robot_params.cc
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00001 /*
00002  *  P2OS for ROS
00003  *  Copyright (C) 2009
00004  *     David Feil-Seifer, Brian Gerkey, Kasper Stoy, 
00005  *      Richard Vaughan, & Andrew Howard
00006  *
00007  *
00008  *  This program is free software; you can redistribute it and/or modify
00009  *  it under the terms of the GNU General Public License as published by
00010  *  the Free Software Foundation; either version 2 of the License, or
00011  *  (at your option) any later version.
00012  *
00013  *  This program is distributed in the hope that it will be useful,
00014  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016  *  GNU General Public License for more details.
00017  *
00018  *  You should have received a copy of the GNU General Public License
00019  *  along with this program; if not, write to the Free Software
00020  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00021  *
00022  */
00023 
00024 /*
00025  * robot_params.cc
00026  *
00027  * ActivMedia robot parameters, automatically generated by saphconv.tcl from
00028  * Saphira parameter files:
00029  *    amigo.p
00030  *    amigo-sh.p
00031  *    p2at.p
00032  *    p2at8+.p
00033  *    p2at8.p
00034  *    p2ce.p
00035  *    p2d8+.p
00036  *    p2d8.p
00037  *    p2de.p
00038  *    p2df.p
00039  *    p2dx.p
00040  *    p2it.p
00041  *    p2pb.p
00042  *    p2pp.p
00043  *    p3at-sh.p
00044  *    p3at.p
00045  *    p3atiw.p
00046  *    p3dx-sh.p
00047  *    p3dx.p
00048  *    peoplebot-sh.p
00049  *    perfpb+.p
00050  *    perfpb.p
00051  *    pion1m.p
00052  *    pion1x.p
00053  *    pionat.p
00054  *    powerbot-sh.p
00055  *    powerbot.p
00056  *    psos1m.p
00057  *    psos1x.p
00058 */
00059 #include <p2os_driver/robot_params.h>
00060 
00061 
00062 RobotParams_t amigo_params =
00063 {
00064   0.001534,
00065   "Pioneer",
00066   0.011,
00067   0.5083,
00068   0,
00069   1.626,
00070   1,
00071   1,
00072   0,
00073   0,
00074   0,
00075   "",
00076   "",
00077   0,
00078   1,
00079   0,
00080   0,
00081   0,
00082   300,
00083   1000,
00084   0,
00085   5,
00086   5,
00087   1,
00088   0,
00089   0,
00090   0,
00091   120,
00092   330,
00093   180,
00094   279,
00095   0,
00096   0,
00097   0,
00098   1,
00099   1,
00100   8,
00101   "amigo",
00102   38400,
00103   0,
00104   0,
00105   0,
00106   0,
00107   20,
00108   0.6154,
00109   {
00110     { 73, 105, 90 },
00111     { 130, 78, 41 },
00112     { 154, 30, 15 },
00113     { 154, -30, -15 },
00114     { 130, -78, -41 },
00115     { 73, -105, -90 },
00116     { -146, -60, -145 },
00117     { -146, 60, 145 },
00118   }
00119 };
00120 
00121 RobotParams_t amigo_sh_params =
00122 {
00123   0.001534,
00124   "Pioneer",
00125   0.011,
00126   1.0,
00127   0,
00128   1.626,
00129   1,
00130   1,
00131   0,
00132   0,
00133   0,
00134   "",
00135   "",
00136   0,
00137   1,
00138   0,
00139   0,
00140   0,
00141   300,
00142   1000,
00143   0,
00144   5,
00145   5,
00146   1,
00147   0,
00148   0,
00149   0,
00150   120,
00151   330,
00152   180,
00153   279,
00154   0,
00155   0,
00156   0,
00157   1,
00158   1,
00159   8,
00160   "amigo-sh",
00161   38400,
00162   0,
00163   0,
00164   0,
00165   0,
00166   20,
00167   1.3746,
00168   {
00169     { 73, 105, 90 },
00170     { 130, 78, 41 },
00171     { 154, 30, 15 },
00172     { 154, -30, -15 },
00173     { 130, -78, -41 },
00174     { 73, -105, -90 },
00175     { -146, -60, -145 },
00176     { -146, 60, 145 },
00177   }
00178 };
00179 
00180 RobotParams_t p2at_params =
00181 {
00182   0.001534,
00183   "Pioneer",
00184   0.0034,
00185   1.32,
00186   0,
00187   1.626,
00188   1,
00189   1,
00190   0,
00191   0,
00192   0,
00193   "",
00194   "COM3",
00195   0,
00196   1,
00197   0,
00198   160,
00199   7,
00200   300,
00201   1200,
00202   0,
00203   5,
00204   5,
00205   0.268,
00206   0,
00207   0,
00208   0,
00209   120,
00210   626,
00211   500,
00212   505,
00213   0,
00214   0,
00215   0,
00216   1,
00217   1,
00218   16,
00219   "p2at",
00220   38400,
00221   0,
00222   0,
00223   0,
00224   0,
00225   20,
00226   1,
00227   {
00228     { 145, 130, 90 },
00229     { 185, 115, 50 },
00230     { 220, 80, 30 },
00231     { 240, 25, 10 },
00232     { 240, -25, -10 },
00233     { 220, -80, -30 },
00234     { 185, -115, -50 },
00235     { 145, -130, -90 },
00236     { -145, -130, -90 },
00237     { -185, -115, -130 },
00238     { -220, -80, -150 },
00239     { -240, -25, -170 },
00240     { -240, 25, 170 },
00241     { -220, 80, 150 },
00242     { -185, 115, 130 },
00243     { -145, 130, 90 },
00244   }
00245 };
00246 
00247 RobotParams_t p2at8plus_params =
00248 {
00249   0.001534,
00250   "Pioneer",
00251   0.0034,
00252   0.465,
00253   0,
00254   1.626,
00255   1,
00256   1,
00257   0,
00258   0,
00259   0,
00260   "",
00261   "COM3",
00262   0,
00263   1,
00264   0,
00265   160,
00266   7,
00267   300,
00268   1200,
00269   0,
00270   5,
00271   5,
00272   1,
00273   0,
00274   0,
00275   0,
00276   120,
00277   626,
00278   500,
00279   505,
00280   0,
00281   0,
00282   0,
00283   1,
00284   1,
00285   16,
00286   "p2at8+",
00287   38400,
00288   0,
00289   0,
00290   0,
00291   0,
00292   20,
00293   1,
00294   {
00295     { 145, 130, 90 },
00296     { 185, 115, 50 },
00297     { 220, 80, 30 },
00298     { 240, 25, 10 },
00299     { 240, -25, -10 },
00300     { 220, -80, -30 },
00301     { 185, -115, -50 },
00302     { 145, -130, -90 },
00303     { -145, -130, -90 },
00304     { -185, -115, -130 },
00305     { -220, -80, -150 },
00306     { -240, -25, -170 },
00307     { -240, 25, 170 },
00308     { -220, 80, 150 },
00309     { -185, 115, 130 },
00310     { -145, 130, 90 },
00311   }
00312 };
00313 
00314 RobotParams_t p2at8_params =
00315 {
00316   0.001534,
00317   "Pioneer",
00318   0.0034,
00319   1.32,
00320   0,
00321   1.626,
00322   1,
00323   1,
00324   0,
00325   0,
00326   0,
00327   "",
00328   "COM3",
00329   0,
00330   1,
00331   0,
00332   160,
00333   7,
00334   300,
00335   1200,
00336   0,
00337   5,
00338   5,
00339   1,
00340   0,
00341   0,
00342   0,
00343   120,
00344   626,
00345   500,
00346   505,
00347   0,
00348   0,
00349   0,
00350   1,
00351   1,
00352   16,
00353   "p2at8",
00354   38400,
00355   0,
00356   0,
00357   0,
00358   0,
00359   20,
00360   1,
00361   {
00362     { 145, 130, 90 },
00363     { 185, 115, 50 },
00364     { 220, 80, 30 },
00365     { 240, 25, 10 },
00366     { 240, -25, -10 },
00367     { 220, -80, -30 },
00368     { 185, -115, -50 },
00369     { 145, -130, -90 },
00370     { -145, -130, -90 },
00371     { -185, -115, -130 },
00372     { -220, -80, -150 },
00373     { -240, -25, -170 },
00374     { -240, 25, 170 },
00375     { -220, 80, 150 },
00376     { -185, 115, 130 },
00377     { -145, 130, 90 },
00378   }
00379 };
00380 
00381 RobotParams_t p2ce_params =
00382 {
00383   0.001534,
00384   "Pioneer",
00385   0.0057,
00386   0.826,
00387   0,
00388   1.626,
00389   1,
00390   1,
00391   0,
00392   0,
00393   0,
00394   "",
00395   "",
00396   0,
00397   1,
00398   0,
00399   0,
00400   0,
00401   500,
00402   2200,
00403   0,
00404   5,
00405   5,
00406   0.268,
00407   0,
00408   0,
00409   0,
00410   120,
00411   511,
00412   250,
00413   425,
00414   0,
00415   0,
00416   0,
00417   1,
00418   1,
00419   16,
00420   "p2ce",
00421   38400,
00422   0,
00423   0,
00424   0,
00425   0,
00426   20,
00427   1,
00428   {
00429     { 115, 130, 90 },
00430     { 155, 115, 50 },
00431     { 190, 80, 30 },
00432     { 210, 25, 10 },
00433     { 210, -25, -10 },
00434     { 190, -80, -30 },
00435     { 155, -115, -50 },
00436     { 115, -130, -90 },
00437     { -115, -130, -90 },
00438     { -155, -115, -130 },
00439     { -190, -80, -150 },
00440     { -210, -25, -170 },
00441     { -210, 25, 170 },
00442     { -190, 80, 150 },
00443     { -155, 115, 130 },
00444     { -115, 130, 90 },
00445   }
00446 };
00447 
00448 RobotParams_t p2d8plus_params =
00449 {
00450   0.001534,
00451   "Pioneer",
00452   0.0056,
00453   0.485,
00454   0,
00455   1.626,
00456   1,
00457   1,
00458   0,
00459   0,
00460   0,
00461   "",
00462   "COM3",
00463   0,
00464   1,
00465   0,
00466   18,
00467   0,
00468   500,
00469   2200,
00470   0,
00471   5,
00472   5,
00473   1,
00474   0,
00475   0,
00476   0,
00477   120,
00478   511,
00479   250,
00480   425,
00481   0,
00482   0,
00483   0,
00484   1,
00485   1,
00486   16,
00487   "p2d8+",
00488   38400,
00489   0,
00490   0,
00491   0,
00492   0,
00493   20,
00494   1,
00495   {
00496     { 115, 130, 90 },
00497     { 155, 115, 50 },
00498     { 190, 80, 30 },
00499     { 210, 25, 10 },
00500     { 210, -25, -10 },
00501     { 190, -80, -30 },
00502     { 155, -115, -50 },
00503     { 115, -130, -90 },
00504     { -115, -130, -90 },
00505     { -155, -115, -130 },
00506     { -190, -80, -150 },
00507     { -210, -25, -170 },
00508     { -210, 25, 170 },
00509     { -190, 80, 150 },
00510     { -155, 115, 130 },
00511     { -115, 130, 90 },
00512   }
00513 };
00514 
00515 RobotParams_t p2d8_params =
00516 {
00517   0.001534,
00518   "Pioneer",
00519   0.0056,
00520   0.485,
00521   0,
00522   1.626,
00523   1,
00524   1,
00525   0,
00526   0,
00527   0,
00528   "",
00529   "COM3",
00530   0,
00531   1,
00532   0,
00533   18,
00534   0,
00535   500,
00536   2200,
00537   0,
00538   5,
00539   5,
00540   1,
00541   0,
00542   0,
00543   0,
00544   120,
00545   511,
00546   250,
00547   425,
00548   0,
00549   0,
00550   0,
00551   1,
00552   1,
00553   16,
00554   "p2d8",
00555   38400,
00556   0,
00557   0,
00558   0,
00559   0,
00560   20,
00561   1,
00562   {
00563     { 115, 130, 90 },
00564     { 155, 115, 50 },
00565     { 190, 80, 30 },
00566     { 210, 25, 10 },
00567     { 210, -25, -10 },
00568     { 190, -80, -30 },
00569     { 155, -115, -50 },
00570     { 115, -130, -90 },
00571     { -115, -130, -90 },
00572     { -155, -115, -130 },
00573     { -190, -80, -150 },
00574     { -210, -25, -170 },
00575     { -210, 25, 170 },
00576     { -190, 80, 150 },
00577     { -155, 115, 130 },
00578     { -115, 130, 90 },
00579   }
00580 };
00581 
00582 RobotParams_t p2de_params =
00583 {
00584   0.001534,
00585   "Pioneer",
00586   0.0056,
00587   0.969,
00588   0,
00589   1.626,
00590   1,
00591   1,
00592   0,
00593   0,
00594   0,
00595   "",
00596   "COM3",
00597   0,
00598   1,
00599   0,
00600   17,
00601   8,
00602   500,
00603   2200,
00604   0,
00605   5,
00606   5,
00607   0.268,
00608   0,
00609   0,
00610   0,
00611   120,
00612   511,
00613   250,
00614   425,
00615   0,
00616   0,
00617   0,
00618   1,
00619   1,
00620   16,
00621   "p2de",
00622   38400,
00623   0,
00624   0,
00625   0,
00626   0,
00627   20,
00628   1,
00629   {
00630     { 115, 130, 90 },
00631     { 155, 115, 50 },
00632     { 190, 80, 30 },
00633     { 210, 25, 10 },
00634     { 210, -25, -10 },
00635     { 190, -80, -30 },
00636     { 155, -115, -50 },
00637     { 115, -130, -90 },
00638     { -115, -130, -90 },
00639     { -155, -115, -130 },
00640     { -190, -80, -150 },
00641     { -210, -25, -170 },
00642     { -210, 25, 170 },
00643     { -190, 80, 150 },
00644     { -155, 115, 130 },
00645     { -115, 130, 90 },
00646   }
00647 };
00648 
00649 RobotParams_t p2df_params =
00650 {
00651   0.001534,
00652   "Pioneer",
00653   0.006,
00654   0.485,
00655   0,
00656   1.626,
00657   1,
00658   1,
00659   0,
00660   0,
00661   0,
00662   "",
00663   "COM3",
00664   0,
00665   1,
00666   0,
00667   17,
00668   8,
00669   500,
00670   2200,
00671   0,
00672   5,
00673   5,
00674   0.268,
00675   0,
00676   0,
00677   0,
00678   120,
00679   511,
00680   250,
00681   425,
00682   0,
00683   0,
00684   0,
00685   1,
00686   1,
00687   16,
00688   "p2df",
00689   38400,
00690   0,
00691   0,
00692   0,
00693   0,
00694   20,
00695   1,
00696   {
00697     { 115, 130, 90 },
00698     { 155, 115, 50 },
00699     { 190, 80, 30 },
00700     { 210, 25, 10 },
00701     { 210, -25, -10 },
00702     { 190, -80, -30 },
00703     { 155, -115, -50 },
00704     { 115, -130, -90 },
00705     { -115, -130, -90 },
00706     { -155, -115, -130 },
00707     { -190, -80, -150 },
00708     { -210, -25, -170 },
00709     { -210, 25, 170 },
00710     { -190, 80, 150 },
00711     { -155, 115, 130 },
00712     { -115, 130, 90 },
00713   }
00714 };
00715 
00716 RobotParams_t p2dx_params =
00717 {
00718   0.001534,
00719   "Pioneer",
00720   0.0056,
00721   0.84,
00722   0,
00723   1.626,
00724   1,
00725   1,
00726   0,
00727   0,
00728   0,
00729   "",
00730   "COM3",
00731   0,
00732   1,
00733   0,
00734   17,
00735   8,
00736   500,
00737   2200,
00738   0,
00739   5,
00740   5,
00741   0.268,
00742   0,
00743   0,
00744   0,
00745   120,
00746   511,
00747   250,
00748   425,
00749   0,
00750   0,
00751   0,
00752   1,
00753   1,
00754   16,
00755   "p2dx",
00756   38400,
00757   0,
00758   0,
00759   0,
00760   0,
00761   20,
00762   1,
00763   {
00764     { 115, 130, 90 },
00765     { 155, 115, 50 },
00766     { 190, 80, 30 },
00767     { 210, 25, 10 },
00768     { 210, -25, -10 },
00769     { 190, -80, -30 },
00770     { 155, -115, -50 },
00771     { 115, -130, -90 },
00772     { -115, -130, -90 },
00773     { -155, -115, -130 },
00774     { -190, -80, -150 },
00775     { -210, -25, -170 },
00776     { -210, 25, 170 },
00777     { -190, 80, 150 },
00778     { -155, 115, 130 },
00779     { -115, 130, 90 },
00780   }
00781 };
00782 
00783 RobotParams_t p2it_params =
00784 {
00785   0.001534,
00786   "Pioneer",
00787   0.0032,
00788   1.136,
00789   0,
00790   1.626,
00791   1,
00792   1,
00793   0,
00794   0,
00795   0,
00796   "",
00797   "COM3",
00798   0,
00799   1,
00800   0,
00801   160,
00802   7,
00803   300,
00804   1200,
00805   0,
00806   5,
00807   5,
00808   0.268,
00809   0,
00810   0,
00811   0,
00812   120,
00813   626,
00814   500,
00815   505,
00816   0,
00817   0,
00818   0,
00819   1,
00820   1,
00821   16,
00822   "p2it",
00823   38400,
00824   0,
00825   0,
00826   0,
00827   0,
00828   20,
00829   1,
00830   {
00831     { 145, 130, 90 },
00832     { 185, 115, 50 },
00833     { 220, 80, 30 },
00834     { 240, 25, 10 },
00835     { 240, -25, -10 },
00836     { 220, -80, -30 },
00837     { 185, -115, -50 },
00838     { 145, -130, -90 },
00839     { -145, -130, -90 },
00840     { -185, -115, -130 },
00841     { -220, -80, -150 },
00842     { -240, -25, -170 },
00843     { -240, 25, 170 },
00844     { -220, 80, 150 },
00845     { -185, 115, 130 },
00846     { -145, 130, 90 },
00847   }
00848 };
00849 
00850 RobotParams_t p2pb_params =
00851 {
00852   0.001534,
00853   "Pioneer",
00854   0.0056,
00855   0.424,
00856   1,
00857   1.626,
00858   1,
00859   1,
00860   0,
00861   0,
00862   0,
00863   "",
00864   "COM3",
00865   0,
00866   1,
00867   0,
00868   17,
00869   8,
00870   500,
00871   2200,
00872   0,
00873   5,
00874   5,
00875   0.268,
00876   1,
00877   0,
00878   0,
00879   120,
00880   513,
00881   300,
00882   425,
00883   0,
00884   0,
00885   0,
00886   1,
00887   1,
00888   24,
00889   "p2pb",
00890   38400,
00891   0,
00892   0,
00893   0,
00894   0,
00895   20,
00896   1,
00897   {
00898     { 115, 130, 90 },
00899     { 155, 115, 50 },
00900     { 190, 80, 30 },
00901     { 210, 25, 10 },
00902     { 210, -25, -10 },
00903     { 190, -80, -30 },
00904     { 155, -115, -50 },
00905     { 115, -130, -90 },
00906     { 50, 130, 90 },
00907     { 90, 115, 50 },
00908     { 125, 80, 30 },
00909     { 145, 25, 10 },
00910     { 145, -25, -10 },
00911     { 125, -80, -30 },
00912     { 90, -115, -50 },
00913     { 50, -130, -90 },
00914     { -115, -130, -90 },
00915     { -155, -115, -130 },
00916     { -190, -80, -150 },
00917     { -210, -25, -170 },
00918     { -210, 25, 170 },
00919     { -190, 80, 150 },
00920     { -155, 115, 130 },
00921     { -115, 130, 90 },
00922   }
00923 };
00924 
00925 RobotParams_t p2pp_params =
00926 {
00927   0.001534,
00928   "Pioneer",
00929   0.006,
00930   0.485,
00931   1,
00932   1.626,
00933   1,
00934   1,
00935   0,
00936   0,
00937   0,
00938   "",
00939   "COM3",
00940   0,
00941   1,
00942   0,
00943   16,
00944   1,
00945   500,
00946   2200,
00947   0,
00948   5,
00949   5,
00950   0.268,
00951   1,
00952   0,
00953   0,
00954   120,
00955   513,
00956   300,
00957   425,
00958   0,
00959   0,
00960   0,
00961   1,
00962   1,
00963   24,
00964   "p2pp",
00965   38400,
00966   1,
00967   0,
00968   0,
00969   0,
00970   20,
00971   1,
00972   {
00973     { 115, 130, 90 },
00974     { 155, 115, 50 },
00975     { 190, 80, 30 },
00976     { 210, 25, 10 },
00977     { 210, -25, -10 },
00978     { 190, -80, -30 },
00979     { 155, -115, -50 },
00980     { 115, -130, -90 },
00981     { 50, 130, 90 },
00982     { 90, 115, 50 },
00983     { 125, 80, 30 },
00984     { 145, 25, 10 },
00985     { 145, -25, -10 },
00986     { 125, -80, -30 },
00987     { 90, -115, -50 },
00988     { 50, -130, -90 },
00989     { -115, -130, -90 },
00990     { -155, -115, -130 },
00991     { -190, -80, -150 },
00992     { -210, -25, -170 },
00993     { -210, 25, 170 },
00994     { -190, 80, 150 },
00995     { -155, 115, 130 },
00996     { -115, 130, 90 },
00997   }
00998 };
00999 
01000 RobotParams_t p3at_sh_params =
01001 {
01002   0.001534,
01003   "Pioneer",
01004   0.0034,
01005   1,
01006   0,
01007   1.626,
01008   1,
01009   1,
01010   0,
01011   0,
01012   0,
01013   "",
01014   "COM3",
01015   0,
01016   1,
01017   0,
01018   125,
01019   0,
01020   300,
01021   1200,
01022   0,
01023   5,
01024   5,
01025   1,
01026   0,
01027   0,
01028   0,
01029   120,
01030   626,
01031   500,
01032   505,
01033   0,
01034   0,
01035   0,
01036   1,
01037   1,
01038   16,
01039   "p3at-sh",
01040   38400,
01041   0,
01042   0,
01043   0,
01044   0,
01045   20,
01046   1,
01047   {
01048     { 145, 130, 90 },
01049     { 185, 115, 50 },
01050     { 220, 80, 30 },
01051     { 240, 25, 10 },
01052     { 240, -25, -10 },
01053     { 220, -80, -30 },
01054     { 185, -115, -50 },
01055     { 145, -130, -90 },
01056     { -145, -130, -90 },
01057     { -185, -115, -130 },
01058     { -220, -80, -150 },
01059     { -240, -25, -170 },
01060     { -240, 25, 170 },
01061     { -220, 80, 150 },
01062     { -185, 115, 130 },
01063     { -145, 130, 90 },
01064   }
01065 };
01066 
01067 RobotParams_t p3at_params =
01068 {
01069   0.001534,
01070   "Pioneer",
01071   0.0034,
01072   0.465,
01073   0,
01074   1.626,
01075   1,
01076   1,
01077   0,
01078   0,
01079   0,
01080   "",
01081   "COM3",
01082   0,
01083   1,
01084   0,
01085   160,
01086   7,
01087   300,
01088   1200,
01089   0,
01090   5,
01091   5,
01092   1,
01093   0,
01094   0,
01095   0,
01096   120,
01097   626,
01098   500,
01099   505,
01100   0,
01101   0,
01102   0,
01103   1,
01104   1,
01105   16,
01106   "p3at",
01107   38400,
01108   0,
01109   0,
01110   0,
01111   0,
01112   20,
01113   1,
01114   {
01115     { 145, 130, 90 },
01116     { 185, 115, 50 },
01117     { 220, 80, 30 },
01118     { 240, 25, 10 },
01119     { 240, -25, -10 },
01120     { 220, -80, -30 },
01121     { 185, -115, -50 },
01122     { 145, -130, -90 },
01123     { -145, -130, -90 },
01124     { -185, -115, -130 },
01125     { -220, -80, -150 },
01126     { -240, -25, -170 },
01127     { -240, 25, 170 },
01128     { -220, 80, 150 },
01129     { -185, 115, 130 },
01130     { -145, 130, 90 },
01131   }
01132 };
01133 
01134 RobotParams_t p3atiw_params =
01135 {
01136   0.001534,
01137   "Pioneer",
01138   0.0034,
01139   0.3768,
01140   0,
01141   0,
01142   1,
01143   1,
01144   0,
01145   0,
01146   0,
01147   "0",
01148   "COM3",
01149   0,
01150   1,
01151   0,
01152   160,
01153   7,
01154   300,
01155   1200,
01156   0,
01157   5,
01158   5,
01159   1,
01160   0,
01161   0,
01162   0,
01163   120,
01164   0,
01165   500,
01166   0,
01167   0,
01168   0,
01169   0,
01170   1,
01171   1,
01172   16,
01173   "p3at",
01174   38400,
01175   0,
01176   0,
01177   0,
01178   0,
01179   20,
01180   1,
01181   {
01182     { 145, 130, 90 },
01183     { 185, 115, 50 },
01184     { 220, 80, 30 },
01185     { 240, 25, 10 },
01186     { 240, -25, -10 },
01187     { 220, -80, -30 },
01188     { 185, -115, -50 },
01189     { 145, -130, -90 },
01190     { -145, -130, -90 },
01191     { -185, -115, -130 },
01192     { -220, -80, -150 },
01193     { -240, -25, -170 },
01194     { -240, 25, 170 },
01195     { -220, 80, 150 },
01196     { -185, 115, 130 },
01197     { -145, 130, 90 },
01198   }
01199 };
01200 
01201 RobotParams_t p3dx_sh_params =
01202 {
01203   0.001534,
01204   "Pioneer",
01205   0.0056,
01206   1,
01207   5,
01208   1.626,
01209   1,
01210   1,
01211   0,
01212   0,
01213   0,
01214   "",
01215   "COM3",
01216   0,
01217   1,
01218   0,
01219   18,
01220   0,
01221   500,
01222   2200,
01223   0,
01224   5,
01225   5,
01226   1,
01227   5,
01228   0,
01229   0,
01230   120,
01231   511,
01232   250,
01233   425,
01234   0,
01235   0,
01236   0,
01237   1,
01238   1,
01239   16,
01240   "p3dx-sh",
01241   38400,
01242   0,
01243   0,
01244   0,
01245   0,
01246   20,
01247   1,
01248   {
01249     { 115, 130, 90 },
01250     { 155, 115, 50 },
01251     { 190, 80, 30 },
01252     { 210, 25, 10 },
01253     { 210, -25, -10 },
01254     { 190, -80, -30 },
01255     { 155, -115, -50 },
01256     { 115, -130, -90 },
01257     { -115, -130, -90 },
01258     { -155, -115, -130 },
01259     { -190, -80, -150 },
01260     { -210, -25, -170 },
01261     { -210, 25, 170 },
01262     { -190, 80, 150 },
01263     { -155, 115, 130 },
01264     { -115, 130, 90 },
01265   },
01266 /*  {
01267     { 0.14, -0.181, 308, 0.098, 0 },
01268     { 0.196, -0.099, 341, 0.098, 0 },
01269     { 0.212, 0, 0, 0.098, 0 },
01270     { 0.196, 0.099, 19, 0.098, 0 },
01271     { 0.14, 0.181, 52, 0.098, 0 },
01272     { -0.203, 0.17, 116, 0.098, 0 },
01273     { -0.275, 0.098, 155.5, 0.098, 0 },
01274     { -0.2985, 0, 0, 0.098, 0 },
01275     { -0.275, -0.098, 204.5, 0.098, 0 },
01276     { -0.203, -0.17, 244, 0.098, 0 },
01277   }*/
01278 };
01279 
01280 RobotParams_t p3dx_params =
01281 {
01282   0.001534,
01283   "Pioneer",
01284   0.0056,
01285   0.485,
01286   0,
01287   1.626,
01288   1,
01289   1,
01290   0,
01291   0,
01292   0,
01293   "",
01294   "COM3",
01295   0,
01296   1,
01297   0,
01298   18,
01299   0,
01300   500,
01301   2200,
01302   0,
01303   5,
01304   5,
01305   1,
01306   0,
01307   0,
01308   0,
01309   120,
01310   511,
01311   250,
01312   425,
01313   0,
01314   0,
01315   0,
01316   1,
01317   1,
01318   16,
01319   "p3dx",
01320   38400,
01321   0,
01322   0,
01323   0,
01324   0,
01325   20,
01326   1,
01327   {
01328     { 115, 130, 90 },
01329     { 155, 115, 50 },
01330     { 190, 80, 30 },
01331     { 210, 25, 10 },
01332     { 210, -25, -10 },
01333     { 190, -80, -30 },
01334     { 155, -115, -50 },
01335     { 115, -130, -90 },
01336     { -115, -130, -90 },
01337     { -155, -115, -130 },
01338     { -190, -80, -150 },
01339     { -210, -25, -170 },
01340     { -210, 25, 170 },
01341     { -190, 80, 150 },
01342     { -155, 115, 130 },
01343     { -115, 130, 90 },
01344   }
01345 };
01346 
01347 RobotParams_t peoplebot_sh_params =
01348 {
01349   0.001534,
01350   "Pioneer",
01351   0.006,
01352   1,
01353   1,
01354   1.626,
01355   1,
01356   1,
01357   4,
01358   3,
01359   0,
01360   "",
01361   "COM3",
01362   0,
01363   1,
01364   0,
01365   21,
01366   0,
01367   500,
01368   2200,
01369   1,
01370   5,
01371   5,
01372   1,
01373   1,
01374   0,
01375   1,
01376   120,
01377   513,
01378   340,
01379   425,
01380   0,
01381   0,
01382   0,
01383   1,
01384   1,
01385   32,
01386   "peoplebot-sh",
01387   38400,
01388   1,
01389   0,
01390   0,
01391   0,
01392   20,
01393   1,
01394   {
01395     { 115, 130, 90 },
01396     { 155, 115, 50 },
01397     { 190, 80, 30 },
01398     { 210, 25, 10 },
01399     { 210, -25, -10 },
01400     { 190, -80, -30 },
01401     { 155, -115, -50 },
01402     { 115, -130, -90 },
01403     { -115, -130, -90 },
01404     { -155, -115, -130 },
01405     { -190, -80, -150 },
01406     { -210, -25, -170 },
01407     { -210, 25, 170 },
01408     { -190, 80, 150 },
01409     { -155, 115, 130 },
01410     { -115, 130, 90 },
01411     { 50, 130, 90 },
01412     { 90, 115, 50 },
01413     { 125, 80, 30 },
01414     { 145, 25, 10 },
01415     { 145, -25, -10 },
01416     { 125, -80, -30 },
01417     { 90, -115, -50 },
01418     { 50, -130, -90 },
01419     { -195, -130, -90 },
01420     { -235, -115, -130 },
01421     { -270, -80, -150 },
01422     { -290, -25, -170 },
01423     { -290, 25, 170 },
01424     { -270, 80, 150 },
01425     { -235, 115, 130 },
01426     { -195, 130, 90 },
01427   }
01428 };
01429 
01430 RobotParams_t perfpbplus_params =
01431 {
01432   0.001534,
01433   "Pioneer",
01434   0.006,
01435   0.485,
01436   1,
01437   1.626,
01438   1,
01439   1,
01440   4,
01441   3,
01442   0,
01443   "",
01444   "COM3",
01445   0,
01446   1,
01447   0,
01448   21,
01449   0,
01450   500,
01451   2200,
01452   1,
01453   5,
01454   5,
01455   1,
01456   1,
01457   0,
01458   1,
01459   120,
01460   513,
01461   340,
01462   425,
01463   0,
01464   0,
01465   0,
01466   1,
01467   1,
01468   32,
01469   "perfpb+",
01470   38400,
01471   1,
01472   0,
01473   0,
01474   0,
01475   20,
01476   1,
01477   {
01478     { 115, 130, 90 },
01479     { 155, 115, 50 },
01480     { 190, 80, 30 },
01481     { 210, 25, 10 },
01482     { 210, -25, -10 },
01483     { 190, -80, -30 },
01484     { 155, -115, -50 },
01485     { 115, -130, -90 },
01486     { 50, 130, 90 },
01487     { 90, 115, 50 },
01488     { 125, 80, 30 },
01489     { 145, 25, 10 },
01490     { 145, -25, -10 },
01491     { 125, -80, -30 },
01492     { 90, -115, -50 },
01493     { 50, -130, -90 },
01494     { -115, -130, -90 },
01495     { -155, -115, -130 },
01496     { -190, -80, -150 },
01497     { -210, -25, -170 },
01498     { -210, 25, 170 },
01499     { -190, 80, 150 },
01500     { -155, 115, 130 },
01501     { -115, 130, 90 },
01502     { -195, -130, -90 },
01503     { -235, -115, -130 },
01504     { -270, -80, -150 },
01505     { -290, -25, -170 },
01506     { -290, 25, 170 },
01507     { -270, 80, 150 },
01508     { -235, 115, 130 },
01509     { -195, 130, 90 },
01510   }
01511 };
01512 
01513 RobotParams_t perfpb_params =
01514 {
01515   0.001534,
01516   "Pioneer",
01517   0.006,
01518   0.485,
01519   1,
01520   1.626,
01521   1,
01522   1,
01523   4,
01524   3,
01525   0,
01526   "",
01527   "COM3",
01528   0,
01529   1,
01530   0,
01531   21,
01532   0,
01533   500,
01534   2200,
01535   1,
01536   5,
01537   5,
01538   1,
01539   1,
01540   0,
01541   1,
01542   120,
01543   513,
01544   340,
01545   425,
01546   0,
01547   0,
01548   0,
01549   1,
01550   1,
01551   32,
01552   "perfpb",
01553   38400,
01554   1,
01555   0,
01556   0,
01557   0,
01558   20,
01559   1,
01560   {
01561     { 115, 130, 90 },
01562     { 155, 115, 50 },
01563     { 190, 80, 30 },
01564     { 210, 25, 10 },
01565     { 210, -25, -10 },
01566     { 190, -80, -30 },
01567     { 155, -115, -50 },
01568     { 115, -130, -90 },
01569     { 50, 130, 90 },
01570     { 90, 115, 50 },
01571     { 125, 80, 30 },
01572     { 145, 25, 10 },
01573     { 145, -25, -10 },
01574     { 125, -80, -30 },
01575     { 90, -115, -50 },
01576     { 50, -130, -90 },
01577     { -115, -130, -90 },
01578     { -155, -115, -130 },
01579     { -190, -80, -150 },
01580     { -210, -25, -170 },
01581     { -210, 25, 170 },
01582     { -190, 80, 150 },
01583     { -155, 115, 130 },
01584     { -115, 130, 90 },
01585     { -195, -130, -90 },
01586     { -235, -115, -130 },
01587     { -270, -80, -150 },
01588     { -290, -25, -170 },
01589     { -290, 25, 170 },
01590     { -270, 80, 150 },
01591     { -235, 115, 130 },
01592     { -195, 130, 90 },
01593   }
01594 };
01595 
01596 RobotParams_t pion1m_params =
01597 {
01598   0.0061359,
01599   "Pioneer",
01600   0.00333333,
01601   0.05066,
01602   0,
01603   1.626,
01604   0,
01605   1,
01606   0,
01607   0,
01608   0,
01609   "",
01610   "",
01611   0,
01612   1,
01613   0,
01614   0,
01615   0,
01616   100,
01617   400,
01618   0,
01619   0,
01620   0,
01621   0.1734,
01622   0,
01623   0,
01624   0,
01625   90,
01626   500,
01627   220,
01628   400,
01629   0,
01630   0,
01631   100,
01632   0,
01633   1,
01634   7,
01635   "pion1m",
01636   0,
01637   0,
01638   0,
01639   0,
01640   400,
01641   4,
01642   2.5332,
01643   {
01644     { 100, 100, 90 },
01645     { 120, 80, 30 },
01646     { 130, 40, 15 },
01647     { 130, 0, 0 },
01648     { 130, -40, -15 },
01649     { 120, -80, -30 },
01650     { 100, -100, -90 },
01651   }
01652 };
01653 
01654 RobotParams_t pion1x_params =
01655 {
01656   0.0061359,
01657   "Pioneer",
01658   0.00333333,
01659   0.05066,
01660   0,
01661   1.626,
01662   0,
01663   1,
01664   0,
01665   0,
01666   0,
01667   "",
01668   "",
01669   0,
01670   1,
01671   0,
01672   0,
01673   0,
01674   100,
01675   400,
01676   0,
01677   0,
01678   0,
01679   0.1734,
01680   0,
01681   0,
01682   0,
01683   90,
01684   500,
01685   220,
01686   400,
01687   0,
01688   0,
01689   100,
01690   0,
01691   1,
01692   7,
01693   "pion1x",
01694   0,
01695   0,
01696   0,
01697   0,
01698   400,
01699   4,
01700   2.5332,
01701   {
01702     { 100, 100, 90 },
01703     { 120, 80, 30 },
01704     { 130, 40, 15 },
01705     { 130, 0, 0 },
01706     { 130, -40, -15 },
01707     { 120, -80, -30 },
01708     { 100, -100, -90 },
01709   }
01710 };
01711 
01712 RobotParams_t pionat_params =
01713 {
01714   0.0061359,
01715   "Pioneer",
01716   0.00333333,
01717   0.07,
01718   0,
01719   1.626,
01720   0,
01721   1,
01722   0,
01723   0,
01724   0,
01725   "",
01726   "",
01727   0,
01728   1,
01729   0,
01730   0,
01731   0,
01732   100,
01733   500,
01734   0,
01735   0,
01736   0,
01737   0.1734,
01738   0,
01739   0,
01740   0,
01741   120,
01742   500,
01743   330,
01744   400,
01745   0,
01746   0,
01747   100,
01748   0,
01749   1,
01750   7,
01751   "pionat",
01752   0,
01753   0,
01754   0,
01755   0,
01756   400,
01757   4,
01758   2.5332,
01759   {
01760     { 100, 100, 90 },
01761     { 120, 80, 30 },
01762     { 130, 40, 15 },
01763     { 130, 0, 0 },
01764     { 130, -40, -15 },
01765     { 120, -80, -30 },
01766     { 100, -100, -90 },
01767   }
01768 };
01769 
01770 RobotParams_t powerbot_sh_params =
01771 {
01772   0.001534,
01773   "Pioneer",
01774   0.00373,
01775   1,
01776   1,
01777   1.626,
01778   1,
01779   1,
01780   0,
01781   0,
01782   1,
01783   "",
01784   "COM2",
01785   0,
01786   1,
01787   0,
01788   251,
01789   0,
01790   360,
01791   2000,
01792   0,
01793   7,
01794   5,
01795   1,
01796   1,
01797   0,
01798   0,
01799   400,
01800   911,
01801   550,
01802   680,
01803   0,
01804   0,
01805   0,
01806   1,
01807   1,
01808   32,
01809   "powerbot-sh",
01810   38400,
01811   0,
01812   0,
01813   0,
01814   0,
01815   20,
01816   1,
01817   {
01818     { 152, 278, 90 },
01819     { 200, 267, 65 },
01820     { 241, 238, 45 },
01821     { 274, 200, 35 },
01822     { 300, 153, 25 },
01823     { 320, 96, 15 },
01824     { 332, 33, 5 },
01825     { 0, 0, -180 },
01826     { 332, -33, -5 },
01827     { 320, -96, -15 },
01828     { 300, -153, -25 },
01829     { 274, -200, -35 },
01830     { 241, -238, -45 },
01831     { 200, -267, -65 },
01832     { 152, -278, -90 },
01833     { 0, 0, -180 },
01834     { -298, -278, -90 },
01835     { -347, -267, -115 },
01836     { -388, -238, -135 },
01837     { -420, -200, -145 },
01838     { -447, -153, -155 },
01839     { -467, -96, -165 },
01840     { -478, -33, -175 },
01841     { 0, 0, -180 },
01842     { -478, 33, 175 },
01843     { -467, 96, 165 },
01844     { -447, 153, 155 },
01845     { -420, 200, 145 },
01846     { -388, 238, 135 },
01847     { -347, 267, 115 },
01848     { -298, 278, 90 },
01849     { 0, 0, -180 },
01850   }
01851 };
01852 
01853 RobotParams_t powerbot_params =
01854 {
01855   0.001534,
01856   "Pioneer",
01857   0.00373,
01858   0.5813,
01859   1,
01860   1.626,
01861   1,
01862   1,
01863   0,
01864   0,
01865   1,
01866   "",
01867   "COM2",
01868   0,
01869   1,
01870   0,
01871   251,
01872   0,
01873   360,
01874   2000,
01875   0,
01876   7,
01877   5,
01878   1,
01879   1,
01880   0,
01881   0,
01882   400,
01883   911,
01884   550,
01885   680,
01886   0,
01887   0,
01888   0,
01889   1,
01890   1,
01891   32,
01892   "powerbot",
01893   38400,
01894   0,
01895   0,
01896   0,
01897   0,
01898   20,
01899   1,
01900   {
01901     { 152, 278, 90 },
01902     { 200, 267, 65 },
01903     { 241, 238, 45 },
01904     { 274, 200, 35 },
01905     { 300, 153, 25 },
01906     { 320, 96, 15 },
01907     { 332, 33, 5 },
01908     { 0, 0, -180 },
01909     { 332, -33, -5 },
01910     { 320, -96, -15 },
01911     { 300, -153, -25 },
01912     { 274, -200, -35 },
01913     { 241, -238, -45 },
01914     { 200, -267, -65 },
01915     { 152, -278, -90 },
01916     { 0, 0, -180 },
01917     { -298, -278, -90 },
01918     { -347, -267, -115 },
01919     { -388, -238, -135 },
01920     { -420, -200, -145 },
01921     { -447, -153, -155 },
01922     { -467, -96, -165 },
01923     { -478, -33, -175 },
01924     { 0, 0, -180 },
01925     { -478, 33, 175 },
01926     { -467, 96, 165 },
01927     { -447, 153, 155 },
01928     { -420, 200, 145 },
01929     { -388, 238, 135 },
01930     { -347, 267, 115 },
01931     { -298, 278, 90 },
01932   }
01933 };
01934 
01935 RobotParams_t psos1m_params =
01936 {
01937   0.0061359,
01938   "Pioneer",
01939   0.00333333,
01940   0.05066,
01941   0,
01942   1.626,
01943   0,
01944   1,
01945   0,
01946   0,
01947   0,
01948   "",
01949   "",
01950   0,
01951   1,
01952   0,
01953   0,
01954   0,
01955   100,
01956   400,
01957   0,
01958   0,
01959   0,
01960   0.1734,
01961   0,
01962   0,
01963   0,
01964   90,
01965   500,
01966   220,
01967   400,
01968   0,
01969   0,
01970   100,
01971   0,
01972   1,
01973   7,
01974   "psos1m",
01975   0,
01976   0,
01977   0,
01978   0,
01979   400,
01980   4,
01981   2.5332,
01982   {
01983     { 100, 100, 90 },
01984     { 120, 80, 30 },
01985     { 130, 40, 15 },
01986     { 130, 0, 0 },
01987     { 130, -40, -15 },
01988     { 120, -80, -30 },
01989     { 100, -100, -90 },
01990   }
01991 };
01992 
01993 RobotParams_t psos1x_params =
01994 {
01995   0.0061359,
01996   "Pioneer",
01997   0.00333333,
01998   0.05066,
01999   0,
02000   1.626,
02001   0,
02002   1,
02003   0,
02004   0,
02005   0,
02006   "",
02007   "",
02008   0,
02009   1,
02010   0,
02011   0,
02012   0,
02013   100,
02014   400,
02015   0,
02016   0,
02017   0,
02018   0.1734,
02019   0,
02020   0,
02021   0,
02022   90,
02023   500,
02024   220,
02025   400,
02026   0,
02027   0,
02028   100,
02029   0,
02030   1,
02031   7,
02032   "psos1x",
02033   0,
02034   0,
02035   0,
02036   0,
02037   400,
02038   4,
02039   2.5332,
02040   {
02041     { 100, 100, 90 },
02042     { 120, 80, 30 },
02043     { 130, 40, 15 },
02044     { 130, 0, 0 },
02045     { 130, -40, -15 },
02046     { 120, -80, -30 },
02047     { 100, -100, -90 },
02048   }
02049 };
02050 
02051 RobotParams_t PlayerRobotParams[PLAYER_NUM_ROBOT_TYPES];
02052 
02053 void
02054 initialize_robot_params(void)
02055 {
02056   PlayerRobotParams[0] =  amigo_params;
02057   PlayerRobotParams[1] =  p2at_params;
02058   PlayerRobotParams[2] =  p2at8plus_params;
02059   PlayerRobotParams[3] =  p2at8_params;
02060   PlayerRobotParams[4] =  p2ce_params;
02061   PlayerRobotParams[5] =  p2d8plus_params;
02062   PlayerRobotParams[6] =  p2d8_params;
02063   PlayerRobotParams[7] =  p2de_params;
02064   PlayerRobotParams[8] =  p2df_params;
02065   PlayerRobotParams[9] =  p2dx_params;
02066   PlayerRobotParams[10] =  p2it_params;
02067   PlayerRobotParams[11] =  p2pb_params;
02068   PlayerRobotParams[12] =  p2pp_params;
02069   PlayerRobotParams[13] =  p3at_sh_params;
02070   PlayerRobotParams[14] =  p3at_params;
02071   PlayerRobotParams[15] =  p3atiw_params;
02072   PlayerRobotParams[16] =  p3dx_sh_params;
02073   PlayerRobotParams[17] =  p3dx_params;
02074   PlayerRobotParams[18] =  peoplebot_sh_params;
02075   PlayerRobotParams[19] =  perfpbplus_params;
02076   PlayerRobotParams[20] =  perfpb_params;
02077   PlayerRobotParams[21] =  pion1m_params;
02078   PlayerRobotParams[22] =  pion1x_params;
02079   PlayerRobotParams[23] =  pionat_params;
02080   PlayerRobotParams[24] =  powerbot_sh_params;
02081   PlayerRobotParams[25] =  powerbot_params;
02082   PlayerRobotParams[26] =  psos1m_params;
02083   PlayerRobotParams[27] =  psos1x_params;
02084   PlayerRobotParams[28] =  amigo_sh_params;
02085 }

p2os_driver
Author(s): Hunter Allen , David Feil-Seifer , Aris Synodinos , Brian Gerkey, Kasper Stoy, Richard Vaughan, Andrew Howard, Tucker Hermans, ActivMedia Robotics LLC, MobileRobots Inc.
autogenerated on Mon Oct 6 2014 03:12:45