RobotInfo Namespace Reference
Detailed Description
Contains information about the robot, such as number of joints, PID defaults, timing information, etc.
This is just a wrapper for whichever namespace corresponds to the current robot target setting (one of TGT_ERS210, TGT_ERS220, TGT_ERS7, or the default, TGT_ERS2xx)
You probably should look at ERS210Info, ERS220Info, ERS2xxInfo, or ERS7Info for the actual constants used for each model.
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Enumerations |
enum | LegOrder_t { LFrLegOrder = 0,
RFrLegOrder,
LBkLegOrder,
RBkLegOrder
} |
| the ordering of legs More...
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enum | REKOffset_t { RotatorOffset = 0,
ElevatorOffset,
KneeOffset
} |
| The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the head's TPROffset_t's). More...
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enum | TPROffset_t { TiltOffset = 0,
PanOffset,
RollOffset,
NodOffset = RollOffset
} |
| The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the leg's REKOffset_t's). More...
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Enumeration Type Documentation
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the ordering of legs
- Enumeration values:
-
LFrLegOrder |
left front leg |
RFrLegOrder |
right front leg |
LBkLegOrder |
left back leg |
RBkLegOrder |
right back leg |
Definition at line 8 of file CommonInfo.h. |
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The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the head's TPROffset_t's).
- Enumeration values:
-
RotatorOffset |
moves leg forward or backward along body |
ElevatorOffset |
moves leg toward or away from body |
KneeOffset |
moves knee |
Definition at line 16 of file CommonInfo.h. |
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The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the leg's REKOffset_t's).
- Enumeration values:
-
TiltOffset |
tilt/elevation (vertical) |
PanOffset |
pan/heading (horizontal) |
RollOffset |
roll (rotational) |
NodOffset |
nod (second tilt) |
Definition at line 23 of file CommonInfo.h. |
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