SamplePD_HG.cpp File Reference

Sample PD component $Date$. More...

#include "SamplePD_HG.h"
#include <iostream>

Include dependency graph for SamplePD_HG.cpp:

Go to the source code of this file.

Macros
#define	ACC_FILE   "etc/acc.dat"
#define	ANGLE_FILE   "etc/angle.dat"
#define	CHEST   28
#define	GAIN_FILE   "etc/PDgain.dat"
#define	HG_DOF   (12)
#define	LARM_ELBOW   22
#define	LARM_SHOULDER_P   19
#define	LARM_SHOULDER_R   20
#define	LARM_SHOULDER_Y   21
#define	LARM_WRIST_P   24
#define	LARM_WRIST_R   25
#define	LARM_WRIST_Y   23
#define	LLEG_ANKLE_P   17
#define	LLEG_ANKLE_R   18
#define	LLEG_HIP_P   14
#define	LLEG_HIP_R   13
#define	LLEG_HIP_Y   15
#define	LLEG_KNEE   16
#define	PD_DOF   (17)
#define	RARM_ELBOW   9
#define	RARM_SHOULDER_P   6
#define	RARM_SHOULDER_R   7
#define	RARM_SHOULDER_Y   8
#define	RARM_WRIST_P   11
#define	RARM_WRIST_R   12
#define	RARM_WRIST_Y   10
#define	RLEG_ANKLE_P   4
#define	RLEG_ANKLE_R   5
#define	RLEG_HIP_P   1
#define	RLEG_HIP_R   0
#define	RLEG_HIP_Y   2
#define	RLEG_KNEE   3
#define	TIMESTEP   0.002
#define	VEL_FILE   "etc/vel.dat"
#define	WAIST_P   26
#define	WAIST_R   27

Functions
DLL_EXPORT void	SamplePD_HGInit (RTC::Manager *manager)

Variables
static const char *	SamplePD_HG_spec []

Detailed Description

Sample PD component $Date$.

$Id$

Definition in file SamplePD_HG.cpp.

Macro Definition Documentation

#define ACC_FILE   "etc/acc.dat"

Definition at line 59 of file SamplePD_HG.cpp.

#define ANGLE_FILE   "etc/angle.dat"

Definition at line 57 of file SamplePD_HG.cpp.

#define CHEST   28

Definition at line 29 of file SamplePD_HG.cpp.

#define GAIN_FILE   "etc/PDgain.dat"

Definition at line 61 of file SamplePD_HG.cpp.

#define HG_DOF   (12)

Definition at line 24 of file SamplePD_HG.cpp.

#define LARM_ELBOW   22

Definition at line 33 of file SamplePD_HG.cpp.

#define LARM_SHOULDER_P   19

Definition at line 30 of file SamplePD_HG.cpp.

#define LARM_SHOULDER_R   20

Definition at line 31 of file SamplePD_HG.cpp.

#define LARM_SHOULDER_Y   21

Definition at line 32 of file SamplePD_HG.cpp.

#define LARM_WRIST_P   24

Definition at line 35 of file SamplePD_HG.cpp.

#define LARM_WRIST_R   25

Definition at line 36 of file SamplePD_HG.cpp.

#define LARM_WRIST_Y   23

Definition at line 34 of file SamplePD_HG.cpp.

#define LLEG_ANKLE_P   17

Definition at line 48 of file SamplePD_HG.cpp.

#define LLEG_ANKLE_R   18

Definition at line 49 of file SamplePD_HG.cpp.

#define LLEG_HIP_P   14

Definition at line 45 of file SamplePD_HG.cpp.

#define LLEG_HIP_R   13

Definition at line 44 of file SamplePD_HG.cpp.

#define LLEG_HIP_Y   15

Definition at line 46 of file SamplePD_HG.cpp.

#define LLEG_KNEE   16

Definition at line 47 of file SamplePD_HG.cpp.

#define PD_DOF   (17)

Definition at line 23 of file SamplePD_HG.cpp.

#define RARM_ELBOW   9

Definition at line 40 of file SamplePD_HG.cpp.

#define RARM_SHOULDER_P   6

Definition at line 37 of file SamplePD_HG.cpp.

#define RARM_SHOULDER_R   7

Definition at line 38 of file SamplePD_HG.cpp.

#define RARM_SHOULDER_Y   8

Definition at line 39 of file SamplePD_HG.cpp.

#define RARM_WRIST_P   11

Definition at line 42 of file SamplePD_HG.cpp.

#define RARM_WRIST_R   12

Definition at line 43 of file SamplePD_HG.cpp.

#define RARM_WRIST_Y   10

Definition at line 41 of file SamplePD_HG.cpp.

#define RLEG_ANKLE_P   4

Definition at line 54 of file SamplePD_HG.cpp.

#define RLEG_ANKLE_R   5

Definition at line 55 of file SamplePD_HG.cpp.

#define RLEG_HIP_P   1

Definition at line 51 of file SamplePD_HG.cpp.

#define RLEG_HIP_R   0

Definition at line 50 of file SamplePD_HG.cpp.

#define RLEG_HIP_Y   2

Definition at line 52 of file SamplePD_HG.cpp.

#define RLEG_KNEE   3

Definition at line 53 of file SamplePD_HG.cpp.

#define TIMESTEP   0.002

Definition at line 25 of file SamplePD_HG.cpp.

#define VEL_FILE   "etc/vel.dat"

Definition at line 58 of file SamplePD_HG.cpp.

#define WAIST_P   26

Definition at line 27 of file SamplePD_HG.cpp.

#define WAIST_R   27

Definition at line 28 of file SamplePD_HG.cpp.

Function Documentation

DLL_EXPORT void SamplePD_HGInit

(

RTC::Manager *

manager

)

Definition at line 387 of file SamplePD_HG.cpp.

Variable Documentation

const char* SamplePD_HG_spec[]

static

Initial value:

=
  {
    "implementation_id", "SamplePD_HG",
    "type_name",         "SamplePD_HG",
    "description",       "Sample PD component",
    "version",           "0.1",
    "vendor",            "AIST",
    "category",          "Generic",
    "activity_type",     "DataFlowComponent",
    "max_instance",      "10",
    "language",          "C++",
    "lang_type",         "compile",
    

    ""
  }

Definition at line 70 of file SamplePD_HG.cpp.