Tekkotsu: Config::motion_config Struct Reference

Definition at line 238 of file Config.h.


Public Member Functions
std::string	makePath (const std::string &name)
	returns an absolute path if is relative (to root), otherwise just name
	motion_config (Config *c)
	constructor
Public Attributes
Config *	thisconfig
	pointer back to the containing config object
std::string	root
	path on memory stick to "motion" files - for instance, position (.pos) and motion sequence (.mot)
std::string	walk
	the walk parameter file to load by default for new WalkMC's
std::string	kinematics
	the kinematics description file to load
std::vector< std::string >	kinematic_chains
	list of chains to load from kinematics
float	calibration [NumPIDJoints]
	multiplier from desired to command for PID joints
char	estop_on_snd [50]
	sound file to use when e-stop turned on
char	estop_off_snd [50]
	sound file to use when e-stop turned off
float	max_head_tilt_speed
	max speed for the head joints, used by HeadPointerMC; rad/s
float	max_head_pan_speed
	max speed for the head joints, used by HeadPointerMC; rad/s
float	max_head_roll_speed
	max speed for the head joints, used by HeadPointerMC; rad/s
bool	inf_walk_accel
	if true, walks should attempt to switch directions immediately; otherwise they should do some kind of software acceleration to more smoothly switch direction
int	console_port
	port to send/receive "console" information on (separate from system console)
int	stderr_port
	port to send error information to
Private Member Functions
	motion_config (const motion_config &)
	don't call
motion_config &	operator= (const motion_config &)
	don't call

Constructor & Destructor Documentation

Config::motion_config::motion_config ( Config * c ) [inline]

constructor

Definition at line 265 of file Config.h.

Config::motion_config::motion_config ( const motion_config & ) [private]

don't call

Member Function Documentation

std::string Config::motion_config::makePath ( const std::string & name ) [inline]

returns an absolute path if is relative (to root), otherwise just name

Definition at line 255 of file Config.h.

Referenced by WaypointEngine< MAX_WAY >::loadFile(), WalkMC::loadFile(), PostureEngine::loadFile(), MotionSequenceEngine::loadFile(), Kinematics::newChain(), AutoGetupBehavior::processEvent(), WaypointWalkControl::refresh(), PostureEditor::refresh(), WaypointEngine< MAX_WAY >::saveFile(), WalkMC::saveFile(), PostureEngine::saveFile(), MotionSequenceEngine::saveFile(), SaveWalkControl::takeInput(), and SavePostureControl::takeInput().

motion_config& Config::motion_config::operator= ( const motion_config & ) [private]

don't call

Member Data Documentation

float Config::motion_config::calibration[NumPIDJoints]

multiplier from desired to command for PID joints

Definition at line 244 of file Config.h.

Referenced by motion_config(), WorldState::read(), and Config::setValue().

int Config::motion_config::console_port

port to send/receive "console" information on (separate from system console)

Definition at line 251 of file Config.h.

Referenced by Config::setValue().

char Config::motion_config::estop_off_snd[50]

sound file to use when e-stop turned off

Definition at line 246 of file Config.h.

Referenced by motion_config(), EmergencyStopMC::setStopped(), and Config::setValue().

char Config::motion_config::estop_on_snd[50]

sound file to use when e-stop turned on

Definition at line 245 of file Config.h.

Referenced by motion_config(), EmergencyStopMC::setStopped(), and Config::setValue().

bool Config::motion_config::inf_walk_accel

if true, walks should attempt to switch directions immediately; otherwise they should do some kind of software acceleration to more smoothly switch direction

Definition at line 250 of file Config.h.

Referenced by Config::setValue(), and WalkMC::updateOutputs().

std::vector<std::string> Config::motion_config::kinematic_chains

list of chains to load from kinematics

Definition at line 243 of file Config.h.

Referenced by Kinematics::calcLegHeights(), Kinematics::calculateGroundPlane(), Kinematics::init(), Kinematics::initStatics(), Kinematics::newChain(), and Config::setValue().