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<h1>rflex_configs.h</h1> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* Player - One Hell of a Robot Server</span>
<a name="l00002"></a>00002 <span class="comment"> * Copyright (C) 2000</span>
<a name="l00003"></a>00003 <span class="comment"> * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard</span>
<a name="l00004"></a>00004 <span class="comment"> *</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00007"></a>00007 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00008"></a>00008 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00009"></a>00009 <span class="comment"> * (at your option) any later version.</span>
<a name="l00010"></a>00010 <span class="comment"> *</span>
<a name="l00011"></a>00011 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00012"></a>00012 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00013"></a>00013 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00014"></a>00014 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00017"></a>00017 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00018"></a>00018 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00019"></a>00019 <span class="comment"> *</span>
<a name="l00020"></a>00020 <span class="comment"> */</span>
<a name="l00021"></a>00021
<a name="l00022"></a>00022 <span class="comment">/* some basic structures and conversions needed by everything</span>
<a name="l00023"></a>00023 <span class="comment"> *</span>
<a name="l00024"></a>00024 <span class="comment"> * data for the conversions and everything else will be grabbed out of</span>
<a name="l00025"></a>00025 <span class="comment"> * the general configuration file</span>
<a name="l00026"></a>00026 <span class="comment"> *</span>
<a name="l00027"></a>00027 <span class="comment"> * note - they way it is now is the right way to do it, BUT:</span>
<a name="l00028"></a>00028 <span class="comment"> * if your a hacker and want things to run fast - put all the configurations</span>
<a name="l00029"></a>00029 <span class="comment"> * here as #define's, this will allow the precompiler to precompute combined</span>
<a name="l00030"></a>00030 <span class="comment"> * conversions, this is much preferable to modifying the rest of the code</span>
<a name="l00031"></a>00031 <span class="comment"> * if you really need the speed that badly</span>
<a name="l00032"></a>00032 <span class="comment"> */</span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="comment">// NOTICE! - this file declares rflex_configs extern, intended to link to </span>
<a name="l00035"></a>00035 <span class="comment">// the rflex_configs declared in rflex.cc</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef RFLEX_CONFIGS_H</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define RFLEX_CONFIGS_H</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <math.h></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <libplayerinterface/player.h></span>
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="comment">//normalizes an angle in radians to -M_PI<theta<M_PI</span>
<a name="l00044"></a>00044 <span class="keyword">inline</span> <span class="keywordtype">double</span> normalize_theta(<span class="keywordtype">double</span> theta){
<a name="l00045"></a>00045 <span class="keywordflow">while</span>(theta>M_PI)
<a name="l00046"></a>00046 theta-=2*M_PI;
<a name="l00047"></a>00047 <span class="keywordflow">while</span>(theta<-M_PI)
<a name="l00048"></a>00048 theta+=2*M_PI;
<a name="l00049"></a>00049 <span class="keywordflow">return</span> theta;
<a name="l00050"></a>00050 }
<a name="l00051"></a>00051
<a name="l00052"></a>00052 <span class="comment">//structures for holding general configuration of robot</span>
<a name="l00053"></a><a class="code" href="structrflex__config__t.html">00053</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structrflex__config__t.html">rflex_config_t</a>{
<a name="l00054"></a>00054 <span class="keywordtype">char</span> serial_port[256];
<a name="l00055"></a>00055 <span class="comment">//length of the robot in m</span>
<a name="l00056"></a>00056 <span class="keywordtype">double</span> m_length;
<a name="l00057"></a>00057 <span class="comment">//width of the robot in m</span>
<a name="l00058"></a>00058 <span class="keywordtype">double</span> m_width;
<a name="l00059"></a>00059 <span class="comment">//m*odo_distance_conversion : m to rflex arbitrary odometry units (trans)</span>
<a name="l00060"></a>00060 <span class="keywordtype">double</span> odo_distance_conversion;
<a name="l00061"></a>00061 <span class="comment">//rad*odo_angle_conversion : rad to rflex arbitrary odometry units (rot)</span>
<a name="l00062"></a>00062 <span class="keywordtype">double</span> odo_angle_conversion;
<a name="l00063"></a>00063 <span class="comment">//mm*range_distance_conversion : m to rflex arbitrary range units</span>
<a name="l00064"></a>00064 <span class="keywordtype">double</span> range_distance_conversion;
<a name="l00065"></a>00065 <span class="comment">//default translational acceleration in m/sec</span>
<a name="l00066"></a>00066 <span class="keywordtype">double</span> mPsec2_trans_acceleration;
<a name="l00067"></a>00067 <span class="comment">//default rotational acceleration in rad/sec</span>
<a name="l00068"></a>00068 <span class="keywordtype">double</span> radPsec2_rot_acceleration;
<a name="l00069"></a>00069
<a name="l00070"></a>00070 <span class="comment">// absolute heading dio address (if ommited then absolute heading not used)</span>
<a name="l00071"></a>00071 <span class="keywordtype">int</span> heading_home_address;
<a name="l00072"></a>00072 <span class="comment">// home on startup</span>
<a name="l00073"></a>00073 <span class="keywordtype">bool</span> home_on_start;
<a name="l00074"></a>00074
<a name="l00075"></a>00075 <span class="comment">// use rflex joystick to command robot?</span>
<a name="l00076"></a>00076 <span class="keywordtype">bool</span> use_joystick;
<a name="l00077"></a>00077 <span class="keywordtype">double</span> joy_pos_ratio, joy_ang_ratio;
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <span class="comment">//maximum number of sonar supported by modules</span>
<a name="l00080"></a>00080 <span class="comment">//(generally 16*number of sonar controller boards, or banks)</span>
<a name="l00081"></a>00081 <span class="keywordtype">int</span> max_num_sonars;
<a name="l00082"></a>00082 <span class="comment">//total number of physical sonar</span>
<a name="l00083"></a>00083 <span class="keywordtype">int</span> num_sonars;
<a name="l00084"></a>00084 <span class="comment">//how long to buffer for filter (filter just takes smallest of last n readings)</span>
<a name="l00085"></a>00085 <span class="keywordtype">int</span> sonar_age;
<a name="l00086"></a>00086 <span class="comment">//number of physical sonar sonar controller boards or banks on your robot</span>
<a name="l00087"></a>00087 <span class="keywordtype">int</span> num_sonar_banks;
<a name="l00088"></a>00088 <span class="comment">// number of sonars that can be attached to each sonar controller (16)</span>
<a name="l00089"></a>00089 <span class="keywordtype">int</span> num_sonars_possible_per_bank;
<a name="l00090"></a>00090 <span class="comment">// number of actual sonar attached to each sonar controller, (in each bank)</span>
<a name="l00091"></a>00091 <span class="keywordtype">int</span> *num_sonars_in_bank;
<a name="l00092"></a>00092 <span class="comment">// pose of each sonar on the robot (x,y,t) in rad and mm</span>
<a name="l00093"></a>00093 <span class="comment">// note i is forwards, j is left</span>
<a name="l00094"></a>00094 <a class="code" href="structplayer__pose3d.html" title="A pose in space.">player_pose3d_t</a> *mrad_sonar_poses;
<a name="l00095"></a>00095 <span class="comment">//not sure what these do yet actually</span>
<a name="l00096"></a>00096 <span class="keywordtype">long</span> sonar_echo_delay;
<a name="l00097"></a>00097 <span class="keywordtype">long</span> sonar_ping_delay;
<a name="l00098"></a>00098 <span class="keywordtype">long</span> sonar_set_delay;
<a name="l00099"></a>00099 <span class="comment">// options to support 2nd sonar bank</span>
<a name="l00100"></a>00100 <span class="keywordtype">long</span> sonar_2nd_bank_start;
<a name="l00101"></a>00101 <span class="keywordtype">long</span> sonar_1st_bank_end;
<a name="l00102"></a>00102 <span class="keywordtype">long</span> sonar_max_range; <span class="comment">// in mm</span>
<a name="l00103"></a>00103
<a name="l00104"></a>00104
<a name="l00105"></a>00105 <span class="comment">// bumper configs</span>
<a name="l00106"></a>00106 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> bumper_count;
<a name="l00107"></a>00107 <span class="keywordtype">int</span> bumper_address;
<a name="l00109"></a><a class="code" href="structrflex__config__t.html#a435847ee773a01bb05dea68ff24bfee8">00109</a> <span class="keywordtype">int</span> <a class="code" href="structrflex__config__t.html#a435847ee773a01bb05dea68ff24bfee8" title="bumper bit style">bumper_style</a>;
<a name="l00110"></a>00110 <a class="code" href="structplayer__bumper__define.html" title="The geometry of a single bumper.">player_bumper_define_t</a> * bumper_def;
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="comment">// power configs</span>
<a name="l00113"></a>00113 <span class="keywordtype">float</span> power_offset;
<a name="l00114"></a>00114
<a name="l00115"></a>00115 <span class="comment">// ir configs</span>
<a name="l00116"></a>00116 <a class="code" href="structplayer__ir__pose.html" title="Request/reply: get pose.">player_ir_pose_t</a> ir_poses;
<a name="l00117"></a>00117 <span class="keywordtype">int</span> ir_base_bank;
<a name="l00118"></a>00118 <span class="keywordtype">int</span> ir_bank_count;
<a name="l00119"></a>00119 <span class="keywordtype">int</span> ir_total_count;
<a name="l00120"></a>00120 <span class="keywordtype">int</span> * ir_count;
<a name="l00121"></a>00121 <span class="keywordtype">double</span> * ir_a;
<a name="l00122"></a>00122 <span class="keywordtype">double</span> * ir_b;
<a name="l00123"></a>00123 <span class="keywordtype">float</span> ir_min_range;
<a name="l00124"></a>00124 <span class="keywordtype">float</span> ir_max_range;
<a name="l00125"></a>00125 } <a class="code" href="structrflex__config__t.html">rflex_config_t</a>;
<a name="l00126"></a>00126
<a name="l00127"></a>00127 <span class="comment">//notice - every file that includes this header gets a GLOBAL rflex_configs!!</span>
<a name="l00128"></a>00128 <span class="comment">// be careful</span>
<a name="l00129"></a>00129 <span class="keyword">extern</span> <a class="code" href="structrflex__config__t.html">rflex_config_t</a> rflex_configs;
<a name="l00130"></a>00130
<a name="l00131"></a>00131 <span class="comment">/************ conversions ********************/</span>
<a name="l00132"></a>00132 <span class="comment">/*** rather obvious - ARB stands for arbitrary (look above) ***/</span>
<a name="l00133"></a>00133
<a name="l00134"></a>00134 <span class="comment">//player uses degrees, but I use radians (so cos, and sin work correctly)</span>
<a name="l00135"></a>00135 <span class="preprocessor">#define ARB2RAD_ODO_CONV(x) ((x)/rflex_configs.odo_angle_conversion)</span>
<a name="l00136"></a>00136 <span class="preprocessor"></span><span class="preprocessor">#define RAD2ARB_ODO_CONV(x) ((x)*rflex_configs.odo_angle_conversion)</span>
<a name="l00137"></a>00137 <span class="preprocessor"></span><span class="preprocessor">#define ARB2M_ODO_CONV(x) ((x)/rflex_configs.odo_distance_conversion)</span>
<a name="l00138"></a>00138 <span class="preprocessor"></span><span class="preprocessor">#define M2ARB_ODO_CONV(x) ((x)*rflex_configs.odo_distance_conversion)</span>
<a name="l00139"></a>00139 <span class="preprocessor"></span>
<a name="l00140"></a>00140 <span class="preprocessor">#define ARB2M_RANGE_CONV(x) (x/rflex_configs.range_distance_conversion)</span>
<a name="l00141"></a>00141 <span class="preprocessor"></span><span class="preprocessor">#define M2ARB_RANGE_CONV(x) (x*rflex_configs.range_distance_conversion)</span>
<a name="l00142"></a>00142 <span class="preprocessor"></span>
<a name="l00143"></a>00143 <span class="preprocessor">#endif</span>
<a name="l00144"></a>00144 <span class="preprocessor"></span>
<a name="l00145"></a>00145
<a name="l00146"></a>00146
<a name="l00147"></a>00147
<a name="l00148"></a>00148
<a name="l00149"></a>00149
<a name="l00150"></a>00150
<a name="l00151"></a>00151
<a name="l00152"></a>00152
</pre></div></div>
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