00001 /*!@file BeoSub/BeeBrain/Globals.H 00002 global declaration for AUVSI 2007 */ 00003 // //////////////////////////////////////////////////////////////////// // 00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the // 00005 // University of Southern California (USC) and the iLab at USC. // 00006 // See http://iLab.usc.edu for information about this project. // 00007 // //////////////////////////////////////////////////////////////////// // 00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00010 // in Visual Environments, and Applications'' by Christof Koch and // 00011 // Laurent Itti, California Institute of Technology, 2001 (patent // 00012 // pending; application number 09/912,225 filed July 23, 2001; see // 00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00014 // //////////////////////////////////////////////////////////////////// // 00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00016 // // 00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00018 // redistribute it and/or modify it under the terms of the GNU General // 00019 // Public License as published by the Free Software Foundation; either // 00020 // version 2 of the License, or (at your option) any later version. // 00021 // // 00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00025 // PURPOSE. See the GNU General Public License for more details. // 00026 // // 00027 // You should have received a copy of the GNU General Public License // 00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00030 // Boston, MA 02111-1307 USA. // 00031 // //////////////////////////////////////////////////////////////////// // 00032 // 00033 // Primary maintainer for this file: Michael Montalbo <montalbo@usc.edu> 00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/SeaBee/Globals.H $ 00035 // $Id: Globals.H 10794 2009-02-08 06:21:09Z itti $ 00036 // 00037 00038 #ifndef __SEABEE_GLOBALS_H__ 00039 #define __SEABEE_GLOBALS_H__ 00040 00041 enum DataType { NONE, 00042 POSITION, 00043 ORIENTATION, 00044 FREQUENCY, 00045 DISTANCE, 00046 MASS}; 00047 00048 enum CommandType { UPDATE_MISSION = 1, 00049 SENSOR_RESULT = 2, 00050 IMAGE_UPDATE = 3, 00051 STOP_SEARCH_OCEAN_OBJECT_CMD = 21121 }; 00052 00053 enum NumMoves { ONCE, REPEAT }; 00054 enum SearchTypes { SWEEP, SPIN }; 00055 00056 00057 #define AUVSI07_COMPETITION_TIME 15*60*1000000 00058 00059 // slave program names 00060 #define COM_B_NODE 0 00061 00062 // signals 00063 #define INIT_COMM 10000 00064 #define INIT_DONE 10001 00065 00066 #define SENSOR_RESULT 20001 00067 #define SEARCH_SENSOR_RESULT_RES 20002 00068 #define SENSOR_RESULT_STATUS 20003 00069 00070 #define ABORT 90000 00071 00072 struct motorCommand 00073 { 00074 // values should all be [ -1.0 ... 1.0 ] 00075 00076 float l_horz_thrust; 00077 float r_horz_thrust; 00078 00079 float l_vert_thrust; 00080 float r_vert_thrust; 00081 00082 float b_vert_thrust; 00083 }; 00084 00085 #endif 00086 00087 // ###################################################################### 00088 /* So things look consistent in everyone's emacs... */ 00089 /* Local Variables: */ 00090 /* indent-tabs-mode: nil */ 00091 /* End: */ 00092
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