defi43b.h

来自「scara机器人的一种简单的实现方法」· C头文件 代码 · 共 27 行

/**************************************************************************/
/*  DATE:     1998.12.16 THURSDAY            		                  */
/*  AUTHOR:   LI XIUFENG                                	          */
/*  CONTENT:  Definition of BP algorism		               		  */
/*  DISTANCE: 3 mm					      		  */
/*  AREA:     0  -  10 degrees				       		  */
/*  VERSION:  1.0					       		  */
/**************************************************************************/
#define  NUM_layer           3          /* number of layer,
					   fixed at the moment */
#define  NUM_input           4          /* number of input at one time */
#define  NUM_node_2nd_layer  9
#define  NUM_output          1          /* number of output */
#define  MAX_node            9          /* maximum node of layer */
#define  MAX_cal_sample     1         /* maximum number of sample */
#define  MAX_num_sample     1500        /* maximum number of sample */
#define  SAMPLE_start_dis    2          /* sample data at this distance */
#define  SAMPLE_end_dis      4          /* sample data at this distance */
#define  SAMPLE_start_theta  0.5        /* sample data startfrom this theta */
#define  SAMPLE_end_theta    9.1        /* sample data end at this theta */
#define  SAMPLE_start_alpha  0
#define  SAMPLE_end_alpha    90
#define  REAL_DATA           0
#define  CALCULATED_DATA     1
#define  ESTIMATE_DISTANCE   0
#define  ESTIMATE_THETA      1