DynamicInfo.cc

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00001 #include "Shared/DynamicInfo.h"
00002 
00003 namespace DynamicInfo {
00004 
00005   const char* TargetName="Dynamic";
00006 
00007   unsigned NumWheels=0;
00008   
00009   unsigned JointsPerArm=0;
00010   unsigned NumArms=0;
00011   unsigned NumArmJoints=0;
00012   
00013   unsigned JointsPerLeg=0;
00014   unsigned NumLegs=0;
00015   unsigned NumLegJoints=0;
00016   unsigned NumHeadJoints=0;
00017   unsigned NumTailJoints=0;
00018   unsigned NumMouthJoints=0;
00019   unsigned NumEarJoints=0;
00020   unsigned NumButtons=0;
00021   unsigned NumSensors=0;
00022   unsigned NumLEDs=0;
00023   unsigned NumFacePanelLEDs=0;
00024   
00025   unsigned NumPIDJoints=0;
00026   unsigned NumOutputs=0;
00027   unsigned NumReferenceFrames=0;
00028 
00029   unsigned PIDJointOffset=0;
00030   unsigned LEDOffset=0;
00031   unsigned BaseFrameOffset=0;
00032   
00033   std::vector<const char *> buttonNames;
00034   std::vector<const char *> sensorNames;
00035   std::vector<const char *> outputNames;
00036   
00037   DynamicCapabilities capabilities;
00038   
00039   std::vector<DynamicInfoRow<float,3> > DefaultPIDs;
00040     
00041   std::vector<float> MaxOutputSpeed;
00042 
00043   std::vector<DynamicInfoRow<float,2> > outputRanges;
00044 
00045   std::vector<DynamicInfoRow<float,2> > mechanicalLimits;
00046 }
00047   
00048 /*! @file
00049  * @brief Defines RobotInfo namespace for 'dynamic' models, gives some information about the robot's capabilities, such as joint counts, offsets, names and PID values
00050  * @author ejt (Creator)
00051  */