Main Page
Namespaces
Classes
Files
File List
File Members
include
robotis_device
dynamixel_state.h
Go to the documentation of this file.
1
/*******************************************************************************
2
* Copyright 2018 ROBOTIS CO., LTD.
3
*
4
* Licensed under the Apache License, Version 2.0 (the "License");
5
* you may not use this file except in compliance with the License.
6
* You may obtain a copy of the License at
7
*
8
* http://www.apache.org/licenses/LICENSE-2.0
9
*
10
* Unless required by applicable law or agreed to in writing, software
11
* distributed under the License is distributed on an "AS IS" BASIS,
12
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13
* See the License for the specific language governing permissions and
14
* limitations under the License.
15
*******************************************************************************/
16
17
/*
18
* dynamixel_state.h
19
*
20
* Created on: 2015. 12. 8.
21
* Author: zerom
22
*/
23
24
#ifndef ROBOTIS_DEVICE_DYNAMIXEL_STATE_H_
25
#define ROBOTIS_DEVICE_DYNAMIXEL_STATE_H_
26
27
#include <stdint.h>
28
29
#include "
time_stamp.h
"
30
31
#define INDIRECT_DATA_1 "indirect_data_1"
32
#define INDIRECT_ADDRESS_1 "indirect_address_1"
33
34
namespace
robotis_framework
35
{
36
37
class
DynamixelState
38
{
39
public
:
40
TimeStamp
update_time_stamp_
;
41
42
double
present_position_
;
43
double
present_velocity_
;
44
double
present_torque_
;
45
double
goal_position_
;
46
double
goal_velocity_
;
47
double
goal_torque_
;
48
int
position_p_gain_
;
49
int
position_i_gain_
;
50
int
position_d_gain_
;
51
int
velocity_p_gain_
;
52
int
velocity_i_gain_
;
53
int
velocity_d_gain_
;
54
55
std::map<std::string, uint32_t>
bulk_read_table_
;
56
57
double
position_offset_
;
58
59
DynamixelState
()
60
: update_time_stamp_(0, 0),
61
present_position_(0.0),
62
present_velocity_(0.0),
63
present_torque_(0.0),
64
goal_position_(0.0),
65
goal_velocity_(0.0),
66
goal_torque_(0.0),
67
position_p_gain_(0),
68
position_i_gain_(0),
69
position_d_gain_(0),
70
velocity_p_gain_(0),
71
velocity_i_gain_(0),
72
velocity_d_gain_(0),
73
position_offset_(0)
74
{
75
bulk_read_table_.clear();
76
}
77
};
78
79
}
80
81
82
#endif
/* ROBOTIS_DEVICE_DYNAMIXEL_STATE_H_ */
robotis_framework::DynamixelState::velocity_p_gain_
int velocity_p_gain_
Definition:
dynamixel_state.h:51
robotis_framework::DynamixelState::goal_torque_
double goal_torque_
Definition:
dynamixel_state.h:47
robotis_framework::DynamixelState::DynamixelState
DynamixelState()
Definition:
dynamixel_state.h:59
robotis_framework::DynamixelState::present_torque_
double present_torque_
Definition:
dynamixel_state.h:44
robotis_framework::DynamixelState::goal_velocity_
double goal_velocity_
Definition:
dynamixel_state.h:46
robotis_framework::DynamixelState::update_time_stamp_
TimeStamp update_time_stamp_
Definition:
dynamixel_state.h:40
robotis_framework::DynamixelState::velocity_i_gain_
int velocity_i_gain_
Definition:
dynamixel_state.h:52
robotis_framework::DynamixelState
Definition:
dynamixel_state.h:37
robotis_framework::DynamixelState::position_p_gain_
int position_p_gain_
Definition:
dynamixel_state.h:48
robotis_framework::DynamixelState::goal_position_
double goal_position_
Definition:
dynamixel_state.h:45
robotis_framework::DynamixelState::velocity_d_gain_
int velocity_d_gain_
Definition:
dynamixel_state.h:53
robotis_framework::DynamixelState::position_offset_
double position_offset_
Definition:
dynamixel_state.h:57
robotis_framework::DynamixelState::bulk_read_table_
std::map< std::string, uint32_t > bulk_read_table_
Definition:
dynamixel_state.h:55
robotis_framework::DynamixelState::present_position_
double present_position_
Definition:
dynamixel_state.h:42
robotis_framework::DynamixelState::position_i_gain_
int position_i_gain_
Definition:
dynamixel_state.h:49
robotis_framework
Definition:
control_table_item.h:30
time_stamp.h
robotis_framework::DynamixelState::present_velocity_
double present_velocity_
Definition:
dynamixel_state.h:43
robotis_framework::TimeStamp
Definition:
time_stamp.h:31
robotis_framework::DynamixelState::position_d_gain_
int position_d_gain_
Definition:
dynamixel_state.h:50
robotis_device
Author(s): Zerom
, Kayman
, SCH
autogenerated on Mon Jun 10 2019 14:35:09