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#ifndef models_host_h
#define models_host_h
/* models.host.h */
/* asserv - Position & speed motor control on AVR. {{{
 *
 * Copyright (C) 2006 Nicolas Schodet
 *
 * APBTeam:
 *        Web: http://apbteam.org/
 *      Email: team AT apbteam DOT org
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 *
 * }}} */
#include "modules/motor/motor_model/motor_model_defs.host.h"

#define ECHANT_PERIOD (1.0 / (14745600.0 / 256 / 256))

#define CORNERS_NB 4

/** Define a robot and its peripherals.
 * Encoder characteristics are defined at gearbox output. */
struct robot_t
{
    /** Main motors. */
    const motor_model_def_t *main_motor;
    /** Motors voltage (V). */
    double u_max;
    /** Number of steps on the main motors encoders. */
    int main_encoder_steps;
    /** Wheel radius (m). */
    double wheel_r;
    /** Distance between the wheels (m). */
    double footing;
    /** Weight of the robot (kg). */
    double weight;
    /** Distance of the gravity center from the center of motors axis (m). */
    double gravity_center_distance;
    /** Whether the encoder is mounted on the main motor (false) or not (true). */
    int encoder_separated;
    /** Encoder wheel radius (m). */
    double encoder_wheel_r;
    /** Distance between the encoders wheels (m). */
    double encoder_footing;
    /** Auxiliary motors, NULL if not present. */
    const motor_model_def_t *aux_motor[AC_ASSERV_AUX_NB];
    /** Number of steps for each auxiliary motor encoder. */
    int aux_encoder_steps[AC_ASSERV_AUX_NB];
    /** Load for auxiliary motors (kg.m^2). */
    double aux_load[AC_ASSERV_AUX_NB];
    /** Sensor update function. */
    void (*sensor_update) (void);
    /** Table test function, return false if given robot point is not in
     * table. */
    int (*table_test) (double p_x, double p_y);
    /** Robot corners, from front left, then clockwise. */
    double corners[CORNERS_NB][2];
    /** Initialisation function. */
    void (*init) (const struct robot_t *robot, motor_model_t *main_motor_left,
		  motor_model_t *main_motor_right, motor_model_t aux_motor[]);
};

/** Get a pointer to a model by name, or return 0. */
const struct robot_t *
models_get (const char *name);

/** Initialise simulation models. */
void
models_init (const struct robot_t *robot, motor_model_t *main_motor_left,
	     motor_model_t *main_motor_right, motor_model_t aux_motor[]);

#endif /* models_host_h */