#include <servohumanoid.h>
Classes | |
| struct | RoboState |
Public Member Functions | |
| short unsigned int | Ankle_Flexion_Movement (short int id, double joint_angle) |
| double | Ankle_Flexion_ServoValue_Conversion (short int id, short unsigned int servo_value) |
| short unsigned int | Ankle_Inversion_Eversion_Movement (short int id, double joint_angle) |
| double | Ankle_Inversion_Eversion_ServoValue_Conversion (short int id, short unsigned int servo_value) |
| double | ConvertServoValueByID (int id, short unsigned int servo_value) |
| short unsigned int | Hip_Abduction_Hiperabduction_Movement (short int id, double joint_angle) |
| double | Hip_Abduction_Hiperabduction_ServoValue_Conversion (short int id, short unsigned int servo_value) |
| short unsigned int | Hip_Flexion_Movement (short int id, double joint_angle) |
| double | Hip_Flexion_ServoValue_Conversion (short int id, short unsigned int servo_value) |
| void | HomePosition (void) |
| double | Knee_Flexion_ServoValue_Conversion (short int id, short unsigned int servo_value) |
| short unsigned int | Knee_Movement (short int id, double joint_angle) |
| short unsigned int | MoveJoint (short int id, double joint_angle) |
| ServoHumanoid (const char *path) | |
| short unsigned int | SetJointSpeed (short int id, unsigned int speed) |
| short unsigned int | Torso_Flexion_Extension_Movement (double joint_angle) |
| double | Torso_Flexion_Extension_ServoValue_Conversion (short unsigned int servo_value) |
| short unsigned int | Torso_Lateral_Flexion_Extension_Movement (double joint_angle) |
| double | Torso_Lateral_Flexion_Extension_ServoValue_Conversion (short unsigned int servo_value) |
| short unsigned int | Torso_Rotation_Movement (double joint_angle) |
| double | Torso_Rotation_ServoValue_Conversion (short unsigned int servo_value) |
Public Attributes | |
| struct ServoHumanoid::RoboState | RoboState |
| double | ankle_height |
| robot ankle height (mm) | |
| double | ankle_max_flexion |
| ankle flexion maximum angular limits | |
| double | ankle_max_inversion |
| ankle inversion maximum angular limits | |
| double | ankle_min_flexion |
| ankle flexion minimum angular limits | |
| double | ankle_min_inversion |
| ankle inversion minimum angular limits | |
| double | arm_length |
| robot arm lenght (mm) | |
| double | elbow_flexion_joint_offset_left |
| elbow flexion joint offset left | |
| double | elbow_flexion_joint_offset_right |
| elbow flexion joint offset right | |
| double | elbow_flexion_servo_offset_left |
| elbow flexion offset left | |
| double | elbow_flexion_servo_offset_right |
| elbow flexion offset right | |
| double | elbow_max_flexion |
| elbow flexion maximum angular limits | |
| double | elbow_min_flexion |
| elbow flexion minimum angular limits | |
| double | feet_flexion_joint_offset_left |
| feet flexion joint offset left | |
| double | feet_flexion_joint_offset_right |
| feet flexion joint offset right | |
| double | feet_inversion_joint_offset_left |
| feet inversion joint offset left | |
| double | feet_inversion_joint_offset_right |
| feet inversion joint offset right | |
| Eigen::Vector3d | foot_CoM |
| foot COM | |
| double | foot_length |
| robot foot lenght (mm) | |
| double | foot_mass |
| foot mass | |
| double | foot_width |
| robot foot lenght (mm) | |
| double | forearm_length |
| robot forearm lenght (mm) | |
| double | head_joint_offset |
| head joint offset | |
| double | head_max_tilt |
| head maximum angular limits | |
| double | head_min_tilt |
| head minimum angular limits | |
| double | head_servo_offset |
| head servo offset | |
| double | hip_abduction_joint_offset_left |
| hip abduction joint offset left | |
| double | hip_abduction_joint_offset_right |
| hip abduction joint offset right | |
| double | hip_flexion_b_value_left |
| hip flexion adjust curve b value left | |
| double | hip_flexion_b_value_right |
| hip flexion adjust curve b value right | |
| double | hip_flexion_joint_offset_left |
| hip flexion joint offset left | |
| double | hip_flexion_joint_offset_right |
| hip flexion joint offset right | |
| double | hip_max_abduction |
| hip abduction maximum angular limits | |
| double | hip_max_flexion |
| hip inversion maximum angular limits | |
| double | hip_min_abduction |
| hip abduction minimum angular limits | |
| double | hip_min_flexion |
| hip inversion minimum angular limits | |
| double | knee_flexion_b_value_left |
| knee flexion adjust curve b value left | |
| double | knee_flexion_b_value_right |
| knee flexion adjust curve b value right | |
| double | knee_flexion_joint_offset_left |
| knee flexion joint offset left | |
| double | knee_flexion_joint_offset_right |
| knee flexion joint offset right | |
| double | knee_max_flexion |
| ankle inversion maximum angular limits | |
| double | knee_min_flexion |
| ankle inversion minimum angular limits | |
| Eigen::Vector3d | shin_CoM |
| shin COM | |
| double | shin_length |
| robot leg lenght (mm) | |
| double | shin_mass |
| shin mass | |
| double | shoulder_abduction_joint_offset_left |
| shoulder abduction joint offset left | |
| double | shoulder_abduction_joint_offset_right |
| shoulder abduction joint offset right | |
| double | shoulder_abduction_servo_offset_left |
| shoulder abduction offset left | |
| double | shoulder_abduction_servo_offset_right |
| shoulder abduction offset right | |
| double | shoulder_flexion_joint_offset_left |
| shoulder flexion joint offset left | |
| double | shoulder_flexion_joint_offset_right |
| shoulder flexion joint offset right | |
| double | shoulder_flexion_servo_offset_left |
| shoulder flexion offset left | |
| double | shoulder_flexion_servo_offset_right |
| shoulder flexion offset right | |
| double | shoulder_max_abduction |
| shoulder abduction maximum angular limits | |
| double | shoulder_max_flexion |
| shoulder flexion maximum angular limits | |
| double | shoulder_min_abduction |
| shoulder abduction minimum angular limits | |
| double | shoulder_min_flexion |
| shoulder flexion minimum angular limits | |
| Eigen::Vector3d | thigh_CoM |
| thigh COM | |
| double | thigh_length |
| robot thigh lenght (mm) | |
| double | thigh_mass |
| thigh mass | |
| double | torso_flexion_joint_offset |
| torso flexion joint offset | |
| double | torso_flexion_servo_offset |
| torso flexion offset | |
| double | torso_lateral_flexion_joint_offset |
| torso lateral flexion joint offset | |
| double | torso_lateral_flexion_servo_offset |
| torso lateral flexion offset | |
| double | torso_max_flexion |
| torso flexion maximum angular limits | |
| double | torso_max_lateral_flexion |
| torso lateral flexion maximum angular limits | |
| double | torso_max_rotation |
| torso rotation maximum angular limits | |
| double | torso_min_flexion |
| torso flexion minimum angular limits | |
| double | torso_min_lateral_flexion |
| torso lateral flexion minimum angular limits | |
| double | torso_min_rotation |
| torso rotation minimum angular limits | |
| double | torso_rotation_joint_offset |
| torso rotation joint offset | |
| double | torso_rotation_servo_offset |
| torso rotation offset | |
Private Member Functions | |
| void | SetParameters (void) |
Private Attributes | |
| hitec_5980SG * | hitec |
| struct { | |
| double elbow_flexion_joint_offset_left | |
| elbow flexion joint offset left | |
| double elbow_flexion_joint_offset_right | |
| elbow flexion joint offset right | |
| double feet_flexion_joint_offset_left | |
| feet flexion joint offset left | |
| double feet_flexion_joint_offset_right | |
| feet flexion joint offset right | |
| double feet_inversion_joint_offset_left | |
| feet inversion joint offset left | |
| double feet_inversion_joint_offset_right | |
| feet inversion joint offset right | |
| double head_joint_offset | |
| head joint offset | |
| double hip_abduction_joint_offset_left | |
| hip abduction joint offset left | |
| double hip_abduction_joint_offset_right | |
| hip abduction joint offset right | |
| double hip_flexion_joint_offset_left | |
| hip flexion joint offset left | |
| double hip_flexion_joint_offset_right | |
| hip flexion joint offset right | |
| double knee_flexion_joint_offset_left | |
| knee flexion joint offset left | |
| double knee_flexion_joint_offset_right | |
| knee flexion joint offset right | |
| double shoulder_abduction_joint_offset_left | |
| shoulder abduction joint offset left | |
| double shoulder_abduction_joint_offset_right | |
| shoulder abduction joint offset right | |
| double shoulder_flexion_joint_offset_left | |
| shoulder flexion joint offset left | |
| double shoulder_flexion_joint_offset_right | |
| shoulder flexion joint offset right | |
| double torso_flexion_joint_offset | |
| torso flexion joint offset | |
| double torso_lateral_flexion_joint_offset | |
| torso lateral flexion joint offset | |
| double torso_rotation_joint_offset | |
| torso rotation joint offset | |
| } | joint_offset |
| Structure to hold the robot's joints offsets due to the mechanical assembling. | |
| struct { | |
| double ankle_height | |
| robot ankle height (mm) | |
| double arm_length | |
| robot arm lenght (mm) | |
| double foot_length | |
| robot foot lenght (mm) | |
| double foot_width | |
| robot foot lenght (mm) | |
| double forearm_length | |
| robot forearm lenght (mm) | |
| double shin_length | |
| robot leg lenght (mm) | |
| double thigh_length | |
| robot thigh lenght (mm) | |
| } | robot_dimensions |
| Structure to hold robot dimensional data. | |
| struct { | |
| double foot_mass | |
| foot mass | |
| double shin_mass | |
| shin mass | |
| double thigh_mass | |
| thigh mass | |
| } | robot_element_mass |
| Structure to hold the robot limb/element masses. | |
| struct { | |
| double ankle_max_flexion | |
| ankle flexion maximum angular limits | |
| double ankle_max_inversion | |
| ankle inversion maximum angular limits | |
| double ankle_min_flexion | |
| ankle flexion minimum angular limits | |
| double ankle_min_inversion | |
| ankle inversion minimum angular limits | |
| double elbow_max_flexion | |
| elbow flexion maximum angular limits | |
| double elbow_min_flexion | |
| elbow flexion minimum angular limits | |
| double head_max_tilt | |
| head maximum angular limits | |
| double head_min_tilt | |
| head minimum angular limits | |
| double hip_max_abduction | |
| hip abduction maximum angular limits | |
| double hip_max_flexion | |
| hip inversion maximum angular limits | |
| double hip_min_abduction | |
| hip abduction minimum angular limits | |
| double hip_min_flexion | |
| hip inversion minimum angular limits | |
| double knee_max_flexion | |
| ankle inversion maximum angular limits | |
| double knee_min_flexion | |
| ankle inversion minimum angular limits | |
| double shoulder_max_abduction | |
| shoulder abduction maximum angular limits | |
| double shoulder_max_flexion | |
| shoulder flexion maximum angular limits | |
| double shoulder_min_abduction | |
| shoulder abduction minimum angular limits | |
| double shoulder_min_flexion | |
| shoulder flexion minimum angular limits | |
| double torso_max_flexion | |
| torso flexion maximum angular limits | |
| double torso_max_lateral_flexion | |
| torso lateral flexion maximum angular limits | |
| double torso_max_rotation | |
| torso rotation maximum angular limits | |
| double torso_min_flexion | |
| torso flexion minimum angular limits | |
| double torso_min_lateral_flexion | |
| torso lateral flexion minimum angular limits | |
| double torso_min_rotation | |
| torso rotation minimum angular limits | |
| } | robot_joint_limits |
| Structure to hold current robot joint limits. | |
| struct { | |
| Eigen::Vector3d foot_CoM | |
| foot COM | |
| Eigen::Vector3d shin_CoM | |
| shin COM | |
| Eigen::Vector3d thigh_CoM | |
| thigh COM | |
| } | robot_relative_COM |
| Structure to hold the robot limb centers of mass, in their own frames. | |
| struct { | |
| double elbow_flexion_servo_offset_left | |
| elbow flexion offset left | |
| double elbow_flexion_servo_offset_right | |
| elbow flexion offset right | |
| double head_servo_offset | |
| head servo offset | |
| double hip_flexion_b_value_left | |
| hip flexion adjust curve b value left | |
| double hip_flexion_b_value_right | |
| hip flexion adjust curve b value right | |
| double knee_flexion_b_value_left | |
| knee flexion adjust curve b value left | |
| double knee_flexion_b_value_right | |
| knee flexion adjust curve b value right | |
| double shoulder_abduction_servo_offset_left | |
| shoulder abduction offset left | |
| double shoulder_abduction_servo_offset_right | |
| shoulder abduction offset right | |
| double shoulder_flexion_servo_offset_left | |
| shoulder flexion offset left | |
| double shoulder_flexion_servo_offset_right | |
| shoulder flexion offset right | |
| double torso_flexion_servo_offset | |
| torso flexion offset | |
| double torso_lateral_flexion_servo_offset | |
| torso lateral flexion offset | |
| double torso_rotation_servo_offset | |
| torso rotation offset | |
| } | robot_servo_conversion |
| Structure to hold servomotor digital value conversion constants. | |
Definition at line 65 of file servohumanoid.h.
| ServoHumanoid::ServoHumanoid | ( | const char * | path | ) |
Definition at line 37 of file servohumanoid.cpp.
| short unsigned int ServoHumanoid::Ankle_Flexion_Movement | ( | short int | id, | |
| double | joint_angle | |||
| ) |
Definition at line 485 of file servohumanoid.cpp.
| double ServoHumanoid::Ankle_Flexion_ServoValue_Conversion | ( | short int | id, | |
| short unsigned int | servo_value | |||
| ) |
Definition at line 803 of file servohumanoid.cpp.
| short unsigned int ServoHumanoid::Ankle_Inversion_Eversion_Movement | ( | short int | id, | |
| double | joint_angle | |||
| ) |
Definition at line 535 of file servohumanoid.cpp.
| double ServoHumanoid::Ankle_Inversion_Eversion_ServoValue_Conversion | ( | short int | id, | |
| short unsigned int | servo_value | |||
| ) |
Definition at line 761 of file servohumanoid.cpp.
| double ServoHumanoid::ConvertServoValueByID | ( | int | id, | |
| short unsigned int | servo_value | |||
| ) |
Definition at line 340 of file servohumanoid.cpp.
| short unsigned int ServoHumanoid::Hip_Abduction_Hiperabduction_Movement | ( | short int | id, | |
| double | joint_angle | |||
| ) |
Definition at line 625 of file servohumanoid.cpp.
| double ServoHumanoid::Hip_Abduction_Hiperabduction_ServoValue_Conversion | ( | short int | id, | |
| short unsigned int | servo_value | |||
| ) |
Definition at line 874 of file servohumanoid.cpp.
| short unsigned int ServoHumanoid::Hip_Flexion_Movement | ( | short int | id, | |
| double | joint_angle | |||
| ) |
Definition at line 676 of file servohumanoid.cpp.
| double ServoHumanoid::Hip_Flexion_ServoValue_Conversion | ( | short int | id, | |
| short unsigned int | servo_value | |||
| ) |
Definition at line 924 of file servohumanoid.cpp.
| void ServoHumanoid::HomePosition | ( | void | ) |
Definition at line 143 of file servohumanoid.cpp.
| double ServoHumanoid::Knee_Flexion_ServoValue_Conversion | ( | short int | id, | |
| short unsigned int | servo_value | |||
| ) |
Definition at line 845 of file servohumanoid.cpp.
| short unsigned int ServoHumanoid::Knee_Movement | ( | short int | id, | |
| double | joint_angle | |||
| ) |
Definition at line 582 of file servohumanoid.cpp.
| short unsigned int ServoHumanoid::MoveJoint | ( | short int | id, | |
| double | joint_angle | |||
| ) |
Definition at line 162 of file servohumanoid.cpp.
| short unsigned int ServoHumanoid::SetJointSpeed | ( | short int | id, | |
| unsigned int | speed | |||
| ) |
Definition at line 249 of file servohumanoid.cpp.
| void ServoHumanoid::SetParameters | ( | void | ) | [private] |
Definition at line 58 of file servohumanoid.cpp.
| short unsigned int ServoHumanoid::Torso_Flexion_Extension_Movement | ( | double | joint_angle | ) |
Definition at line 442 of file servohumanoid.cpp.
| double ServoHumanoid::Torso_Flexion_Extension_ServoValue_Conversion | ( | short unsigned int | servo_value | ) |
Definition at line 733 of file servohumanoid.cpp.
| short unsigned int ServoHumanoid::Torso_Lateral_Flexion_Extension_Movement | ( | double | joint_angle | ) |
Definition at line 464 of file servohumanoid.cpp.
| double ServoHumanoid::Torso_Lateral_Flexion_Extension_ServoValue_Conversion | ( | short unsigned int | servo_value | ) |
Definition at line 746 of file servohumanoid.cpp.
| short unsigned int ServoHumanoid::Torso_Rotation_Movement | ( | double | joint_angle | ) |
Definition at line 422 of file servohumanoid.cpp.
| double ServoHumanoid::Torso_Rotation_ServoValue_Conversion | ( | short unsigned int | servo_value | ) |
Definition at line 720 of file servohumanoid.cpp.
| double ServoHumanoid::ankle_height |
robot ankle height (mm)
Definition at line 172 of file servohumanoid.h.
ankle flexion maximum angular limits
Definition at line 263 of file servohumanoid.h.
ankle inversion maximum angular limits
Definition at line 254 of file servohumanoid.h.
ankle flexion minimum angular limits
Definition at line 260 of file servohumanoid.h.
ankle inversion minimum angular limits
Definition at line 251 of file servohumanoid.h.
| double ServoHumanoid::arm_length |
robot arm lenght (mm)
Definition at line 154 of file servohumanoid.h.
elbow flexion joint offset left
Definition at line 360 of file servohumanoid.h.
elbow flexion joint offset right
Definition at line 363 of file servohumanoid.h.
elbow flexion offset left
Definition at line 313 of file servohumanoid.h.
elbow flexion offset right
Definition at line 316 of file servohumanoid.h.
elbow flexion maximum angular limits
Definition at line 217 of file servohumanoid.h.
elbow flexion minimum angular limits
Definition at line 214 of file servohumanoid.h.
feet flexion joint offset left
Definition at line 393 of file servohumanoid.h.
feet flexion joint offset right
Definition at line 396 of file servohumanoid.h.
feet inversion joint offset left
Definition at line 399 of file servohumanoid.h.
feet inversion joint offset right
Definition at line 402 of file servohumanoid.h.
| Eigen::Vector3d ServoHumanoid::foot_CoM |
foot COM
Definition at line 427 of file servohumanoid.h.
| double ServoHumanoid::foot_length |
robot foot lenght (mm)
Definition at line 166 of file servohumanoid.h.
| double ServoHumanoid::foot_mass |
foot mass
Definition at line 412 of file servohumanoid.h.
| double ServoHumanoid::foot_width |
robot foot lenght (mm)
Definition at line 169 of file servohumanoid.h.
robot forearm lenght (mm)
Definition at line 157 of file servohumanoid.h.
head joint offset
Definition at line 345 of file servohumanoid.h.
| double ServoHumanoid::head_max_tilt |
head maximum angular limits
Definition at line 189 of file servohumanoid.h.
| double ServoHumanoid::head_min_tilt |
head minimum angular limits
Definition at line 186 of file servohumanoid.h.
head servo offset
Definition at line 298 of file servohumanoid.h.
hip abduction joint offset left
Definition at line 387 of file servohumanoid.h.
hip abduction joint offset right
Definition at line 390 of file servohumanoid.h.
hip flexion adjust curve b value left
Definition at line 334 of file servohumanoid.h.
hip flexion adjust curve b value right
Definition at line 337 of file servohumanoid.h.
hip flexion joint offset left
Definition at line 381 of file servohumanoid.h.
hip flexion joint offset right
Definition at line 384 of file servohumanoid.h.
hip abduction maximum angular limits
Definition at line 281 of file servohumanoid.h.
hip inversion maximum angular limits
Definition at line 290 of file servohumanoid.h.
hip abduction minimum angular limits
Definition at line 278 of file servohumanoid.h.
hip inversion minimum angular limits
Definition at line 287 of file servohumanoid.h.
hitec_5980SG* ServoHumanoid::hitec [private] |
Definition at line 135 of file servohumanoid.h.
struct { ... } ServoHumanoid::joint_offset [private] |
Structure to hold the robot's joints offsets due to the mechanical assembling.
knee flexion adjust curve b value left
Definition at line 328 of file servohumanoid.h.
knee flexion adjust curve b value right
Definition at line 331 of file servohumanoid.h.
knee flexion joint offset left
Definition at line 375 of file servohumanoid.h.
knee flexion joint offset right
Definition at line 378 of file servohumanoid.h.
ankle inversion maximum angular limits
Definition at line 272 of file servohumanoid.h.
ankle inversion minimum angular limits
Definition at line 269 of file servohumanoid.h.
struct { ... } ServoHumanoid::robot_dimensions [private] |
Structure to hold robot dimensional data.
struct { ... } ServoHumanoid::robot_element_mass [private] |
Structure to hold the robot limb/element masses.
struct { ... } ServoHumanoid::robot_joint_limits [private] |
Structure to hold current robot joint limits.
struct { ... } ServoHumanoid::robot_relative_COM [private] |
Structure to hold the robot limb centers of mass, in their own frames.
struct { ... } ServoHumanoid::robot_servo_conversion [private] |
Structure to hold servomotor digital value conversion constants.
| Eigen::Vector3d ServoHumanoid::shin_CoM |
shin COM
Definition at line 430 of file servohumanoid.h.
| double ServoHumanoid::shin_length |
robot leg lenght (mm)
Definition at line 160 of file servohumanoid.h.
| double ServoHumanoid::shin_mass |
shin mass
Definition at line 415 of file servohumanoid.h.
shoulder abduction joint offset left
Definition at line 354 of file servohumanoid.h.
shoulder abduction joint offset right
Definition at line 357 of file servohumanoid.h.
shoulder abduction offset left
Definition at line 307 of file servohumanoid.h.
shoulder abduction offset right
Definition at line 310 of file servohumanoid.h.
shoulder flexion joint offset left
Definition at line 348 of file servohumanoid.h.
shoulder flexion joint offset right
Definition at line 351 of file servohumanoid.h.
shoulder flexion offset left
Definition at line 301 of file servohumanoid.h.
shoulder flexion offset right
Definition at line 304 of file servohumanoid.h.
shoulder abduction maximum angular limits
Definition at line 208 of file servohumanoid.h.
shoulder flexion maximum angular limits
Definition at line 199 of file servohumanoid.h.
shoulder abduction minimum angular limits
Definition at line 205 of file servohumanoid.h.
shoulder flexion minimum angular limits
Definition at line 196 of file servohumanoid.h.
| Eigen::Vector3d ServoHumanoid::thigh_CoM |
thigh COM
Definition at line 433 of file servohumanoid.h.
| double ServoHumanoid::thigh_length |
robot thigh lenght (mm)
Definition at line 163 of file servohumanoid.h.
| double ServoHumanoid::thigh_mass |
thigh mass
Definition at line 418 of file servohumanoid.h.
torso flexion joint offset
Definition at line 369 of file servohumanoid.h.
torso flexion offset
Definition at line 322 of file servohumanoid.h.
torso lateral flexion joint offset
Definition at line 372 of file servohumanoid.h.
torso lateral flexion offset
Definition at line 325 of file servohumanoid.h.
torso flexion maximum angular limits
Definition at line 236 of file servohumanoid.h.
torso lateral flexion maximum angular limits
Definition at line 245 of file servohumanoid.h.
torso rotation maximum angular limits
Definition at line 227 of file servohumanoid.h.
torso flexion minimum angular limits
Definition at line 233 of file servohumanoid.h.
torso lateral flexion minimum angular limits
Definition at line 242 of file servohumanoid.h.
torso rotation minimum angular limits
Definition at line 224 of file servohumanoid.h.
torso rotation joint offset
Definition at line 366 of file servohumanoid.h.
torso rotation offset
Definition at line 319 of file servohumanoid.h.
