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CMPackWalkMC::CalibrationParam Struct Reference

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

#include <CMPackWalkMC.h>


Detailed Description

holds information to correct for slippage, non-idealities

Definition at line 77 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)

Member Enumeration Documentation

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 81 of file CMPackWalkMC.h.


Constructor & Destructor Documentation

CMPackWalkMC::CalibrationParam::CalibrationParam (  ) 

constructor, sets calibration matricies to identity


Member Data Documentation

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 90 of file CMPackWalkMC.h.

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 89 of file CMPackWalkMC.h.

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

Definition at line 92 of file CMPackWalkMC.h.

maximum achievable velocity (mm/s)

Definition at line 93 of file CMPackWalkMC.h.


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

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