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WalkMC::CalibrationParam Struct Reference

#include <WalkMC.h>

List of all members.


Detailed Description

holds information to correct for slippage, non-idealities

Definition at line 108 of file WalkMC.h.


Public Types

enum  dimension_offset {
  forward, reverse, strafe, rotate,
  NUM_DIM
}
 symbolic way to refer to each of the directions More...

Public Member Functions

 CalibrationParam ()
 constructor, sets calibration matricies to identity

Public Attributes

float f_calibration [3][11]
 matrix of calibration parameters; 3 columns for f,s,r speeds, 2 columns for abs s,r speeds, 1 gabor function, 1 squared planar speed, 3 columns for f*r,s*f,r*s, and 1 column for offset
float b_calibration [3][11]
 matrix of calibration parameters; 3 columns for f,s,r speeds, 2 columns for abs s,r speeds, 1 gabor function, 1 squared planar speed, 3 columns for f*r,s*f,r*s, and 1 column for offset
float max_accel [NUM_DIM]
 maximum achievable acceleration, 0 for infinite (mm/s^2)
float max_vel [NUM_DIM]
 maximum achievable velocity (mm/s)

Member Enumeration Documentation

symbolic way to refer to each of the directions

Enumerator:
forward  forward (x)
reverse  backward (-x)
strafe  sideways (y)
rotate  spin (z/a)
NUM_DIM  number of directions we calibrate for

Definition at line 112 of file WalkMC.h.


Constructor & Destructor Documentation

WalkMC::CalibrationParam::CalibrationParam (  ) 

constructor, sets calibration matricies to identity

Definition at line 72 of file WalkMC.cc.


Member Data Documentation

matrix of calibration parameters; 3 columns for f,s,r speeds, 2 columns for abs s,r speeds, 1 gabor function, 1 squared planar speed, 3 columns for f*r,s*f,r*s, and 1 column for offset

Definition at line 120 of file WalkMC.h.

Referenced by CalibrationParam(), WalkMC::loadBuffer(), LoadCalibration::readData(), WalkMC::saveBuffer(), LoadCalibration::selectedFile(), and WalkMC::updateOutputs().

matrix of calibration parameters; 3 columns for f,s,r speeds, 2 columns for abs s,r speeds, 1 gabor function, 1 squared planar speed, 3 columns for f*r,s*f,r*s, and 1 column for offset

Definition at line 121 of file WalkMC.h.

Referenced by CalibrationParam(), WalkMC::loadBuffer(), WalkMC::saveBuffer(), LoadCalibration::selectedFile(), and WalkMC::updateOutputs().

maximum achievable acceleration, 0 for infinite (mm/s^2)

Definition at line 123 of file WalkMC.h.

Referenced by CalibrationParam(), WalkMC::loadBuffer(), and WalkMC::saveBuffer().

maximum achievable velocity (mm/s)

Definition at line 124 of file WalkMC.h.

Referenced by CalibrationParam(), WalkMC::loadBuffer(), LoadCalibration::readMaxs(), WalkMC::saveBuffer(), and WalkMC::updateOutputs().


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

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Generated Thu Nov 22 00:58:47 2007 by Doxygen 1.5.4