kinematics_dynamics_define.h
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4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
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16 
17 /*
18  * kinematics_dynamics_define.h
19  *
20  * Created on: June 7, 2016
21  * Author: SCH
22  */
23 
24 #ifndef THORMANG3_KINEMATICS_DYNAMICS_KINEMATICS_DYNAMICS_DEFINE_H_
25 #define THORMANG3_KINEMATICS_DYNAMICS_KINEMATICS_DYNAMICS_DEFINE_H_
26 
27 namespace thormang3
28 {
29 
30 #define MAX_JOINT_ID (31) // 29 + 2
31 #define ALL_JOINT_ID (46)
32 
33 #define MAX_ARM_ID (7)
34 #define MAX_LEG_ID (6)
35 #define MAX_ITER (5)
36 
37 #define ID_HEAD_END (29)
38 #define ID_COB (44)
39 #define ID_TORSO (27)
40 
41 #define ID_R_ARM_START (1)
42 #define ID_L_ARM_START (2)
43 #define ID_R_ARM_END (35)
44 #define ID_L_ARM_END (34)
45 
46 #define ID_R_LEG_START (15)
47 #define ID_L_LEG_START (16)
48 #define ID_R_LEG_END (45)
49 #define ID_L_LEG_END (46)
50 
51 #define ID_R_LEG_FT (37)
52 #define ID_L_LEG_FT (36)
53 
54 #define ID_BASE (0)
55 #define ID_PELVIS (44)
56 
57 #define ID_PELVIS_POS_X (38)
58 #define ID_PELVIS_POS_Y (39)
59 #define ID_PELVIS_POS_Z (40)
60 #define ID_PELVIS_ROT_X (41)
61 #define ID_PELVIS_ROT_Y (42)
62 #define ID_PELVIS_ROT_Z (43)
63 
64 
65 #define GRAVITY_ACCELERATION (9.8)
66 
67 }
68 
69 #endif /* THORMANG3_KINEMATICS_DYNAMICS_KINEMATICS_DYNAMICS_DEFINE_H_ */


thormang3_kinematics_dynamics
Author(s): SCH
autogenerated on Mon Jun 10 2019 15:37:49