player robot_params.h Source File

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  *    amigo.p
00029  *    p2at.p
00030  *    p2at8+.p
00031  *    p2at8.p
00032  *    p2ce.p
00033  *    p2d8+.p
00034  *    p2d8.p
00035  *    p2de.p
00036  *    p2df.p
00037  *    p2dx.p
00038  *    p2it.p
00039  *    p2pb.p
00040  *    p2pp.p
00041  *    p3at-sh.p
00042  *    p3at.p
00043  *    p3atiw.p
00044  *    p3dx-sh.p
00045  *    p3dx.p
00046  *    peoplebot-sh.p
00047  *    perfpb+.p
00048  *    perfpb.p
00049  *    pion1m.p
00050  *    pion1x.p
00051  *    pionat.p
00052  *    powerbot-sh.p
00053  *    powerbot.p
00054  *    psos1m.p
00055  *    psos1x.p
00056 */
00057 
00058 #ifndef _ROBOT_PARAMS_H
00059 #define _ROBOT_PARAMS_H
00060 
00061 
00062 void initialize_robot_params(void);
00063 
00064 #define PLAYER_NUM_ROBOT_TYPES 28
00065 
00066 
00067 typedef struct
00068 {
00069   double x;
00070   double y;
00071   double th;
00072 } sonar_pose_t;
00073 
00074 
00075 typedef struct
00076 {
00077   double AngleConvFactor; // 
00078   char* Class;
00079   double DiffConvFactor; // 
00080   double DistConvFactor; // 
00081   int FrontBumpers; // 
00082   double GyroScaler; // 
00083   int HasMoveCommand; // 
00084   int Holonomic; // 
00085   int IRNum; // 
00086   int IRUnit; // 
00087   int LaserFlipped; // 
00088   char* LaserIgnore;
00089   char* LaserPort;
00090   int LaserPossessed; // 
00091   int LaserPowerControlled; // 
00092   int LaserTh; // 
00093   int LaserX; // 
00094   int LaserY; // 
00095   int MaxRVelocity; // 
00096   int MaxVelocity; // 
00097   int NewTableSensingIR; // 
00098   int NumFrontBumpers; // 
00099   int NumRearBumpers; // 
00100   double RangeConvFactor; // 
00101   int RearBumpers; // 
00102   int RequestEncoderPackets; // 
00103   int RequestIOPackets; // 
00104   int RobotDiagonal; // 
00105   int RobotLength; // 
00106   int RobotRadius; // 
00107   int RobotWidth; // 
00108   int RotAccel; // 
00109   int RotDecel; // 
00110   int RotVelMax; // 
00111   int SettableAccsDecs; // 
00112   int SettableVelMaxes; // 
00113   int SonarNum; // 
00114   char* Subclass;
00115   int SwitchToBaudRate; // 
00116   int TableSensingIR; // 
00117   int TransAccel; // 
00118   int TransDecel; // 
00119   int TransVelMax; // 
00120   int Vel2Divisor; // 
00121   double VelConvFactor; // 
00122   sonar_pose_t sonar_pose[32];
00123 } RobotParams_t;
00124 
00125 
00126 extern RobotParams_t PlayerRobotParams[];
00127 
00128 
00129 #endif