Reference

RobotInfo Namespace Reference

Detailed Description

Contains information about the robot, such as number of joints, PID defaults, timing information, etc.

This is just a wrapper for whichever namespace corresponds to the current robot target setting (one of TGT_ERS7, TGT_ERS210, TGT_ERS220, or the cross-booting TGT_ERS2xx)

You probably should look at ERS7Info, ERS210Info, ERS220Info, or ERS2xxInfo for the actual constants used for each model, although some common information shared by all of these namespaces is defined in CommonInfo.h

Enumerations

enum LegOrder_t { LFrLegOrder = 0, RFrLegOrder, LBkLegOrder, RBkLegOrder }

the ordering of legs More...

enum REKOffset_t { RotatorOffset = 0, ElevatorOffset, KneeOffset }

The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the head's TPROffset_t's). More...

enum TPROffset_t { TiltOffset = 0, PanOffset, RollOffset, NodOffset = RollOffset }

The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the leg's REKOffset_t's). More...

enum MinMaxRange_t { MinRange, MaxRange }

Defines the indexes to use as indices to access the min and max entries of joint limit specifications (e.g. ERS7Info::outputRanges and ERS7Info::mechanicalLimits).

Enumeration Type Documentation

enum RobotInfo::LegOrder_t

the ordering of legs

Enumerator:

LFrLegOrder	left front leg
RFrLegOrder	right front leg
LBkLegOrder	left back leg
RBkLegOrder	right back leg

Definition at line 8 of file CommonInfo.h.

enum RobotInfo::REKOffset_t

The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the head's TPROffset_t's).

Enumerator:

RotatorOffset	moves leg forward or backward along body
ElevatorOffset	moves leg toward or away from body
KneeOffset	moves knee

Definition at line 16 of file CommonInfo.h.

enum RobotInfo::TPROffset_t

The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the leg's REKOffset_t's).

Enumerator:

TiltOffset	tilt/elevation (vertical)
PanOffset	pan/heading (horizontal)
RollOffset	roll (rotational)
NodOffset	nod (second tilt)

Definition at line 23 of file CommonInfo.h.

Tekkotsu v3.0

Generated Fri May 11 20:09:13 2007 by Doxygen 1.4.7