robot_params.cc

机器人仿真软件

/*
 *  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.cc
 *
 * ActivMedia robot parameters, automatically generated by saphconv.tcl from
 * Saphira parameter files:
 *    amigo.p
 *    amigo-sh.p
 *    p2at.p
 *    p2at8+.p
 *    p2at8.p
 *    p2ce.p
 *    p2d8+.p
 *    p2d8.p
 *    p2de.p
 *    p2df.p
 *    p2dx.p
 *    p2it.p
 *    p2pb.p
 *    p2pp.p
 *    p3at-sh.p
 *    p3at.p
 *    p3atiw.p
 *    p3dx-sh.p
 *    p3dx.p
 *    peoplebot-sh.p
 *    perfpb+.p
 *    perfpb.p
 *    pion1m.p
 *    pion1x.p
 *    pionat.p
 *    powerbot-sh.p
 *    powerbot.p
 *    psos1m.p
 *    psos1x.p
*/
#include <robot_params.h>


RobotParams_t amigo_params =
{
  0.001534,
  "Pioneer",
  0.011,
  0.5083,
  0,
  1.626,
  1,
  1,
  0,
  0,
  0,
  "",
  "",
  0,
  1,
  0,
  0,
  0,
  300,
  1000,
  0,
  5,
  5,
  1,
  0,
  0,
  0,
  120,
  330,
  180,
  279,
  0,
  0,
  0,
  1,
  1,
  8,
  "amigo",
  38400,
  0,
  0,
  0,
  0,
  20,
  0.6154,
  {
    { 73, 105, 90 },
    { 130, 78, 41 },
    { 154, 30, 15 },
    { 154, -30, -15 },
    { 130, -78, -41 },
    { 73, -105, -90 },
    { -146, -60, -145 },
    { -146, 60, 145 },
  }
};

RobotParams_t amigo_sh_params =
{
  0.001534,
  "Pioneer",
  0.011,
  1.0,
  0,
  1.626,
  1,
  1,
  0,
  0,
  0,
  "",
  "",
  0,
  1,
  0,
  0,
  0,
  300,
  1000,
  0,
  5,
  5,
  1,
  0,
  0,
  0,
  120,
  330,
  180,
  279,
  0,
  0,
  0,
  1,
  1,
  8,
  "amigo-sh",
  38400,
  0,
  0,
  0,
  0,
  20,
  1.3746,
  {
    { 73, 105, 90 },
    { 130, 78, 41 },
    { 154, 30, 15 },
    { 154, -30, -15 },
    { 130, -78, -41 },
    { 73, -105, -90 },
    { -146, -60, -145 },
    { -146, 60, 145 },
  }
};

RobotParams_t p2at_params =
{
  0.001534,
  "Pioneer",
  0.0034,
  1.32,
  0,
  1.626,
  1,
  1,
  0,
  0,
  0,
  "",
  "COM3",
  0,
  1,
  0,
  160,
  7,
  300,
  1200,
  0,
  5,
  5,
  0.268,
  0,
  0,
  0,
  120,
  626,
  500,
  505,
  0,
  0,
  0,
  1,
  1,
  16,
  "p2at",
  38400,
  0,
  0,
  0,
  0,
  20,
  1,
  {
    { 145, 130, 90 },
    { 185, 115, 50 },
    { 220, 80, 30 },
    { 240, 25, 10 },
    { 240, -25, -10 },
    { 220, -80, -30 },
    { 185, -115, -50 },
    { 145, -130, -90 },
    { -145, -130, -90 },
    { -185, -115, -130 },
    { -220, -80, -150 },
    { -240, -25, -170 },
    { -240, 25, 170 },
    { -220, 80, 150 },
    { -185, 115, 130 },
    { -145, 130, 90 },
  }
};

RobotParams_t p2at8plus_params =
{
  0.001534,
  "Pioneer",
  0.0034,
  0.465,
  0,
  1.626,
  1,
  1,
  0,
  0,
  0,
  "",
  "COM3",
  0,
  1,
  0,
  160,
  7,
  300,
  1200,
  0,
  5,
  5,
  1,
  0,
  0,
  0,
  120,
  626,
  500,
  505,
  0,
  0,
  0,
  1,
  1,
  16,
  "p2at8+",
  38400,
  0,
  0,
  0,
  0,
  20,
  1,
  {
    { 145, 130, 90 },
    { 185, 115, 50 },
    { 220, 80, 30 },
    { 240, 25, 10 },
    { 240, -25, -10 },
    { 220, -80, -30 },
    { 185, -115, -50 },
    { 145, -130, -90 },
    { -145, -130, -90 },
    { -185, -115, -130 },
    { -220, -80, -150 },
    { -240, -25, -170 },
    { -240, 25, 170 },
    { -220, 80, 150 },
    { -185, 115, 130 },
    { -145, 130, 90 },
  }
};

RobotParams_t p2at8_params =
{
  0.001534,
  "Pioneer",
  0.0034,
  1.32,
  0,
  1.626,
  1,
  1,
  0,
  0,
  0,
  "",
  "COM3",
  0,
  1,
  0,
  160,
  7,
  300,
  1200,
  0,
  5,
  5,
  1,
  0,
  0,
  0,
  120,
  626,
  500,
  505,
  0,
  0,
  0,
  1,
  1,
  16,
  "p2at8",
  38400,
  0,
  0,
  0,
  0,
  20,
  1,
  {
    { 145, 130, 90 },
    { 185, 115, 50 },
    { 220, 80, 30 },
    { 240, 25, 10 },
    { 240, -25, -10 },
    { 220, -80, -30 },
    { 185, -115, -50 },
    { 145, -130, -90 },
    { -145, -130, -90 },
    { -185, -115, -130 },
    { -220, -80, -150 },
    { -240, -25, -170 },
    { -240, 25, 170 },
    { -220, 80, 150 },
    { -185, 115, 130 },
    { -145, 130, 90 },
  }
};

RobotParams_t p2ce_params =
{
  0.001534,
  "Pioneer",
  0.0057,
  0.826,
  0,
  1.626,
  1,
  1,
  0,
  0,
  0,
  "",
  "",
  0,
  1,
  0,
  0,
  0,
  500,
  2200,
  0,
  5,
  5,
  0.268,
  0,
  0,
  0,
  120,
  511,
  250,
  425,
  0,
  0,
  0,
  1,
  1,
  16,
  "p2ce",
  38400,
  0,
  0,
  0,
  0,
  20,
  1,
  {
    { 115, 130, 90 },
    { 155, 115, 50 },
    { 190, 80, 30 },
    { 210, 25, 10 },
    { 210, -25, -10 },
    { 190, -80, -30 },
    { 155, -115, -50 },
    { 115, -130, -90 },
    { -115, -130, -90 },
    { -155, -115, -130 },
    { -190, -80, -150 },
    { -210, -25, -170 },
    { -210, 25, 170 },
    { -190, 80, 150 },
    { -155, 115, 130 },
    { -115, 130, 90 },
  }
};

RobotParams_t p2d8plus_params =
{
  0.001534,
  "Pioneer",
  0.0056,
  0.485,
  0,
  1.626,
  1,
  1,
  0,
  0,
  0,
  "",
  "COM3",
  0,
  1,
  0,
  18,
  0,
  500,
  2200,
  0,
  5,
  5,
  1,
  0,
  0,
  0,
  120,
  511,
  250,
  425,
  0,
  0,
  0,
  1,
  1,
  16,
  "p2d8+",
  38400,
  0,
  0,
  0,
  0,
  20,
  1,
  {
    { 115, 130, 90 },
    { 155, 115, 50 },
    { 190, 80, 30 },
    { 210, 25, 10 },
    { 210, -25, -10 },
    { 190, -80, -30 },
    { 155, -115, -50 },
    { 115, -130, -90 },
    { -115, -130, -90 },
    { -155, -115, -130 },
    { -190, -80, -150 },
    { -210, -25, -170 },
    { -210, 25, 170 },
    { -190, 80, 150 },
    { -155, 115, 130 },
    { -115, 130, 90 },
  }
};

RobotParams_t p2d8_params =
{
  0.001534,
  "Pioneer",
  0.0056,
  0.485,
  0,
  1.626,
  1,
  1,
  0,
  0,
  0,
  "",
  "COM3",
  0,
  1,
  0,
  18,
  0,
  500,
  2200,
  0,
  5,
  5,
  1,
  0,
  0,
  0,
  120,
  511,
  250,
  425,
  0,
  0,
  0,
  1,
  1,
  16,
  "p2d8",
  38400,
  0,
  0,
  0,
  0,
  20,
  1,
  {
    { 115, 130, 90 },
    { 155, 115, 50 },
    { 190, 80, 30 },
    { 210, 25, 10 },
    { 210, -25, -10 },
    { 190, -80, -30 },
    { 155, -115, -50 },
    { 115, -130, -90 },
    { -115, -130, -90 },
    { -155, -115, -130 },
    { -190, -80, -150 },
    { -210, -25, -170 },
    { -210, 25, 170 },
    { -190, 80, 150 },
    { -155, 115, 130 },
    { -115, 130, 90 },
  }
};

RobotParams_t p2de_params =
{
  0.001534,
  "Pioneer",
  0.0056,
  0.969,
  0,
  1.626,
  1,
  1,
  0,
  0,
  0,
  "",
  "COM3",
  0,
  1,
  0,
  17,
  8,
  500,
  2200,
  0,
  5,
  5,
  0.268,
  0,
  0,
  0,
  120,
  511,
  250,
  425,
  0,
  0,
  0,
  1,
  1,
  16,
  "p2de",
  38400,
  0,
  0,
  0,
  0,
  20,
  1,
  {
    { 115, 130, 90 },
    { 155, 115, 50 },
    { 190, 80, 30 },
    { 210, 25, 10 },
    { 210, -25, -10 },
    { 190, -80, -30 },
    { 155, -115, -50 },
    { 115, -130, -90 },
    { -115, -130, -90 },
    { -155, -115, -130 },
    { -190, -80, -150 },
    { -210, -25, -170 },
    { -210, 25, 170 },
    { -190, 80, 150 },
    { -155, 115, 130 },
    { -115, 130, 90 },
  }
};

RobotParams_t p2df_params =
{
  0.001534,
  "Pioneer",
  0.006,
  0.485,
  0,
  1.626,
  1,
  1,
  0,
  0,
  0,
  "",
  "COM3",
  0,
  1,
  0,
  17,
  8,
  500,
  2200,
  0,
  5,
  5,
  0.268,
  0,
  0,
  0,
  120,
  511,
  250,
  425,
  0,
  0,
  0,
  1,
  1,
  16,
  "p2df",
  38400,
  0,
  0,
  0,
  0,
  20,
  1,
  {
    { 115, 130, 90 },
    { 155, 115, 50 },
    { 190, 80, 30 },
    { 210, 25, 10 },
    { 210, -25, -10 },
    { 190, -80, -30 },
    { 155, -115, -50 },
    { 115, -130, -90 },
    { -115, -130, -90 },
    { -155, -115, -130 },
    { -190, -80, -150 },
    { -210, -25, -170 },
    { -210, 25, 170 },
    { -190, 80, 150 },
    { -155, 115, 130 },
    { -115, 130, 90 },
  }
};

RobotParams_t p2dx_params =
{
  0.001534,
  "Pioneer",
  0.0056,
  0.84,
  0,
  1.626,
  1,
  1,
  0,
  0,
  0,
  "",
  "COM3",
  0,
  1,
  0,
  17,
  8,
  500,
  2200,
  0,
  5,
  5,
  0.268,
  0,
  0,
  0,
  120,
  511,
  250,
  425,
  0,
  0,
  0,
  1,
  1,
  16,
  "p2dx",
  38400,
  0,
  0,
  0,
  0,
  20,
  1,
  {
    { 115, 130, 90 },
    { 155, 115, 50 },
    { 190, 80, 30 },
    { 210, 25, 10 },
    { 210, -25, -10 },
    { 190, -80, -30 },
    { 155, -115, -50 },
    { 115, -130, -90 },
    { -115, -130, -90 },
    { -155, -115, -130 },
    { -190, -80, -150 },
    { -210, -25, -170 },
    { -210, 25, 170 },
    { -190, 80, 150 },
    { -155, 115, 130 },
    { -115, 130, 90 },
  }
};

RobotParams_t p2it_params =
{
  0.001534,
  "Pioneer",
  0.0032,
  1.136,
  0,
  1.626,
  1,
  1,
  0,
  0,
  0,
  "",
  "COM3",
  0,
  1,
  0,
  160,
  7,
  300,
  1200,
  0,
  5,
  5,
  0.268,
  0,
  0,
  0,
  120,
  626,
  500,
  505,
  0,
  0,
  0,
  1,
  1,
  16,
  "p2it",
  38400,
  0,
  0,
  0,
  0,
  20,
  1,
  {
    { 145, 130, 90 },
    { 185, 115, 50 },
    { 220, 80, 30 },
    { 240, 25, 10 },
    { 240, -25, -10 },
    { 220, -80, -30 },
    { 185, -115, -50 },
    { 145, -130, -90 },
    { -145, -130, -90 },
    { -185, -115, -130 },
    { -220, -80, -150 },
    { -240, -25, -170 },
    { -240, 25, 170 },
    { -220, 80, 150 },
    { -185, 115, 130 },
    { -145, 130, 90 },
  }
};

RobotParams_t p2pb_params =
{
  0.001534,
  "Pioneer",
  0.0056,
  0.424,
  1,
  1.626,
  1,
  1,
  0,
  0,
  0,
  "",
  "COM3",
  0,
  1,
  0,
  17,
  8,
  500,
  2200,
  0,
  5,
  5,
  0.268,
  1,
  0,
  0,
  120,
  513,
  300,
  425,
  0,
  0,
  0,
  1,
  1,
  24,
  "p2pb",
  38400,
  0,
  0,
  0,
  0,
  20,
  1,
  {
    { 115, 130, 90 },
    { 155, 115, 50 },
    { 190, 80, 30 },
    { 210, 25, 10 },
    { 210, -25, -10 },
    { 190, -80, -30 },
    { 155, -115, -50 },
    { 115, -130, -90 },
    { 50, 130, 90 },
    { 90, 115, 50 },
    { 125, 80, 30 },
    { 145, 25, 10 },
    { 145, -25, -10 },
    { 125, -80, -30 },
    { 90, -115, -50 },
    { 50, -130, -90 },
    { -115, -130, -90 },
    { -155, -115, -130 },
    { -190, -80, -150 },
    { -210, -25, -170 },
    { -210, 25, 170 },
    { -190, 80, 150 },
    { -155, 115, 130 },
    { -115, 130, 90 },
  }
};

RobotParams_t p2pp_params =
{
  0.001534,
  "Pioneer",
  0.006,
  0.485,
  1,
  1.626,
  1,
  1,
  0,
  0,
  0,
  "",
  "COM3",
  0,
  1,
  0,
  16,
  1,
  500,
  2200,
  0,
  5,
  5,
  0.268,
  1,
  0,
  0,
  120,
  513,
  300,
  425,
  0,
  0,
  0,
  1,
  1,
  24,
  "p2pp",
  38400,
  1,
  0,
  0,
  0,
  20,
  1,
  {
    { 115, 130, 90 },
    { 155, 115, 50 },
    { 190, 80, 30 },
    { 210, 25, 10 },
    { 210, -25, -10 },
    { 190, -80, -30 },
    { 155, -115, -50 },
    { 115, -130, -90 },
    { 50, 130, 90 },
    { 90, 115, 50 },
    { 125, 80, 30 },
    { 145, 25, 10 },
    { 145, -25, -10 },
    { 125, -80, -30 },
    { 90, -115, -50 },
    { 50, -130, -90 },
    { -115, -130, -90 },
    { -155, -115, -130 },
    { -190, -80, -150 },
    { -210, -25, -170 },
    { -210, 25, 170 },
    { -190, 80, 150 },
    { -155, 115, 130 },
    { -115, 130, 90 },
  }
};

RobotParams_t p3at_sh_params =
{
  0.001534,
  "Pioneer",
  0.0034,
  1,
  0,
  1.626,
  1,
  1,
  0,
  0,
  0,
  "",
  "COM3",
  0,
  1,
  0,
  125,
  0,
  300,
  1200,
  0,
  5,
  5,
  1,
  0,
  0,
  0,
  120,
  626,
  500,
  505,
  0,
  0,
  0,
  1,
  1,
  16,
  "p3at-sh",
  38400,
  0,
  0,
  0,
  0,