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WalkMC::CalibrationParam Struct Reference

#include <WalkMC.h>

List of all members.

Detailed Description

holds information to correct for slippage, non-idealities

Definition at line 87 of file WalkMC.h.

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 ()

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 squared planar speed, 1 planar bearing, 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 squared planar speed, 1 planar bearing, 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

enum WalkMC::CalibrationParam::dimension_offset
 

symbolic way to refer to each of the directions

Enumeration values:
forward 
reverse 
strafe 
rotate 
NUM_DIM 

Definition at line 91 of file WalkMC.h.

Constructor & Destructor Documentation

WalkMC::CalibrationParam::CalibrationParam (   ) 
 

Definition at line 75 of file WalkMC.cc.

Member Data Documentation

float WalkMC::CalibrationParam::b_calibration[3][11]
 

matrix of calibration parameters; 3 columns for f,s,r speeds, 2 columns for abs s,r speeds, 1 squared planar speed, 1 planar bearing, 3 columns for f*r,s*f,r*s, and 1 column for offset

Definition at line 100 of file WalkMC.h.

Referenced by CalibrationParam(), and WalkMC::updateOutputs().

float WalkMC::CalibrationParam::f_calibration[3][11]
 

matrix of calibration parameters; 3 columns for f,s,r speeds, 2 columns for abs s,r speeds, 1 squared planar speed, 1 planar bearing, 3 columns for f*r,s*f,r*s, and 1 column for offset

Definition at line 99 of file WalkMC.h.

Referenced by CalibrationParam(), and WalkMC::updateOutputs().

float WalkMC::CalibrationParam::max_accel[NUM_DIM]
 

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

Definition at line 102 of file WalkMC.h.

Referenced by CalibrationParam().

float WalkMC::CalibrationParam::max_vel[NUM_DIM]
 

maximum achievable velocity (mm/s)

Definition at line 103 of file WalkMC.h.

Referenced by CalibrationParam(), and WalkMC::updateOutputs().

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