reb_params.h
1 /*
2  * Player - One Hell of a Robot Server
3  * Copyright (C) 2000
4  * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
5  *
6  *
7  * This program is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2 of the License, or
10  * (at your option) any later version.
11  *
12  * This program is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with this program; if not, write to the Free Software
19  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
20  *
21  */
22 /*
23  * Copyright (C) 2002
24  * John Sweeney, Laboratory for Perceptual Robotics, UMASS, Amherst
25  *
26  * $Id$
27  *
28  * reb_params.h
29  *
30  * Parameters for the UMASS Ubots.
31 */
32 
33 #ifndef _REB_PARAMS_H
34 #define _REB_PARAMS_H
35 
36 #include <player.h>
37 
38 void initialize_reb_params(void);
39 
40 #define PLAYER_NUM_UBOT_ROBOT_TYPES 2
41 
42 
43 // here are some parameters for the ubot
44 typedef struct {
45  char *Class;
46  char *Subclass;
47  int32_t MaxVelocity; // max translational velocity in mm/s
48  int32_t MaxRVelocity; // max rotational velocity in deg/s
49  int32_t RobotRadius; // radius in mm
50  int32_t RobotAxleLength; // length from wheel contact to contact in mm
51  double PulsesPerMM; // number of pulses per MM
52  int32_t PulsesPerMMF; // fixed point of previous (previous * REB_FIXED_FACTOR)
53  double MMPerPulses; // for completeness, inverse of previous, reduce # of floating ops
54  int32_t MMPerPulsesF;
55  double PulsesPerMMMS; // previous constants adjusted for time factor in velocity
56  int32_t PulsesPerMMMSF;
57  double MMPerPulsesMS;
58  int32_t MMPerPulsesMSF;
59  uint16_t NumberIRSensors;
60  int16_t ir_pose[PLAYER_IR_MAX_SAMPLES][3]; // each row is {x, y, theta} in robo-centric coords (mm, mm, deg)
61  uint16_t pos_kp, pos_ki, pos_kd;
63 
64 extern UBotRobotParams_t PlayerUBotRobotParams[];
65 
66 #endif
Definition: reb_params.h:44