CMPackWalkMC::CalibrationParam Struct Reference

holds information to correct for slippage, non-idealities More...

#include <CMPackWalkMC.h>

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Detailed Description

holds information to correct for slippage, non-idealities

Definition at line 108 of file CMPackWalkMC.h.

List of all members.

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)

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Member Enumeration Documentation

enum CMPackWalkMC::CalibrationParam::dimension_offset

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 CMPackWalkMC.h.

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Constructor & Destructor Documentation

CMPackWalkMC::CalibrationParam::CalibrationParam

(

)

constructor, sets calibration matricies to identity

Definition at line 84 of file CMPackWalkMC.cc.

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Member Data Documentation

float CMPackWalkMC::CalibrationParam::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

Definition at line 121 of file CMPackWalkMC.h.

Referenced by CalibrationParam(), CMPackWalkMC::loadBuffer(), CMPackWalkMC::saveBuffer(), and CMPackWalkMC::updateOutputs().

float CMPackWalkMC::CalibrationParam::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

Definition at line 120 of file CMPackWalkMC.h.

Referenced by CalibrationParam(), CMPackWalkMC::loadBuffer(), CMPackWalkMC::saveBuffer(), and CMPackWalkMC::updateOutputs().

float CMPackWalkMC::CalibrationParam::max_accel[NUM_DIM]

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

Definition at line 123 of file CMPackWalkMC.h.

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

float CMPackWalkMC::CalibrationParam::max_vel[NUM_DIM]

maximum achievable velocity (mm/s)

Definition at line 124 of file CMPackWalkMC.h.

Referenced by CalibrationParam(), CMPackWalkMC::loadBuffer(), CMPackWalkMC::saveBuffer(), and CMPackWalkMC::updateOutputs().

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

• CMPackWalkMC.h
• CMPackWalkMC.cc