robot_params.h
00001
00025 #ifndef _ROBOT_PARAMS_H
00026 #define _ROBOT_PARAMS_H
00027
00028 #include "libplayercore/player.h"
00029
00030 void initialize_robot_params(void);
00031
00032 #define PLAYER_NUM_ROBOT_TYPES 30
00033
00034
00035 typedef struct
00036 {
00037 double AngleConvFactor;
00038 const char* Class;
00039 double DiffConvFactor;
00040 double DistConvFactor;
00041 int FrontBumpers;
00042 double GyroScaler;
00043 int HasMoveCommand;
00044 int Holonomic;
00045 int IRNum;
00046 int IRUnit;
00047 int LaserFlipped;
00048 const char* LaserIgnore;
00049 const char* LaserPort;
00050 int LaserPossessed;
00051 int LaserPowerControlled;
00052 int LaserTh;
00053 int LaserX;
00054 int LaserY;
00055 int MaxRVelocity;
00056 int MaxVelocity;
00057 int NewTableSensingIR;
00058 int NumFrontBumpers;
00059 int NumRearBumpers;
00060 double RangeConvFactor;
00061 int RearBumpers;
00062 int RequestEncoderPackets;
00063 int RequestIOPackets;
00064 int RobotDiagonal;
00065 int RobotLength;
00066 int RobotRadius;
00067 int RobotWidth;
00068 int RobotAxleOffset;
00069 int RotAccel;
00070 int RotDecel;
00071 int RotVelMax;
00072 int SettableAccsDecs;
00073 int SettableVelMaxes;
00074 const char* Subclass;
00075 int SwitchToBaudRate;
00076 int TableSensingIR;
00077 int TransAccel;
00078 int TransDecel;
00079 int TransVelMax;
00080 int Vel2Divisor;
00081 double VelConvFactor;
00082 int NumSonars;
00083 player_pose3d_t sonar_pose[32];
00084 int NumIR;
00085 player_pose3d_t IRPose[8];
00086 } RobotParams_t;
00087
00088
00089
00090
00091
00092 extern RobotParams_t *RobotParams[];
00093
00094 #endif
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Last updated 12 September 2005 21:38:45
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