Tekkotsu: 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 #elif TGT_ERS2xx
00010 # include "ERS2xxInfo.h"
00011 #elif TGT_ERS7
00012 # include "ERS7Info.h"
00013 #else //default case, currently ERS-7
00014 # warning "TGT_<model> undefined or unknown model set - defaulting to ERS7 (valid values are TGT_ERS210, TGT_ERS220, TGT_ERS2xx, or TGT_ERS7)"
00015 # include "ERS7Info.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_ERS7, TGT_ERS210, TGT_ERS220, or the cross-booting TGT_ERS2xx)
00021  *
00022  *  You probably should look at ERS7Info, ERS210Info, ERS220Info, or ERS2xxInfo for the actual
00023  *  constants used for each model, although some common information shared by all of these namespaces
00024  *  is defined in CommonInfo.h */
00025 namespace RobotInfo {
00026 
00027 #if TGT_ERS220
00028   using namespace ERS220Info;
00029 #elif TGT_ERS210
00030   using namespace ERS210Info;
00031 #elif TGT_ERS7
00032   using namespace ERS7Info;
00033 #elif TGT_ERS2xx
00034   using namespace ERS2xxInfo;
00035 #else //default case, ERS7
00036   using namespace ERS7Info;
00037 #endif //model selection  
00038 }
00039 
00040 using namespace RobotInfo;
00041   
00042 /*! @file
00043  * @brief Checks the define's to load the appropriate header and namespace
00044  * @author ejt (Creator)
00045  *
00046  * $Author: ejt $
00047  * $Name: tekkotsu-3_0 $
00048  * $Revision: 1.17 $
00049  * $State: Exp $
00050  * $Date: 2006/10/03 23:06:58 $
00051  */
00052 
00053 #endif