FRICheck Class Reference

#include <FRICheck.hh>

List of all members.

Public Types
enum	HandSide { NONE = 0, LEFT = 1, RIGHT = 2 }
Public Member Functions
void	adjust (float *pos, float rate, float safety_factor)
	adjust desired position according to past commands.
	FRICheck ()
float *	pos ()
	robot joint angles
void	setHandLimits (double *j5_angles, double *j6_min, double *j6_max, int length)
	Set the array for hand limits testing.
bool	setHandSide (HandSide side)
	convenience method to set the hand limit checking
void	setPos (float *pos)
	set robot joint angles
Static Public Attributes
static double	j5_angles_left [24] = {-130.0 DEG, -120.0 DEG, -100 DEG, -80 DEG, -60 DEG, -50 DEG, -40 DEG, -35 DEG, -30 DEG, -25 DEG, -20 DEG, -10 DEG, 0 DEG, 10 DEG, 20 DEG, 30 DEG, 40 DEG, 50 DEG, 60 DEG, 70 DEG, 80 DEG,100 DEG, 120 DEG, 130 DEG}
static double	j5_angles_right [24] = {-130 DEG,-120 DEG, -100 DEG, -80 DEG, -60 DEG, -50 DEG, -40 DEG, -35 DEG, -30 DEG, -25 DEG, -20 DEG, -10 DEG, 0 DEG, 10 DEG, 20 DEG, 30 DEG, 40 DEG, 50 DEG, 60 DEG, 70 DEG, 80 DEG, 100 DEG, 120 DEG, 130 DEG}
static double	j6_max_left [24] = {-2 DEG, 0 DEG, 0 DEG, 0 DEG, 0 DEG, 4 DEG, 20 DEG, 47 DEG, 65 DEG, 78 DEG, 90 DEG, 110 DEG, 170 DEG, 170 DEG, 170 DEG, 142 DEG, 140 DEG, 140 DEG, 134 DEG, 134 DEG, 138 DEG, 138 DEG, 125 DEG, 112 DEG}
static double	j6_max_right [24] = { 90 DEG, 95 DEG, 84 DEG, 90 DEG, 96 DEG, 102 DEG, 123 DEG, 145 DEG, 156 DEG, 160 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG}
static double	j6_min_left [24] = {-170 DEG, -170 DEG, -170 DEG, -170 DEG, -170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-155 DEG,-122 DEG,-97 DEG,-90 DEG,-86 DEG,-82 DEG,-82 DEG,-82 DEG, -87 DEG}
static double	j6_min_right [24] = {-115 DEG, -130 DEG, -138 DEG, -140 DEG, -140 DEG, -138 DEG, -132 DEG, -132 DEG, -135 DEG, -150 DEG, -165 DEG, -170 DEG, -170 DEG, -170 DEG, -170 DEG, -70 DEG, -27 DEG, -12 DEG, -5.5 DEG, -3 DEG, -4 DEG, -3 DEG, 0 DEG}
static const int	length_left = 24
static const int	length_right = 24
static const float	lim_acc_ [7] = {1200 DEG, 1200 DEG, 1600 DEG, 1600 DEG, 2500 DEG, 4400 DEG, 4400 DEG}
static const float	lim_high_ [7] = { 170 DEG, 120 DEG, 170 DEG, 120 DEG, 170 DEG, 120 DEG, 170 DEG}
static const float	lim_low_ [7] = {-170 DEG, -120 DEG, -170 DEG, -120 DEG, -170 DEG, -120 DEG, -170 DEG}
static const float	lim_vel_ [7] = {120 DEG, 120 DEG, 160 DEG, 160 DEG, 250 DEG, 220 DEG, 220 DEG}
static const float	margin_ = 0.5 DEG
Private Member Functions
int	find_index (float j5)
void	hand_check (float vel[7], float vel_old[7], float pos[7], float rate)
double	interpolate (double x, double x1, double y1, double x2, double y2)
double	max_j6 (float j5, int index)
double	min_j6 (float j5, int index)
void	safety_check (float vel[7], float vel_old[7], float pos[7], float rate, float safety_factor)
double	slope (double x1, double y1, double x2, double y2)
double	slope_max_j6 (int index)
double	slope_min_j6 (int index)
Private Attributes
int	j56_length_
double *	j5_angles_
double *	j6_max_
double *	j6_min_
float	pos_ [7]
float	vel_old_ [7]
Friends
class	FRICheck_test

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Detailed Description

Definition at line 4 of file FRICheck.hh.

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Member Enumeration Documentation

enum FRICheck::HandSide

Enumerator:

NONE
LEFT
RIGHT

Definition at line 57 of file FRICheck.hh.

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Constructor & Destructor Documentation

FRICheck::FRICheck

(

)

Definition at line 18 of file FRICheck.cc.

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Member Function Documentation

void FRICheck::adjust	(	float *	pos,
		float	rate,
		float	safety_factor
	)

adjust desired position according to past commands.

Definition at line 32 of file FRICheck.cc.

int FRICheck::find_index

(

float

j5

)

[private]

Definition at line 87 of file FRICheck.cc.

void FRICheck::hand_check	(	float	vel[7],
		float	vel_old[7],
		float	pos[7],
		float	rate
	)			[private]

Definition at line 138 of file FRICheck.cc.

double FRICheck::interpolate	(	double	x,
		double	x1,
		double	y1,
		double	x2,
		double	y2
	)			[private]

Definition at line 74 of file FRICheck.cc.

double FRICheck::max_j6	(	float	j5,
		int	index
	)			[private]

Definition at line 129 of file FRICheck.cc.

double FRICheck::min_j6	(	float	j5,
		int	index
	)			[private]

Definition at line 121 of file FRICheck.cc.

float* FRICheck::pos

(

)

[inline]

robot joint angles

Definition at line 52 of file FRICheck.hh.

void FRICheck::safety_check	(	float	vel[7],
		float	vel_old[7],
		float	pos[7],
		float	rate,
		float	safety_factor
	)			[private]

Definition at line 190 of file FRICheck.cc.

void FRICheck::setHandLimits	(	double *	j5_angles,
		double *	j6_min,
		double *	j6_max,
		int	length
	)

Set the array for hand limits testing.

Definition at line 249 of file FRICheck.cc.

bool FRICheck::setHandSide

(

FRICheck::HandSide

side

)

convenience method to set the hand limit checking

Definition at line 257 of file FRICheck.cc.

void FRICheck::setPos

(

float *

pos

)

set robot joint angles

Definition at line 26 of file FRICheck.cc.

double FRICheck::slope	(	double	x1,
		double	y1,
		double	x2,
		double	y2
	)			[private]

Definition at line 82 of file FRICheck.cc.

double FRICheck::slope_max_j6

(

int

index

)

[private]

Definition at line 115 of file FRICheck.cc.

double FRICheck::slope_min_j6

(

int

index

)

[private]

Definition at line 110 of file FRICheck.cc.

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Friends And Related Function Documentation

friend class FRICheck_test [friend]

Definition at line 47 of file FRICheck.hh.

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Member Data Documentation

int FRICheck::j56_length_ [private]

Definition at line 33 of file FRICheck.hh.

double* FRICheck::j5_angles_ [private]

Definition at line 30 of file FRICheck.hh.

double FRICheck::j5_angles_left = {-130.0 DEG, -120.0 DEG, -100 DEG, -80 DEG, -60 DEG, -50 DEG, -40 DEG, -35 DEG, -30 DEG, -25 DEG, -20 DEG, -10 DEG, 0 DEG, 10 DEG, 20 DEG, 30 DEG, 40 DEG, 50 DEG, 60 DEG, 70 DEG, 80 DEG,100 DEG, 120 DEG, 130 DEG} [static]

Definition at line 16 of file FRICheck.hh.

double FRICheck::j5_angles_right = {-130 DEG,-120 DEG, -100 DEG, -80 DEG, -60 DEG, -50 DEG, -40 DEG, -35 DEG, -30 DEG, -25 DEG, -20 DEG, -10 DEG, 0 DEG, 10 DEG, 20 DEG, 30 DEG, 40 DEG, 50 DEG, 60 DEG, 70 DEG, 80 DEG, 100 DEG, 120 DEG, 130 DEG} [static]

Definition at line 21 of file FRICheck.hh.

double* FRICheck::j6_max_ [private]

Definition at line 32 of file FRICheck.hh.

double FRICheck::j6_max_left = {-2 DEG, 0 DEG, 0 DEG, 0 DEG, 0 DEG, 4 DEG, 20 DEG, 47 DEG, 65 DEG, 78 DEG, 90 DEG, 110 DEG, 170 DEG, 170 DEG, 170 DEG, 142 DEG, 140 DEG, 140 DEG, 134 DEG, 134 DEG, 138 DEG, 138 DEG, 125 DEG, 112 DEG} [static]

Definition at line 18 of file FRICheck.hh.

double FRICheck::j6_max_right = { 90 DEG, 95 DEG, 84 DEG, 90 DEG, 96 DEG, 102 DEG, 123 DEG, 145 DEG, 156 DEG, 160 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG} [static]

Definition at line 22 of file FRICheck.hh.

double* FRICheck::j6_min_ [private]

Definition at line 31 of file FRICheck.hh.

double FRICheck::j6_min_left = {-170 DEG, -170 DEG, -170 DEG, -170 DEG, -170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-155 DEG,-122 DEG,-97 DEG,-90 DEG,-86 DEG,-82 DEG,-82 DEG,-82 DEG, -87 DEG} [static]

Definition at line 17 of file FRICheck.hh.

double FRICheck::j6_min_right = {-115 DEG, -130 DEG, -138 DEG, -140 DEG, -140 DEG, -138 DEG, -132 DEG, -132 DEG, -135 DEG, -150 DEG, -165 DEG, -170 DEG, -170 DEG, -170 DEG, -170 DEG, -70 DEG, -27 DEG, -12 DEG, -5.5 DEG, -3 DEG, -4 DEG, -3 DEG, 0 DEG} [static]

Definition at line 23 of file FRICheck.hh.

const int FRICheck::length_left = 24 [static]

Definition at line 19 of file FRICheck.hh.

const int FRICheck::length_right = 24 [static]

Definition at line 24 of file FRICheck.hh.

const float FRICheck::lim_acc_ = {1200 DEG, 1200 DEG, 1600 DEG, 1600 DEG, 2500 DEG, 4400 DEG, 4400 DEG} [static]

Definition at line 13 of file FRICheck.hh.

const float FRICheck::lim_high_ = { 170 DEG, 120 DEG, 170 DEG, 120 DEG, 170 DEG, 120 DEG, 170 DEG} [static]

Definition at line 11 of file FRICheck.hh.

const float FRICheck::lim_low_ = {-170 DEG, -120 DEG, -170 DEG, -120 DEG, -170 DEG, -120 DEG, -170 DEG} [static]

Definition at line 10 of file FRICheck.hh.

const float FRICheck::lim_vel_ = {120 DEG, 120 DEG, 160 DEG, 160 DEG, 250 DEG, 220 DEG, 220 DEG} [static]

Definition at line 12 of file FRICheck.hh.

const float FRICheck::margin_ = 0.5 DEG [static]

Definition at line 9 of file FRICheck.hh.

float FRICheck::pos_[7] [private]

Definition at line 28 of file FRICheck.hh.

float FRICheck::vel_old_[7] [private]

Definition at line 27 of file FRICheck.hh.

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

• FRICheck.hh
• FRICheck.cc