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}

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Detailed Description

Definition at line 6 of file FRICheck_legacy.hh.

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Constructor & Destructor Documentation

FRICheck_legacy::FRICheck_legacy

(

)

Definition at line 23 of file FRICheck_legacy.cc.

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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.

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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.

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

• FRICheck_legacy.hh
• FRICheck_legacy.cc