robot_params.h
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00066 #ifndef _ROBOT_PARAMS_H
00067 #define _ROBOT_PARAMS_H
00068
00069
00070 void initialize_robot_params(void);
00071
00072 #define PLAYER_NUM_ROBOT_TYPES 36
00073
00074
00075 typedef struct
00076 {
00077 double x;
00078 double y;
00079 double th;
00080 } sonar_pose_t;
00081
00082
00083 typedef struct
00084 {
00085 double x;
00086 double y;
00087 double th;
00088 double length;
00089 double radius;
00090 } bumper_def_t;
00091
00092
00093 typedef struct
00094 {
00095 int AdjustNumSamplesFlag;
00096 int AlignAngle;
00097 int AlignSpeed;
00098 double AngleConvFactor;
00099 int AngleIncrement;
00100 int CenterAwayCost;
00101 const char* Class;
00102 int ClearOnFail;
00103 int CollisionRange;
00104 double DiffConvFactor;
00105 double DiscardThreshold;
00106 double DistConvFactor;
00107 double DistanceWt;
00108 int DrivingRotAccel;
00109 int DrivingRotDecel;
00110 int DrivingRotVelMax;
00111 int DrivingTransAccel;
00112 int DrivingTransDecel;
00113 int DrivingTransNegVelMax;
00114 int DrivingTransVelMax;
00115 int EmergencyMaxTransDecel;
00116 int FailedTh;
00117 int FailedX;
00118 int FailedY;
00119 int FastSpeed;
00120 int FrontBumpers;
00121 int FrontClearance;
00122 int FrontPaddingAtFastSpeed;
00123 int FrontPaddingAtSlowSpeed;
00124 int FuseAllSensors;
00125 int GoalAngleTol;
00126 int GoalDistanceTol;
00127 int GoalOccupiedFailDistance;
00128 int GoalRotAccel;
00129 int GoalRotDecel;
00130 int GoalRotSpeed;
00131 int GoalSpeed;
00132 double GoalSwitchTime;
00133 int GoalTransAccel;
00134 int GoalTransDecel;
00135 int GoalUseEncoder;
00136 int GridRes;
00137 double GyroScaler;
00138 int HasMoveCommand;
00139 int HeadingRotAccel;
00140 int HeadingRotDecel;
00141 int HeadingRotSpeed;
00142 double HeadingWt;
00143 int Holonomic;
00144 int IRNum;
00145 int IRUnit;
00146 int IdleTimeTriggerTh;
00147 int IdleTimeTriggerX;
00148 int IdleTimeTriggerY;
00149 double KDegPerDeg;
00150 double KDegPerMm;
00151 double KMmPerMm;
00152 int LaserFlipped;
00153 const char* LaserIgnore;
00154 const char* LaserPort;
00155 int LaserPossessed;
00156 int LaserPowerControlled;
00157 int LaserTh;
00158 int LaserX;
00159 int LaserY;
00160 int LocalPathFailDistance;
00161 const char* Map;
00162 double MarkOldPathFactor;
00163 int MaxRVelocity;
00164 int MaxRotSpeed;
00165 int MaxSpeed;
00166 int MaxVelocity;
00167 int MinNumSamples;
00168 int NewTableSensingIR;
00169 int NforLinVelIncrements;
00170 int NforRotVelIncrements;
00171 int NumFrontBumpers;
00172 int NumRearBumpers;
00173 int NumSamples;
00174 int NumSamplesAngleFactor;
00175 int NumSplinePoints;
00176 double ObsThreshold;
00177 double OccThreshold;
00178 int OneWayCost;
00179 double PassThreshold;
00180 double PeakFactor;
00181 int PeakStdTh;
00182 int PeakStdX;
00183 int PeakStdY;
00184 int PeturbTh;
00185 int PeturbX;
00186 int PeturbY;
00187 int PlanEverytime;
00188 double PlanFreeSpace;
00189 double PlanRes;
00190 int Qtt;
00191 int Qxx;
00192 int Qyy;
00193 double RangeConvFactor;
00194 int RearBumpers;
00195 int RecoverOnFail;
00196 int ReflectorMatchDist;
00197 int ReflectorMaxAngle;
00198 int ReflectorMaxRange;
00199 int ReflectorVariance;
00200 int RequestEncoderPackets;
00201 int RequestIOPackets;
00202 int Resistance;
00203 int RobotDiagonal;
00204 int RobotLength;
00205 int RobotLengthFront;
00206 int RobotLengthRear;
00207 int RobotRadius;
00208 int RobotWidth;
00209 int RotAccel;
00210 int RotDecel;
00211 int RotVelMax;
00212 int SecsToFail;
00213 double SensorBelief;
00214 int SettableAccsDecs;
00215 int SettableVelMaxes;
00216 int SideClearanceAtFastSpeed;
00217 int SideClearanceAtSlowSpeed;
00218 int SlowSpeed;
00219 int SmoothWindow;
00220 int SonarAngleRes;
00221 int SonarAperture;
00222 double SonarBetaMax;
00223 double SonarBetaMin;
00224 int SonarIncidenceLimit;
00225 double SonarLambdaF;
00226 double SonarLambdaR;
00227 int SonarMaxRange;
00228 int SonarMinLineSize;
00229 int SonarNum;
00230 int SonarRangeRes;
00231 int SonarSigma;
00232 int SplineDegree;
00233 int StallRecoverDuration;
00234 int StallRecoverRotation;
00235 int StallRecoverSpeed;
00236 int StdTh;
00237 int StdX;
00238 int StdY;
00239 const char* Subclass;
00240 int SuperMaxTransDecel;
00241 int SwitchToBaudRate;
00242 int TableSensingIR;
00243 int TransAccel;
00244 int TransDecel;
00245 int TransVelMax;
00246 int Triangulate;
00247 double TriangulateScoreThreshold;
00248 int TriggerAngle;
00249 int TriggerDistance;
00250 int TriggerTime;
00251 int TriggerTimeEnabled;
00252 int UseCollisionRangeForPlanning;
00253 int UseEStop;
00254 int UseLaser;
00255 int UseReflectorCenters;
00256 int UseSonar;
00257 int Vel2Divisor;
00258 int VelConvFactor;
00259 double VelocityWt;
00260 sonar_pose_t sonar_pose[32];
00261 bumper_def_t bumper_geom[12];
00262 } RobotParams_t;
00263
00264
00265 extern RobotParams_t PlayerRobotParams[];
00266
00267
00268 #endif