37 #ifndef RFLEX_CONFIGS_H
38 #define RFLEX_CONFIGS_H
41 #include <libplayerinterface/player.h>
44 inline double normalize_theta(
double theta){
54 char serial_port[256];
60 double odo_distance_conversion;
62 double odo_angle_conversion;
64 double range_distance_conversion;
66 double mPsec2_trans_acceleration;
68 double radPsec2_rot_acceleration;
71 int heading_home_address;
77 double joy_pos_ratio, joy_ang_ratio;
89 int num_sonars_possible_per_bank;
91 int *num_sonars_in_bank;
96 long sonar_echo_delay;
97 long sonar_ping_delay;
100 long sonar_2nd_bank_start;
101 long sonar_1st_bank_end;
102 long sonar_max_range;
106 unsigned short bumper_count;
135 #define ARB2RAD_ODO_CONV(x) ((x)/rflex_configs.odo_angle_conversion)
136 #define RAD2ARB_ODO_CONV(x) ((x)*rflex_configs.odo_angle_conversion)
137 #define ARB2M_ODO_CONV(x) ((x)/rflex_configs.odo_distance_conversion)
138 #define M2ARB_ODO_CONV(x) ((x)*rflex_configs.odo_distance_conversion)
140 #define ARB2M_RANGE_CONV(x) (x/rflex_configs.range_distance_conversion)
141 #define M2ARB_RANGE_CONV(x) (x*rflex_configs.range_distance_conversion)
int bumper_style
bumper bit style
Definition: rflex_configs.h:109
Definition: rflex_configs.h:53
Request/reply: get pose.
Definition: player_interfaces.h:2130
A pose in space.
Definition: player.h:227
The geometry of a single bumper.
Definition: player_interfaces.h:1931