CGlobalContainer Class Reference

Global Objects container. More...

#include <global.h>

List of all members.

Public Member Functions
	CGlobalContainer ()
	~CGlobalContainer ()
bool	init (int argc, char *argv[])
	Initialisation.
void	run ()
	Inits and starts threads and runs main program loop.
void	clear ()
	Finalisation.
void	threadMotion ()
	Thread function.
void	threadCmd ()
	Thread function.
Public Attributes
CConfiguration	config
CWrapper	wrapper
	Communication wrapper.
CRobotWrapper	robotWrapper
	Hardware wrapper (ax12, axs1, buttons, leds, ..).
CRobot	robotInput
	Stores the current robot data, use MUTEXINPUT to access.
CRobot	robotCalc
	Robot structure to do calculations (inverse kinematics, ...).
CMotionContainer	motion
	Motion container.
CConsole	console
	Console object, processes input.
CParser	parser
	Lexx, yacc parser.
CTest	test
	Test Object.
bool	initialisationComplete
	True if initialisation is complete.
bool	writeToRobot
	Turns writing data to robot off/on.
bool	readFromRobot
	Turns reading data from robot off/on.
bool	showDebugMessages
	Show debug text in console.
int	ax12ToKinematicChain [AX12_COUNT]
	Mapping from ax12 servo ids to kinematic chain.
float	collisionAnglesBackup [AX12_COUNT]
	Stores robot angles if a collision occurred. Used to reduce the amount of generated collision warning.
int	viewType
	Index of camera frame in robot.frames (3d viewer).
bool	controlTorque
	Enables Torque PID controller.
bool	controlSpeed
	Enables Speed PID controller.
char	configFilename [255]
char	dhFilename [255]
Static Public Attributes
static const float	anglesMinMaxStart [AX12_COUNT][3]
static float	parameters [CONSOLE_PARAMETER_COUNT]

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Detailed Description

Global Objects container.

Stores global variables, objects. Manages initialisation, finalisation and execution of main program loop.

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Constructor & Destructor Documentation

CGlobalContainer::CGlobalContainer

(

)

CGlobalContainer::~CGlobalContainer

(

)

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Member Function Documentation

bool CGlobalContainer::init	(	int	argc,
		char *	argv[]
	)

Initialisation.

void CGlobalContainer::run

(

)

Inits and starts threads and runs main program loop.

void CGlobalContainer::clear

(

)

Finalisation.

void CGlobalContainer::threadMotion

(

)

Thread function.

void CGlobalContainer::threadCmd

(

)

Thread function.

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Member Data Documentation

const float CGlobalContainer::anglesMinMaxStart [static]

Initial value:

 {
{-150.0,150.0, 0.0},{-150.0,150.0, 0.0},
{-150.0,150.0, 0.0},{-150.0,150.0, 0.0},
{-150.0,150.0, 0.0},{-150.0,150.0, 0.0},
{-150.0,150.0, 0.0},{-150.0,150.0, 0.0},
{-150.0,150.0, 0.0},{-150.0,150.0, 0.0},
{-150.0,150.0, 0.0},{-150.0,150.0, 0.0},
{-150.0,150.0, 0.0},{-150.0,150.0, 0.0},
{-150.0,150.0, 0.0},{-150.0,150.0, 0.0},
{-150.0,150.0, 0.0},{-150.0,150.0, 0.0}
}

float CGlobalContainer::parameters [static]

Initial value:

 {
0.12,   0.08,   0.7,    1.3, 
0.5,    3.0,    0.10,   0.2,
2.0,    3.0,    0.5,    0.5, 
0.125,  3.0,    0.025,  0.5,
13.0,   0.5,    2.0,    0.15,
2.0,    0.25,   0.5,    0.35,
0.02,   0.08,   0.04,   2.0, 
0.7,    0.01,   0.1,    0.875,  
0.99,   4.0,    3.0,    5.0,   
0.0,    60.0,   24.0, 0.0,
10.0,   0.0,    0.5,  150.0, 
20.0,   0.05,    0.3,  100.0,
0.95
}

CConfiguration CGlobalContainer::config

CWrapper CGlobalContainer::wrapper

Communication wrapper.

CRobotWrapper CGlobalContainer::robotWrapper

Hardware wrapper (ax12, axs1, buttons, leds, ..).

CRobot CGlobalContainer::robotInput

Stores the current robot data, use MUTEXINPUT to access.

CRobot CGlobalContainer::robotCalc

Robot structure to do calculations (inverse kinematics, ...).

CMotionContainer CGlobalContainer::motion

Motion container.

CConsole CGlobalContainer::console

Console object, processes input.

CParser CGlobalContainer::parser

Lexx, yacc parser.

CTest CGlobalContainer::test

Test Object.

bool CGlobalContainer::initialisationComplete

True if initialisation is complete.

bool CGlobalContainer::writeToRobot

Turns writing data to robot off/on.

bool CGlobalContainer::readFromRobot

Turns reading data from robot off/on.

bool CGlobalContainer::showDebugMessages

Show debug text in console.

int CGlobalContainer::ax12ToKinematicChain[AX12_COUNT]

Mapping from ax12 servo ids to kinematic chain.

float CGlobalContainer::collisionAnglesBackup[AX12_COUNT]

Stores robot angles if a collision occurred. Used to reduce the amount of generated collision warning.

int CGlobalContainer::viewType

Index of camera frame in robot.frames (3d viewer).

bool CGlobalContainer::controlTorque

Enables Torque PID controller.

bool CGlobalContainer::controlSpeed

Enables Speed PID controller.

char CGlobalContainer::configFilename[255]

char CGlobalContainer::dhFilename[255]

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The documentation for this class was generated from the following files:

• include/global.h
• src/global.cpp

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