CommonERSInfo.h

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//-*-c++-*-
#ifndef INCLUDED_CommonERSInfo_h
#define INCLUDED_CommonERSInfo_h

#include <math.h>
#ifndef PLATFORM_APERIOS
typedef unsigned short word; //!< otherwise defined in Types.h
#else
#include <Types.h>
#endif

#include "CommonInfo.h"
using namespace RobotInfo;

// see http://tekkotsu.org/porting.html#configuration for more information on TGT_HAS_* flags

#if defined(TGT_ERS210) || defined(TGT_ERS220) || defined(TGT_ERS2xx) || defined(TGT_ERS7)

//! Should only be used to specialize/optimize for the Aibo
#  define TGT_IS_AIBO

# define TGT_HAS_LEGS 4
# define TGT_HAS_REK_LEGS 4
# define TGT_HAS_LED_PANEL 1
# define TGT_HAS_ACCELEROMETERS 3
# ifndef TGT_ERS220
#   define TGT_HAS_MOUTH 1
#   define TGT_HAS_TAIL 1
# endif
# define TGT_HAS_POWER_STATUS
# define TGT_HAS_CAMERA 1
# define TGT_HAS_HEAD 1
# define TGT_HAS_MICROPHONE 2
# define TGT_HAS_SPEAKERS 1

#endif

namespace CameraERS2xx {
  const float CameraHorizFOV=57.6f/180*static_cast<float>(M_PI); //!< horizontal field of view (radians)
  const float CameraVertFOV=47.8f/180*static_cast<float>(M_PI); //!< vertical field of view (radians)
  const float CameraFOV=CameraHorizFOV; //!< should be set to maximum of #CameraHorizFOV or #CameraVertFOV
  const unsigned int CameraResolutionX=176; //!< the number of pixels available in the 'full' layer
  const unsigned int CameraResolutionY=144; //!< the number of pixels available in the 'full' layer
  extern const char CameraModelName[]; //!< specifies a name of the camera to load calibration parameters into RobotInfo::CameraHomography
}

/*! @file
 * @brief Defines some capabilities common to all Aibo robots
 * @author ejt (Creator)
 */

#endif