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/**
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 * The code in this package was developed using the structure of Willow
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 * Garage's turtlesim package.  It was modified by the CMU Robotics Club
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 * to be used as a simulator for the Colony Scout robot.
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 *
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 * All redistribution of this code is limited to the terms of Willow Garage's
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 * licensing terms, as well as under permission from the CMU Robotics Club.
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 * 
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 * Copyright (c) 2011 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * Copyright (c) 2009, Willow Garage, Inc.
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 * All rights reserved.
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 * 
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 * Redistribution and use in source and binary forms, with or without
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 * modification, are permitted provided that the following conditions are met:
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 * 
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 *    Redistributions of source code must retain the above copyright
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 *       notice, this list of conditions and the following disclaimer.
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 *    Redistributions in binary form must reproduce the above copyright
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 *       notice, this list of conditions and the following disclaimer in the
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 *       documentation and/or other materials provided with the distribution.
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 *    Neither the name of the Willow Garage, Inc. nor the names of its
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 *       contributors may be used to endorse or promote products derived from
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 *       this software without specific prior written permission.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 */
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/**
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 * @file scout_constants.h
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 *
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 * @ingroup scoutsim
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 * @{
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 */
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#ifndef _SCOUTSIM_SCOUT_CONSTANTS_
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#define _SCOUTSIM_SCOUT_CONSTANTS_
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#include <messages/set_motors.h>
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/// TODO put these in a utility file somewhere?
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#define min(x,y) ((x < y) ? x : y)
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#define max(x,y) ((x > y) ? x : y)
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namespace scoutsim
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{
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    // Maximum speed which will be sent to scoutsim in absolute units
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    const int MAX_ABSOLUTE_SPEED = messages::set_motors::MAX_SPEED;
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    const int MIN_ABSOLUTE_SPEED = messages::set_motors::MIN_SPEED;
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    // Speed in m/s corresponding to maximum absolute speed
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    const float MAX_SPEED_MPS = 1.0;
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    // Pixels in scoutsim per real-world meter.
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    // Note that scout image size has been set based on this.
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    const float PIX_PER_METER = 200.0;
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    // Scout dimensions, in meters
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    const float SCOUT_WIDTH = 0.125;
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    const float SCOUT_LENGTH = 0.23;
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    // Position of sonar relative to robot center
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    const float SCOUT_SONAR_X = -0.01;
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    const float SCOUT_SONAR_Y = 0.0;
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    // @todo Inaccurate. Update
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    const float ENCODER_TICKS_PER_METER = 363.78;
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    // @todo Update this
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    const float SONAR_MAX_RANGE_M = 9.144;
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    const unsigned int SONAR_MAX_RANGE_PIX = (unsigned int)
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        (SONAR_MAX_RANGE_M * PIX_PER_METER);
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    // Time it takes for the sonar to spin from position 0 to position 23
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    const float SONAR_HALF_SPIN_TIME = 0.5;
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    const float REAL_TIME_REFRESH_RATE = 0.05;   // s
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    const float SIM_TIME_REFRESH_RATE = 0.02;   // s
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}
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#endif
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/** @} */