/********************************************************* * * This source code is part of the Carnegie Mellon Robot * Navigation Toolkit (CARMEN) * * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas * Roy, Sebastian Thrun, Dirk Haehnel, Cyrill Stachniss, * and Jared Glover * * CARMEN 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 (at your option) * any later version. * * CARMEN is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR * PURPOSE.  See the GNU General Public License for more  * details. * * You should have received a copy of the GNU General  * Public License along with CARMEN; if not, write to the * Free Software Foundation, Inc., 59 Temple Place,  * Suite 330, Boston, MA  02111-1307 USA * ********************************************************/char *robd_default_setup_string = "[sonar]\n""firing_delay = 0\n""sonar_sets = sonset0 sonset1 sonset2 sonset3 sonset4 sonset5\n""\n""[sonset0]\n""main_lobe =  209.43\n""blind_lobe = 1.74\n""side_lobe = 174.53\n""blind_lobe_attenuation = 2\n""side_lobe_attenuation = 1.2\n""range = 10000\n""sonars = son0 son1 son2 son3 son4 son5 son6 son7\n""son0 = CreateSonar son0 238.006 182.628 0.793353 0.608761 base\n""son1 = CreateSonar son1 182.628 238.006 0.608761 0.793353 base\n""son2 = CreateSonar son2 114.805 277.164 0.382683 0.92388 base\n""son3 = CreateSonar son3 39.1579 297.433 0.130526 0.991445 base\n""son4 = CreateSonar son4 -39.1579 297.433 -0.130526 0.991445 base\n""son5 = CreateSonar son5 -114.805 277.164 -0.382683 0.92388 base\n""son6 = CreateSonar son6 -182.628 238.006 -0.608761 0.793353 base\n""son7 = CreateSonar son7 -238.006 182.628 -0.793353 0.608761 base\n""\n""[sonset1]\n""main_lobe =  209.43\n""blind_lobe = 1.74\n""side_lobe = 174.53\n""blind_lobe_attenuation = 2\n""side_lobe_attenuation = 1.2\n""range = 10000\n""sonars = son0 son1 son2 son3 son4 son5 son6 son7\n""son0 = CreateSonar son0 238.006 182.628 0.793353 0.608761 base\n""son1 = CreateSonar son1 182.628 238.006 0.608761 0.793353 base\n""son2 = CreateSonar son2 114.805 277.164 0.382683 0.92388 base\n""son3 = CreateSonar son3 39.1579 297.433 0.130526 0.991445 base\n""son4 = CreateSonar son4 -39.1579 297.433 -0.130526 0.991445 base\n""son5 = CreateSonar son5 -114.805 277.164 -0.382683 0.92388 base\n""son6 = CreateSonar son6 -182.628 238.006 -0.608761 0.793353 base\n""son7 = CreateSonar son7 -238.006 182.628 -0.793353 0.608761 base\n""\n""[sonset2]\n""main_lobe =  209.43\n""blind_lobe = 1.74\n""side_lobe = 174.53\n""blind_lobe_attenuation = 2\n""side_lobe_attenuation = 1.2\n""range = 10000\n""sonars = son0 son1 son2 son3 son4 son5 son6 son7\n""son0 = CreateSonar son0 -277.164 114.805 -0.92388 0.382683 base\n""son1 = CreateSonar son1 -297.433 39.1579 -0.991445 0.130526 base\n""son2 = CreateSonar son2 -297.433 -39.1579 -0.991445 -0.130526 base\n""son3 = CreateSonar son3 -277.164 -114.805 -0.92388 -0.382683 base\n""son4 = CreateSonar son4 -238.006 -182.628 -0.793353 -0.608761 base\n""son5 = CreateSonar son5 -182.628 -238.006 -0.608761 -0.793353 base\n""son6 = CreateSonar son6 -114.805 -277.164 -0.382683 -0.92388 base\n""son7 = CreateSonar son7 -39.1579 -297.433 -0.130526 -0.991445 base\n""\n""[sonset3]\n""main_lobe =  209.43\n""blind_lobe = 1.74\n""side_lobe = 174.53\n""blind_lobe_attenuation = 2\n""side_lobe_attenuation = 1.2\n""range = 10000\n""sonars = son0 son1 son2 son3 son4 son5 son6 son7\n""son0 = CreateSonar son0 -277.164 114.805 -0.92388 0.382683 base\n""son1 = CreateSonar son1 -297.433 39.1579 -0.991445 0.130526 base\n""son2 = CreateSonar son2 -297.433 -39.1579 -0.991445 -0.130526 base\n""son3 = CreateSonar son3 -277.164 -114.805 -0.92388 -0.382683 base\n""son4 = CreateSonar son4 -238.006 -182.628 -0.793353 -0.608761 base\n""son5 = CreateSonar son5 -182.628 -238.006 -0.608761 -0.793353 base\n""son6 = CreateSonar son6 -114.805 -277.164 -0.382683 -0.92388 base\n""son7 = CreateSonar son7 -39.1579 -297.433 -0.130526 -0.991445 base\n""\n""[sonset4]\n""main_lobe =  209.43\n""blind_lobe = 1.74\n""side_lobe = 174.53\n""blind_lobe_attenuation = 2\n""side_lobe_attenuation = 1.2\n""range = 10000\n""sonars = son0 son1 son2 son3 son4 son5 son6 son7\n""son0 = CreateSonar son0 39.1579 -297.433 0.130526 -0.991445 base\n""son1 = CreateSonar son1 114.805 -277.164 0.382683 -0.92388 base\n""son2 = CreateSonar son2 182.628 -238.006 0.608761 -0.793353 base\n""son3 = CreateSonar son3 238.006 -182.628 0.793353 -0.608761 base\n""son4 = CreateSonar son4 277.164 -114.805 0.92388 -0.382683 base\n""son5 = CreateSonar son5 297.433 -39.1579 0.991445 -0.130526 base\n""son6 = CreateSonar son6 297.433 39.1579 0.991445 0.130526 base\n""son7 = CreateSonar son7 277.164 114.805 0.92388 0.382683 base\n""\n""[sonset5]\n""main_lobe =  209.43\n""blind_lobe = 1.74\n""side_lobe = 174.53\n""blind_lobe_attenuation = 2\n""side_lobe_attenuation = 1.2\n""range = 10000\n""sonars = son0 son1 son2 son3 son4 son5 son6 son7\n""son0 = CreateSonar son0 39.1579 -297.433 0.130526 -0.991445 base\n""son1 = CreateSonar son1 114.805 -277.164 0.382683 -0.92388 base\n""son2 = CreateSonar son2 182.628 -238.006 0.608761 -0.793353 base\n""son3 = CreateSonar son3 238.006 -182.628 0.793353 -0.608761 base\n""son4 = CreateSonar son4 277.164 -114.805 0.92388 -0.382683 base\n""son5 = CreateSonar son5 297.433 -39.1579 0.991445 -0.130526 base\n""son6 = CreateSonar son6 297.433 39.1579 0.991445 0.130526 base\n""son7 = CreateSonar son7 277.164 114.805 0.92388 0.382683 base\n""\n""[infrared]\n""infrared_sets = irset0 irset1 irset2 irset3 irset4 irset5\n""\n""[irset0]\n""main_lobe = 261.79\n""range = 350\n""infrareds = ir0 ir1 ir2 ir3 ir4 ir5 ir6 ir7\n""ir0 = CreateInfrared ir0 238.006 182.628 0.793353 0.608761 base\n""ir1 = CreateInfrared ir1 182.628 238.006 0.608761 0.793353 base\n""ir2 = CreateInfrared ir2 114.805 277.164 0.382683 0.92388 base\n""ir3 = CreateInfrared ir3 39.1579 297.433 0.130526 0.991445 base\n""ir4 = CreateInfrared ir4 -39.1579 297.433 -0.130526 0.991445 base\n""ir5 = CreateInfrared ir5 -114.805 277.164 -0.382683 0.92388 base\n""ir6 = CreateInfrared ir6 -182.628 238.006 -0.608761 0.793353 base\n""ir7 = CreateInfrared ir7 -238.006 182.628 -0.793353 0.608761 base\n""\n""[irset1]\n""main_lobe = 261.79\n""range = 350\n""infrareds = ir0 ir1 ir2 ir3 ir4 ir5 ir6 ir7\n""ir0 = CreateInfrared ir0 238.006 182.628 0.793353 0.608761 base\n""ir1 = CreateInfrared ir1 182.628 238.006 0.608761 0.793353 base\n""ir2 = CreateInfrared ir2 114.805 277.164 0.382683 0.92388 base\n""ir3 = CreateInfrared ir3 39.1579 297.433 0.130526 0.991445 base\n""ir4 = CreateInfrared ir4 -39.1579 297.433 -0.130526 0.991445 base\n""ir5 = CreateInfrared ir5 -114.805 277.164 -0.382683 0.92388 base\n""ir6 = CreateInfrared ir6 -182.628 238.006 -0.608761 0.793353 base\n""ir7 = CreateInfrared ir7 -238.006 182.628 -0.793353 0.608761 base\n""\n""[irset2]\n""id = irset1t\n""main_lobe = 261.79\n""range = 350\n""infrareds = ir0 ir1 ir2 ir3 ir4 ir5 ir6 ir7\n""ir0 = CreateInfrared ir0 -277.164 114.805 -0.92388 0.382683 base\n""ir1 = CreateInfrared ir1 -297.433 39.1579 -0.991445 0.130526 base\n""ir2 = CreateInfrared ir2 -297.433 -39.1579 -0.991445 -0.130526 base\n""ir3 = CreateInfrared ir3 -277.164 -114.805 -0.92388 -0.382683 base\n""ir4 = CreateInfrared ir4 -238.006 -182.628 -0.793353 -0.608761 base\n""ir5 = CreateInfrared ir5 -182.628 -238.006 -0.608761 -0.793353 base\n""ir6 = CreateInfrared ir6 -114.805 -277.164 -0.382683 -0.92388 base\n""ir7 = CreateInfrared ir7 -39.1579 -297.433 -0.130526 -0.991445 base\n""\n""[irset3]\n""main_lobe = 261.79\n""range = 350\n""infrareds = ir0 ir1 ir2 ir3 ir4 ir5 ir6 ir7\n""ir0 = CreateInfrared ir0 -277.164 114.805 -0.92388 0.382683 base\n""ir1 = CreateInfrared ir1 -297.433 39.1579 -0.991445 0.130526 base\n""ir2 = CreateInfrared ir2 -297.433 -39.1579 -0.991445 -0.130526 base\n""ir3 = CreateInfrared ir3 -277.164 -114.805 -0.92388 -0.382683 base\n""ir4 = CreateInfrared ir4 -238.006 -182.628 -0.793353 -0.608761 base\n""ir5 = CreateInfrared ir5 -182.628 -238.006 -0.608761 -0.793353 base\n""ir6 = CreateInfrared ir6 -114.805 -277.164 -0.382683 -0.92388 base\n""ir7 = CreateInfrared ir7 -39.1579 -297.433 -0.130526 -0.991445 base\n""\n""[irset4]\n""main_lobe = 261.79\n""range = 350\n""infrareds = ir0 ir1 ir2 ir3 ir4 ir5 ir6 ir7\n""ir0 = CreateInfrared ir0 39.1579 -297.433 0.130526 -0.991445 base\n""ir1 = CreateInfrared ir1 114.805 -277.164 0.382683 -0.92388 base\n""ir2 = CreateInfrared ir2 182.628 -238.006 0.608761 -0.793353 base\n""ir3 = CreateInfrared ir3 238.006 -182.628 0.793353 -0.608761 base\n""ir4 = CreateInfrared ir4 277.164 -114.805 0.92388 -0.382683 base\n""ir5 = CreateInfrared ir5 297.433 -39.1579 0.991445 -0.130526 base\n""ir6 = CreateInfrared ir6 297.433 39.1579 0.991445 0.130526 base\n""ir7 = CreateInfrared ir7 277.164 114.805 0.92388 0.382683 base\n""\n""[irset5]\n""main_lobe = 261.79\n""range = 350\n""infrareds = ir0 ir1 ir2 ir3 ir4 ir5 ir6 ir7\n""ir0 = CreateInfrared ir0 39.1579 -297.433 0.130526 -0.991445 base\n""ir1 = CreateInfrared ir1 114.805 -277.164 0.382683 -0.92388 base\n""ir2 = CreateInfrared ir2 182.628 -238.006 0.608761 -0.793353 base\n""ir3 = CreateInfrared ir3 238.006 -182.628 0.793353 -0.608761 base\n""ir4 = CreateInfrared ir4 277.164 -114.805 0.92388 -0.382683 base\n""ir5 = CreateInfrared ir5 297.433 -39.1579 0.991445 -0.130526 base\n""ir6 = CreateInfrared ir6 297.433 39.1579 0.991445 0.130526 base\n""ir7 = CreateInfrared ir7 277.164 114.805 0.92388 0.382683 base\n""\n""[bumper]\n""bumper_sets = bumperset0 bumperset1 bumperset2 bumperset3 bumperset4 bumperset5\n""\n""[bumperset0]\n""bumpers = bumperarc bumper8 bumper9 bumper10 bumper11\n""bumperarc = CreateBumperArc 8 bumper 0 0 0.6545 2.0944 base\n""bumper8 = CreateBumper bumper8 0 0 0.5 0.866 base\n""bumper9 = CreateBumper bumper9 0 0 0.5 0.866 base\n""bumper10 = CreateBumper bumper10 0 0 -0.5 0.866 base\n""bumper11 = CreateBumper bumper11 0 0 -0.5 0.866 base\n""\n""[bumperset1]\n""bumpers = bumperarc\n""bumperarc = CreateBumperArc 8 bumper 0 0 0.6545 2.0944 base\n""\n""[bumperset2]\n""bumpers = bumperarc bumper8 bumper9 bumper10 bumper11\n""bumperarc = CreateBumperArc 8 bumper 0 0 2.749 2.0944 base\n""bumper8 = CreateBumper bumper8 0 0 -1.0 0.0 base\n""bumper9 = CreateBumper bumper9 0 0 -1.0 0.0 base\n""bumper10 = CreateBumper bumper10 0 0 -0.5 -0.866 base\n""bumper11 = CreateBumper bumper11 0 0 -0.5 -0.866 base\n""\n""[bumperset3]\n""bumpers = bumperarc\n""bumperarc = CreateBumperArc 8 bumper 0 0 2.749 2.0944 base\n""\n""[bumperset4]\n""bumpers = bumperarc bumper8 bumper9 bumper10 bumper11\n""bumperarc = CreateBumperArc 8 bumper 0 0 4.843 2.0944 base\n""bumper8 = CreateBumper bumper8 0 0 0.5 -0.866 base\n""bumper9 = CreateBumper bumper9 0 0 0.5 -0.866 base\n""bumper10 = CreateBumper bumper10 0 0 1.0 0.0 base\n""bumper11 = CreateBumper bumper11 0 0 1.0 0.0 base\n""\n""[bumperset5]\n""bumpers = bumperarc\n""bumperarc = CreateBumperArc 8 bumper 0 0 4.843 2.0944 base\n";