#include <access.h>

Public Types
enum	ManipulatorCtrlMode { TF_POSITION = 0, TF_VELOCITY = 1, TF_EFFORT = 2, MOT_VELOCITY = 3, PASSIVE_MODE = 4, PASSIVE_MODE_VELOCITY = 5, IGNORE_MODE = 20 }
enum	QuadrotorCtrlMode { DIRECT = 0, INTERNAL = 1 }
Static Public Member Functions
static void	registerCustomDataHeaders ()
Static Public Attributes
static const unsigned int	DEVELOPER_DATA_HEADER = 769710397
Quadrotor defines
static const unsigned int	QUADROTOR_DATA_MAIN = 10
	The main identifier of a Quadrotor object.
static const unsigned int	QUADROTOR_TK_DATA_MAIN = 20
	The main identifier of a Telekyb Quadrotor object.
static const unsigned int	QUADROTOR_DATA_MOTOR_0 = 0
	The identifier of motor[0] joint.
static const unsigned int	QUADROTOR_DATA_MOTOR_1 = 1
	The identifier of motor[1] joint.
static const unsigned int	QUADROTOR_DATA_MOTOR_2 = 2
	The identifier of motor[2] joint.
static const unsigned int	QUADROTOR_DATA_MOTOR_3 = 3
	The identifier of motor[3] joint.
static const unsigned int	QUADROTOR_DATA_COM = 11
	The identifier of the robot CoM.
static const unsigned int	QUADROTOR_DATA_TF_RATIO = 12
	The propeller torque to force ratio.
static const unsigned int	QUADROTOR_DATA_CTRL_MODE = 13
	The propeller torque to force ratio.
Imu defines
static const unsigned int	IMU_DATA_MAIN = 200
	The main identifier of a IMU object.
static const unsigned int	IMU_DATA_MASS = 201
	The identifier of the IMU mass.
static const unsigned int	IMU_DATA_FORCE = 202
	The identifier of the IMU force sensor.
static const unsigned int	IMU_DATA_FREQ = 203
	The frequency at which the IMU readings must be published.
static const unsigned int	IMU_DATA_CUTOFF = 204
	The cut-off frequency of the acceleration low-pass filters.
Force sensor defines
static const unsigned int	FORCE_SENSOR_DATA_MAIN = 250
	The main identifier of a FORCE_SENSOR object.
Camera defines
static const unsigned int	CAMERA_DATA_MAIN = 300
	The main identifier of a Camera object.
static const unsigned int	CAMERA_DATA_FREQ = 301
	The frequency at which the camera images must be published.
static const unsigned int	CAMERA_DATA_RGB = 302
	Set to 0 if the camera is gray-scale; set to any other value otherwise.
static const unsigned int	CAMERA_DATA_HAS_DEPTH = 303
	Set to 0 if the depth should be ignored; set to any other value otherwise.
static const unsigned int	CAMERA_DATA_USE_FLOAT = 304
	Set to 0 if the image should be published with a 8-bit encoding; set to any other value to use a 32 bit float encoding instead.
Object Pose defines
static const unsigned int	OBJ_POSE_DATA_MAIN = 400
	The main identifier of a Pose measurement object.
Object Twist defines
The main identifier of a Twist measurement object.
static const unsigned int	OBJ_TWIST_DATA_MAIN = 500
Manipulator defines
The main identifier of a manipulator object.
static const unsigned int	MANIPULATOR_DATA_MAIN = 600
static const unsigned int	MANIPULATOR_DATA_FREQ = 601
	The frequency for joint status publishing.
static const unsigned int	MANIPULATOR_DATA_JOINT = 602
	The identifier of a joint. The joint ID must be specified as a unique integer.
static const unsigned int	MANIPULATOR_DATA_CTRL_MODE = 603
	The manipulator control mode.
Contact sensor defines
The main identifier of a CONTACT object.
static const unsigned int	CONTACT_DATA_MAIN = 650

Detailed Description

Definition at line 10 of file access.h.

Member Enumeration Documentation

enum CustomDataHeaders::ManipulatorCtrlMode

Manipulator control mode defines.

Enumerator:

TF_POSITION	Set joint position.
TF_VELOCITY	Set joint velocity.
TF_EFFORT
MOT_VELOCITY
PASSIVE_MODE
PASSIVE_MODE_VELOCITY
IGNORE_MODE

Definition at line 24 of file access.h.

enum CustomDataHeaders::QuadrotorCtrlMode

Quadrotor control mode defines.

Enumerator:

DIRECT	Set propeller forces and torques.
INTERNAL	Set total thrust and desired roll, pitch and yaw rate. An internal controller is used for attitude regulation.

Definition at line 16 of file access.h.

Member Function Documentation

void CustomDataHeaders::registerCustomDataHeaders ( ) [static]

Make all defined headers available in Lua. Please update the implementation of this function when you add a new header in CustomDataHeaders.

Definition at line 163 of file access.cpp.

Member Data Documentation

const unsigned int CustomDataHeaders::CAMERA_DATA_FREQ = 301 [static]

The frequency at which the camera images must be published.

Definition at line 88 of file access.h.

const unsigned int CustomDataHeaders::CAMERA_DATA_HAS_DEPTH = 303 [static]

Set to 0 if the depth should be ignored; set to any other value otherwise.

Definition at line 92 of file access.h.

const unsigned int CustomDataHeaders::CAMERA_DATA_MAIN = 300 [static]

The main identifier of a Camera object.

Definition at line 86 of file access.h.

const unsigned int CustomDataHeaders::CAMERA_DATA_RGB = 302 [static]

Set to 0 if the camera is gray-scale; set to any other value otherwise.

Definition at line 90 of file access.h.

const unsigned int CustomDataHeaders::CAMERA_DATA_USE_FLOAT = 304 [static]

Set to 0 if the image should be published with a 8-bit encoding; set to any other value to use a 32 bit float encoding instead.

Definition at line 94 of file access.h.

const unsigned int CustomDataHeaders::CONTACT_DATA_MAIN = 650 [static]

Definition at line 124 of file access.h.

const unsigned int CustomDataHeaders::DEVELOPER_DATA_HEADER = 769710397 [static]

The identifier of this plugin custom data. Do [num2str(uint8('L')) num2str(uint8('a')) num2str(uint8('g')) num2str(uint8('a'))] in Matlab to generate this number.

Definition at line 39 of file access.h.

const unsigned int CustomDataHeaders::FORCE_SENSOR_DATA_MAIN = 250 [static]

The main identifier of a FORCE_SENSOR object.

Definition at line 80 of file access.h.

const unsigned int CustomDataHeaders::IMU_DATA_CUTOFF = 204 [static]

The cut-off frequency of the acceleration low-pass filters.

Definition at line 74 of file access.h.

const unsigned int CustomDataHeaders::IMU_DATA_FORCE = 202 [static]

The identifier of the IMU force sensor.

Definition at line 70 of file access.h.

const unsigned int CustomDataHeaders::IMU_DATA_FREQ = 203 [static]

The frequency at which the IMU readings must be published.