source: pacpussensors/trunk/StereoVisionDisparity/GeneralDefinitions.h@ 78

Last change on this file since 78 was 70, checked in by phudelai, 10 years ago

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1#ifndef GENERALDEFINITIONS
2#define GENERALDEFINITIONS
3
4#define _CRT_SECURE_NO_WARNINGS
5
6//#define WIFIBOT_ROBOT
7#define CAR_LIKE_ROBOT
8
9namespace pacpus {
10
11#define MS_DELAY 10
12#define PI_VALUE 3.1415926535897932
13//#define DELTA_T 0.1 // Time in seconds estimated for each interaction
14
15#ifdef WIFIBOT_ROBOT
16//---------------- Wifibot DSPIC constraints ----------------------
17#define SIZE_MSG_RECEIVE 21
18#define SIZE_MSG_SEND 9
19#define SIZE_MSG_PID_SEND 11
20
21#define W_SPEED_MAX 360
22
23//-----------------------------------------------------------------
24
25//------------------- WIFIBOT constraints -------------------------
26#define W_WHEEL_R 0.07 // Wheel radius
27#define W_DIST_L 0.19 // Distance from the robot frame to the wheel
28
29// Robot dimentions
30#define W_LEFT -0.20 // negative
31#define W_RIGHT 0.20 // positive
32#define W_FRONT 0.20 // positive
33#define W_BACK -0.20 // negative
34#define W_ENLARGEMENT 0.2
35
36// REAL LIMIT
37//#define W_V1_MAX 1.355 // Desired max robot linear velocity (m/s)
38//#define W_V1_MIN 0.0 // Min robot linear Velocity (m/s)
39//#define W_V1_ACC 0.6 // Max acceleration and desacceleration (m/s^2)
40//#define W_V2_MAX (W_V1_MAX/W_DIST_L) // Max robot angular velocity (rad/s)
41//#define W_V2_ACC (W_V1_ACC/W_DIST_L) // Max acceleration and desacceleration (rad/s^2)
42//#define W_DELTA_V1 0.008 // Smallest linear velocity variation (m/s)
43//#define W_DELTA_V2 (W_DELTA_V1/(2.0*W_DIST_L)) // Smallest angle velocity variation (rad)
44//#define W_WHEEL_ANGULAR_VELOCITY_MAX (W_V1_MAX/W_WHEEL_R) // Max robot wheel angular velocity (rad/s)
45
46// Smooth actuator limit
47#define W_V1_MAX 0.6 // Desired max robot linear velocity (m/s)
48#define W_V1_MIN 0.0 // Min robot linear Velocity (m/s)
49#define W_V1_ACC 0.4 // Max acceleration and desacceleration (m/s^2)
50#define W_V2_MAX (PI_VALUE/4.0) // Max robot angular velocity (rad/s)
51#define W_V2_ACC (PI_VALUE/4.0) // Max acceleration and desacceleration (rad/s^2)
52#define W_DELTA_V1 0.05 // Smallest linear velocity variation (m/s)
53#define W_DELTA_V2 0.018 // Smallest angle velocity variation (rad)
54#define W_WHEEL_ANGULAR_VELOCITY_MAX (W_V1_MAX/W_WHEEL_R) // Max robot wheel angular velocity (rad/s)
55
56// Input convertion
57#define LINEAR_VELOCITY 125.0 // 125 (int) == 1 (m/s)
58#define WHEEL_ANGULAR_VELOCITY 8.75 // (int) == 1 (rad/s) == 0.07 m/s
59#define V1_MAX_INT 127.0 // Maximum robot speed
60
61//-----------------------------------------------------------------
62#endif
63
64#ifdef CAR_LIKE_ROBOT
65
66//#define CAN_CARMEN
67//#define CAN_FLUENCEZE
68#define CAN_ZOE
69
70//------------------- Car constraints -------------------------
71#ifdef CAN_CARMEN
72
73#define CAR_WHEEL_R 0.5 // Wheel radius
74#define CAR_DIST_L 2.75 // Distance from the robot frame to the wheel
75
76// Robot dimentions
77#define CAR_LEFT 1.05 // negative
78#define CAR_RIGHT -1.05 // positive
79#define CAR_FRONT 3.795 // positive
80#define CAR_BACK -1.045 // negative
81#define CAR_ENLARGEMENT 0.5
82
83// REAL LIMIT
84//#define CAR_V1_MAX 1.355 // Desired max car linear velocity (m/s)
85//#define CAR_V1_MIN 0.0 // Min car linear Velocity (m/s)
86//#define CAR_V1_ACC 0.6 // Max acceleration and desacceleration (m/s^2)
87//#define CAR_PHI_MAX 0.5061 // Max steering angle (rad) (29.0*PI_VALUE/180.0)
88//#define CAR_V2_MAX 0.2 // Max car steering angle velocity (rad/s)
89//#define CAR_DELTA_V1 0.008 // Smallest linear velocity variation (m/s)
90//#define CAR_DELTA_PHI 0.002 // Smallest steering angle variation (rad)
91
92// Smooth actuator limit
93#define CAR_V1_MAX 1.355 // Desired max car linear velocity (m/s)
94#define CAR_V1_MIN 0.0 // Min car linear Velocity (m/s)
95#define CAR_V1_ACC 0.6 // Max acceleration and desacceleration (m/s^2)
96#define CAR_PHI_MAX 0.5061 // Max steering angle (rad) (29.0*PI_VALUE/180.0)
97#define CAR_PHI_WHEEL_MAX 9,5993 // Max steering wheel angle (rad) (550.0*PI_VALUE/180.0)
98#define CAR_V2_MAX 0.2 // Max car steering angle velocity (rad/s)
99#define CAR_DELTA_V1 0.008 // Smallest linear velocity variation (m/s)
100#define CAR_DELTA_PHI 0.002 // Smallest steering angle variation (rad)
101
102#else ////////////////////////////////////////////////////////////////////////////////////////////
103#ifdef CAN_FLUENCEZE
104
105#define CAR_WHEEL_R 0.5 // Wheel radius
106#define CAR_DIST_L 2.75 // Distance from the robot frame to the wheel
107
108// Robot dimentions
109#define CAR_LEFT 1.05 // negative
110#define CAR_RIGHT -1.05 // positive
111#define CAR_FRONT 3.795 // positive
112#define CAR_BACK -1.045 // negative
113#define CAR_ENLARGEMENT 0.5
114
115// REAL LIMIT
116//#define CAR_V1_MAX 1.355 // Desired max car linear velocity (m/s)
117//#define CAR_V1_MIN 0.0 // Min car linear Velocity (m/s)
118//#define CAR_V1_ACC 0.6 // Max acceleration and desacceleration (m/s^2)
119//#define CAR_PHI_MAX 0.5061 // Max steering angle (rad) (29.0*PI_VALUE/180.0)
120//#define CAR_V2_MAX 0.2 // Max car steering angle velocity (rad/s)
121//#define CAR_DELTA_V1 0.008 // Smallest linear velocity variation (m/s)
122//#define CAR_DELTA_PHI 0.002 // Smallest steering angle variation (rad)
123
124// Smooth actuator limit
125#define CAR_V1_MAX 1.355 // Desired max car linear velocity (m/s)
126#define CAR_V1_MIN 0.0 // Min car linear Velocity (m/s)
127#define CAR_V1_ACC 0.6 // Max acceleration and desacceleration (m/s^2)
128#define CAR_PHI_MAX 0.5061 // Max steering angle (rad) (29.0*PI_VALUE/180.0)
129#define CAR_PHI_WHEEL_MAX 9,5993 // Max steering wheel angle (rad) (550.0*PI_VALUE/180.0)
130#define CAR_V2_MAX 0.2 // Max car steering angle velocity (rad/s)
131#define CAR_DELTA_V1 0.008 // Smallest linear velocity variation (m/s)
132#define CAR_DELTA_PHI 0.002 // Smallest steering angle variation (rad)
133
134#else /////////////////////////////////////////////////////////////////////////////////////////////////
135#ifdef CAN_ZOE
136
137#define CAR_WHEEL_R 0.31045 // Wheel radius
138#define CAR_DIST_L 2.588 // Distance from the robot frame to the wheel
139
140// Robot dimentions
141#define CAR_LEFT 0.9725 // negative
142#define CAR_RIGHT -0.9725 // positive
143#define CAR_FRONT 3.427 // positive
144#define CAR_BACK -0.657 // negative
145#define CAR_ENLARGEMENT 0.9
146#define CAR_ENLARGEMENT2 0.3
147
148// REAL LIMIT
149//#define CAR_V1_MAX 4.0 // Desired max car linear velocity (m/s)
150//#define CAR_V1_MIN 0.0 // Min car linear Velocity (m/s)
151//#define CAR_V1_ACC 0.6 // Max acceleration and desacceleration (m/s^2)
152//#define CAR_PHI_MAX 0.5061 // Max steering angle (rad) (29.0*PI_VALUE/180.0)
153//#define CAR_PHI_WHEEL_MAX 8.6394 // Max steering wheel angle (rad) (495.0*PI_VALUE/180.0)
154//#define CAR_V2_MAX 0.5726 // Max car steering angle velocity (rad/s) (Steering wheel = 560 °/s ====> Steering = 32.8 °/s )
155//#define CAR_V2_MIN 0.0041 // Min car steering angle velocity (rad/s) (Steering wheel = 4 °/s ====> Steering = 0.234 °/s )
156//#define CAR_DELTA_V1 0.008 // Smallest linear velocity variation (m/s)
157//#define CAR_DELTA_PHI 0.002 // Smallest steering angle variation (rad)
158
159// Smooth actuator limit
160#define CAR_V1_MAX 4.0 // Desired max car linear velocity (m/s)
161#define CAR_V1_MIN 0.0 // Min car linear Velocity (m/s)
162#define CAR_V1_ACC 0.6 // Max acceleration (m/s^2)
163#define CAR_V1_DEC -2.4 // Max deceleration (m/s^2)
164#define CAR_PHI_MAX 0.4090 // Max steering angle (rad) (23.43*PI_VALUE/180.0)
165#define CAR_PHI_WHEEL_MAX 6.9813 // Max steering wheel angle (rad) (400.0*PI_VALUE/180.0) >>> THIS IS THE MAXIMUM FOR DON'T CRASH THE SYSTEM
166#define CAR_V2_MAX 0.2556 // Max car steering angle velocity (rad/s) (Steering wheel = 250 °/s ====> Steering = 14.65 °/s )
167#define CAR_V2_MIN 0.0041 // Min car steering angle velocity (rad/s) (Steering wheel = 4 °/s ====> Steering = 0.234 °/s )
168#define CAR_DELTA_V1 0.14 // Smallest linear velocity variation (m/s)
169#define CAR_DELTA_PHI 0.01 // Smallest steering angle variation (rad)
170
171#endif // CAN_ZOE
172#endif // CAN_FLUENCE_ZE
173#endif // CAN_CARMEN
174//-----------------------------------------------------------------
175
176#endif // CAR_LIKE_ROBOT
177
178//--------------- Camera Grid constraints Wifibot -----------------
179#define D_MAX_CAM_GRID_DEFAULT 10.0 // Max distance in the grid
180#define CAM_GRID_COLS 361 // Grid image columns
181#define CAM_GRID_ROWS 600 // Grid image rows
182//#define CAM_GRID_DIST 60.0 // Max distance in the grid cell (pixels/meter)
183#define ROBOT_FRONT_DIST 2.00 // Distance from the robot front to the camera (meters) - Just for symbolic representation
184#define ROBOT_FRONT_WIDTH 2.10 // Width of the robot front (meters) - Just for symbolic representation
185
186//-----------------------------------------------------------------
187
188//-------------- Obstacle Detection constraints -------------------
189#define ANG_VARIATION 20.0 // Planes are equal to lines with 90° + ANG_VARIATION
190#define ANG_VARIATION2 7.0 // Obstacles are equal to lines between 90° +- ANG_VARIATION2
191//#define MIN_V_DISPARITY 16
192//#define MAX_V_DISPARITY 255
193
194//-----------------------------------------------------------------
195
196//---------------- Path Following Constraints----------------------
197#define CONTROL_DELTA_T 0.1 // Estimated time between the control loop
198#define DWA_DELTA_T_V1 0.3 // DWA time interval for the linear velocity
199#define DWA_DELTA_T_PHI 0.7 // DWA time interval for the angular velocity
200#define MAX_LINE_FEATURES_OUT 5 // Maximum image lane features interactions missing
201//-----------------------------------------------------------------
202
203//============= Extended Kalman Filter parameters =================
204//---------------------- GPS ERROR --------------------------------
205#define GPS_DELTA_X 3.0 // Standard deviation of the estimated error of x
206#define GPS_DELTA_Y 3.0 // Standard deviation of the estimated error of y
207#define GPS_RHO 0.0 // Spartial correlation coefficient
208//-----------------------------------------------------------------
209
210//---------------------- CAN ERROR --------------------------------
211#define CAN_DELTA_V 0.2778 // Standard deviation of the estimated error of the speed
212#define CAN_DELTA_PHI (0.5*PI_VALUE/180.0) // Standard deviation of the estimated error of steering rad
213//-----------------------------------------------------------------
214
215//------------------- VISUAL ODOMETRY ERROR -----------------------
216#define VO_DELTA_D 0.2 // Standard deviation of the estimated error of the translation distance variation
217#define VO_DELTA_THETA (1.0*PI_VALUE/180.0) // Standard deviation of the estimated error of the rotation variation
218//-----------------------------------------------------------------
219
220//------------------------ Model error ----------------------------
221#define MODEL_ERROR_X 0.04
222#define MODEL_ERROR_Y 0.04
223#define MODEL_ERROR_THETA 0.005
224#define MODEL_ERROR_PHI 0.0
225#define MODEL_ERROR_V1 0.0
226//-----------------------------------------------------------------
227//=================================================================
228
229//------------------- Robot State definitions ---------------------
230#define RS_RATE 10.0 // Frequency Hz
231#define RS_RATE_EKF 40.0 // Frequency Hz
232//-----------------------------------------------------------------
233
234};
235
236#endif
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