/********************************************************* * * 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 * ********************************************************/#ifndef CARMEN_PIONEER_PARAMS_H#define CARMEN_PIONEER_PARAMS_H#ifdef __cplusplusextern "C" {#endifchar *carmen_pioneer_models[] = {"amigo", "p2at8", "p2at8+", "p2at", "p2ce", 				 "p2d8", "p2d8+", "p2de", "p2df", "p2dx", 				 "p2it", "p2pb", "p2pp", "powerbot-sh", "perfpb",                                 "perfpb+", "pion1m", "pion1x", "pionat", "powerbot", 				 "psos1m", "psos1x", "p3at-sh", "p3at", "p3atiw-sh",                                 "p3atiw", "p3dx-sh", "p3dx", "peoplebot-sh",                                 0};  double carmen_pioneer_params[][6] =   {    // AngleConvFactor DistConvFactor VelConvFactor RangeConfFactor     // DiffConvFactor Vel2Divisor    // Amigo params    {0.001534, 0.508300, 0.615400, 1.000000, 0.011000, 20.000000},    // p2at8    {0.001534, 1.320000, 1.000000, 1.000000, 0.003400, 20.000000},    // p2at8+    {0.001534, 0.465000, 1.000000, 1.000000, 0.003400, 20.000000},    // pt2at    {0.001534, 1.320000, 1.000000, 0.268000, 0.003400, 20.000000},    // p2ce    {0.001534, 0.826000, 1.000000, 0.268000, 0.005700, 20.000000},    // p2d8    {0.001534, 0.485000, 1.000000, 1.000000, 0.005600, 20.000000},    // p2d8+    {0.001534, 0.485000, 1.000000, 1.000000, 0.005600, 20.000000},    // p2de    {0.001534, 0.969000, 1.000000, 0.268000, 0.005600, 20.000000},    // p2df    {0.001534, 0.485000, 1.000000, 0.268000, 0.006000, 20.000000},    // p2dx    {0.001534, 0.840000, 1.000000, 0.268000, 0.005600, 20.000000},    // p2it    {0.001534, 1.136000, 1.000000, 0.268000, 0.003200, 20.000000},    // p2pb    {0.001534, 0.424000, 1.000000, 0.268000, 0.005600, 20.000000},    // p2pp    {0.001534, 0.485000, 1.000000, 0.268000, 0.006000, 20.000000},    // powerbot-sh    {0.001534, 1.000000, 1.000000, 1.000000, 0.003730, 20.000000},    // perfp    {0.001534, 0.485000, 1.000000, 1.000000, 0.006000, 20.000000},    // perfpb+    {0.001534, 0.485000, 1.000000, 1.000000, 0.006000, 20.000000},    // pion1m    {0.006136, 0.050660, 2.533200, 0.173400, 0.003300, 4.000000},    // pion1x    {0.006136, 0.050660, 0.079790, 0.173400, 0.003333, 4.000000},    // pionat    {0.006136, 0.070000, 2.533200, 0.173400, 0.003333, 4.000000},    // powerbot    {0.001534, 0.581300, 1.000000, 1.000000, 0.003730, 20.000000},    // psos1m    {0.006136, 0.050660, 2.533200, 0.173400, 0.003300, 4.000000},    // psos1x    {0.006136, 0.050660, 0.079790, 0.173400, 0.003333, 4.000000},    // p3at-sh    {0.001534, 1.000000, 1.000000, 1.000000, 0.003400, 20.000000 },    // p3at    {0.001534, 0.465000, 1.000000, 1.000000, 0.003400, 20.000000 },    // p3atiw-sh    {0.001534, 1.000000, 1.000000, 1.000000, 0.003400, 20.000000 },    // p3atiw    {0.001534, 0.376800, 1.000000, 1.000000, 0.003400, 20.000000 },    // p3dx-sh    {0.001534, 1.000000, 1.000000, 1.000000, 0.005600, 2.0000000 },    // p3dx    {0.001534, 0.485000, 1.000000, 1.000000, 0.005600, 20.000000 },    // peoplebot-sh    {0.001534, 1.000000, 1.000000, 1.000000, 0.006000, 20.000000 },  };#ifdef __cplusplus}#endif#endif