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Poses.h

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00001 #ifndef _POSES_H_
00002 #define _POSES_H_
00003 
00004 #include <math.h>
00005 
00006 /* Standing pose joint angle tolerance */
00007 #define SP_TOLERANCE  5*180/M_PI
00008 
00009 /* Ideal standing pose joint angles */
00010 #define SP_LFR_JOINT  -0.2000
00011 #define SP_LFR_SHLDR   0.0600
00012 #define SP_LFR_KNEE  0.7500
00013 #define SP_RFR_JOINT  -0.2000
00014 #define SP_RFR_SHLDR   0.0600
00015 #define SP_RFR_KNEE  0.7500
00016 #define SP_LBK_JOINT  -0.4000
00017 #define SP_LBK_SHLDR   0.0600
00018 #define SP_LBK_KNEE  0.8500
00019 #define SP_RBK_JOINT  -0.4000
00020 #define SP_RBK_SHLDR   0.0600
00021 #define SP_RBK_KNEE  0.8500
00022 
00023 
00024 /* Staring dead ahead joint angle tolerance */
00025 #define DA_TOLERANCE  1.5*180/M_PI
00026 
00027 /* Ideal staring ahead joint values */
00028 #define DA_TILT   0.0
00029 #define DA_PAN    0.0
00030 #define DA_ROLL   0.0
00031 
00032 #endif

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