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FRICheck_legacy Class Reference

#include <FRICheck_legacy.hh>

List of all members.

Public Member Functions

void adjust (float *pos, float rate)
 adjust desired position according to past commands.
 FRICheck_legacy ()
float * pos ()
 robot position
int safety_set_side (int side)
void setPos (float *pos)
 set robot position

Private Member Functions

int find_index (float j5)
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, float *vel_old, float *pos, float rate)

Private Attributes

double * j5_angles
double * j6_max
double * j6_min
int length
float pos_ [7]
float vel_old_ [7]

Static Private Attributes

static const float lim_acc [7] = {1200, 1200, 1600, 1600, 2500, 4400, 4400}
static const float lim_high [7] = { 169.5 DEG, 119.5 DEG, 169.5 DEG, 119.5 DEG, 169.5 DEG, 119.5 DEG, 169.5 DEG}
static const float lim_low [7] = {-169.5 DEG, -119.5 DEG, -169.5 DEG, -119.5 DEG, -169.5 DEG, -119.5 DEG, -169.5 DEG}
static const float lim_vel [7] = {120 DEG, 120 DEG, 160 DEG, 160 DEG, 250 DEG, 220 DEG, 220 DEG}

Detailed Description

Definition at line 6 of file FRICheck_legacy.hh.


Constructor & Destructor Documentation

FRICheck_legacy::FRICheck_legacy (  ) 

Definition at line 23 of file FRICheck_legacy.cc.


Member Function Documentation

void FRICheck_legacy::adjust ( float *  pos,
float  rate 
)

adjust desired position according to past commands.

Definition at line 38 of file FRICheck_legacy.cc.

int FRICheck_legacy::find_index ( float  j5  )  [private]

Definition at line 90 of file FRICheck_legacy.cc.

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

Definition at line 82 of file FRICheck_legacy.cc.

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

Definition at line 123 of file FRICheck_legacy.cc.

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

Definition at line 115 of file FRICheck_legacy.cc.

float* FRICheck_legacy::pos (  )  [inline]

robot position

Definition at line 41 of file FRICheck_legacy.hh.

void FRICheck_legacy::safety_check ( float *  vel,
float *  vel_old,
float *  pos,
float  rate 
) [private]

Definition at line 132 of file FRICheck_legacy.cc.

int FRICheck_legacy::safety_set_side ( int  side  ) 

Definition at line 242 of file FRICheck_legacy.cc.

void FRICheck_legacy::setPos ( float *  pos  ) 

set robot position

Definition at line 31 of file FRICheck_legacy.cc.


Member Data Documentation

double* FRICheck_legacy::j5_angles [private]

Definition at line 18 of file FRICheck_legacy.hh.

double* FRICheck_legacy::j6_max [private]

Definition at line 20 of file FRICheck_legacy.hh.

double* FRICheck_legacy::j6_min [private]

Definition at line 19 of file FRICheck_legacy.hh.

int FRICheck_legacy::length [private]

Definition at line 21 of file FRICheck_legacy.hh.

const float FRICheck_legacy::lim_acc = {1200, 1200, 1600, 1600, 2500, 4400, 4400} [static, private]

Definition at line 15 of file FRICheck_legacy.hh.

const float FRICheck_legacy::lim_high = { 169.5 DEG, 119.5 DEG, 169.5 DEG, 119.5 DEG, 169.5 DEG, 119.5 DEG, 169.5 DEG} [static, private]

Definition at line 13 of file FRICheck_legacy.hh.

const float FRICheck_legacy::lim_low = {-169.5 DEG, -119.5 DEG, -169.5 DEG, -119.5 DEG, -169.5 DEG, -119.5 DEG, -169.5 DEG} [static, private]

Definition at line 12 of file FRICheck_legacy.hh.

const float FRICheck_legacy::lim_vel = {120 DEG, 120 DEG, 160 DEG, 160 DEG, 250 DEG, 220 DEG, 220 DEG} [static, private]

Definition at line 14 of file FRICheck_legacy.hh.

float FRICheck_legacy::pos_[7] [private]

Definition at line 10 of file FRICheck_legacy.hh.

float FRICheck_legacy::vel_old_[7] [private]

Definition at line 9 of file FRICheck_legacy.hh.


The documentation for this class was generated from the following files:
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kuka_fri
Author(s): Ingo Kresse, Alexis Maldonado
autogenerated on Tue Dec 4 09:02:46 2012