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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_ERS210, TGT_ERS220, TGT_ERS7, or the default, TGT_ERS2xx)

You probably should look at ERS210Info, ERS220Info, ERS2xxInfo, or ERS7Info for the actual constants used for each model.


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...


Enumeration Type Documentation

enum LegOrder_t
 

the ordering of legs

Enumeration values:
LFrLegOrder  left front leg
RFrLegOrder  right front leg
LBkLegOrder  left back leg
RBkLegOrder  right back leg

Definition at line 8 of file CommonInfo.h.

Referenced by KinematicSampleBehavior::processEvent().

enum 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).

Enumeration values:
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 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).

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

Definition at line 23 of file CommonInfo.h.

Referenced by HeadLevelBehavior::processEvent().


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