p2os/robot_params.h
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2000
* Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
*
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/*
* robot_params.h
*
* ActivMedia robot parameters, automatically generated by saphconv.tcl from
* Saphira parameter files:
* /Users/gerkey/Desktop/params/params/amigo-sh.p
* /Users/gerkey/Desktop/params/params/amigo.p
* /Users/gerkey/Desktop/params/params/p2at.p
* /Users/gerkey/Desktop/params/params/p2at8+.p
* /Users/gerkey/Desktop/params/params/p2at8.p
* /Users/gerkey/Desktop/params/params/p2ce.p
* /Users/gerkey/Desktop/params/params/p2d8+.p
* /Users/gerkey/Desktop/params/params/p2d8.p
* /Users/gerkey/Desktop/params/params/p2de.p
* /Users/gerkey/Desktop/params/params/p2df.p
* /Users/gerkey/Desktop/params/params/p2dx.p
* /Users/gerkey/Desktop/params/params/p2it.p
* /Users/gerkey/Desktop/params/params/p2pb.p
* /Users/gerkey/Desktop/params/params/p2pp.p
* /Users/gerkey/Desktop/params/params/p3at-sh.p
* /Users/gerkey/Desktop/params/params/p3at.p
* /Users/gerkey/Desktop/params/params/p3atiw-sh.p
* /Users/gerkey/Desktop/params/params/p3dx-sh.p
* /Users/gerkey/Desktop/params/params/p3dx.p
* /Users/gerkey/Desktop/params/params/patrolbot-sh.p
* /Users/gerkey/Desktop/params/params/peoplebot-sh.p
* /Users/gerkey/Desktop/params/params/perfpb+.p
* /Users/gerkey/Desktop/params/params/perfpb.p
* /Users/gerkey/Desktop/params/params/pion1m.p
* /Users/gerkey/Desktop/params/params/pion1x.p
* /Users/gerkey/Desktop/params/params/pionat.p
* /Users/gerkey/Desktop/params/params/powerbot-sh.p
* /Users/gerkey/Desktop/params/params/powerbot.p
* /Users/gerkey/Desktop/params/params/psos1m.p
* /Users/gerkey/Desktop/params/params/psos1x.p
* /Users/gerkey/Desktop/params/params/psos43m.p
* /Users/gerkey/Desktop/params/params/wheelchair-sh.p
*/
#ifndef _ROBOT_PARAMS_H
#define _ROBOT_PARAMS_H
void initialize_robot_params(void);
#define PLAYER_NUM_ROBOT_TYPES 32
typedef struct
{
double x;
double y;
double th;
} sonar_pose_t;
typedef struct
{
double x;
double y;
double th;
double length;
double radius;
} bumper_def_t;
typedef struct
{
int AdjustNumSamplesFlag; //
int AlignAngle; //
int AlignSpeed; //
double AngleConvFactor; //
int AngleIncrement; //
int CenterAwayCost; //
const char* Class;
int ClearOnFail; //
int CollisionRange; //
double DiffConvFactor; //
double DiscardThreshold; //
double DistConvFactor; //
double DistanceWt; //
int DrivingRotAccel; //
int DrivingRotDecel; //
int DrivingRotVelMax; //
int DrivingTransAccel; //
int DrivingTransDecel; //
int DrivingTransNegVelMax; //
int DrivingTransVelMax; //
int EmergencyMaxTransDecel; //
int FailedTh; //
int FailedX; //
int FailedY; //
int FastSpeed; //
int FrontBumpers; //
int FrontClearance; //
int FrontPaddingAtFastSpeed; //
int FrontPaddingAtSlowSpeed; //
int FuseAllSensors; //
int GoalAngleTol; //
int GoalDistanceTol; //
int GoalOccupiedFailDistance; //
int GoalRotAccel; //
int GoalRotDecel; //
int GoalRotSpeed; //
int GoalSpeed; //
double GoalSwitchTime; //
int GoalTransAccel; //
int GoalTransDecel; //
int GoalUseEncoder; //
int GridRes; //
double GyroScaler; //
int HasMoveCommand; //
int HeadingRotAccel; //
int HeadingRotDecel; //
int HeadingRotSpeed; //
double HeadingWt; //
int Holonomic; //
int IRNum; //
int IRUnit; //
int IdleTimeTriggerTh; //
int IdleTimeTriggerX; //
int IdleTimeTriggerY; //
double KDegPerDeg; //
double KDegPerMm; //
double KMmPerMm; //
int LaserFlipped; //
const char* LaserIgnore;
const char* LaserPort;
int LaserPossessed; //
int LaserPowerControlled; //
int LaserTh; //
int LaserX; //
int LaserY; //
int LocalPathFailDistance; //
const char* Map;
double MarkOldPathFactor; //
int MaxRVelocity; //
int MaxRotSpeed; //
int MaxSpeed; //
int MaxVelocity; //
int MinNumSamples; //
int NewTableSensingIR; //
int NforLinVelIncrements; //
int NforRotVelIncrements; //
int NumFrontBumpers; //
int NumRearBumpers; //
int NumSamples; //
int NumSamplesAngleFactor; //
int NumSplinePoints; //
double ObsThreshold; //
double OccThreshold; //
int OneWayCost; //
double PassThreshold; //
double PeakFactor; //
int PeakStdTh; //
int PeakStdX; //
int PeakStdY; //
int PeturbTh; //
int PeturbX; //
int PeturbY; //
int PlanEverytime; //
double PlanFreeSpace; //
double PlanRes; //
int Qtt; //
int Qxx; //
int Qyy; //
double RangeConvFactor; //
int RearBumpers; //
int RecoverOnFail; //
int ReflectorMatchDist; //
int ReflectorMaxAngle; //
int ReflectorMaxRange; //
int ReflectorVariance; //
int RequestEncoderPackets; //
int RequestIOPackets; //
int Resistance; //
int RobotDiagonal; //
int RobotLength; //
int RobotLengthFront; //
int RobotLengthRear; //
int RobotRadius; //
int RobotWidth; //
int RotAccel; //
int RotDecel; //
int RotVelMax; //
int SecsToFail; //
double SensorBelief; //
int SettableAccsDecs; //
int SettableVelMaxes; //
int SideClearanceAtFastSpeed; //
int SideClearanceAtSlowSpeed; //
int SlowSpeed; //
int SmoothWindow; //
int SonarAngleRes; //
int SonarAperture; //
double SonarBetaMax; //
double SonarBetaMin; //
int SonarIncidenceLimit; //
double SonarLambdaF; //
double SonarLambdaR; //
int SonarMaxRange; //
int SonarMinLineSize; //
int SonarNum; //
int SonarRangeRes; //
int SonarSigma; //
int SplineDegree; //
int StallRecoverDuration; //
int StallRecoverRotation; //
int StallRecoverSpeed; //
int StdTh; //
int StdX; //
int StdY; //
const char* Subclass;
int SuperMaxTransDecel; //
int SwitchToBaudRate; //
int TableSensingIR; //
int TransAccel; //
int TransDecel; //
int TransVelMax; //
int Triangulate; //
double TriangulateScoreThreshold; //
int TriggerAngle; //
int TriggerDistance; //
int TriggerTime; //
int TriggerTimeEnabled; //
int UseCollisionRangeForPlanning; //
int UseEStop; //
int UseLaser; //
int UseReflectorCenters; //
int UseSonar; //
int Vel2Divisor; //
int VelConvFactor; //
double VelocityWt; //
sonar_pose_t sonar_pose[32];
bumper_def_t bumper_geom[12];
} RobotParams_t;
extern RobotParams_t PlayerRobotParams[];
#endif
sonar_pose_t
Definition: p2os/robot_params.h:71
bumper_def_t
Definition: p2os/robot_params.h:79
Map
Definition: gridmap.h:108
RobotParams_t
Definition: erratic/robot_params.h:35

Last updated 12 September 2005 21:38:45