robot.h File Reference

#include "tinyxml.h"
#include "types.h"
#include "vecmath.h"
#include "motion.h"

Classes

class  CBox
 Cubic base component of geometry model. More...
class  CGeometry
 Geometry model. More...
class  CDh
 Denavit Hartenberg Link information. More...
class  CFrame
 Frame in cartesian space. More...
class  CKinematicChain
 Kinematic chain. More...
class  CKinematicChainContainer
 Kinematic Robot Model. More...
class  CRobot
 Robot (kinematic, geometric, dynamic model). More...

Defines

#define AX12_COUNT   18
#define AXS1_COUNT   1
#define INVKIN_ARM_DISTANCE   1.0
#define WRITEOFFSET   0
#define READOFFSET   0
#define AX12_DATA_READ   12
#define AX12_DATA_READ_TOTAL   (AX12_COUNT % 4 == 0 ? (3 * 10 * AX12_COUNT) / 8 : (3 * 10 * AX12_COUNT) / 8 + 1)
#define AX12_DATA_WRITE   6
#define AX12_DATA_WRITE_TOTAL   AX12_DATA_READ_TOTAL
#define AX12_DATA_OFFSET   0
#define AX12_DATA_ADDRESS   P_GOAL_POSITION_L
#define AX12_ANGLE_DISTANCE   1.0
#define AX12_INVALID   1e30;
#define MAXANGLEDIFF   20.0
#define OLDANGLESCOUNT   10
#define STANDARD_TORQUE   1023
#define GEOMETRY_BOXCOUNT   50
#define TORQUE_MAX   1023
#define SPEED_MAX   1023
#define ANGLE_MAX   150.0
#define ANGLE_MIN   -150.0
#define LED_COUNT   0
#define AXS1_DATA_OFFSET   0
#define AXS1_DATA_READ   19
#define AXS1_DATA_WRITE_1   4
#define AXS1_DATA_WRITE_2   6
#define FRAMES_COUNT   100

Enumerations

enum  ROBOT_TYPES { ROBOT_HUMANOID, ROBOT_HUMANOID_INVERSE_HIP, ROBOT_CARAUSIUSMOROSUS, ROBOT_COUNT }
 Robot types with implemented inverse kinematics. More...

Variables

const char * robotNames [ROBOT_COUNT]

Define Documentation

#define ANGLE_MAX   150.0

#define ANGLE_MIN   -150.0

#define AX12_ANGLE_DISTANCE   1.0

#define AX12_COUNT   18

#define AX12_DATA_ADDRESS   P_GOAL_POSITION_L

#define AX12_DATA_OFFSET   0

#define AX12_DATA_READ   12

#define AX12_DATA_READ_TOTAL   (AX12_COUNT % 4 == 0 ? (3 * 10 * AX12_COUNT) / 8 : (3 * 10 * AX12_COUNT) / 8 + 1)

#define AX12_DATA_WRITE   6

#define AX12_DATA_WRITE_TOTAL   AX12_DATA_READ_TOTAL

#define AX12_INVALID   1e30;

#define AXS1_COUNT   1

#define AXS1_DATA_OFFSET   0

#define AXS1_DATA_READ   19

#define AXS1_DATA_WRITE_1   4

#define AXS1_DATA_WRITE_2   6

#define FRAMES_COUNT   100

#define GEOMETRY_BOXCOUNT   50

#define INVKIN_ARM_DISTANCE   1.0

#define LED_COUNT   0

#define MAXANGLEDIFF   20.0

#define OLDANGLESCOUNT   10

#define READOFFSET   0

#define SPEED_MAX   1023

#define STANDARD_TORQUE   1023

#define TORQUE_MAX   1023

#define WRITEOFFSET   0


Enumeration Type Documentation

enum ROBOT_TYPES

Robot types with implemented inverse kinematics.

Enumerator:
ROBOT_HUMANOID 
ROBOT_HUMANOID_INVERSE_HIP 
ROBOT_CARAUSIUSMOROSUS 
ROBOT_COUNT 


Variable Documentation

const char* robotNames[ROBOT_COUNT]

Initial value:

 {
"HUMANOID", "HUMANOID_INVERSE_HIP", "CARAUSIUSMOROSUS" }


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