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00062 #ifndef _ROBOT_PARAMS_H
00063 #define _ROBOT_PARAMS_H
00064
00065
00066 void initialize_robot_params(void);
00067
00068 #define PLAYER_NUM_ROBOT_TYPES 32
00069
00070
00071 typedef struct
00072 {
00073 double x;
00074 double y;
00075 double th;
00076 } sonar_pose_t;
00077
00078
00079 typedef struct
00080 {
00081 double x;
00082 double y;
00083 double th;
00084 double length;
00085 double radius;
00086 } bumper_def_t;
00087
00088
00089 typedef struct
00090 {
00091 int AdjustNumSamplesFlag;
00092 int AlignAngle;
00093 int AlignSpeed;
00094 double AngleConvFactor;
00095 int AngleIncrement;
00096 int CenterAwayCost;
00097 const char* Class;
00098 int ClearOnFail;
00099 int CollisionRange;
00100 double DiffConvFactor;
00101 double DiscardThreshold;
00102 double DistConvFactor;
00103 double DistanceWt;
00104 int DrivingRotAccel;
00105 int DrivingRotDecel;
00106 int DrivingRotVelMax;
00107 int DrivingTransAccel;
00108 int DrivingTransDecel;
00109 int DrivingTransNegVelMax;
00110 int DrivingTransVelMax;
00111 int EmergencyMaxTransDecel;
00112 int FailedTh;
00113 int FailedX;
00114 int FailedY;
00115 int FastSpeed;
00116 int FrontBumpers;
00117 int FrontClearance;
00118 int FrontPaddingAtFastSpeed;
00119 int FrontPaddingAtSlowSpeed;
00120 int FuseAllSensors;
00121 int GoalAngleTol;
00122 int GoalDistanceTol;
00123 int GoalOccupiedFailDistance;
00124 int GoalRotAccel;
00125 int GoalRotDecel;
00126 int GoalRotSpeed;
00127 int GoalSpeed;
00128 double GoalSwitchTime;
00129 int GoalTransAccel;
00130 int GoalTransDecel;
00131 int GoalUseEncoder;
00132 int GridRes;
00133 double GyroScaler;
00134 int HasMoveCommand;
00135 int HeadingRotAccel;
00136 int HeadingRotDecel;
00137 int HeadingRotSpeed;
00138 double HeadingWt;
00139 int Holonomic;
00140 int IRNum;
00141 int IRUnit;
00142 int IdleTimeTriggerTh;
00143 int IdleTimeTriggerX;
00144 int IdleTimeTriggerY;
00145 double KDegPerDeg;
00146 double KDegPerMm;
00147 double KMmPerMm;
00148 int LaserFlipped;
00149 const char* LaserIgnore;
00150 const char* LaserPort;
00151 int LaserPossessed;
00152 int LaserPowerControlled;
00153 int LaserTh;
00154 int LaserX;
00155 int LaserY;
00156 int LocalPathFailDistance;
00157 const char* Map;
00158 double MarkOldPathFactor;
00159 int MaxRVelocity;
00160 int MaxRotSpeed;
00161 int MaxSpeed;
00162 int MaxVelocity;
00163 int MinNumSamples;
00164 int NewTableSensingIR;
00165 int NforLinVelIncrements;
00166 int NforRotVelIncrements;
00167 int NumFrontBumpers;
00168 int NumRearBumpers;
00169 int NumSamples;
00170 int NumSamplesAngleFactor;
00171 int NumSplinePoints;
00172 double ObsThreshold;
00173 double OccThreshold;
00174 int OneWayCost;
00175 double PassThreshold;
00176 double PeakFactor;
00177 int PeakStdTh;
00178 int PeakStdX;
00179 int PeakStdY;
00180 int PeturbTh;
00181 int PeturbX;
00182 int PeturbY;
00183 int PlanEverytime;
00184 double PlanFreeSpace;
00185 double PlanRes;
00186 int Qtt;
00187 int Qxx;
00188 int Qyy;
00189 double RangeConvFactor;
00190 int RearBumpers;
00191 int RecoverOnFail;
00192 int ReflectorMatchDist;
00193 int ReflectorMaxAngle;
00194 int ReflectorMaxRange;
00195 int ReflectorVariance;
00196 int RequestEncoderPackets;
00197 int RequestIOPackets;
00198 int Resistance;
00199 int RobotDiagonal;
00200 int RobotLength;
00201 int RobotLengthFront;
00202 int RobotLengthRear;
00203 int RobotRadius;
00204 int RobotWidth;
00205 int RotAccel;
00206 int RotDecel;
00207 int RotVelMax;
00208 int SecsToFail;
00209 double SensorBelief;
00210 int SettableAccsDecs;
00211 int SettableVelMaxes;
00212 int SideClearanceAtFastSpeed;
00213 int SideClearanceAtSlowSpeed;
00214 int SlowSpeed;
00215 int SmoothWindow;
00216 int SonarAngleRes;
00217 int SonarAperture;
00218 double SonarBetaMax;
00219 double SonarBetaMin;
00220 int SonarIncidenceLimit;
00221 double SonarLambdaF;
00222 double SonarLambdaR;
00223 int SonarMaxRange;
00224 int SonarMinLineSize;
00225 int SonarNum;
00226 int SonarRangeRes;
00227 int SonarSigma;
00228 int SplineDegree;
00229 int StallRecoverDuration;
00230 int StallRecoverRotation;
00231 int StallRecoverSpeed;
00232 int StdTh;
00233 int StdX;
00234 int StdY;
00235 const char* Subclass;
00236 int SuperMaxTransDecel;
00237 int SwitchToBaudRate;
00238 int TableSensingIR;
00239 int TransAccel;
00240 int TransDecel;
00241 int TransVelMax;
00242 int Triangulate;
00243 double TriangulateScoreThreshold;
00244 int TriggerAngle;
00245 int TriggerDistance;
00246 int TriggerTime;
00247 int TriggerTimeEnabled;
00248 int UseCollisionRangeForPlanning;
00249 int UseEStop;
00250 int UseLaser;
00251 int UseReflectorCenters;
00252 int UseSonar;
00253 int Vel2Divisor;
00254 int VelConvFactor;
00255 double VelocityWt;
00256 sonar_pose_t sonar_pose[32];
00257 bumper_def_t bumper_geom[12];
00258 } RobotParams_t;
00259
00260
00261 extern RobotParams_t PlayerRobotParams[];
00262
00263
00264 #endif