lidars: Add and update dimension parameters for Sick Tim551

[eurobot/public.git] / src / robodim / robodim.h

diff --git a/src/robodim/robodim.h b/src/robodim/robodim.h
index 024ab51c915e83aa469e72a0e08746df56320740..c9caf91bd5d2f1ceff1071fd4a89eff1524d9e0f 100644 (file)
--- a/src/robodim/robodim.h
+++ b/src/robodim/robodim.h
@@ -59,6 +59,12 @@
 #define SICK_RANGE_ANGLE_RIGHT 135.0
 #define SICK_ORIENTATION       (1)   /* 1 = screws up, -1 = screws down */
 
+#define SICK551_CENTER_OFFSET_MM         180.0
+#define SICK551_CENTER_OFFSET_M  (SICK551_CENTER_OFFSET_MM/1000.0)
+#define SICK551_RANGE_ANGLE_LEFT  135.0     /* view angle in degrees from center axis */
+#define SICK551_RANGE_ANGLE_RIGHT 135.0
+#define SICK551_ORIENTATION       (-1)   /* 1 = screws up, -1 = screws down */
+
 #define ODOMETRY_WHEEL_RADIUS_MM 30.0
 #define ODOMETRY_WHEEL_RADIUS_M (ODOMETRY_WHEEL_RADIUS_MM/1000.0)
 #define ODOMETRY_ROTATION_RADIUS_MM (180.0/2.0)