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  *    p3dx-sh-lms1xx.p
00059 */
00060 #include <p2os_driver/robot_params.h>
00061 
00062 
00063 RobotParams_t amigo_params =
00064 {
00065   0.001534,
00066   "Pioneer",
00067   0.011,
00068   0.5083,
00069   0,
00070   1.626,
00071   1,
00072   1,
00073   0,
00074   0,
00075   0,
00076   "",
00077   "",
00078   0,
00079   1,
00080   0,
00081   0,
00082   0,
00083   300,
00084   1000,
00085   0,
00086   5,
00087   5,
00088   1,
00089   0,
00090   0,
00091   0,
00092   120,
00093   330,
00094   180,
00095   279,
00096   0,
00097   0,
00098   0,
00099   1,
00100   1,
00101   8,
00102   "amigo",
00103   38400,
00104   0,
00105   0,
00106   0,
00107   0,
00108   20,
00109   0.6154,
00110   {
00111     { 73, 105, 90 },
00112     { 130, 78, 41 },
00113     { 154, 30, 15 },
00114     { 154, -30, -15 },
00115     { 130, -78, -41 },
00116     { 73, -105, -90 },
00117     { -146, -60, -145 },
00118     { -146, 60, 145 },
00119   }
00120 };
00121 
00122 RobotParams_t amigo_sh_params =
00123 {
00124   0.001534,
00125   "Pioneer",
00126   0.011,
00127   1.0,
00128   0,
00129   1.626,
00130   1,
00131   1,
00132   0,
00133   0,
00134   0,
00135   "",
00136   "",
00137   0,
00138   1,
00139   0,
00140   0,
00141   0,
00142   300,
00143   1000,
00144   0,
00145   5,
00146   5,
00147   1,
00148   0,
00149   0,
00150   0,
00151   120,
00152   330,
00153   180,
00154   279,
00155   0,
00156   0,
00157   0,
00158   1,
00159   1,
00160   8,
00161   "amigo-sh",
00162   38400,
00163   0,
00164   0,
00165   0,
00166   0,
00167   20,
00168   1.3746,
00169   {
00170     { 73, 105, 90 },
00171     { 130, 78, 41 },
00172     { 154, 30, 15 },
00173     { 154, -30, -15 },
00174     { 130, -78, -41 },
00175     { 73, -105, -90 },
00176     { -146, -60, -145 },
00177     { -146, 60, 145 },
00178   }
00179 };
00180 
00181 RobotParams_t p2at_params =
00182 {
00183   0.001534,
00184   "Pioneer",
00185   0.0034,
00186   1.32,
00187   0,
00188   1.626,
00189   1,
00190   1,
00191   0,
00192   0,
00193   0,
00194   "",
00195   "COM3",
00196   0,
00197   1,
00198   0,
00199   160,
00200   7,
00201   300,
00202   1200,
00203   0,
00204   5,
00205   5,
00206   0.268,
00207   0,
00208   0,
00209   0,
00210   120,
00211   626,
00212   500,
00213   505,
00214   0,
00215   0,
00216   0,
00217   1,
00218   1,
00219   16,
00220   "p2at",
00221   38400,
00222   0,
00223   0,
00224   0,
00225   0,
00226   20,
00227   1,
00228   {
00229     { 145, 130, 90 },
00230     { 185, 115, 50 },
00231     { 220, 80, 30 },
00232     { 240, 25, 10 },
00233     { 240, -25, -10 },
00234     { 220, -80, -30 },
00235     { 185, -115, -50 },
00236     { 145, -130, -90 },
00237     { -145, -130, -90 },
00238     { -185, -115, -130 },
00239     { -220, -80, -150 },
00240     { -240, -25, -170 },
00241     { -240, 25, 170 },
00242     { -220, 80, 150 },
00243     { -185, 115, 130 },
00244     { -145, 130, 90 },
00245   }
00246 };
00247 
00248 RobotParams_t p2at8plus_params =
00249 {
00250   0.001534,
00251   "Pioneer",
00252   0.0034,
00253   0.465,
00254   0,
00255   1.626,
00256   1,
00257   1,
00258   0,
00259   0,
00260   0,
00261   "",
00262   "COM3",
00263   0,
00264   1,
00265   0,
00266   160,
00267   7,
00268   300,
00269   1200,
00270   0,
00271   5,
00272   5,
00273   1,
00274   0,
00275   0,
00276   0,
00277   120,
00278   626,
00279   500,
00280   505,
00281   0,
00282   0,
00283   0,
00284   1,
00285   1,
00286   16,
00287   "p2at8+",
00288   38400,
00289   0,
00290   0,
00291   0,
00292   0,
00293   20,
00294   1,
00295   {
00296     { 145, 130, 90 },
00297     { 185, 115, 50 },
00298     { 220, 80, 30 },
00299     { 240, 25, 10 },
00300     { 240, -25, -10 },
00301     { 220, -80, -30 },
00302     { 185, -115, -50 },
00303     { 145, -130, -90 },
00304     { -145, -130, -90 },
00305     { -185, -115, -130 },
00306     { -220, -80, -150 },
00307     { -240, -25, -170 },
00308     { -240, 25, 170 },
00309     { -220, 80, 150 },
00310     { -185, 115, 130 },
00311     { -145, 130, 90 },
00312   }
00313 };
00314 
00315 RobotParams_t p2at8_params =
00316 {
00317   0.001534,
00318   "Pioneer",
00319   0.0034,
00320   1.32,
00321   0,
00322   1.626,
00323   1,
00324   1,
00325   0,
00326   0,
00327   0,
00328   "",
00329   "COM3",
00330   0,
00331   1,
00332   0,
00333   160,
00334   7,
00335   300,
00336   1200,
00337   0,
00338   5,
00339   5,
00340   1,
00341   0,
00342   0,
00343   0,
00344   120,
00345   626,
00346   500,
00347   505,
00348   0,
00349   0,
00350   0,
00351   1,
00352   1,
00353   16,
00354   "p2at8",
00355   38400,
00356   0,
00357   0,
00358   0,
00359   0,
00360   20,
00361   1,
00362   {
00363     { 145, 130, 90 },
00364     { 185, 115, 50 },
00365     { 220, 80, 30 },
00366     { 240, 25, 10 },
00367     { 240, -25, -10 },
00368     { 220, -80, -30 },
00369     { 185, -115, -50 },
00370     { 145, -130, -90 },
00371     { -145, -130, -90 },
00372     { -185, -115, -130 },
00373     { -220, -80, -150 },
00374     { -240, -25, -170 },
00375     { -240, 25, 170 },
00376     { -220, 80, 150 },
00377     { -185, 115, 130 },
00378     { -145, 130, 90 },
00379   }
00380 };
00381 
00382 RobotParams_t p2ce_params =
00383 {
00384   0.001534,
00385   "Pioneer",
00386   0.0057,
00387   0.826,
00388   0,
00389   1.626,
00390   1,
00391   1,
00392   0,
00393   0,
00394   0,
00395   "",
00396   "",
00397   0,
00398   1,
00399   0,
00400   0,
00401   0,
00402   500,
00403   2200,
00404   0,
00405   5,
00406   5,
00407   0.268,
00408   0,
00409   0,
00410   0,
00411   120,
00412   511,
00413   250,
00414   425,
00415   0,
00416   0,
00417   0,
00418   1,
00419   1,
00420   16,
00421   "p2ce",
00422   38400,
00423   0,
00424   0,
00425   0,
00426   0,
00427   20,
00428   1,
00429   {
00430     { 115, 130, 90 },
00431     { 155, 115, 50 },
00432     { 190, 80, 30 },
00433     { 210, 25, 10 },
00434     { 210, -25, -10 },
00435     { 190, -80, -30 },
00436     { 155, -115, -50 },
00437     { 115, -130, -90 },
00438     { -115, -130, -90 },
00439     { -155, -115, -130 },
00440     { -190, -80, -150 },
00441     { -210, -25, -170 },
00442     { -210, 25, 170 },
00443     { -190, 80, 150 },
00444     { -155, 115, 130 },
00445     { -115, 130, 90 },
00446   }
00447 };
00448 
00449 RobotParams_t p2d8plus_params =
00450 {
00451   0.001534,
00452   "Pioneer",
00453   0.0056,
00454   0.485,
00455   0,
00456   1.626,
00457   1,
00458   1,
00459   0,
00460   0,
00461   0,
00462   "",
00463   "COM3",
00464   0,
00465   1,
00466   0,
00467   18,
00468   0,
00469   500,
00470   2200,
00471   0,
00472   5,
00473   5,
00474   1,
00475   0,
00476   0,
00477   0,
00478   120,
00479   511,
00480   250,
00481   425,
00482   0,
00483   0,
00484   0,
00485   1,
00486   1,
00487   16,
00488   "p2d8+",
00489   38400,
00490   0,
00491   0,
00492   0,
00493   0,
00494   20,
00495   1,
00496   {
00497     { 115, 130, 90 },
00498     { 155, 115, 50 },
00499     { 190, 80, 30 },
00500     { 210, 25, 10 },
00501     { 210, -25, -10 },
00502     { 190, -80, -30 },
00503     { 155, -115, -50 },
00504     { 115, -130, -90 },
00505     { -115, -130, -90 },
00506     { -155, -115, -130 },
00507     { -190, -80, -150 },
00508     { -210, -25, -170 },
00509     { -210, 25, 170 },
00510     { -190, 80, 150 },
00511     { -155, 115, 130 },
00512     { -115, 130, 90 },
00513   }
00514 };
00515 
00516 RobotParams_t p2d8_params =
00517 {
00518   0.001534,
00519   "Pioneer",
00520   0.0056,
00521   0.485,
00522   0,
00523   1.626,
00524   1,
00525   1,
00526   0,
00527   0,
00528   0,
00529   "",
00530   "COM3",
00531   0,
00532   1,
00533   0,
00534   18,
00535   0,
00536   500,
00537   2200,
00538   0,
00539   5,
00540   5,
00541   1,
00542   0,
00543   0,
00544   0,
00545   120,
00546   511,
00547   250,
00548   425,
00549   0,
00550   0,
00551   0,
00552   1,
00553   1,
00554   16,
00555   "p2d8",
00556   38400,
00557   0,
00558   0,
00559   0,
00560   0,
00561   20,
00562   1,
00563   {
00564     { 115, 130, 90 },
00565     { 155, 115, 50 },
00566     { 190, 80, 30 },
00567     { 210, 25, 10 },
00568     { 210, -25, -10 },
00569     { 190, -80, -30 },
00570     { 155, -115, -50 },
00571     { 115, -130, -90 },
00572     { -115, -130, -90 },
00573     { -155, -115, -130 },
00574     { -190, -80, -150 },
00575     { -210, -25, -170 },
00576     { -210, 25, 170 },
00577     { -190, 80, 150 },
00578     { -155, 115, 130 },
00579     { -115, 130, 90 },
00580   }
00581 };
00582 
00583 RobotParams_t p2de_params =
00584 {
00585   0.001534,
00586   "Pioneer",
00587   0.0056,
00588   0.969,
00589   0,
00590   1.626,
00591   1,
00592   1,
00593   0,
00594   0,
00595   0,
00596   "",
00597   "COM3",
00598   0,
00599   1,
00600   0,
00601   17,
00602   8,
00603   500,
00604   2200,
00605   0,
00606   5,
00607   5,
00608   0.268,
00609   0,
00610   0,
00611   0,
00612   120,
00613   511,
00614   250,
00615   425,
00616   0,
00617   0,
00618   0,
00619   1,
00620   1,
00621   16,
00622   "p2de",
00623   38400,
00624   0,
00625   0,
00626   0,
00627   0,
00628   20,
00629   1,
00630   {
00631     { 115, 130, 90 },
00632     { 155, 115, 50 },
00633     { 190, 80, 30 },
00634     { 210, 25, 10 },
00635     { 210, -25, -10 },
00636     { 190, -80, -30 },
00637     { 155, -115, -50 },
00638     { 115, -130, -90 },
00639     { -115, -130, -90 },
00640     { -155, -115, -130 },
00641     { -190, -80, -150 },
00642     { -210, -25, -170 },
00643     { -210, 25, 170 },
00644     { -190, 80, 150 },
00645     { -155, 115, 130 },
00646     { -115, 130, 90 },
00647   }
00648 };
00649 
00650 RobotParams_t p2df_params =
00651 {
00652   0.001534,
00653   "Pioneer",
00654   0.006,
00655   0.485,
00656   0,
00657   1.626,
00658   1,
00659   1,
00660   0,
00661   0,
00662   0,
00663   "",
00664   "COM3",
00665   0,
00666   1,
00667   0,
00668   17,
00669   8,
00670   500,
00671   2200,
00672   0,
00673   5,
00674   5,
00675   0.268,
00676   0,
00677   0,
00678   0,
00679   120,
00680   511,
00681   250,
00682   425,
00683   0,
00684   0,
00685   0,
00686   1,
00687   1,
00688   16,
00689   "p2df",
00690   38400,
00691   0,
00692   0,
00693   0,
00694   0,
00695   20,
00696   1,
00697   {
00698     { 115, 130, 90 },
00699     { 155, 115, 50 },
00700     { 190, 80, 30 },
00701     { 210, 25, 10 },
00702     { 210, -25, -10 },
00703     { 190, -80, -30 },
00704     { 155, -115, -50 },
00705     { 115, -130, -90 },
00706     { -115, -130, -90 },
00707     { -155, -115, -130 },
00708     { -190, -80, -150 },
00709     { -210, -25, -170 },
00710     { -210, 25, 170 },
00711     { -190, 80, 150 },
00712     { -155, 115, 130 },
00713     { -115, 130, 90 },
00714   }
00715 };
00716 
00717 RobotParams_t p2dx_params =
00718 {
00719   0.001534,
00720   "Pioneer",
00721   0.0056,
00722   0.84,
00723   0,
00724   1.626,
00725   1,
00726   1,
00727   0,
00728   0,
00729   0,
00730   "",
00731   "COM3",
00732   0,
00733   1,
00734   0,
00735   17,
00736   8,
00737   500,
00738   2200,
00739   0,
00740   5,
00741   5,
00742   0.268,
00743   0,
00744   0,
00745   0,
00746   120,
00747   511,
00748   250,
00749   425,
00750   0,
00751   0,
00752   0,
00753   1,
00754   1,
00755   16,
00756   "p2dx",
00757   38400,
00758   0,
00759   0,
00760   0,
00761   0,
00762   20,
00763   1,
00764   {
00765     { 115, 130, 90 },
00766     { 155, 115, 50 },
00767     { 190, 80, 30 },
00768     { 210, 25, 10 },
00769     { 210, -25, -10 },
00770     { 190, -80, -30 },
00771     { 155, -115, -50 },
00772     { 115, -130, -90 },
00773     { -115, -130, -90 },
00774     { -155, -115, -130 },
00775     { -190, -80, -150 },
00776     { -210, -25, -170 },
00777     { -210, 25, 170 },
00778     { -190, 80, 150 },
00779     { -155, 115, 130 },
00780     { -115, 130, 90 },
00781   }
00782 };
00783 
00784 RobotParams_t p2it_params =
00785 {
00786   0.001534,
00787   "Pioneer",
00788   0.0032,
00789   1.136,
00790   0,
00791   1.626,
00792   1,
00793   1,
00794   0,
00795   0,
00796   0,
00797   "",
00798   "COM3",
00799   0,
00800   1,
00801   0,
00802   160,
00803   7,
00804   300,
00805   1200,
00806   0,
00807   5,
00808   5,
00809   0.268,
00810   0,
00811   0,
00812   0,
00813   120,
00814   626,
00815   500,
00816   505,
00817   0,
00818   0,
00819   0,
00820   1,
00821   1,
00822   16,
00823   "p2it",
00824   38400,
00825   0,
00826   0,
00827   0,
00828   0,
00829   20,
00830   1,
00831   {
00832     { 145, 130, 90 },
00833     { 185, 115, 50 },
00834     { 220, 80, 30 },
00835     { 240, 25, 10 },
00836     { 240, -25, -10 },
00837     { 220, -80, -30 },
00838     { 185, -115, -50 },
00839     { 145, -130, -90 },
00840     { -145, -130, -90 },
00841     { -185, -115, -130 },
00842     { -220, -80, -150 },
00843     { -240, -25, -170 },
00844     { -240, 25, 170 },
00845     { -220, 80, 150 },
00846     { -185, 115, 130 },
00847     { -145, 130, 90 },
00848   }
00849 };
00850 
00851 RobotParams_t p2pb_params =
00852 {
00853   0.001534,
00854   "Pioneer",
00855   0.0056,
00856   0.424,
00857   1,
00858   1.626,
00859   1,
00860   1,
00861   0,
00862   0,
00863   0,
00864   "",
00865   "COM3",
00866   0,
00867   1,
00868   0,
00869   17,
00870   8,
00871   500,
00872   2200,
00873   0,
00874   5,
00875   5,
00876   0.268,
00877   1,
00878   0,
00879   0,
00880   120,
00881   513,
00882   300,
00883   425,
00884   0,
00885   0,
00886   0,
00887   1,
00888   1,
00889   24,
00890   "p2pb",
00891   38400,
00892   0,
00893   0,
00894   0,
00895   0,
00896   20,
00897   1,
00898   {
00899     { 115, 130, 90 },
00900     { 155, 115, 50 },
00901     { 190, 80, 30 },
00902     { 210, 25, 10 },
00903     { 210, -25, -10 },
00904     { 190, -80, -30 },
00905     { 155, -115, -50 },
00906     { 115, -130, -90 },
00907     { 50, 130, 90 },
00908     { 90, 115, 50 },
00909     { 125, 80, 30 },
00910     { 145, 25, 10 },
00911     { 145, -25, -10 },
00912     { 125, -80, -30 },
00913     { 90, -115, -50 },
00914     { 50, -130, -90 },
00915     { -115, -130, -90 },
00916     { -155, -115, -130 },
00917     { -190, -80, -150 },
00918     { -210, -25, -170 },
00919     { -210, 25, 170 },
00920     { -190, 80, 150 },
00921     { -155, 115, 130 },
00922     { -115, 130, 90 },
00923   }
00924 };
00925 
00926 RobotParams_t p2pp_params =
00927 {
00928   0.001534,
00929   "Pioneer",
00930   0.006,
00931   0.485,
00932   1,
00933   1.626,
00934   1,
00935   1,
00936   0,
00937   0,
00938   0,
00939   "",
00940   "COM3",
00941   0,
00942   1,
00943   0,
00944   16,
00945   1,
00946   500,
00947   2200,
00948   0,
00949   5,
00950   5,
00951   0.268,
00952   1,
00953   0,
00954   0,
00955   120,
00956   513,
00957   300,
00958   425,
00959   0,
00960   0,
00961   0,
00962   1,
00963   1,
00964   24,
00965   "p2pp",
00966   38400,
00967   1,
00968   0,
00969   0,
00970   0,
00971   20,
00972   1,
00973   {
00974     { 115, 130, 90 },
00975     { 155, 115, 50 },
00976     { 190, 80, 30 },
00977     { 210, 25, 10 },
00978     { 210, -25, -10 },
00979     { 190, -80, -30 },
00980     { 155, -115, -50 },
00981     { 115, -130, -90 },
00982     { 50, 130, 90 },
00983     { 90, 115, 50 },
00984     { 125, 80, 30 },
00985     { 145, 25, 10 },
00986     { 145, -25, -10 },
00987     { 125, -80, -30 },
00988     { 90, -115, -50 },
00989     { 50, -130, -90 },
00990     { -115, -130, -90 },
00991     { -155, -115, -130 },
00992     { -190, -80, -150 },
00993     { -210, -25, -170 },
00994     { -210, 25, 170 },
00995     { -190, 80, 150 },
00996     { -155, 115, 130 },
00997     { -115, 130, 90 },
00998   }
00999 };
01000 
01001 RobotParams_t p3at_sh_params =
01002 {
01003   0.001534,
01004   "Pioneer",
01005   0.0034,
01006   1,
01007   0,
01008   1.626,
01009   1,
01010   1,
01011   0,
01012   0,
01013   0,
01014   "",
01015   "COM3",
01016   0,
01017   1,
01018   0,
01019   125,
01020   0,
01021   300,
01022   1200,
01023   0,
01024   5,
01025   5,
01026   1,
01027   0,
01028   0,
01029   0,
01030   120,
01031   626,
01032   500,
01033   505,
01034   0,
01035   0,
01036   0,
01037   1,
01038   1,
01039   16,
01040   "p3at-sh",
01041   38400,
01042   0,
01043   0,
01044   0,
01045   0,
01046   20,
01047   1,
01048   {
01049     { 145, 130, 90 },
01050     { 185, 115, 50 },
01051     { 220, 80, 30 },
01052     { 240, 25, 10 },
01053     { 240, -25, -10 },
01054     { 220, -80, -30 },
01055     { 185, -115, -50 },
01056     { 145, -130, -90 },
01057     { -145, -130, -90 },
01058     { -185, -115, -130 },
01059     { -220, -80, -150 },
01060     { -240, -25, -170 },
01061     { -240, 25, 170 },
01062     { -220, 80, 150 },
01063     { -185, 115, 130 },
01064     { -145, 130, 90 },
01065   }
01066 };
01067 
01068 RobotParams_t p3at_params =
01069 {
01070   0.001534,
01071   "Pioneer",
01072   0.0034,
01073   0.465,
01074   0,
01075   1.626,
01076   1,
01077   1,
01078   0,
01079   0,
01080   0,
01081   "",
01082   "COM3",
01083   0,
01084   1,
01085   0,
01086   160,
01087   7,
01088   300,
01089   1200,
01090   0,
01091   5,
01092   5,
01093   1,
01094   0,
01095   0,
01096   0,
01097   120,
01098   626,
01099   500,
01100   505,
01101   0,
01102   0,
01103   0,
01104   1,
01105   1,
01106   16,
01107   "p3at",
01108   38400,
01109   0,
01110   0,
01111   0,
01112   0,
01113   20,
01114   1,
01115   {
01116     { 145, 130, 90 },
01117     { 185, 115, 50 },
01118     { 220, 80, 30 },
01119     { 240, 25, 10 },
01120     { 240, -25, -10 },
01121     { 220, -80, -30 },
01122     { 185, -115, -50 },
01123     { 145, -130, -90 },
01124     { -145, -130, -90 },
01125     { -185, -115, -130 },
01126     { -220, -80, -150 },
01127     { -240, -25, -170 },
01128     { -240, 25, 170 },
01129     { -220, 80, 150 },
01130     { -185, 115, 130 },
01131     { -145, 130, 90 },
01132   }
01133 };
01134 
01135 RobotParams_t p3atiw_params =
01136 {
01137   0.001534,
01138   "Pioneer",
01139   0.0034,
01140   0.3768,
01141   0,
01142   0,
01143   1,
01144   1,
01145   0,
01146   0,
01147   0,
01148   "0",
01149   "COM3",
01150   0,
01151   1,
01152   0,
01153   160,
01154   7,
01155   300,
01156   1200,
01157   0,
01158   5,
01159   5,
01160   1,
01161   0,
01162   0,
01163   0,
01164   120,
01165   0,
01166   500,
01167   0,
01168   0,
01169   0,
01170   0,
01171   1,
01172   1,
01173   16,
01174   "p3at",
01175   38400,
01176   0,
01177   0,
01178   0,
01179   0,
01180   20,
01181   1,
01182   {
01183     { 145, 130, 90 },
01184     { 185, 115, 50 },
01185     { 220, 80, 30 },
01186     { 240, 25, 10 },
01187     { 240, -25, -10 },
01188     { 220, -80, -30 },
01189     { 185, -115, -50 },
01190     { 145, -130, -90 },
01191     { -145, -130, -90 },
01192     { -185, -115, -130 },
01193     { -220, -80, -150 },
01194     { -240, -25, -170 },
01195     { -240, 25, 170 },
01196     { -220, 80, 150 },
01197     { -185, 115, 130 },
01198     { -145, 130, 90 },
01199   }
01200 };
01201 
01202 RobotParams_t p3dx_sh_params =
01203 {
01204   0.001534,
01205   "Pioneer",
01206   0.0056,
01207   1,
01208   5,
01209   1.626,
01210   1,
01211   1,
01212   0,
01213   0,
01214   0,
01215   "",
01216   "COM3",
01217   0,
01218   1,
01219   0,
01220   18,
01221   0,
01222   500,
01223   2200,
01224   0,
01225   5,
01226   5,
01227   1,
01228   5,
01229   0,
01230   0,
01231   120,
01232   511,
01233   250,
01234   425,
01235   0,
01236   0,
01237   0,
01238   1,
01239   1,
01240   16,
01241   "p3dx-sh",
01242   38400,
01243   0,
01244   0,
01245   0,
01246   0,
01247   20,
01248   1,
01249   {
01250     { 115, 130, 90 },
01251     { 155, 115, 50 },
01252     { 190, 80, 30 },
01253     { 210, 25, 10 },
01254     { 210, -25, -10 },
01255     { 190, -80, -30 },
01256     { 155, -115, -50 },
01257     { 115, -130, -90 },
01258     { -115, -130, -90 },
01259     { -155, -115, -130 },
01260     { -190, -80, -150 },
01261     { -210, -25, -170 },
01262     { -210, 25, 170 },
01263     { -190, 80, 150 },
01264     { -155, 115, 130 },
01265     { -115, 130, 90 },
01266   },
01267 /*  {
01268     { 0.14, -0.181, 308, 0.098, 0 },
01269     { 0.196, -0.099, 341, 0.098, 0 },
01270     { 0.212, 0, 0, 0.098, 0 },
01271     { 0.196, 0.099, 19, 0.098, 0 },
01272     { 0.14, 0.181, 52, 0.098, 0 },
01273     { -0.203, 0.17, 116, 0.098, 0 },
01274     { -0.275, 0.098, 155.5, 0.098, 0 },
01275     { -0.2985, 0, 0, 0.098, 0 },
01276     { -0.275, -0.098, 204.5, 0.098, 0 },
01277     { -0.203, -0.17, 244, 0.098, 0 },
01278   }*/
01279 };
01280 
01281 RobotParams_t p3dx_sh_lms1xx_params =
01282 {
01283   0.001534,
01284   "Pioneer",
01285   0.0056,
01286   1,
01287   5,
01288   1.626,
01289   1,
01290   1,
01291   0,
01292   0,
01293   0,
01294   "",
01295   "COM3",
01296   0,
01297   1,
01298   0,
01299   18,
01300   0,
01301   500,
01302   2200,
01303   0,
01304   5,
01305   5,
01306   1,
01307   5,
01308   0,
01309   0,
01310   120,
01311   511,
01312   250,
01313   425,
01314   0,
01315   0,
01316   0,
01317   1,
01318   1,
01319   16,
01320   "p3dx-sh-lms1xx",
01321   38400,
01322   0,
01323   0,
01324   0,
01325   0,
01326   20,
01327   1,
01328   {
01329     { 115, 130, 90 },
01330     { 155, 115, 50 },
01331     { 190, 80, 30 },
01332     { 210, 25, 10 },
01333     { 210, -25, -10 },
01334     { 190, -80, -30 },
01335     { 155, -115, -50 },
01336     { 115, -130, -90 },
01337     { -115, -130, -90 },
01338     { -155, -115, -130 },
01339     { -190, -80, -150 },
01340     { -210, -25, -170 },
01341     { -210, 25, 170 },
01342     { -190, 80, 150 },
01343     { -155, 115, 130 },
01344     { -115, 130, 90 },
01345   },
01346 };
01347 
01348 RobotParams_t p3dx_params =
01349 {
01350   0.001534,
01351   "Pioneer",
01352   0.0056,
01353   0.485,
01354   0,
01355   1.626,
01356   1,
01357   1,
01358   0,
01359   0,
01360   0,
01361   "",
01362   "COM3",
01363   0,
01364   1,
01365   0,
01366   18,
01367   0,
01368   500,
01369   2200,
01370   0,
01371   5,
01372   5,
01373   1,
01374   0,
01375   0,
01376   0,
01377   120,
01378   511,
01379   250,
01380   425,
01381   0,
01382   0,
01383   0,
01384   1,
01385   1,
01386   16,
01387   "p3dx",
01388   38400,
01389   0,
01390   0,
01391   0,
01392   0,
01393   20,
01394   1,
01395   {
01396     { 115, 130, 90 },
01397     { 155, 115, 50 },
01398     { 190, 80, 30 },
01399     { 210, 25, 10 },
01400     { 210, -25, -10 },
01401     { 190, -80, -30 },
01402     { 155, -115, -50 },
01403     { 115, -130, -90 },
01404     { -115, -130, -90 },
01405     { -155, -115, -130 },
01406     { -190, -80, -150 },
01407     { -210, -25, -170 },
01408     { -210, 25, 170 },
01409     { -190, 80, 150 },
01410     { -155, 115, 130 },
01411     { -115, 130, 90 },
01412   }
01413 };
01414 
01415 RobotParams_t peoplebot_sh_params =
01416 {
01417   0.001534,
01418   "Pioneer",
01419   0.006,
01420   1,
01421   1,
01422   1.626,
01423   1,
01424   1,
01425   4,
01426   3,
01427   0,
01428   "",
01429   "COM3",
01430   0,
01431   1,
01432   0,
01433   21,
01434   0,
01435   500,
01436   2200,
01437   1,
01438   5,
01439   5,
01440   1,
01441   1,
01442   0,
01443   1,
01444   120,
01445   513,
01446   340,
01447   425,
01448   0,
01449   0,
01450   0,
01451   1,
01452   1,
01453   32,
01454   "peoplebot-sh",
01455   38400,
01456   1,
01457   0,
01458   0,
01459   0,
01460   20,
01461   1,
01462   {
01463     { 115, 130, 90 },
01464     { 155, 115, 50 },
01465     { 190, 80, 30 },
01466     { 210, 25, 10 },
01467     { 210, -25, -10 },
01468     { 190, -80, -30 },
01469     { 155, -115, -50 },
01470     { 115, -130, -90 },
01471     { -115, -130, -90 },
01472     { -155, -115, -130 },
01473     { -190, -80, -150 },
01474     { -210, -25, -170 },
01475     { -210, 25, 170 },
01476     { -190, 80, 150 },
01477     { -155, 115, 130 },
01478     { -115, 130, 90 },
01479     { 50, 130, 90 },
01480     { 90, 115, 50 },
01481     { 125, 80, 30 },
01482     { 145, 25, 10 },
01483     { 145, -25, -10 },
01484     { 125, -80, -30 },
01485     { 90, -115, -50 },
01486     { 50, -130, -90 },
01487     { -195, -130, -90 },
01488     { -235, -115, -130 },
01489     { -270, -80, -150 },
01490     { -290, -25, -170 },
01491     { -290, 25, 170 },
01492     { -270, 80, 150 },
01493     { -235, 115, 130 },
01494     { -195, 130, 90 },
01495   }
01496 };
01497 
01498 RobotParams_t perfpbplus_params =
01499 {
01500   0.001534,
01501   "Pioneer",
01502   0.006,
01503   0.485,
01504   1,
01505   1.626,
01506   1,
01507   1,
01508   4,
01509   3,
01510   0,
01511   "",
01512   "COM3",
01513   0,
01514   1,
01515   0,
01516   21,
01517   0,
01518   500,
01519   2200,
01520   1,
01521   5,
01522   5,
01523   1,
01524   1,
01525   0,
01526   1,
01527   120,
01528   513,
01529   340,
01530   425,
01531   0,
01532   0,
01533   0,
01534   1,
01535   1,
01536   32,
01537   "perfpb+",
01538   38400,
01539   1,
01540   0,
01541   0,
01542   0,
01543   20,
01544   1,
01545   {
01546     { 115, 130, 90 },
01547     { 155, 115, 50 },
01548     { 190, 80, 30 },
01549     { 210, 25, 10 },
01550     { 210, -25, -10 },
01551     { 190, -80, -30 },
01552     { 155, -115, -50 },
01553     { 115, -130, -90 },
01554     { 50, 130, 90 },
01555     { 90, 115, 50 },
01556     { 125, 80, 30 },
01557     { 145, 25, 10 },
01558     { 145, -25, -10 },
01559     { 125, -80, -30 },
01560     { 90, -115, -50 },
01561     { 50, -130, -90 },
01562     { -115, -130, -90 },
01563     { -155, -115, -130 },
01564     { -190, -80, -150 },
01565     { -210, -25, -170 },
01566     { -210, 25, 170 },
01567     { -190, 80, 150 },
01568     { -155, 115, 130 },
01569     { -115, 130, 90 },
01570     { -195, -130, -90 },
01571     { -235, -115, -130 },
01572     { -270, -80, -150 },
01573     { -290, -25, -170 },
01574     { -290, 25, 170 },
01575     { -270, 80, 150 },
01576     { -235, 115, 130 },
01577     { -195, 130, 90 },
01578   }
01579 };
01580 
01581 RobotParams_t perfpb_params =
01582 {
01583   0.001534,
01584   "Pioneer",
01585   0.006,
01586   0.485,
01587   1,
01588   1.626,
01589   1,
01590   1,
01591   4,
01592   3,
01593   0,
01594   "",
01595   "COM3",
01596   0,
01597   1,
01598   0,
01599   21,
01600   0,
01601   500,
01602   2200,
01603   1,
01604   5,
01605   5,
01606   1,
01607   1,
01608   0,
01609   1,
01610   120,
01611   513,
01612   340,
01613   425,
01614   0,
01615   0,
01616   0,
01617   1,
01618   1,
01619   32,
01620   "perfpb",
01621   38400,
01622   1,
01623   0,
01624   0,
01625   0,
01626   20,
01627   1,
01628   {
01629     { 115, 130, 90 },
01630     { 155, 115, 50 },
01631     { 190, 80, 30 },
01632     { 210, 25, 10 },
01633     { 210, -25, -10 },
01634     { 190, -80, -30 },
01635     { 155, -115, -50 },
01636     { 115, -130, -90 },
01637     { 50, 130, 90 },
01638     { 90, 115, 50 },
01639     { 125, 80, 30 },
01640     { 145, 25, 10 },
01641     { 145, -25, -10 },
01642     { 125, -80, -30 },
01643     { 90, -115, -50 },
01644     { 50, -130, -90 },
01645     { -115, -130, -90 },
01646     { -155, -115, -130 },
01647     { -190, -80, -150 },
01648     { -210, -25, -170 },
01649     { -210, 25, 170 },
01650     { -190, 80, 150 },
01651     { -155, 115, 130 },
01652     { -115, 130, 90 },
01653     { -195, -130, -90 },
01654     { -235, -115, -130 },
01655     { -270, -80, -150 },
01656     { -290, -25, -170 },
01657     { -290, 25, 170 },
01658     { -270, 80, 150 },
01659     { -235, 115, 130 },
01660     { -195, 130, 90 },
01661   }
01662 };
01663 
01664 RobotParams_t pion1m_params =
01665 {
01666   0.0061359,
01667   "Pioneer",
01668   0.00333333,
01669   0.05066,
01670   0,
01671   1.626,
01672   0,
01673   1,
01674   0,
01675   0,
01676   0,
01677   "",
01678   "",
01679   0,
01680   1,
01681   0,
01682   0,
01683   0,
01684   100,
01685   400,
01686   0,
01687   0,
01688   0,
01689   0.1734,
01690   0,
01691   0,
01692   0,
01693   90,
01694   500,
01695   220,
01696   400,
01697   0,
01698   0,
01699   100,
01700   0,
01701   1,
01702   7,
01703   "pion1m",
01704   0,
01705   0,
01706   0,
01707   0,
01708   400,
01709   4,
01710   2.5332,
01711   {
01712     { 100, 100, 90 },
01713     { 120, 80, 30 },
01714     { 130, 40, 15 },
01715     { 130, 0, 0 },
01716     { 130, -40, -15 },
01717     { 120, -80, -30 },
01718     { 100, -100, -90 },
01719   }
01720 };
01721 
01722 RobotParams_t pion1x_params =
01723 {
01724   0.0061359,
01725   "Pioneer",
01726   0.00333333,
01727   0.05066,
01728   0,
01729   1.626,
01730   0,
01731   1,
01732   0,
01733   0,
01734   0,
01735   "",
01736   "",
01737   0,
01738   1,
01739   0,
01740   0,
01741   0,
01742   100,
01743   400,
01744   0,
01745   0,
01746   0,
01747   0.1734,
01748   0,
01749   0,
01750   0,
01751   90,
01752   500,
01753   220,
01754   400,
01755   0,
01756   0,
01757   100,
01758   0,
01759   1,
01760   7,
01761   "pion1x",
01762   0,
01763   0,
01764   0,
01765   0,
01766   400,
01767   4,
01768   2.5332,
01769   {
01770     { 100, 100, 90 },
01771     { 120, 80, 30 },
01772     { 130, 40, 15 },
01773     { 130, 0, 0 },
01774     { 130, -40, -15 },
01775     { 120, -80, -30 },
01776     { 100, -100, -90 },
01777   }
01778 };
01779 
01780 RobotParams_t pionat_params =
01781 {
01782   0.0061359,
01783   "Pioneer",
01784   0.00333333,
01785   0.07,
01786   0,
01787   1.626,
01788   0,
01789   1,
01790   0,
01791   0,
01792   0,
01793   "",
01794   "",
01795   0,
01796   1,
01797   0,
01798   0,
01799   0,
01800   100,
01801   500,
01802   0,
01803   0,
01804   0,
01805   0.1734,
01806   0,
01807   0,
01808   0,
01809   120,
01810   500,
01811   330,
01812   400,
01813   0,
01814   0,
01815   100,
01816   0,
01817   1,
01818   7,
01819   "pionat",
01820   0,
01821   0,
01822   0,
01823   0,
01824   400,
01825   4,
01826   2.5332,
01827   {
01828     { 100, 100, 90 },
01829     { 120, 80, 30 },
01830     { 130, 40, 15 },
01831     { 130, 0, 0 },
01832     { 130, -40, -15 },
01833     { 120, -80, -30 },
01834     { 100, -100, -90 },
01835   }
01836 };
01837 
01838 RobotParams_t powerbot_sh_params =
01839 {
01840   0.001534,
01841   "Pioneer",
01842   0.00373,
01843   1,
01844   1,
01845   1.626,
01846   1,
01847   1,
01848   0,
01849   0,
01850   1,
01851   "",
01852   "COM2",
01853   0,
01854   1,
01855   0,
01856   251,
01857   0,
01858   360,
01859   2000,
01860   0,
01861   7,
01862   5,
01863   1,
01864   1,
01865   0,
01866   0,
01867   400,
01868   911,
01869   550,
01870   680,
01871   0,
01872   0,
01873   0,
01874   1,
01875   1,
01876   32,
01877   "powerbot-sh",
01878   38400,
01879   0,
01880   0,
01881   0,
01882   0,
01883   20,
01884   1,
01885   {
01886     { 152, 278, 90 },
01887     { 200, 267, 65 },
01888     { 241, 238, 45 },
01889     { 274, 200, 35 },
01890     { 300, 153, 25 },
01891     { 320, 96, 15 },
01892     { 332, 33, 5 },
01893     { 0, 0, -180 },
01894     { 332, -33, -5 },
01895     { 320, -96, -15 },
01896     { 300, -153, -25 },
01897     { 274, -200, -35 },
01898     { 241, -238, -45 },
01899     { 200, -267, -65 },
01900     { 152, -278, -90 },
01901     { 0, 0, -180 },
01902     { -298, -278, -90 },
01903     { -347, -267, -115 },
01904     { -388, -238, -135 },
01905     { -420, -200, -145 },
01906     { -447, -153, -155 },
01907     { -467, -96, -165 },
01908     { -478, -33, -175 },
01909     { 0, 0, -180 },
01910     { -478, 33, 175 },
01911     { -467, 96, 165 },
01912     { -447, 153, 155 },
01913     { -420, 200, 145 },
01914     { -388, 238, 135 },
01915     { -347, 267, 115 },
01916     { -298, 278, 90 },
01917     { 0, 0, -180 },
01918   }
01919 };
01920 
01921 RobotParams_t powerbot_params =
01922 {
01923   0.001534,
01924   "Pioneer",
01925   0.00373,
01926   0.5813,
01927   1,
01928   1.626,
01929   1,
01930   1,
01931   0,
01932   0,
01933   1,
01934   "",
01935   "COM2",
01936   0,
01937   1,
01938   0,
01939   251,
01940   0,
01941   360,
01942   2000,
01943   0,
01944   7,
01945   5,
01946   1,
01947   1,
01948   0,
01949   0,
01950   400,
01951   911,
01952   550,
01953   680,
01954   0,
01955   0,
01956   0,
01957   1,
01958   1,
01959   32,
01960   "powerbot",
01961   38400,
01962   0,
01963   0,
01964   0,
01965   0,
01966   20,
01967   1,
01968   {
01969     { 152, 278, 90 },
01970     { 200, 267, 65 },
01971     { 241, 238, 45 },
01972     { 274, 200, 35 },
01973     { 300, 153, 25 },
01974     { 320, 96, 15 },
01975     { 332, 33, 5 },
01976     { 0, 0, -180 },
01977     { 332, -33, -5 },
01978     { 320, -96, -15 },
01979     { 300, -153, -25 },
01980     { 274, -200, -35 },
01981     { 241, -238, -45 },
01982     { 200, -267, -65 },
01983     { 152, -278, -90 },
01984     { 0, 0, -180 },
01985     { -298, -278, -90 },
01986     { -347, -267, -115 },
01987     { -388, -238, -135 },
01988     { -420, -200, -145 },
01989     { -447, -153, -155 },
01990     { -467, -96, -165 },
01991     { -478, -33, -175 },
01992     { 0, 0, -180 },
01993     { -478, 33, 175 },
01994     { -467, 96, 165 },
01995     { -447, 153, 155 },
01996     { -420, 200, 145 },
01997     { -388, 238, 135 },
01998     { -347, 267, 115 },
01999     { -298, 278, 90 },
02000   }
02001 };
02002 
02003 RobotParams_t psos1m_params =
02004 {
02005   0.0061359,
02006   "Pioneer",
02007   0.00333333,
02008   0.05066,
02009   0,
02010   1.626,
02011   0,
02012   1,
02013   0,
02014   0,
02015   0,
02016   "",
02017   "",
02018   0,
02019   1,
02020   0,
02021   0,
02022   0,
02023   100,
02024   400,
02025   0,
02026   0,
02027   0,
02028   0.1734,
02029   0,
02030   0,
02031   0,
02032   90,
02033   500,
02034   220,
02035   400,
02036   0,
02037   0,
02038   100,
02039   0,
02040   1,
02041   7,
02042   "psos1m",
02043   0,
02044   0,
02045   0,
02046   0,
02047   400,
02048   4,
02049   2.5332,
02050   {
02051     { 100, 100, 90 },
02052     { 120, 80, 30 },
02053     { 130, 40, 15 },
02054     { 130, 0, 0 },
02055     { 130, -40, -15 },
02056     { 120, -80, -30 },
02057     { 100, -100, -90 },
02058   }
02059 };
02060 
02061 RobotParams_t psos1x_params =
02062 {
02063   0.0061359,
02064   "Pioneer",
02065   0.00333333,
02066   0.05066,
02067   0,
02068   1.626,
02069   0,
02070   1,
02071   0,
02072   0,
02073   0,
02074   "",
02075   "",
02076   0,
02077   1,
02078   0,
02079   0,
02080   0,
02081   100,
02082   400,
02083   0,
02084   0,
02085   0,
02086   0.1734,
02087   0,
02088   0,
02089   0,
02090   90,
02091   500,
02092   220,
02093   400,
02094   0,
02095   0,
02096   100,
02097   0,
02098   1,
02099   7,
02100   "psos1x",
02101   0,
02102   0,
02103   0,
02104   0,
02105   400,
02106   4,
02107   2.5332,
02108   {
02109     { 100, 100, 90 },
02110     { 120, 80, 30 },
02111     { 130, 40, 15 },
02112     { 130, 0, 0 },
02113     { 130, -40, -15 },
02114     { 120, -80, -30 },
02115     { 100, -100, -90 },
02116   }
02117 };
02118 
02119 RobotParams_t PlayerRobotParams[PLAYER_NUM_ROBOT_TYPES];
02120 
02121 void
02122 initialize_robot_params(void)
02123 {
02124   PlayerRobotParams[0] =  amigo_params;
02125   PlayerRobotParams[1] =  p2at_params;
02126   PlayerRobotParams[2] =  p2at8plus_params;
02127   PlayerRobotParams[3] =  p2at8_params;
02128   PlayerRobotParams[4] =  p2ce_params;
02129   PlayerRobotParams[5] =  p2d8plus_params;
02130   PlayerRobotParams[6] =  p2d8_params;
02131   PlayerRobotParams[7] =  p2de_params;
02132   PlayerRobotParams[8] =  p2df_params;
02133   PlayerRobotParams[9] =  p2dx_params;
02134   PlayerRobotParams[10] =  p2it_params;
02135   PlayerRobotParams[11] =  p2pb_params;
02136   PlayerRobotParams[12] =  p2pp_params;
02137   PlayerRobotParams[13] =  p3at_sh_params;
02138   PlayerRobotParams[14] =  p3at_params;
02139   PlayerRobotParams[15] =  p3atiw_params;
02140   PlayerRobotParams[16] =  p3dx_sh_params;
02141   PlayerRobotParams[17] =  p3dx_params;
02142   PlayerRobotParams[18] =  peoplebot_sh_params;
02143   PlayerRobotParams[19] =  perfpbplus_params;
02144   PlayerRobotParams[20] =  perfpb_params;
02145   PlayerRobotParams[21] =  pion1m_params;
02146   PlayerRobotParams[22] =  pion1x_params;
02147   PlayerRobotParams[23] =  pionat_params;
02148   PlayerRobotParams[24] =  powerbot_sh_params;
02149   PlayerRobotParams[25] =  powerbot_params;
02150   PlayerRobotParams[26] =  psos1m_params;
02151   PlayerRobotParams[27] =  psos1x_params;
02152   PlayerRobotParams[28] =  amigo_sh_params;
02153   PlayerRobotParams[29] =  p3dx_sh_lms1xx_params;
02154 }

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 Wed Aug 26 2015 15:15:07