RobotInfo.h Source File

00001 //-*-c++-*-
00002 #ifndef INCLUDED_RobotInfo_h
00003 #define INCLUDED_RobotInfo_h
00004 
00005 #if TGT_ERS220
00006 # include "ERS220Info.h"
00007 #elif TGT_ERS210
00008 # include "ERS210Info.h"
00009 #else //default case, ERS2xx
00010 # if TGT_ERS2xx==0
00011 #   warning "TGT_<model> undefined - defaulting to ERS2xx"
00012 # endif
00013 # include "ERS2xxInfo.h"
00014 #endif //model selection
00015 
00016 //! Contains information about the robot, such as number of joints, PID defaults, timing information, etc.
00017 /*! This is just a wrapper for whichever namespace corresponds to the current
00018  *  robot target setting (one of TGT_ERS210, TGT_ERS220, or the default, TGT_ERS2xx)
00019  *
00020  *  You probably should look at ERS210Info, ERS220Info, or ERS2xxInfo for the actual
00021  *  constants used for each model. */
00022 namespace RobotInfo {
00023 
00024 #if TGT_ERS220
00025   using namespace ERS220Info;
00026 #elif TGT_ERS210
00027   using namespace ERS210Info;
00028 #else //default case, ERS2xx
00029   using namespace ERS2xxInfo;
00030 #endif //model selection
00031 
00032 }
00033 
00034 using namespace RobotInfo;
00035   
00036 /*! @file
00037  * @brief Checks the define's to load the appropriate header and namespace
00038  * @author ejt (Creator)
00039  *
00040  * $Author: ejt $
00041  * $Name: tekkotsu-1_5 $
00042  * $Revision: 1.13 $
00043  * $State: Rel $
00044  * $Date: 2003/07/11 19:54:42 $
00045  */
00046 
00047 #endif