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Config::motion_config Class Reference

motion information More...

#include <Config.h>

Inheritance diagram for Config::motion_config:

Detailed Description

motion information

Definition at line 539 of file Config.h.

List of all members.

Public Member Functions

 motion_config (Config *c)
 constructor
std::string makePath (const std::string &name)
 returns an absolute path if is relative (to root), otherwise just name

Public Attributes

Configthisconfig
 pointer back to the containing config object
plist::Primitive< std::string > root
 path on memory stick to "motion" files - for instance, position (.pos) and motion sequence (.mot)
plist::Primitive< std::string > walk
 the walk parameter file to load by default for new WalkMC's
plist::Primitive< std::string > kinematics
 the kinematics description file to load
OutputConfig< plist::Primitive
< float > > 
calibration_scale
 Multiplier from desired position to command for each PID joint, applied after calibration_offset.
OutputConfig< plist::Primitive
< float > > 
calibration_offset
 Indicates the offset from user specified zero point to the physical system's zero point. Added before calibration_scale when converting from user's desired position to command to send to hardware.
plist::Primitive< std::string > estop_on_snd
 sound file to use when e-stop turned on
plist::Primitive< std::string > estop_off_snd
 sound file to use when e-stop turned off
plist::Primitive< floatmax_head_tilt_speed
 max speed for the head joints, used by HeadPointerMC; rad/s
plist::Primitive< floatmax_head_pan_speed
 max speed for the head joints, used by HeadPointerMC; rad/s
plist::Primitive< floatmax_head_roll_speed
 max speed for the head joints, used by HeadPointerMC; rad/s
plist::Primitive< 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
plist::Primitive< int > console_port
 port to send/receive "console" information on (separate from system console)
plist::Primitive< 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  ) 

constructor

Definition at line 542 of file Config.h.

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

don't call


Member Function Documentation

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

don't call


Member Data Documentation

Indicates the offset from user specified zero point to the physical system's zero point. Added before calibration_scale when converting from user's desired position to command to send to hardware.

Definition at line 576 of file Config.h.

Referenced by WorldState::applyCalibration(), MotionManager::getOutputs(), motion_config(), and WorldState::read().

Multiplier from desired position to command for each PID joint, applied after calibration_offset.

Definition at line 575 of file Config.h.

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

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

Definition at line 583 of file Config.h.

Referenced by motion_config().

sound file to use when e-stop turned off

Definition at line 578 of file Config.h.

Referenced by motion_config(), and EmergencyStopMC::setStopped().

sound file to use when e-stop turned on

Definition at line 577 of file Config.h.

Referenced by motion_config(), and EmergencyStopMC::setStopped().

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 582 of file Config.h.

Referenced by motion_config().

the kinematics description file to load

Definition at line 574 of file Config.h.

Referenced by GaitedFootstepMC::GaitedFootstepMC(), Kinematics::init(), motion_config(), and XWalkMC::XWalkMC().

path on memory stick to "motion" files - for instance, position (.pos) and motion sequence (.mot)

Definition at line 572 of file Config.h.

Referenced by makePath(), motion_config(), PostureEditor::PostureEditor(), WaypointWalkControl::WaypointWalkControl(), and XWalkEdit::XWalkEdit().

port to send error information to

Definition at line 584 of file Config.h.

Referenced by motion_config().

pointer back to the containing config object

Definition at line 571 of file Config.h.

Referenced by makePath().

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

Definition at line 573 of file Config.h.

Referenced by motion_config().


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

Tekkotsu v5.1CVS
Generated Mon May 9 04:59:06 2016 by Doxygen 1.6.3