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

#include "jwalkincludes.h"
#include "sensors.h"

Go to the source code of this file.

Classes
class	Actuators
Defines
#define	ACTUATORS_CLEARAFTER   0
#define	JOINT_OFFSET_LARM   0
#define	JOINT_OFFSET_RARM   4
#define	JOINT_OFFSET_LLEG   8
#define	JOINT_OFFSET_RLEG   14
#define	ALIAS_HARDNESS_ALL   string("Actuators/Hardness/All")
#define	ALIAS_HARDNESS_ALL_LENGTH   J_NUM_JOINTS
#define	ALIAS_HARDNESS_NOT_HEAD   string("Actuators/Hardness/NotHead")
#define	ALIAS_HARDNESS_NOT_HEAD_LENGTH   J_NUM_JOINTS - 2
#define	ALIAS_HARDNESS_HEAD   string("Actuators/Hardness/Head")
#define	ALIAS_HARDNESS_HEAD_LENGTH   2
#define	ALIAS_TARGETS_ALL   string("Actuators/Targets/All")
#define	ALIAS_TARGETS_ALL_LENGTH   J_NUM_JOINTS
#define	ALIAS_TARGETS_NOT_HEAD   string("Actuators/Targets/NotHead")
#define	ALIAS_TARGETS_NOT_HEAD_LENGTH   J_NUM_JOINTS - 2
#define	ALIAS_TARGETS_HEAD   string("Actuators/Targets/Head")
#define	ALIAS_TARGETS_HEAD_LENGTH   2
Variables
string	indexToPositionActuator []
string	indexToHardnessActuator []
float	jointLimits [][2]
float	actuatorHardnesses []
float	actuatorPositions []

---

Define Documentation

#define ACTUATORS_CLEARAFTER   0

A low level wrapper of the alDcm

Author:

Jason Kulk

Version :

Id

actuators.h,v 1.5 2009/05/31 03:58:58 jason Exp

#define ALIAS_HARDNESS_ALL   string("Actuators/Hardness/All")

#define ALIAS_HARDNESS_ALL_LENGTH   J_NUM_JOINTS

#define ALIAS_HARDNESS_HEAD   string("Actuators/Hardness/Head")

#define ALIAS_HARDNESS_HEAD_LENGTH   2

#define ALIAS_HARDNESS_NOT_HEAD   string("Actuators/Hardness/NotHead")

#define ALIAS_HARDNESS_NOT_HEAD_LENGTH   J_NUM_JOINTS - 2

#define ALIAS_TARGETS_ALL   string("Actuators/Targets/All")

#define ALIAS_TARGETS_ALL_LENGTH   J_NUM_JOINTS

#define ALIAS_TARGETS_HEAD   string("Actuators/Targets/Head")

#define ALIAS_TARGETS_HEAD_LENGTH   2

#define ALIAS_TARGETS_NOT_HEAD   string("Actuators/Targets/NotHead")

#define ALIAS_TARGETS_NOT_HEAD_LENGTH   J_NUM_JOINTS - 2

#define JOINT_OFFSET_LARM   0

#define JOINT_OFFSET_LLEG   8

#define JOINT_OFFSET_RARM   4

#define JOINT_OFFSET_RLEG   14

---

Variable Documentation

float actuatorHardnesses[]

float actuatorPositions[]

string indexToHardnessActuator[]

string indexToPositionActuator[]

float jointLimits[][2]