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RobotInfo.h

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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 #elif TGT_ERS7
00010 # include "ERS7Info.h"
00011 #else //default case, ERS2xx
00012 # if TGT_ERS2xx==0
00013 #   warning "TGT_<model> undefined - defaulting to ERS2xx"
00014 # endif
00015 # include "ERS2xxInfo.h"
00016 #endif //model selection
00017 
00018 //! Contains information about the robot, such as number of joints, PID defaults, timing information, etc.
00019 /*! This is just a wrapper for whichever namespace corresponds to the current
00020  *  robot target setting (one of TGT_ERS210, TGT_ERS220, TGT_ERS7, or the default, TGT_ERS2xx)
00021  *
00022  *  You probably should look at ERS210Info, ERS220Info, ERS2xxInfo, or ERS7Info for the actual
00023  *  constants used for each model. */
00024 namespace RobotInfo {
00025 
00026 #if TGT_ERS220
00027   using namespace ERS220Info;
00028 #elif TGT_ERS210
00029   using namespace ERS210Info;
00030 #elif TGT_ERS7
00031   using namespace ERS7Info;
00032 #else //default case, ERS2xx
00033   using namespace ERS2xxInfo;
00034 #endif //model selection  
00035 }
00036 
00037 using namespace RobotInfo;
00038   
00039 /*! @file
00040  * @brief Checks the define's to load the appropriate header and namespace
00041  * @author ejt (Creator)
00042  *
00043  * $Author: ejt $
00044  * $Name: tekkotsu-2_1 $
00045  * $Revision: 1.15 $
00046  * $State: Exp $
00047  * $Date: 2004/02/09 22:45:28 $
00048  */
00049 
00050 #endif

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