motion.h File Reference

#include "robot.h"
#include "util.h"
#include "list.h"

Classes
class	CMotionData
	Motion Key Frame. More...
class	CIpoData
	Interpolated joint angles. More...
class	CMotionSequence
	Sequence of Key Frames. More...
class	CMotion
	Motion Sequence Container. More...
class	CPoint
	Cartesian Position and Orientation of one limb (Interpolation). More...
class	CAnglePoint
	Value of one joint angle (Interpolation). More...
class	CMotionContainer
	Motion Command, Interpolation and Storage Class (threaded). More...
struct	_RECORD
	Key Frame (Bioloid Motion File Data). More...
struct	_PHEADER
	Page Header (Bioloid Motion File Data). More...
struct	_PAGE
	Page (Bioloid Motion File Data). More...
Defines
#define	MOTION_COUNT   128
#define	MOTION_MAXUSER   99
#define	MOTION_CURRENTANGLE_DIFF   4.0
#define	INTERMEDIATE_IPOTYPE   0
#define	INTERMEDIATE_PAUSE   1000
#define	INTERMEDIATE_MOTION   (MOTION_MAXUSER + 1)
#define	INTERMEDIATE_DIFFERENCE   2.0
#define	MOTION_SEQUENCE_MAX   32
#define	LOOKAHEAD   5
#define	MOTION_CAPTURE_PAUSE   40
#define	MOTION_IPO_MINPAUSE   10
#define	MOTION_IPO_PAUSE   40
#define	MOTION_TRAJ_PAUSE   100
#define	MOTION_STATE_PAUSE   1000
#define	TRAJ_LOOKAHEAD   10
#define	IPO_LOOKAHEAD   5
#define	COLLISION_LOOKAHEAD   5
#define	XML_MOTION_ROOT   "MotionSequence"
#define	XML_MOTION_CHILD   "Frame"
#define	XML_MOTION_ATTR   "pause"
#define	XML_MOTION_ATTR_VALUE   100
#define	XML_MOTION_ANGLE   "AX"

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Define Documentation

#define COLLISION_LOOKAHEAD   5

#define INTERMEDIATE_DIFFERENCE   2.0

#define INTERMEDIATE_IPOTYPE   0

#define INTERMEDIATE_MOTION   (MOTION_MAXUSER + 1)

#define INTERMEDIATE_PAUSE   1000

#define IPO_LOOKAHEAD   5

#define LOOKAHEAD   5

#define MOTION_CAPTURE_PAUSE   40

#define MOTION_COUNT   128

#define MOTION_CURRENTANGLE_DIFF   4.0

#define MOTION_IPO_MINPAUSE   10

#define MOTION_IPO_PAUSE   40

#define MOTION_MAXUSER   99

#define MOTION_SEQUENCE_MAX   32

#define MOTION_STATE_PAUSE   1000

#define MOTION_TRAJ_PAUSE   100

#define TRAJ_LOOKAHEAD   10

#define XML_MOTION_ANGLE   "AX"

#define XML_MOTION_ATTR   "pause"

#define XML_MOTION_ATTR_VALUE   100

#define XML_MOTION_CHILD   "Frame"

#define XML_MOTION_ROOT   "MotionSequence"

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