robot_params.h
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 * /Users/gerkey/Desktop/params/params/amigo-sh.p 00029 * /Users/gerkey/Desktop/params/params/amigo.p 00030 * /Users/gerkey/Desktop/params/params/p2at.p 00031 * /Users/gerkey/Desktop/params/params/p2at8+.p 00032 * /Users/gerkey/Desktop/params/params/p2at8.p 00033 * /Users/gerkey/Desktop/params/params/p2ce.p 00034 * /Users/gerkey/Desktop/params/params/p2d8+.p 00035 * /Users/gerkey/Desktop/params/params/p2d8.p 00036 * /Users/gerkey/Desktop/params/params/p2de.p 00037 * /Users/gerkey/Desktop/params/params/p2df.p 00038 * /Users/gerkey/Desktop/params/params/p2dx.p 00039 * /Users/gerkey/Desktop/params/params/p2it.p 00040 * /Users/gerkey/Desktop/params/params/p2pb.p 00041 * /Users/gerkey/Desktop/params/params/p2pp.p 00042 * /Users/gerkey/Desktop/params/params/p3at-sh.p 00043 * /Users/gerkey/Desktop/params/params/p3at.p 00044 * /Users/gerkey/Desktop/params/params/p3atiw-sh.p 00045 * /Users/gerkey/Desktop/params/params/p3dx-sh.p 00046 * /Users/gerkey/Desktop/params/params/p3dx.p 00047 * /Users/gerkey/Desktop/params/params/patrolbot-sh.p 00048 * /Users/gerkey/Desktop/params/params/peoplebot-sh.p 00049 * /Users/gerkey/Desktop/params/params/perfpb+.p 00050 * /Users/gerkey/Desktop/params/params/perfpb.p 00051 * /Users/gerkey/Desktop/params/params/pion1m.p 00052 * /Users/gerkey/Desktop/params/params/pion1x.p 00053 * /Users/gerkey/Desktop/params/params/pionat.p 00054 * /Users/gerkey/Desktop/params/params/powerbot-sh.p 00055 * /Users/gerkey/Desktop/params/params/powerbot.p 00056 * /Users/gerkey/Desktop/params/params/psos1m.p 00057 * /Users/gerkey/Desktop/params/params/psos1x.p 00058 * /Users/gerkey/Desktop/params/params/psos43m.p 00059 * /Users/gerkey/Desktop/params/params/wheelchair-sh.p 00060 */ 00061 00062 #ifndef _ROBOT_PARAMS_H 00063 #define _ROBOT_PARAMS_H 00064 00065 00066 void initialize_robot_params(void); 00067 00068 #define PLAYER_NUM_ROBOT_TYPES 32 00069 00070 00071 typedef struct 00072 { 00073 double x; 00074 double y; 00075 double th; 00076 } sonar_pose_t; 00077 00078 00079 typedef struct 00080 { 00081 double x; 00082 double y; 00083 double th; 00084 double length; 00085 double radius; 00086 } bumper_def_t; 00087 00088 00089 typedef struct 00090 { 00091 int AdjustNumSamplesFlag; // 00092 int AlignAngle; // 00093 int AlignSpeed; // 00094 double AngleConvFactor; // 00095 int AngleIncrement; // 00096 int CenterAwayCost; // 00097 const char* Class; 00098 int ClearOnFail; // 00099 int CollisionRange; // 00100 double DiffConvFactor; // 00101 double DiscardThreshold; // 00102 double DistConvFactor; // 00103 double DistanceWt; // 00104 int DrivingRotAccel; // 00105 int DrivingRotDecel; // 00106 int DrivingRotVelMax; // 00107 int DrivingTransAccel; // 00108 int DrivingTransDecel; // 00109 int DrivingTransNegVelMax; // 00110 int DrivingTransVelMax; // 00111 int EmergencyMaxTransDecel; // 00112 int FailedTh; // 00113 int FailedX; // 00114 int FailedY; // 00115 int FastSpeed; // 00116 int FrontBumpers; // 00117 int FrontClearance; // 00118 int FrontPaddingAtFastSpeed; // 00119 int FrontPaddingAtSlowSpeed; // 00120 int FuseAllSensors; // 00121 int GoalAngleTol; // 00122 int GoalDistanceTol; // 00123 int GoalOccupiedFailDistance; // 00124 int GoalRotAccel; // 00125 int GoalRotDecel; // 00126 int GoalRotSpeed; // 00127 int GoalSpeed; // 00128 double GoalSwitchTime; // 00129 int GoalTransAccel; // 00130 int GoalTransDecel; // 00131 int GoalUseEncoder; // 00132 int GridRes; // 00133 double GyroScaler; // 00134 int HasMoveCommand; // 00135 int HeadingRotAccel; // 00136 int HeadingRotDecel; // 00137 int HeadingRotSpeed; // 00138 double HeadingWt; // 00139 int Holonomic; // 00140 int IRNum; // 00141 int IRUnit; // 00142 int IdleTimeTriggerTh; // 00143 int IdleTimeTriggerX; // 00144 int IdleTimeTriggerY; // 00145 double KDegPerDeg; // 00146 double KDegPerMm; // 00147 double KMmPerMm; // 00148 int LaserFlipped; // 00149 const char* LaserIgnore; 00150 const char* LaserPort; 00151 int LaserPossessed; // 00152 int LaserPowerControlled; // 00153 int LaserTh; // 00154 int LaserX; // 00155 int LaserY; // 00156 int LocalPathFailDistance; // 00157 const char* Map; 00158 double MarkOldPathFactor; // 00159 int MaxRVelocity; // 00160 int MaxRotSpeed; // 00161 int MaxSpeed; // 00162 int MaxVelocity; // 00163 int MinNumSamples; // 00164 int NewTableSensingIR; // 00165 int NforLinVelIncrements; // 00166 int NforRotVelIncrements; // 00167 int NumFrontBumpers; // 00168 int NumRearBumpers; // 00169 int NumSamples; // 00170 int NumSamplesAngleFactor; // 00171 int NumSplinePoints; // 00172 double ObsThreshold; // 00173 double OccThreshold; // 00174 int OneWayCost; // 00175 double PassThreshold; // 00176 double PeakFactor; // 00177 int PeakStdTh; // 00178 int PeakStdX; // 00179 int PeakStdY; // 00180 int PeturbTh; // 00181 int PeturbX; // 00182 int PeturbY; // 00183 int PlanEverytime; // 00184 double PlanFreeSpace; // 00185 double PlanRes; // 00186 int Qtt; // 00187 int Qxx; // 00188 int Qyy; // 00189 double RangeConvFactor; // 00190 int RearBumpers; // 00191 int RecoverOnFail; // 00192 int ReflectorMatchDist; // 00193 int ReflectorMaxAngle; // 00194 int ReflectorMaxRange; // 00195 int ReflectorVariance; // 00196 int RequestEncoderPackets; // 00197 int RequestIOPackets; // 00198 int Resistance; // 00199 int RobotDiagonal; // 00200 int RobotLength; // 00201 int RobotLengthFront; // 00202 int RobotLengthRear; // 00203 int RobotRadius; // 00204 int RobotWidth; // 00205 int RotAccel; // 00206 int RotDecel; // 00207 int RotVelMax; // 00208 int SecsToFail; // 00209 double SensorBelief; // 00210 int SettableAccsDecs; // 00211 int SettableVelMaxes; // 00212 int SideClearanceAtFastSpeed; // 00213 int SideClearanceAtSlowSpeed; // 00214 int SlowSpeed; // 00215 int SmoothWindow; // 00216 int SonarAngleRes; // 00217 int SonarAperture; // 00218 double SonarBetaMax; // 00219 double SonarBetaMin; // 00220 int SonarIncidenceLimit; // 00221 double SonarLambdaF; // 00222 double SonarLambdaR; // 00223 int SonarMaxRange; // 00224 int SonarMinLineSize; // 00225 int SonarNum; // 00226 int SonarRangeRes; // 00227 int SonarSigma; // 00228 int SplineDegree; // 00229 int StallRecoverDuration; // 00230 int StallRecoverRotation; // 00231 int StallRecoverSpeed; // 00232 int StdTh; // 00233 int StdX; // 00234 int StdY; // 00235 const char* Subclass; 00236 int SuperMaxTransDecel; // 00237 int SwitchToBaudRate; // 00238 int TableSensingIR; // 00239 int TransAccel; // 00240 int TransDecel; // 00241 int TransVelMax; // 00242 int Triangulate; // 00243 double TriangulateScoreThreshold; // 00244 int TriggerAngle; // 00245 int TriggerDistance; // 00246 int TriggerTime; // 00247 int TriggerTimeEnabled; // 00248 int UseCollisionRangeForPlanning; // 00249 int UseEStop; // 00250 int UseLaser; // 00251 int UseReflectorCenters; // 00252 int UseSonar; // 00253 int Vel2Divisor; // 00254 int VelConvFactor; // 00255 double VelocityWt; // 00256 sonar_pose_t sonar_pose[32]; 00257 bumper_def_t bumper_geom[12]; 00258 } RobotParams_t; 00259 00260 00261 extern RobotParams_t PlayerRobotParams[]; 00262 00263 00264 #endif