00001
00002 #ifndef __kb_stargazer__
00003 #define __kb_stargazer__
00004
00005
00006
00007
00008
00009 #include "korebot.h"
00010
00011
00012 #define NB_MARK_TYPES 6
00013 #define HLD1S 0
00014 #define HLD1L 1
00015 #define HLD2S 2
00016 #define HLD2L 3
00017 #define HLD3S 4
00018 #define HLD3L 5
00019 extern const char *kb_gazer_landmark_types[];
00020
00021
00022 #define NB_MARK_MODES 2
00023 #define MARK_ALONE 0
00024 #define MARK_MAP 1
00025 extern const char *kb_gazer_landmark_modes[];
00026
00027
00028
00029 #define NB_HEIGHT_FIX_MODES 2
00030 #define HEIGHT_FIX_NO 0
00031 #define HEIGHT_FIX_YES 1
00032 extern const char *kb_gazer_height_fix_modes[];
00033
00034 #define ANGLE_CORRECTION 100.0 // angle correction
00035
00036 #define CALIB_STDEV_MAX 5.0 // maximum standard deviation before calibration error [cm]
00037
00038
00039
00040
00041
00042
00043 extern int kb_stargazer_init(char *DeviceName);
00044
00045 extern int kb_gazer_get_version(char *version);
00046
00047 extern int kb_gazer_set_landmark_number(int number);
00048 extern int kb_gazer_get_landmark_number(int *number);
00049
00050 extern int kb_gazer_set_ref_id(int refid);
00051 extern int kb_gazer_get_ref_id(int *refid);
00052
00053 extern int kb_gazer_set_landmark_type(int type);
00054 extern int kb_gazer_get_landmark_type(int *type);
00055
00056 extern int kb_gazer_set_landmark_mode(int mode);
00057 extern int kb_gazer_get_landmark_mode(int *mode);
00058
00059 extern int kb_gazer_set_height_fix_mode(int mode);
00060 extern int kb_gazer_get_height_fix_mode(int *mode);
00061
00062 extern int kb_gazer_start_map_mode();
00063
00064 extern int kb_gazer_set_end_command();
00065
00066 extern int kb_gazer_start_computation();
00067
00068 extern int kb_gazer_stop_computation();
00069
00070 extern int kb_gazer_wait_stop_computation();
00071
00072 extern int kb_stargazer_read_data(double *x,double *y,double *z,double *angle, int *idnum, char *mode, int corr);
00073
00074 extern void kb_stargazer_Close();
00075
00076
00077 extern int kb_gazer_calibration(knet_dev_t * mot1,knet_dev_t * mot2,double *_center_x0,double *_center_y0,double *_angle_rot,double *_a_axis, double *_b_axis, double *_stddev_x, double *_stddev_y);
00078
00079 #endif