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]

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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

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Enumeration Type Documentation

enum ROBOT_TYPES

Robot types with implemented inverse kinematics.

Enumerator:

ROBOT_HUMANOID
ROBOT_HUMANOID_INVERSE_HIP
ROBOT_CARAUSIUSMOROSUS
ROBOT_COUNT

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Variable Documentation

const char* robotNames[ROBOT_COUNT]

Initial value:

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

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