WalkMC::CalibrationParam Struct Reference

#include <WalkMC.h>

Detailed Description

holds information to correct for slippage, non-idealities

Definition at line 108 of file WalkMC.h.

Public Types

forward

forward (x)

reverse

backward (-x)

strafe

sideways (y)

rotate

spin (z/a)

NUM_DIM

number of directions we calibrate for

enum dimension_offset {
forward, reverse, strafe, rotate,
NUM_DIM
}

symbolic way to refer to each of the directions More...

Public Member Functions

CalibrationParam ()

constructor, sets calibration matricies to identity

Public Attributes

float f_calibration [3][11]

matrix of calibration parameters; 3 columns for f,s,r speeds, 2 columns for abs s,r speeds, 1 gabor function, 1 squared planar speed, 3 columns for f*r,s*f,r*s, and 1 column for offset

float b_calibration [3][11]

matrix of calibration parameters; 3 columns for f,s,r speeds, 2 columns for abs s,r speeds, 1 gabor function, 1 squared planar speed, 3 columns for f*r,s*f,r*s, and 1 column for offset

float max_accel [NUM_DIM]

maximum achievable acceleration, 0 for infinite (mm/s^2)

float max_vel [NUM_DIM]

maximum achievable velocity (mm/s)

Member Enumeration Documentation

enum WalkMC::CalibrationParam::dimension_offset

symbolic way to refer to each of the directions

Enumerator:

forward	forward (x)
reverse	backward (-x)
strafe	sideways (y)
rotate	spin (z/a)
NUM_DIM	number of directions we calibrate for

Definition at line 112 of file WalkMC.h.

Constructor & Destructor Documentation

WalkMC::CalibrationParam::CalibrationParam ( )

constructor, sets calibration matricies to identity

Definition at line 72 of file WalkMC.cc.

Member Data Documentation

float WalkMC::CalibrationParam::b_calibration[3][11]

matrix of calibration parameters; 3 columns for f,s,r speeds, 2 columns for abs s,r speeds, 1 gabor function, 1 squared planar speed, 3 columns for f*r,s*f,r*s, and 1 column for offset

Definition at line 121 of file WalkMC.h.

Referenced by CalibrationParam(), WalkMC::saveBuffer(), LoadCalibration::selectedFile(), and WalkMC::updateOutputs().

float WalkMC::CalibrationParam::f_calibration[3][11]

matrix of calibration parameters; 3 columns for f,s,r speeds, 2 columns for abs s,r speeds, 1 gabor function, 1 squared planar speed, 3 columns for f*r,s*f,r*s, and 1 column for offset

Definition at line 120 of file WalkMC.h.

Referenced by CalibrationParam(), LoadCalibration::readData(), WalkMC::saveBuffer(), LoadCalibration::selectedFile(), and WalkMC::updateOutputs().

float WalkMC::CalibrationParam::max_accel[NUM_DIM]

maximum achievable acceleration, 0 for infinite (mm/s^2)

Definition at line 123 of file WalkMC.h.

Referenced by CalibrationParam(), and WalkMC::saveBuffer().

float WalkMC::CalibrationParam::max_vel[NUM_DIM]

maximum achievable velocity (mm/s)

Definition at line 124 of file WalkMC.h.

Referenced by CalibrationParam(), LoadCalibration::readMaxs(), WalkMC::saveBuffer(), and WalkMC::updateOutputs().

The documentation for this struct was generated from the following files: