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[Playerstage-commit] SF.net SVN: playerstage:[7109] code/player/trunk/server/drivers/mixed/p2os
|
From: <ge...@us...> - 2008-10-20 20:02:34
|
Revision: 7109
http://playerstage.svn.sourceforge.net/playerstage/?rev=7109&view=rev
Author: gerkey
Date: 2008-10-20 20:02:26 +0000 (Mon, 20 Oct 2008)
Log Message:
-----------
Updated robot_params.{cc|h} with parsed output from latest ARIA .p fils
Modified Paths:
--------------
code/player/trunk/server/drivers/mixed/p2os/robot_params.cc
code/player/trunk/server/drivers/mixed/p2os/robot_params.h
Modified: code/player/trunk/server/drivers/mixed/p2os/robot_params.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/p2os/robot_params.cc 2008-10-17 22:19:44 UTC (rev 7108)
+++ code/player/trunk/server/drivers/mixed/p2os/robot_params.cc 2008-10-20 20:02:26 UTC (rev 7109)
@@ -2,8 +2,8 @@
* Player - One Hell of a Robot Server
* Copyright (C) 2000
* Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
+ *
*
- *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
@@ -20,57 +20,111 @@
*
*/
-/*
- * robot_params.cc
+/*
+ * robot_params.cc
*
- * ActivMedia robot parameters, automatically generated by saphconv.tcl from
+ * ActivMedia robot parameters, automatically generated by saphconv.tcl from
* Saphira parameter files:
- * amigo.p
- * amigo-sh.p
- * p2at.p
- * p2at8+.p
- * p2at8.p
- * p2ce.p
- * p2d8+.p
- * p2d8.p
- * p2de.p
- * p2df.p
- * p2dx.p
- * p2it.p
- * p2pb.p
- * p2pp.p
- * p3at-sh.p
- * p3at.p
- * p3atiw.p
- * p3dx-sh.p
- * p3dx.p
- * peoplebot-sh.p
- * perfpb+.p
- * perfpb.p
- * pion1m.p
- * pion1x.p
- * pionat.p
- * powerbot-sh.p
- * powerbot.p
- * psos1m.p
- * psos1x.p
+ * /Users/gerkey/Desktop/params/params/amigo-sh.p
+ * /Users/gerkey/Desktop/params/params/amigo.p
+ * /Users/gerkey/Desktop/params/params/arnl.p
+ * /Users/gerkey/Desktop/params/params/default-arnl.p
+ * /Users/gerkey/Desktop/params/params/default-sonarnl.p
+ * /Users/gerkey/Desktop/params/params/p2at.p
+ * /Users/gerkey/Desktop/params/params/p2at8+.p
+ * /Users/gerkey/Desktop/params/params/p2at8.p
+ * /Users/gerkey/Desktop/params/params/p2ce.p
+ * /Users/gerkey/Desktop/params/params/p2d8+.p
+ * /Users/gerkey/Desktop/params/params/p2d8.p
+ * /Users/gerkey/Desktop/params/params/p2de.p
+ * /Users/gerkey/Desktop/params/params/p2df.p
+ * /Users/gerkey/Desktop/params/params/p2dx.p
+ * /Users/gerkey/Desktop/params/params/p2it.p
+ * /Users/gerkey/Desktop/params/params/p2pb.p
+ * /Users/gerkey/Desktop/params/params/p2pp.p
+ * /Users/gerkey/Desktop/params/params/p3at-sh.p
+ * /Users/gerkey/Desktop/params/params/p3at.p
+ * /Users/gerkey/Desktop/params/params/p3atiw-sh.p
+ * /Users/gerkey/Desktop/params/params/p3dx-sh.p
+ * /Users/gerkey/Desktop/params/params/p3dx.p
+ * /Users/gerkey/Desktop/params/params/patrolbot-sh.p
+ * /Users/gerkey/Desktop/params/params/peoplebot-sh.p
+ * /Users/gerkey/Desktop/params/params/perfpb+.p
+ * /Users/gerkey/Desktop/params/params/perfpb.p
+ * /Users/gerkey/Desktop/params/params/pion1m.p
+ * /Users/gerkey/Desktop/params/params/pion1x.p
+ * /Users/gerkey/Desktop/params/params/pionat.p
+ * /Users/gerkey/Desktop/params/params/powerbot-sh.p
+ * /Users/gerkey/Desktop/params/params/powerbot.p
+ * /Users/gerkey/Desktop/params/params/psos1m.p
+ * /Users/gerkey/Desktop/params/params/psos1x.p
+ * /Users/gerkey/Desktop/params/params/psos43m.p
+ * /Users/gerkey/Desktop/params/params/sonarnl.p
+ * /Users/gerkey/Desktop/params/params/wheelchair-sh.p
*/
#include "robot_params.h"
-RobotParams_t amigo_params =
+RobotParams_t amigo_sh_params =
{
+ 0,
+ 0,
+ 0,
0.001534,
+ 0,
+ 0,
"Pioneer",
+ 0,
+ 0,
0.011,
- 0.5083,
0,
+ 1,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
1.626,
1,
+ 0,
+ 0,
+ 0,
+ 0,
1,
0,
0,
0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
"",
"",
0,
@@ -78,58 +132,192 @@
0,
0,
0,
+ 0,
+ "0",
+ 0,
300,
+ 0,
+ 0,
1000,
0,
+ 0,
+ 0,
+ 0,
5,
5,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
1,
0,
0,
0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
120,
330,
+ 160,
+ 170,
180,
279,
0,
0,
0,
+ 0,
+ 0,
1,
1,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
8,
- "amigo",
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ "amigo-sh",
+ 0,
38400,
0,
0,
0,
0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
20,
- 0.6154,
+ 1,
+ 0,
{
- { 73, 105, 90 },
- { 130, 78, 41 },
- { 154, 30, 15 },
- { 154, -30, -15 },
- { 130, -78, -41 },
- { 73, -105, -90 },
- { -146, -60, -145 },
- { -146, 60, 145 },
+ { 70, 100, 90 },
+ { 125, 75, 41 },
+ { 144, 30, 15 },
+ { 144, -30, -15 },
+ { 120, -75, -41 },
+ { 70, -100, -90 },
+ { -146, -58, -145 },
+ { -146, 58, 145 },
+ },
+ {
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
}
};
-RobotParams_t amigo_sh_params =
+RobotParams_t amigo_params =
{
+ 0,
+ 0,
+ 0,
0.001534,
+ 0,
+ 0,
"Pioneer",
+ 0,
+ 0,
0.011,
- 1.0,
0,
+ 0.5083,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
1.626,
1,
+ 0,
+ 0,
+ 0,
+ 0,
1,
0,
0,
0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
"",
"",
0,
@@ -137,58 +325,747 @@
0,
0,
0,
+ 0,
+ "0",
+ 0,
300,
+ 0,
+ 0,
1000,
0,
+ 0,
+ 0,
+ 0,
5,
5,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
1,
0,
0,
0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
120,
330,
+ 160,
+ 170,
180,
279,
0,
0,
0,
+ 0,
+ 0,
1,
1,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
8,
- "amigo-sh",
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ "amigo",
+ 0,
38400,
0,
0,
0,
0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
20,
- 1.3746,
+ 0.6154,
+ 0,
{
- { 73, 105, 90 },
- { 130, 78, 41 },
- { 154, 30, 15 },
- { 154, -30, -15 },
- { 130, -78, -41 },
- { 73, -105, -90 },
- { -146, -60, -145 },
- { -146, 60, 145 },
+ { 76, 100, 90 },
+ { 125, 75, 41 },
+ { 150, 30, 15 },
+ { 150, -30, -15 },
+ { 125, -75, -41 },
+ { 76, -100, -90 },
+ { -140, -58, -145 },
+ { -140, 58, 145 },
+ },
+ {
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
}
};
-RobotParams_t p2at_params =
+RobotParams_t arnl_params =
{
+ 0,
+ 10,
+ 10,
+ 0,
+ 0,
+ 10,
+ "0",
+ 1,
+ 2000,
+ 0,
+ 0.33,
+ 0,
+ 0.1,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 45,
+ 300,
+ 300,
+ 2000,
+ 0,
+ 100,
+ 1000,
+ 100,
+ 0,
+ 10,
+ 200,
+ 1000,
+ 33,
+ 33,
+ 33,
+ 250,
+ 0.4,
+ 200,
+ 200,
+ 1,
+ 100,
+ 0,
+ 0,
+ 50,
+ 50,
+ 50,
+ 0.8,
+ 0,
+ 0,
+ 0,
+ 15,
+ 200,
+ 200,
+ 0.05,
+ 0.0025,
+ 0.05,
+ 0,
+ "0",
+ "0",
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 1000,
+ "",
+ 0.75,
+ 0,
+ 100,
+ 750,
+ 0,
+ 200,
+ 0,
+ 1,
+ 8,
+ 0,
+ 0,
+ 2000,
+ 1,
+ 5,
+ 0.2,
+ 0.1,
+ 10,
+ 0.2,
+ 1e-06,
+ 1,
+ 10,
+ 10,
+ 1,
+ 10,
+ 10,
+ 1,
+ 637.5,
+ 106.25,
+ 1,
+ 100,
+ 100,
+ 0,
+ 0,
+ 0,
+ 1000,
+ 45,
+ 32000,
+ 10000,
+ 0,
+ 0,
+ 2,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 8,
+ 0.9,
+ 0,
+ 0,
+ 1000,
+ 100,
+ 100,
+ 2,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 3,
+ 50,
+ 45,
+ 150,
+ 30,
+ 400,
+ 400,
+ "0",
+ 1000,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0.5,
+ 5,
+ 200,
+ 10000,
+ 0,
+ 0,
+ 0,
+ 1,
+ 1,
+ 1,
+ 0,
+ 0,
+ 0.1,
+ {
+ },
+ {
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ }
+};
+
+RobotParams_t default_arnl_params =
+{
+ 0,
+ 10,
+ 10,
+ 0,
+ 0,
+ 10,
+ "0",
+ 1,
+ 2000,
+ 0,
+ 0.33,
+ 0,
+ 0.1,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 45,
+ 300,
+ 300,
+ 2000,
+ 0,
+ 100,
+ 1000,
+ 100,
+ 0,
+ 10,
+ 200,
+ 1000,
+ 33,
+ 33,
+ 33,
+ 250,
+ 0.4,
+ 200,
+ 200,
+ 1,
+ 100,
+ 0,
+ 0,
+ 50,
+ 50,
+ 50,
+ 0.8,
+ 0,
+ 0,
+ 0,
+ 15,
+ 200,
+ 200,
+ 0.05,
+ 0.0025,
+ 0.05,
+ 0,
+ "0",
+ "0",
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 1000,
+ "",
+ 0.75,
+ 0,
+ 100,
+ 750,
+ 0,
+ 200,
+ 0,
+ 1,
+ 8,
+ 0,
+ 0,
+ 2000,
+ 1,
+ 5,
+ 0.2,
+ 0.1,
+ 10,
+ 0.2,
+ 1e-06,
+ 1,
+ 10,
+ 10,
+ 1,
+ 10,
+ 10,
+ 1,
+ 637.5,
+ 106.25,
+ 1,
+ 100,
+ 100,
+ 0,
+ 0,
+ 0,
+ 1000,
+ 45,
+ 32000,
+ 10000,
+ 0,
+ 0,
+ 2,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 8,
+ 0.9,
+ 0,
+ 0,
+ 1000,
+ 100,
+ 100,
+ 2,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 3,
+ 50,
+ 45,
+ 150,
+ 30,
+ 400,
+ 400,
+ "0",
+ 1000,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0.5,
+ 5,
+ 200,
+ 10000,
+ 0,
+ 0,
+ 0,
+ 1,
+ 1,
+ 1,
+ 0,
+ 0,
+ 0.1,
+ {
+ },
+ {
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ }
+};
+
+RobotParams_t default_sonarnl_params =
+{
+ 0,
+ 10,
+ 10,
+ 0,
+ 0,
+ 10,
+ "0",
+ 1,
+ 2000,
+ 0,
+ 0,
+ 0,
+ 0.1,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 45,
+ 300,
+ 300,
+ 2000,
+ 0,
+ 100,
+ 1000,
+ 100,
+ 0,
+ 10,
+ 200,
+ 1000,
+ 33,
+ 33,
+ 33,
+ 250,
+ 0.4,
+ 200,
+ 200,
+ 1,
+ 0,
+ 0,
+ 0,
+ 50,
+ 50,
+ 50,
+ 0.8,
+ 0,
+ 0,
+ 0,
+ 15,
+ 200,
+ 200,
+ 0.05,
+ 0.0025,
+ 0.05,
+ 0,
+ "0",
+ "0",
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 1000,
+ "",
+ 0.75,
+ 0,
+ 100,
+ 750,
+ 0,
+ 200,
+ 0,
+ 1,
+ 8,
+ 0,
+ 0,
+ 2000,
+ 1,
+ 5,
+ 0.2,
+ 0,
+ 10,
+ 0.1,
+ 0.9,
+ 2,
+ 100,
+ 100,
+ 1,
+ 10,
+ 10,
+ 1,
+ 637.5,
+ 106.25,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 2,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 8,
+ 0,
+ 0,
+ 0,
+ 1000,
+ 100,
+ 100,
+ 2,
+ 1,
+ 30,
+ 0.6,
+ 0.8,
+ 15,
+ 2e-05,
+ 5e-05,
+ 2000,
+ 100,
+ 0,
+ 100,
+ 30,
+ 3,
+ 50,
+ 45,
+ 150,
+ 30,
+ 400,
+ 400,
+ "0",
+ 1000,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 5,
+ 200,
+ 10000,
+ 0,
+ 0,
+ 0,
+ 1,
+ 0,
+ 1,
+ 0,
+ 0,
+ 0.1,
+ {
+ },
+ {
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0 },
+ }
+};
+
+RobotParams_t p2at_params =
+{
+ 0,
+ 0,
+ 0,
0.001534,
+ 0,
+ 0,
"Pioneer",
+ 0,
+ 0,
0.0034,
+ 0,
1.32,
0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
1.626,
1,
+ 0,
+ 0,
+ 0,
+ 0,
1,
0,
0,
0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
"",
"COM3",
0,
@@ -196,66 +1073,200 @@
0,
160,
7,
+ 0,
+ "0",
+ 0,
300,
+ 0,
+ 0,
1200,
0,
+ 0,
+ 0,
+ 0,
5,
5,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
0.268,
0,
0,
0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
120,
626,
+ 313,
+ 313,
500,
505,
0,
0,
0,
+ 0,
+ 0,
1,
1,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
16,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
"p2at",
+ 0,
38400,
0,
0,
0,
0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
20,
1,
+ 0,
{
- { 145, 130, 90 },
- { 185, 115, 50 },
- { 220, 80, 30 },
- { 240, 25, 10 },
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};
-RobotParams_t p2at8plus_params =
+RobotParams_t p2at8plus_params =
{
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};
-RobotParams_t p2at8_params =
+RobotParams_t p2at8_params =
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};
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+RobotParams_t p2ce_params =
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};
-RobotParams_t p2d8plus_params =
+RobotParams_t p2d8plus_params =
{
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};
-RobotParams_t p2d8_params =
+RobotParams_t p2d8_params =
{
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};
-RobotParams_t p2de_params =
+RobotParams_t p2de_params =
{
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{ -0.203, -0.17, 244, 0.098, 0 },
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