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CommonInfo.hGo to the documentation of this file.00001 //-*-c++-*- 00002 #ifndef INCLUDED_CommonInfo_h_ 00003 #define INCLUDED_CommonInfo_h_ 00004 00005 namespace RobotInfo { 00006 00007 //! the ordering of legs 00008 enum LegOrder_t { 00009 LFrLegOrder = 0, //!< left front leg 00010 RFrLegOrder, //!< right front leg 00011 LBkLegOrder, //!< left back leg 00012 RBkLegOrder //!< right back leg 00013 }; 00014 00015 //! 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) 00016 enum REKOffset_t { 00017 RotatorOffset=0, //!< moves leg forward or backward along body 00018 ElevatorOffset, //!< moves leg toward or away from body 00019 KneeOffset //!< moves knee 00020 }; 00021 00022 //! 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) 00023 enum TPROffset_t { 00024 TiltOffset = 0, //!< tilt/elevation (vertical) 00025 PanOffset, //!< pan/heading (horizontal) 00026 RollOffset, //!< roll (rotational) 00027 NodOffset=RollOffset //!< nod (second tilt) 00028 }; 00029 00030 } 00031 00032 /*! @file 00033 * @brief 00034 * @author ejt (Creator) 00035 * 00036 * $Author: ejt $ 00037 * $Name: tekkotsu-2_2 $ 00038 * $Revision: 1.1 $ 00039 * $State: Exp $ 00040 * $Date: 2003/12/23 06:33:43 $ 00041 */ 00042 00043 #endif |
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