MotionSimConfig Class Reference
holds configuration parameters for the motion process More...
#include <SharedGlobals.h>
Detailed Description
holds configuration parameters for the motion process
Definition at line 158 of file SharedGlobals.h.
Public Member Functions | |
| MotionSimConfig () | |
| constructor | |
Public Attributes | |
| plist::Primitive< int > | verbose |
| 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. | |
| plist::Primitive< int > | feedbackDelay |
| 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). | |
| plist::Primitive< bool > | zeroPIDFeedback |
| 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. | |
| plist::Primitive< bool > | feedbackRangeLimits |
| If true, feedback will be limited to the RobotInfo::mechnicalLimits values. | |
| plist::Primitive< bool > | override |
| 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. | |
| plist::Primitive< std::string > | startPose |
| Name of a posture file to load as the initial output values before MotionHooks or Behaviors are activated (if empty, everything will be 0). | |
| unsigned int | frameNumber |
| 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. | |
Constructor & Destructor Documentation
| MotionSimConfig | ( | ) |
constructor
Definition at line 161 of file SharedGlobals.h.
Member Data Documentation
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 174 of file SharedGlobals.h.
Referenced by MotionExecThread::applyPostureFeedback(), Simulator::cmdStatus(), MotionSimConfig::MotionSimConfig(), and MotionExecThread::poll().
If true, feedback will be limited to the RobotInfo::mechnicalLimits values.
Definition at line 177 of file SharedGlobals.h.
Referenced by MotionExecThread::applyPostureFeedback(), and MotionSimConfig::MotionSimConfig().
| unsigned int frameNumber |
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 180 of file SharedGlobals.h.
Referenced by FrameCounter::filterSendRequest().
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 178 of file SharedGlobals.h.
Referenced by MotionExecThread::applyPostureFeedback(), Simulator::cmdStatus(), and SharedGlobals::SharedGlobals().
| plist::Primitive<std::string> startPose |
Name of a posture file to load as the initial output values before MotionHooks or Behaviors are activated (if empty, everything will be 0).
Definition at line 179 of file SharedGlobals.h.
Referenced by Motion::doStart(), Main::doStart(), MotionSimConfig::MotionSimConfig(), and Simulator::Simulator().
| plist::Primitive<int> verbose |
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 173 of file SharedGlobals.h.
Referenced by MotionSimConfig::MotionSimConfig(), Simulator::plistCollectionEntriesChanged(), Simulator::plistCollectionEntryAdded(), Simulator::plistValueChanged(), MotionExecThread::poll(), Simulator::Simulator(), and Simulator::~Simulator().
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 175 of file SharedGlobals.h.
Referenced by MotionSimConfig::MotionSimConfig().
The documentation for this class was generated from the following file:
