Tekkotsu Homepage | Demos | Overview | Downloads | Dev. Resources | Reference | Credits |
SharedGlobals::MotionSimConfig Class Reference#include <SharedGlobals.h>
Inheritance diagram for SharedGlobals::MotionSimConfig:
![]() Detailed Descriptionholds configuration parameters for the motion processDefinition at line 155 of file SharedGlobals.h.
Constructor & Destructor Documentation
Member Function Documentation
returns true if any of providedOutputs is greater than zero
Definition at line 188 of file SharedGlobals.h.
returns true if any of providedOutputs is zero
Definition at line 190 of file SharedGlobals.h. Referenced by Motion::gotSensors(), and Main::gotSensors().
Member Data Documentation
Report whenever motion commands are being processed or joints are updated; 0 - nothing, 1 - errors, 2 - warnings (e.g. dropped frames), 3 - notification every frame.
Definition at line 171 of file SharedGlobals.h. Referenced by MotionSimConfig(), Simulator::plistCollectionEntriesChanged(), Simulator::plistCollectionEntryAdded(), Simulator::plistValueChanged(), MotionExecThread::poll(), Simulator::Simulator(), and Simulator::~Simulator(). Delay (in milliseconds) to apply to motion output before feeding back to sensor values (simulates (very roughly) inertia and system response time); 0 indicates instantaneous/perfect joint control, negative values indicate no feedback (only sensor data sets joint positions).
Definition at line 172 of file SharedGlobals.h. Referenced by MotionExecThread::getPostureFeedback(), Motion::gotSensors(), Main::gotSensors(), MotionSimConfig(), and MotionExecThread::poll(). When set to false, if PIDs are set to zero, then sensor values are used to set joint positions; otherwise joint position sensors would only be used if FeedbackDelay is negative.
Definition at line 173 of file SharedGlobals.h. Referenced by Motion::gotSensors(), Main::gotSensors(), and MotionSimConfig().
Allows motion feedback to override position values from sensor data loaded from disk; if false, feedback is only provided when no other sensor data is being provided.
Definition at line 175 of file SharedGlobals.h. Referenced by MotionExecThread::getPostureFeedback(), Motion::gotSensors(), and Main::gotSensors().
a monotonically increasing count of the number of sensor frames which have been "completed". Needed to allow coordination between sensor loading from disk and feedback from motion. Count is increased by the simulator process, which will send a heartbeat message over Simulator::sensorQueue when it does so.
Definition at line 176 of file SharedGlobals.h. Referenced by Simulator::FrameCounter::filterSendRequest(), Motion::gotSensors(), Main::gotSensors(), and MotionExecThread::poll().
Counts the number of sensor data sources which are providing readings for each output. This isn't a configuration setting per se, but needed so motion process can tell if it should provide feedback for each output. If an output doesn't have any sensor feedback (or override is true), then motion should provide feedback. If more than one sensor is providing the same output, that could be a problem, but not dealt with here. The simulator's initialization routines will pass this to DataSource::setOutputTracker(). Definition at line 185 of file SharedGlobals.h. Referenced by MotionExecThread::getPostureFeedback(), hasUnprovidedOutput(), MotionSimConfig(), and sim::sim().
The documentation for this class was generated from the following file: |
Tekkotsu Hardware Abstraction Layer 4.0 |
Generated Thu Nov 22 01:01:23 2007 by Doxygen 1.5.4 |