// // This Program is provided by Duke University and the authors as a service to the// research community. It is provided without cost or restrictions, except for the// User's acknowledgement that the Program is provided on an "As Is" basis and User// understands that Duke University and the authors make no express or implied// warranty of any kind.  Duke University and the authors specifically disclaim any// implied warranty or merchantability or fitness for a particular purpose, and make// no representations or warranties that the Program will not infringe the// intellectual property rights of others. The User agrees to indemnify and hold// harmless Duke University and the authors from and against any and all liability// arising out of User's use of the Program.//// ThisRobot.h//// Copyright 2005, Austin Eliazar, Ronald Parr, Duke University//// ThisRobot is the interface between the code and the robot. // This contains information specific to the robot currently being used, as well as the functions which// give commands or information requests to the robot.//#include "basic.h"// The number of sensor readings for this robot (typically 181 for a laser range finder)#define SENSE_NUMBER 360// Turn radius of the robot in map squares.Since the "robot" is actually the sensor origin for the// purposes of this program, the turn radius is the displacement of the sensor from the robot's center// of rotation (assuming holonomic turns)#define TURN_RADIUS (0.10 * MAP_SCALE)// Each sensor reading has direction it is looking (theta) and a distance at which it senses the object.// Direction of the sensor is relative to the facing of the robot, with "forward" being 0, and is// measured in radians. struct TSense_struct{  double theta, distance;};typedef struct TSense_struct TSenseSample;typedef TSenseSample TSense[SENSE_NUMBER+1];// This is the structure for storing odometry data from the robot. The same conditions apply as above.struct odo_struct{  double x, y, theta;};typedef struct odo_struct TOdo;extern TOdo odometry;