Tekkotsu: CommonInfo.h Source File

00001 //-*-c++-*-
00002 #ifndef INCLUDED_CommonInfo_h_
00003 #define INCLUDED_CommonInfo_h_
00004 
00005 namespace RobotInfo {
00006 
00007   //! the ordering of legs
00008   enum LegOrder_t {
00009     LFrLegOrder = 0, //!< left front leg
00010     RFrLegOrder,     //!< right front leg
00011     LBkLegOrder,     //!< left back leg
00012     RBkLegOrder      //!< right back leg
00013   };
00014   
00015   //! 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)
00016   enum REKOffset_t {
00017     RotatorOffset=0, //!< moves leg forward or backward along body
00018     ElevatorOffset,  //!< moves leg toward or away from body
00019     KneeOffset       //!< moves knee
00020   };
00021   
00022   //! 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)
00023   enum TPROffset_t {
00024     TiltOffset = 0, //!< tilt/elevation (vertical)
00025     PanOffset,      //!< pan/heading (horizontal)
00026     RollOffset,      //!< roll (rotational)
00027     NodOffset=RollOffset       //!< nod (second tilt)
00028   };
00029 
00030   //! Defines the indexes to use as indices to access the min and max entries of joint limit specifications (e.g. ERS7Info::outputRanges and ERS7Info::mechanicalLimits)
00031   enum MinMaxRange_t { MinRange,MaxRange };
00032   
00033 }
00034 
00035 /*! @file
00036  * @brief 
00037  * @author ejt (Creator)
00038  *
00039  * $Author: ejt $
00040  * $Name: tekkotsu-3_0 $
00041  * $Revision: 1.2 $
00042  * $State: Exp $
00043  * $Date: 2006/10/04 02:42:03 $
00044  */
00045 
00046 #endif