/Users/jason/Code/naowalkoptimiser/src/Locomotion/Walk/actuators.cpp File Reference

#include "jwalk.h"
#include "alproxies.h"
#include "actuators.h"

Defines
#define	ACTUATORS_VERBOSITY   0
Variables
string	indexToPositionActuator [] = {"HeadYaw/Position/Actuator/Value","HeadPitch/Position/Actuator/Value","LShoulderRoll/Position/Actuator/Value","LShoulderPitch/Position/Actuator/Value","LElbowYaw/Position/Actuator/Value","LElbowRoll/Position/Actuator/Value","RShoulderRoll/Position/Actuator/Value","RShoulderPitch/Position/Actuator/Value","RElbowYaw/Position/Actuator/Value","RElbowRoll/Position/Actuator/Value","LHipYawPitch/Position/Actuator/Value","LHipRoll/Position/Actuator/Value","LHipPitch/Position/Actuator/Value","LKneePitch/Position/Actuator/Value","LAnklePitch/Position/Actuator/Value","LAnkleRoll/Position/Actuator/Value","RHipYawPitch/Position/Actuator/Value","RHipRoll/Position/Actuator/Value","RHipPitch/Position/Actuator/Value","RKneePitch/Position/Actuator/Value","RAnklePitch/Position/Actuator/Value","RAnkleRoll/Position/Actuator/Value"}
string	indexToHardnessActuator [] = {"HeadYaw/Hardness/Actuator/Value","HeadPitch/Hardness/Actuator/Value","LShoulderRoll/Hardness/Actuator/Value","LShoulderPitch/Hardness/Actuator/Value","LElbowYaw/Hardness/Actuator/Value","LElbowRoll/Hardness/Actuator/Value","RShoulderRoll/Hardness/Actuator/Value","RShoulderPitch/Hardness/Actuator/Value","RElbowYaw/Hardness/Actuator/Value","RElbowRoll/Hardness/Actuator/Value","LHipYawPitch/Hardness/Actuator/Value","LHipRoll/Hardness/Actuator/Value","LHipPitch/Hardness/Actuator/Value","LKneePitch/Hardness/Actuator/Value","LAnklePitch/Hardness/Actuator/Value","LAnkleRoll/Hardness/Actuator/Value","RHipYawPitch/Hardness/Actuator/Value","RHipRoll/Hardness/Actuator/Value","RHipPitch/Hardness/Actuator/Value","RKneePitch/Hardness/Actuator/Value","RAnklePitch/Hardness/Actuator/Value","RAnkleRoll/Hardness/Actuator/Value"}
float	jointLimits [][2] = {{-1.5707963705062866, 1.5707963705062866}, {-0.78539818525314331, 0.78539818525314331}, {0.0, 1.6580628156661987}, {-2.0943951606750488, 2.0943951606750488}, {-2.0943951606750488, 2.0943951606750488}, {-1.6580628156661987, 0.0}, {-1.6580628156661987, 0.0}, {-2.0943951606750488, 2.0943951606750488}, {-2.0943951606750488, 2.0943951606750488}, {0.0, 1.6580628156661987}, {-0.95993107557296753, 0.69813168048858643}, {-0.43633231520652771, 0.78539818525314331}, {-1.5707963705062866, 0.52359879016876221}, {0.0, 2.268928050994873}, {-1.2217304706573486, 0.78539818525314331}, {-0.78539818525314331, 0.78539818525314331}, {-0.95993107557296753, 0.69813168048858643}, {-0.78539818525314331, 0.43633231520652771}, {-1.5707963705062866, 0.52359879016876221}, {0.0, 2.268928050994873}, {-1.2217304706573486, 0.78539818525314331}, {-0.78539818525314331, 0.78539818525314331}}
float	actuatorHardnesses [J_NUM_JOINTS]
float	actuatorPositions [J_NUM_JOINTS]

---

Define Documentation

#define ACTUATORS_VERBOSITY   0

A low level wrapper of the alDcm

Author:

Jason Kulk

Version :

Id

actuators.cpp,v 1.4 2009/05/24 06:26:27 jason Exp

---

Variable Documentation

float actuatorHardnesses[J_NUM_JOINTS]

float actuatorPositions[J_NUM_JOINTS]

string indexToHardnessActuator[] = {"HeadYaw/Hardness/Actuator/Value","HeadPitch/Hardness/Actuator/Value","LShoulderRoll/Hardness/Actuator/Value","LShoulderPitch/Hardness/Actuator/Value","LElbowYaw/Hardness/Actuator/Value","LElbowRoll/Hardness/Actuator/Value","RShoulderRoll/Hardness/Actuator/Value","RShoulderPitch/Hardness/Actuator/Value","RElbowYaw/Hardness/Actuator/Value","RElbowRoll/Hardness/Actuator/Value","LHipYawPitch/Hardness/Actuator/Value","LHipRoll/Hardness/Actuator/Value","LHipPitch/Hardness/Actuator/Value","LKneePitch/Hardness/Actuator/Value","LAnklePitch/Hardness/Actuator/Value","LAnkleRoll/Hardness/Actuator/Value","RHipYawPitch/Hardness/Actuator/Value","RHipRoll/Hardness/Actuator/Value","RHipPitch/Hardness/Actuator/Value","RKneePitch/Hardness/Actuator/Value","RAnklePitch/Hardness/Actuator/Value","RAnkleRoll/Hardness/Actuator/Value"}

string indexToPositionActuator[] = {"HeadYaw/Position/Actuator/Value","HeadPitch/Position/Actuator/Value","LShoulderRoll/Position/Actuator/Value","LShoulderPitch/Position/Actuator/Value","LElbowYaw/Position/Actuator/Value","LElbowRoll/Position/Actuator/Value","RShoulderRoll/Position/Actuator/Value","RShoulderPitch/Position/Actuator/Value","RElbowYaw/Position/Actuator/Value","RElbowRoll/Position/Actuator/Value","LHipYawPitch/Position/Actuator/Value","LHipRoll/Position/Actuator/Value","LHipPitch/Position/Actuator/Value","LKneePitch/Position/Actuator/Value","LAnklePitch/Position/Actuator/Value","LAnkleRoll/Position/Actuator/Value","RHipYawPitch/Position/Actuator/Value","RHipRoll/Position/Actuator/Value","RHipPitch/Position/Actuator/Value","RKneePitch/Position/Actuator/Value","RAnklePitch/Position/Actuator/Value","RAnkleRoll/Position/Actuator/Value"}

float jointLimits[][2] = {{-1.5707963705062866, 1.5707963705062866}, {-0.78539818525314331, 0.78539818525314331}, {0.0, 1.6580628156661987}, {-2.0943951606750488, 2.0943951606750488}, {-2.0943951606750488, 2.0943951606750488}, {-1.6580628156661987, 0.0}, {-1.6580628156661987, 0.0}, {-2.0943951606750488, 2.0943951606750488}, {-2.0943951606750488, 2.0943951606750488}, {0.0, 1.6580628156661987}, {-0.95993107557296753, 0.69813168048858643}, {-0.43633231520652771, 0.78539818525314331}, {-1.5707963705062866, 0.52359879016876221}, {0.0, 2.268928050994873}, {-1.2217304706573486, 0.78539818525314331}, {-0.78539818525314331, 0.78539818525314331}, {-0.95993107557296753, 0.69813168048858643}, {-0.78539818525314331, 0.43633231520652771}, {-1.5707963705062866, 0.52359879016876221}, {0.0, 2.268928050994873}, {-1.2217304706573486, 0.78539818525314331}, {-0.78539818525314331, 0.78539818525314331}}