00001
00002
00003 #ifndef JOINT_INFORMATION_H
00004 #define JOINT_INFORMATION_H
00005
00006 #include <string>
00007
00008 enum JointSequentialNumber
00009 {
00010 RHY = 0, RHR, RHP, RKN, RAP, RAR,
00011 LHY, LHR, LHP, LKN, LAP, LAR,
00012 RSP, RSR, RSY, REB, RWY, RWP,
00013 LSP, LSR, LSY, LEB, LWY, LWP,
00014 WST,
00015 RWY2, RHAND, LWY2, LHAND,
00016 RWH, LWH, NO_OF_JOINTS
00017 };
00018
00019
00020 const std::string JointNameList[NO_OF_JOINTS] = {
00021 "RHY", "RHR", "RHP", "RKN", "RAP", "RAR",
00022 "LHY", "LHR", "LHP", "LKN", "LAP", "LAR",
00023 "RSP", "RSR", "RSY", "REB", "RWY", "RWP",
00024 "LSP", "LSR", "LSY", "LEB", "LWY", "LWP",
00025 "WST",
00026 "RWY2", "RHAND", "LWY2", "LHAND",
00027 "RWH", "LWH"
00028 };
00029
00030 const struct {
00031 int id;
00032 int ch;
00033 } MC_ID_CH_Pairs[NO_OF_JOINTS] = {
00034 {0,0}, {1,0}, {2,0}, {3,0}, {4,0}, {5,0},
00035 {6,0}, {7,0}, {8,0}, {9,0}, {10,0},{11,0},
00036 {13,0}, {14,0}, {15,0}, {15,1}, {16,0},{16,1},
00037 {17,0},{18,0},{19,0},{19,1},{20,0},{20,1},
00038 {12,0},
00039 {21,0},{21,1},{22,0},{22,1},
00040 {4,1}, {10,1}
00041 };
00042
00043 inline int MC_GetID(int jnum){
00044 return MC_ID_CH_Pairs[jnum].id;
00045 }
00046 inline int MC_GetCH(int jnum){
00047 return MC_ID_CH_Pairs[jnum].ch;
00048 }
00049
00050 #endif // JOINT_INFORMATION_H