Config::motion_config Class Reference

motion information More...

#include <Config.h>

Inheritance diagram for Config::motion_config:

[legend]

Detailed Description

motion information

Definition at line 539 of file Config.h.

List of all members.

Public Member Functions
	motion_config (Config *c)
	constructor
std::string	makePath (const std::string &name)
	returns an absolute path if is relative (to root), otherwise just name
Public Attributes
Config *	thisconfig
	pointer back to the containing config object
plist::Primitive< std::string >	root
	path on memory stick to "motion" files - for instance, position (.pos) and motion sequence (.mot)
plist::Primitive< std::string >	walk
	the walk parameter file to load by default for new WalkMC's
plist::Primitive< std::string >	kinematics
	the kinematics description file to load
OutputConfig< plist::Primitive < float > >	calibration_scale
	Multiplier from desired position to command for each PID joint, applied after calibration_offset.
OutputConfig< plist::Primitive < float > >	calibration_offset
	Indicates the offset from user specified zero point to the physical system's zero point. Added before calibration_scale when converting from user's desired position to command to send to hardware.
plist::Primitive< std::string >	estop_on_snd
	sound file to use when e-stop turned on
plist::Primitive< std::string >	estop_off_snd
	sound file to use when e-stop turned off
plist::Primitive< float >	max_head_tilt_speed
	max speed for the head joints, used by HeadPointerMC; rad/s
plist::Primitive< float >	max_head_pan_speed
	max speed for the head joints, used by HeadPointerMC; rad/s
plist::Primitive< float >	max_head_roll_speed
	max speed for the head joints, used by HeadPointerMC; rad/s
plist::Primitive< bool >	inf_walk_accel
	if true, walks should attempt to switch directions immediately; otherwise they should do some kind of software acceleration to more smoothly switch direction
plist::Primitive< int >	console_port
	port to send/receive "console" information on (separate from system console)
plist::Primitive< int >	stderr_port
	port to send error information to
Private Member Functions
	motion_config (const motion_config &)
	don't call
motion_config &	operator= (const motion_config &)
	don't call

Constructor & Destructor Documentation

Config::motion_config::motion_config ( Config * c )

constructor

Definition at line 542 of file Config.h.

Config::motion_config::motion_config ( const motion_config & ) [private]

don't call

Member Function Documentation

std::string Config::motion_config::makePath ( const std::string & name )

returns an absolute path if is relative (to root), otherwise just name

Definition at line 569 of file Config.h.

Referenced by GaitedFootstepMC::GaitedFootstepMC(), Kinematics::init(), WaypointEngine::loadFile(), PostureEngine::loadFile(), MotionSequenceEngine::loadFile(), WaypointWalkControl::refresh(), PostureEditor::refresh(), WaypointEngine::saveFile(), PostureEngine::saveFile(), MotionSequenceEngine::saveFile(), SaveWalkControl::takeInput(), SavePostureControl::takeInput(), and XWalkMC::XWalkMC().

motion_config& Config::motion_config::operator= ( const motion_config & ) [private]

don't call

Member Data Documentation

OutputConfig<plist::Primitive<float> > Config::motion_config::calibration_offset

Indicates the offset from user specified zero point to the physical system's zero point. Added before calibration_scale when converting from user's desired position to command to send to hardware.

Definition at line 576 of file Config.h.

Referenced by WorldState::applyCalibration(), MotionManager::getOutputs(), motion_config(), and WorldState::read().

OutputConfig<plist::Primitive<float> > Config::motion_config::calibration_scale

Multiplier from desired position to command for each PID joint, applied after calibration_offset.

Definition at line 575 of file Config.h.

Referenced by WorldState::applyCalibration(), MotionManager::getOutputs(), motion_config(), WorldState::read(), and Config::setValue().

plist::Primitive<int> Config::motion_config::console_port

port to send/receive "console" information on (separate from system console)

Definition at line 583 of file Config.h.

Referenced by motion_config().

plist::Primitive<std::string> Config::motion_config::estop_off_snd

sound file to use when e-stop turned off

Definition at line 578 of file Config.h.

Referenced by motion_config(), and EmergencyStopMC::setStopped().

plist::Primitive<std::string> Config::motion_config::estop_on_snd

sound file to use when e-stop turned on

Definition at line 577 of file Config.h.

Referenced by motion_config(), and EmergencyStopMC::setStopped().

plist::Primitive<bool> Config::motion_config::inf_walk_accel

if true, walks should attempt to switch directions immediately; otherwise they should do some kind of software acceleration to more smoothly switch direction

Definition at line 582 of file Config.h.

Referenced by motion_config().

plist::Primitive<std::string> Config::motion_config::kinematics

the kinematics description file to load

Definition at line 574 of file Config.h.

Referenced by GaitedFootstepMC::GaitedFootstepMC(), Kinematics::init(), motion_config(), and XWalkMC::XWalkMC().