robot_params.h

机器人仿真软件

/**
  *  Videre Erratic robot driver for Player
  *                   
  *  Copyright (C) 2006
  *     Videre Design
  *  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
  *
**/

#ifndef _ROBOT_PARAMS_H
#define _ROBOT_PARAMS_H

#include "libplayercore/player.h"

void initialize_robot_params(void);

#define PLAYER_NUM_ROBOT_TYPES 30


typedef struct
{
  double x;
  double y;
  double th;
} sonar_pose_t;


typedef struct
{
  double AngleConvFactor; // 
  char* Class;
  double DiffConvFactor; // 
  double DistConvFactor; // 
  int FrontBumpers; // 
  double GyroScaler; // 
  int HasMoveCommand; // 
  int Holonomic; // 
  int IRNum; // 
  int IRUnit; // 
  int LaserFlipped; // 
  char* LaserIgnore;
  char* LaserPort;
  int LaserPossessed; // 
  int LaserPowerControlled; // 
  int LaserTh; // 
  int LaserX; // 
  int LaserY; // 
  int MaxRVelocity; // 
  int MaxVelocity; // 
  int NewTableSensingIR; // 
  int NumFrontBumpers; // 
  int NumRearBumpers; // 
  double RangeConvFactor; // 
  int RearBumpers; // 
  int RequestEncoderPackets; // 
  int RequestIOPackets; // 
  int RobotDiagonal; // 
  int RobotLength; // 
  int RobotRadius; // 
  int RobotWidth; // 
  int RobotAxleOffset; // 
  int RotAccel; // 
  int RotDecel; // 
  int RotVelMax; // 
  int SettableAccsDecs; // 
  int SettableVelMaxes; // 
  int SonarNum; // 
  char* Subclass;
  int SwitchToBaudRate; // 
  int TableSensingIR; // 
  int TransAccel; // 
  int TransDecel; // 
  int TransVelMax; // 
  int Vel2Divisor; // 
  double VelConvFactor; // 
  sonar_pose_t sonar_pose[32];
	int NumIR;
	player_pose_t IRPose[8];
} RobotParams_t;


//extern RobotParams_t PlayerRobotParams[];
//extern RobotParams_t erratic_params;

extern RobotParams_t *RobotParams[];

#endif