root / branches / simulator / projects / simulator / common / robot_shared.h @ 982
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/* shared structs for simulator */
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#ifndef __ROBOT_SHARED_H
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#define __ROBOT_SHARED_H
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typedef struct PositionType |
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{ |
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int x,y; /* position of robot in environment */ |
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int theta; /* orientation of robot in environment */ |
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} Position; |
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/* rangefinders are 1-5, so write convert function for this */
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typedef struct RangeFinderType |
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{ |
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short d[5]; |
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} RangeFinder; |
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/* this is what is in the robot shared memory */
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typedef struct RobotSharedType |
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{ |
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short motor1; /* motor1 value */ |
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short motor2; /* motor2 value */ |
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RangeFinder ranges; /* rangefinders */
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/* add other sensors, etc here */
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} RobotShared; |
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typedef struct SimulatorRobotType |
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{ |
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int robotSharedMemoryID; /* id for shared memory object */ |
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Position pos; /* position in environment */
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short motor1; /* motor1 value */ |
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short motor2; /* motor2 value */ |
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RangeFinder ranges; /* rangefinders */
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/* add other sensors, etc here */
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} SimulatorRobot; |
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#endif
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