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Config::motion_config Struct Reference

#include <Config.h>

List of all members.


Detailed Description

motion information

Definition at line 157 of file Config.h.

Public Member Functions

std::string makePath (const std::string &name)
 returns an absolute path if is relative (to root), otherwise just name
 motion_config ()
 constructor

Public Attributes

std::string root
 path on memory stick to "motion" files - for instance, position (.pos) and motion sequence (.mot)
std::string walk
 the walk parameter file to load by default for new WalkMC's
std::string kinematics
 the kinematics description file to load
std::vector< std::string > kinematic_chains
 list of chains to load from kinematics
float calibration [NumPIDJoints]
 multiplier from desired to command for PID joints
char estop_on_snd [50]
 sound file to use when e-stop turned on
char estop_off_snd [50]
 sound file to use when e-stop turned off
float max_head_tilt_speed
 max speed for the head joints, used by HeadPointerMC; rad/s
float max_head_pan_speed
 max speed for the head joints, used by HeadPointerMC; rad/s
float max_head_roll_speed
 max speed for the head joints, used by HeadPointerMC; rad/s
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
int console_port
 port to send/receive "console" information on (separate from system console)
int stderr_port
 port to send error information to


Constructor & Destructor Documentation

Config::motion_config::motion_config  )  [inline]
 

constructor

Definition at line 183 of file Config.h.


Member Function Documentation

std::string Config::motion_config::makePath const std::string &  name  )  [inline]
 

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

Definition at line 173 of file Config.h.

Referenced by WallTestBehavior::DoStart(), Kinematics::init(), WalkMC::LoadFile(), PostureEngine::LoadFile(), MotionSequenceEngine::LoadFile(), AutoGetupBehavior::processEvent(), WaypointWalkControl::refresh(), PostureEditor::refresh(), WalkMC::SaveFile(), PostureEngine::SaveFile(), MotionSequenceEngine::SaveFile(), SaveWalkControl::takeInput(), and SavePostureControl::takeInput().


Member Data Documentation

float Config::motion_config::calibration[NumPIDJoints]
 

multiplier from desired to command for PID joints

Definition at line 162 of file Config.h.

Referenced by motion_config(), WorldState::read(), MMCombo::ReadySendJoints(), and Config::setValue().

int Config::motion_config::console_port
 

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

Definition at line 169 of file Config.h.

Referenced by MMCombo::DoStart(), motion_config(), and Config::setValue().

char Config::motion_config::estop_off_snd[50]
 

sound file to use when e-stop turned off

Definition at line 164 of file Config.h.

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

char Config::motion_config::estop_on_snd[50]
 

sound file to use when e-stop turned on

Definition at line 163 of file Config.h.

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

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 168 of file Config.h.

Referenced by motion_config(), Config::setValue(), and WalkMC::updateOutputs().

std::vector<std::string> Config::motion_config::kinematic_chains
 

list of chains to load from kinematics

Definition at line 161 of file Config.h.

Referenced by motion_config(), and Config::setValue().

std::string Config::motion_config::kinematics
 

the kinematics description file to load

Definition at line 160 of file Config.h.

Referenced by Kinematics::init(), motion_config(), and Config::setValue().

float Config::motion_config::max_head_pan_speed
 

max speed for the head joints, used by HeadPointerMC; rad/s

Definition at line 166 of file Config.h.

Referenced by OldHeadPointerMC::defaultMaxSpeed(), HeadPointerMC::defaultMaxSpeed(), motion_config(), and Config::setValue().

float Config::motion_config::max_head_roll_speed
 

max speed for the head joints, used by HeadPointerMC; rad/s

Definition at line 167 of file Config.h.

Referenced by OldHeadPointerMC::defaultMaxSpeed(), HeadPointerMC::defaultMaxSpeed(), motion_config(), and Config::setValue().

float Config::motion_config::max_head_tilt_speed
 

max speed for the head joints, used by HeadPointerMC; rad/s

Definition at line 165 of file Config.h.

Referenced by OldHeadPointerMC::defaultMaxSpeed(), HeadPointerMC::defaultMaxSpeed(), motion_config(), and Config::setValue().

std::string Config::motion_config::root
 

path on memory stick to "motion" files - for instance, position (.pos) and motion sequence (.mot)

Definition at line 158 of file Config.h.

Referenced by makePath(), motion_config(), PostureEditor::PostureEditor(), Config::setValue(), and WaypointWalkControl::WaypointWalkControl().

int Config::motion_config::stderr_port
 

port to send error information to

Definition at line 170 of file Config.h.

Referenced by MMCombo::DoStart(), motion_config(), and Config::setValue().

std::string Config::motion_config::walk
 

the walk parameter file to load by default for new WalkMC's

Definition at line 159 of file Config.h.

Referenced by WalkMC::init(), motion_config(), and Config::setValue().


The documentation for this struct was generated from the following file:

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