP ( ang ) RA_UP*cos(ang)

#define Y_SONAR_UP ( ang ) RA_UP*sin(ang)

#define X_SONAR_DOWN ( ang ) RA_DOWN*cos(ang)

#define Y_SONAR_DOWN ( ang ) RA_DOWN*sin(ang)

#define RFLEX_SONARS_UP_CONFIG_CONST

Value:
{X_SONAR_UP(+23*THETA_UP_2), Y_SONAR_UP(+23*THETA_UP_2), +23*THETA_UP_2},/* Sonar 00 */ \ {X_SONAR_UP(+21*THETA_UP_2), Y_SONAR_UP(+21*THETA_UP_2), +21*THETA_UP_2},/* Sonar 01 */ \ {X_SONAR_UP(+19*THETA_UP_2), Y_SONAR_UP(+19*THETA_UP_2), +19*THETA_UP_2},/* Sonar 02 */ \ {X_SONAR_UP(+17*THETA_UP_2), Y_SONAR_UP(+17*THETA_UP_2), +17*THETA_UP_2},/* Sonar 03 */\ {X_SONAR_UP(+15*THETA_UP_2), Y_SONAR_UP(+15*THETA_UP_2), +15*THETA_UP_2},/* Sonar 04 */ \ {X_SONAR_UP(+13*THETA_UP_2), Y_SONAR_UP(+13*THETA_UP_2), +13*THETA_UP_2},/* Sonar 05 */ \ {X_SONAR_UP(+11*THETA_UP_2), Y_SONAR_UP(+11*THETA_UP_2), +11*THETA_UP_2},/* Sonar 06 */ \ {X_SONAR_UP(+9*THETA_UP_2), Y_SONAR_UP(+9*THETA_UP_2), +9*THETA_UP_2},/* Sonar 07 */ \ {X_SONAR_UP(+7*THETA_UP_2), Y_SONAR_UP(+7*THETA_UP_2), +7*THETA_UP_2},/* Sonar 08 */ \ {X_SONAR_UP(+5*THETA_UP_2), Y_SONAR_UP(+5*THETA_UP_2), +5*THETA_UP_2},/* Sonar 09 */ \ {X_SONAR_UP(+3*THETA_UP_2), Y_SONAR_UP(+3*THETA_UP_2), +3*THETA_UP_2},/* Sonar 10 */ \ {X_SONAR_UP(+THETA_UP_2) , Y_SONAR_UP(+THETA_UP_2), +THETA_UP_2}, /* Sonar 11 */ \ {X_SONAR_UP(-THETA_UP_2) , Y_SONAR_UP(-THETA_UP_2), -THETA_UP_2}, /* Sonar 12*/ \ {X_SONAR_UP(-3*THETA_UP_2), Y_SONAR_UP(-3*THETA_UP_2), -3*THETA_UP_2},/* Sonar 13 */ \ {X_SONAR_UP(-5*THETA_UP_2), Y_SONAR_UP(-5*THETA_UP_2), -5*THETA_UP_2},/* Sonar 14 */ \ {X_SONAR_UP(-7*THETA_UP_2), Y_SONAR_UP(-7*THETA_UP_2), -7*THETA_UP_2},/* Sonar 15 */ \ {X_SONAR_UP(-9*THETA_UP_2), Y_SONAR_UP(-9*THETA_UP_2), -9*THETA_UP_2},/* Sonar 16 */ \ {X_SONAR_UP(-11*THETA_UP_2), Y_SONAR_UP(-11*THETA_UP_2), -11*THETA_UP_2},/* Sonar 17 */ \ {X_SONAR_UP(-13*THETA_UP_2), Y_SONAR_UP(-13*THETA_UP_2), -13*THETA_UP_2},/* Sonar 18 */ \ {X_SONAR_UP(-15*THETA_UP_2), Y_SONAR_UP(-15*THETA_UP_2), -15*THETA_UP_2},/* Sonar 19 */ \ {X_SONAR_UP(-17*THETA_UP_2), Y_SONAR_UP(-17*THETA_UP_2), -17*THETA_UP_2},/* Sonar 20 */ \ {X_SONAR_UP(-19*THETA_UP_2), Y_SONAR_UP(-19*THETA_UP_2), -19*THETA_UP_2},/* Sonar 21 */ \ {X_SONAR_UP(-21*THETA_UP_2), Y_SONAR_UP(-21*THETA_UP_2), -21*THETA_UP_2},/* Sonar 22 */ \ {X_SONAR_UP(-23*THETA_UP_2), Y_SONAR_UP(-23*THETA_UP_2), -23*THETA_UP_2}

#define RFLEX_SONARS_DOWN_CONFIG_CONST

Value:
{X_SONAR_DOWN(-THETA_DOWN_2) , Y_SONAR_DOWN(-THETA_DOWN_2), -THETA_DOWN_2}, /* Sonar 24*/ \ {X_SONAR_DOWN(-3*THETA_DOWN_2), Y_SONAR_DOWN(-3*THETA_DOWN_2), -3*THETA_DOWN_2},/* Sonar 25*/ \ {X_SONAR_DOWN(-5*THETA_DOWN_2), Y_SONAR_DOWN(-5*THETA_DOWN_2), -5*THETA_DOWN_2},/* Sonar 26*/ \ {X_SONAR_DOWN(-7*THETA_DOWN_2), Y_SONAR_DOWN(-7*THETA_DOWN_2), -7*THETA_DOWN_2},/* Sonar 27*/ \ {X_SONAR_DOWN(-9*THETA_DOWN_2), Y_SONAR_DOWN(-9*THETA_DOWN_2), -9*THETA_DOWN_2},/* Sonar 28*/ \ {X_SONAR_DOWN(-11*THETA_DOWN_2), Y_SONAR_DOWN(-11*THETA_DOWN_2), -11*THETA_DOWN_2},/* Sonar 29*/ \ {X_SONAR_DOWN(-13*THETA_DOWN_2), Y_SONAR_DOWN(-13*THETA_DOWN_2), -13*THETA_DOWN_2},/* Sonar 30*/ \ {X_SONAR_DOWN(-15*THETA_DOWN_2), Y_SONAR_DOWN(-15*THETA_DOWN_2), -15*THETA_DOWN_2},/* Sonar 31*/ \ {X_SONAR_DOWN(-17*THETA_DOWN_2), Y_SONAR_DOWN(-17*THETA_DOWN_2), -17*THETA_DOWN_2},/* Sonar 32*/ \ {X_SONAR_DOWN(-19*THETA_DOWN_2), Y_SONAR_DOWN(-19*THETA_DOWN_2), -19*THETA_DOWN_2},/* Sonar 33*/ \ {X_SONAR_DOWN(-21*THETA_DOWN_2), Y_SONAR_DOWN(-21*THETA_DOWN_2), -21*THETA_DOWN_2},/* Sonar 34 */ \ {X_SONAR_DOWN(-23*THETA_DOWN_2), Y_SONAR_DOWN(-23*THETA_DOWN_2), -23*THETA_DOWN_2},/* Sonar 35 */ \ {X_SONAR_DOWN(+23*THETA_DOWN_2), Y_SONAR_DOWN(+23*THETA_DOWN_2), +23*THETA_DOWN_2},/* Sonar 36 */ \ {X_SONAR_DOWN(+21*THETA_DOWN_2), Y_SONAR_DOWN(+21*THETA_DOWN_2), +21*THETA_DOWN_2},/* Sonar 37 */ \ {X_SONAR_DOWN(+19*THETA_DOWN_2), Y_SONAR_DOWN(+19*THETA_DOWN_2), +19*THETA_DOWN_2},/* Sonar 38 */ \ {X_SONAR_DOWN(+17*THETA_DOWN_2), Y_SONAR_DOWN(+17*THETA_DOWN_2), +17*THETA_DOWN_2},/* Sonar 39 */ \ {X_SONAR_DOWN(+15*THETA_DOWN_2), Y_SONAR_DOWN(+15*THETA_DOWN_2), +15*THETA_DOWN_2},/* Sonar 40 */ \ {X_SONAR_DOWN(+13*THETA_DOWN_2), Y_SONAR_DOWN(+13*THETA_DOWN_2), +13*THETA_DOWN_2},/* Sonar 41 */ \ {X_SONAR_DOWN(+11*THETA_DOWN_2), Y_SONAR_DOWN(+11*THETA_DOWN_2), +11*THETA_DOWN_2},/* Sonar 42 */ \ {X_SONAR_DOWN(+9*THETA_DOWN_2), Y_SONAR_DOWN(+9*THETA_DOWN_2), +9*THETA_DOWN_2},/* Sonar 43 */ \ {X_SONAR_DOWN(+7*THETA_DOWN_2), Y_SONAR_DOWN(+7*THETA_DOWN_2), +7*THETA_DOWN_2},/* Sonar 44 */ \ {X_SONAR_DOWN(+5*THETA_DOWN_2), Y_SONAR_DOWN(+5*THETA_DOWN_2), +5*THETA_DOWN_2},/* Sonar 45 */ \ {X_SONAR_DOWN(+3*THETA_DOWN_2), Y_SONAR_DOWN(+3*THETA_DOWN_2), +3*THETA_DOWN_2},/* Sonar 46 */ \ {X_SONAR_DOWN(+THETA_DOWN_2) , Y_SONAR_DOWN(+THETA_DOWN_2), +THETA_DOWN_2}

#define RFLEX_SONARS_CONFIG_CONST

Value:
{ \ RFLEX_SONARS_UP_CONFIG_CONST, \ RFLEX_SONARS_DOWN_CONFIG_CONST \ }

Typedef Documentation

typedef struct RFLEX_CONFIG RFLEX_CONFIG

typedef struct RFLEX_SONARS_CONFIG RFLEX_SONARS_CONFIG

Last updated 12 September 2005 21:38:45