gloveConstants.h
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1 
18 #ifndef GLOVECONSTANTS_H
19 #define GLOVECONSTANTS_H
20 
21 const double PI = 3.14159;
22 
23 const int MIN_JOINT_RESOLUTION = 10;
24 const unsigned int GLOVERAW_MAP2_GLOVEINVENTOR_DEFAULT[22] = { /*0*/21, // wrist left/right
25  /*1*/20, // wrist up/down
26 
27  /*2*/3, // thumb abdunction
28  /*3*/0, // thumb root
29  /*4*/1, // thumb middle
30  /*5*/2, // thumb top
31 
32  /*6*/4, // index root
33  /*7*/10, // index abdunction
34  /*8*/5, // index middle
35  /*9*/6, // index top
36 
37  /*10*/7, // middle root
38  /*11*/19,// palm abdunction,ignored
39  /*12*/8, // middle middle
40  /*13*/9, // middle top
41 
42  /*14*/11,// ring root
43  /*15*/14,// ring abdunction
44  /*16*/12,// ring middle
45  /*17*/13,// ring top
46 
47  /*18*/15,// pinky root
48  /*19*/18,// pinky abdunction
49  /*20*/16,// pinky middle
50  /*21*/17 // pinky top
51 };
52 
53 /* parameters for angle */
54 // ALTE VERSION. PROBLEME MIT ABDUNCTION VON RING UND PINKY
55 // const unsigned int GLOVERAW_MAP2_GLOVEINVENTOR_DEFAULT[22] = { /*0*/21, // wrist left/right
56 // /*1*/20, // wrist up/down
57 
58 // /*2*/3, // thumb abdunction
59 // /*3*/0, // thumb root
60 // /*4*/1, // thumb middle
61 // /*5*/2, // thumb top
62 
63 // /*6*/4, // index root
64 // /*7*/10, // index abdunction
65 // /*8*/5, // index middle
66 // /*9*/6, // index top
67 
68 // /*10*/7, // middle root
69 // /*11*/14,// middle abdunction
70 // /*12*/8, // middle middle
71 // /*13*/9, // middle top
72 
73 // /*14*/11,// ring root
74 // /*15*/18,// ring abdunction
75 // /*16*/12,// ring middle
76 // /*17*/13,// ring top
77 
78 // /*18*/15,// pinky root
79 // /*19*/19,// pinky abdunction
80 // /*20*/16,// pinky middle
81 // /*21*/17 // pinky top
82 // };
83 
84 
86 const char *JOINT_NAME[] = {"wrist-left-right",
87  "wrist-up-down",
88 
89  "thumb-abdunction",
90  "thumb-root",
91  "thumb-middle",
92  "thumb-top",
93 
94  "index-root",
95  "index-abdunction",
96  "index-middle",
97  "index-top",
98 
99  "middle-root",
100  "middle-abdunction",
101  "middle-middle",
102  "middle-top",
103 
104  "ring-root",
105  "ring-abdunction",
106  "ring-middle",
107  "ring-top",
108 
109  "pinky-root",
110  "pinky-abdunction",
111  "pinky-middle",
112  "pinky-top"
113 };
114 
117 const double RADLIMIT[22][2] = { /*0*/ {0, PI/2}, /*1*/ {0, PI/2}, /*2*/ {0, PI/2}, /*3*/ {0, PI/4},
118  /*4*/ {0, PI/2}, /*5*/ {0, PI/2}, /*6*/ {0, PI/2}, /*7*/ {0, PI/2},
119  /*8*/ {0, PI/2}, /*9*/ {0, PI/2}, /*10*/ {0, PI/4}, /*11*/ {0, PI/2},
120  /*12*/ {0, PI/2}, /*13*/ {0, PI/2}, /*14*/ {0, PI/4}, /*15*/ {0, PI/2},
121  /*16*/ {0, PI/2}, /*17*/ {0, PI/2}, /*18*/ {0, PI/4}, /*19*/ {0, PI/2},
122  /*20*/ {0, PI/2}, /*21*/ {0, PI/2}
123 };
124 
126 const int RADSIGN[22] = { /*0*/ 1, /*1*/ 1, /*2*/ 1, /*3*/ 1,
127  /*4*/ 1, /*5*/ 1, /*6*/ 1, /*7*/ 1,
128  /*8*/ 1, /*9*/ 1, /*10*/ 1, /*11*/ 1,
129  /*12*/ 1, /*13*/ 1, /*14*/ 1, /*15*/ 1,
130  /*16*/ 1, /*17*/ 1, /*18*/ 1, /*19*/ 1,
131  /*20*/ 1, /*21*/ 1
132 };
133 
134 #endif
const int RADSIGN[22]
Sign of angle. Notation in inventor model order, use after permutation!!!
const int MIN_JOINT_RESOLUTION
const double PI
const double RADLIMIT[22][2]
const unsigned int GLOVERAW_MAP2_GLOVEINVENTOR_DEFAULT[22]
const char * JOINT_NAME[]
for debug output


asr_cyberglove_lib
Author(s): Heller Florian, Mei├čner Pascal, Nguyen Trung, Yi Xie
autogenerated on Mon Jun 10 2019 12:40:38