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Config::motion_config Struct Reference

#include <Config.h>

List of all members.


Detailed Description

motion information

Definition at line 228 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 (Config *c)
 constructor

Public Attributes

Configthisconfig
 pointer back to the containing config object
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

Private Member Functions

 motion_config (const motion_config &)
 don't call
motion_configoperator= (const motion_config &)
 don't call


Constructor & Destructor Documentation

Config::motion_config::motion_config Config c  )  [inline]
 

constructor

Definition at line 255 of file Config.h.

Config::motion_config::motion_config const motion_config  )  [private]
 

don't call


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 245 of file Config.h.

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

motion_config& Config::motion_config::operator= const motion_config  )  [private]
 

don't call


Member Data Documentation

float Config::motion_config::calibration[NumPIDJoints]
 

multiplier from desired to command for PID joints

Definition at line 234 of file Config.h.

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

int Config::motion_config::console_port
 

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

Definition at line 241 of file Config.h.

Referenced by Config::setValue().

char Config::motion_config::estop_off_snd[50]
 

sound file to use when e-stop turned off

Definition at line 236 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 235 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 240 of file Config.h.

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

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

list of chains to load from kinematics

Definition at line 233 of file Config.h.

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

std::string Config::motion_config::kinematics
 

the kinematics description file to load

Definition at line 232 of file Config.h.

Referenced by Kinematics::init(), 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 238 of file Config.h.

Referenced by PostureMC::defaultMaxSpeed(), OldHeadPointerMC::defaultMaxSpeed(), HeadPointerMC::defaultMaxSpeed(), 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 239 of file Config.h.

Referenced by PostureMC::defaultMaxSpeed(), OldHeadPointerMC::defaultMaxSpeed(), HeadPointerMC::defaultMaxSpeed(), 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 237 of file Config.h.

Referenced by PostureMC::defaultMaxSpeed(), OldHeadPointerMC::defaultMaxSpeed(), HeadPointerMC::defaultMaxSpeed(), 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 230 of file Config.h.

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

int Config::motion_config::stderr_port
 

port to send error information to

Definition at line 242 of file Config.h.

Referenced by Config::setValue().

Config* Config::motion_config::thisconfig
 

pointer back to the containing config object

Definition at line 229 of file Config.h.

Referenced by makePath().

std::string Config::motion_config::walk
 

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

Definition at line 231 of file Config.h.

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


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

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