Homepage
Demos
Overview
Downloads
Dev. Resources
Reference
Credits

RobotInfo.h

Go to the documentation of this file.
00001 //-*-c++-*-
00002 #ifndef INCLUDED_RobotInfo_h
00003 #define INCLUDED_RobotInfo_h
00004 
00005 #if TGT_ERS220
00006 # include "ERS220Info.h"
00007 #elif TGT_ERS210
00008 # include "ERS210Info.h"
00009 #elif TGT_ERS2xx
00010 # include "ERS2xxInfo.h"
00011 #elif TGT_ERS7
00012 # include "ERS7Info.h"
00013 #else //default case, currently ERS-7
00014 # warning "TGT_<model> undefined or unknown model set - defaulting to ERS7 (valid values are TGT_ERS210, TGT_ERS220, TGT_ERS2xx, or TGT_ERS7)"
00015 # include "ERS7Info.h"
00016 #endif //model selection
00017 
00018 //! Contains information about the robot, such as number of joints, PID defaults, timing information, etc.
00019 /*! This is just a wrapper for whichever namespace corresponds to the current
00020  *  robot target setting (one of TGT_ERS210, TGT_ERS220, TGT_ERS7, or the default, TGT_ERS2xx)
00021  *
00022  *  You probably should look at ERS210Info, ERS220Info, ERS2xxInfo, or ERS7Info for the actual
00023  *  constants used for each model. */
00024 namespace RobotInfo {
00025 
00026 #if TGT_ERS220
00027   using namespace ERS220Info;
00028 #elif TGT_ERS210
00029   using namespace ERS210Info;
00030 #elif TGT_ERS7
00031   using namespace ERS7Info;
00032 #elif TGT_ERS2xx
00033   using namespace ERS2xxInfo;
00034 #else //default case, ERS7
00035   using namespace ERS7Info;
00036 #endif //model selection  
00037 }
00038 
00039 using namespace RobotInfo;
00040   
00041 /*! @file
00042  * @brief Checks the define's to load the appropriate header and namespace
00043  * @author ejt (Creator)
00044  *
00045  * $Author: ejt $
00046  * $Name: tekkotsu-2_4_1 $
00047  * $Revision: 1.16 $
00048  * $State: Exp $
00049  * $Date: 2005/06/01 05:47:49 $
00050  */
00051 
00052 #endif

Tekkotsu v2.4.1
Generated Tue Aug 16 16:32:48 2005 by Doxygen 1.4.4