pr2_hardware_interface::AccelerometerCommand Class Reference

#include <hardware_interface.h>

Public Types
enum	{ RANGE_2G =0, RANGE_4G =1, RANGE_8G =2 }
enum	{   BANDWIDTH_1500HZ =6, BANDWIDTH_750HZ =5, BANDWIDTH_375HZ =4, BANDWIDTH_190HZ =3,   BANDWIDTH_100HZ =2, BANDWIDTH_50HZ =1, BANDWIDTH_25HZ =0 }
	Enums for possible accelerometer range settings. More...

Public Member Functions
	AccelerometerCommand ()
	Enums for possible accelerometer bandwidth settings. More...

Public Attributes
int	bandwidth_
	Accelerometer bandwidth setting. Value is passed directly to Bosch accelerometer (BMA 150). The maximum bandwidth of 1500Hz is appropriate in almost all cases. Instead of changing bandwidth value, use software filter to remove high frequencies from accelerometer data. This way, other accerometer users are not affected. Read accelerometer datasheet for more information about possible bandwidth setting. More...
int	range_
	The range of the values to be returned (range of 0 means within +/- 2g, 1 means within +/-4g, 2 means /- 8g). Value is reported in m/s/s. More...

Detailed Description

Definition at line 217 of file hardware_interface.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
RANGE_2G
RANGE_4G
RANGE_8G

Definition at line 220 of file hardware_interface.h.

anonymous enum

anonymous enum

Enums for possible accelerometer range settings.

Enumerator
BANDWIDTH_1500HZ
BANDWIDTH_750HZ
BANDWIDTH_375HZ
BANDWIDTH_190HZ
BANDWIDTH_100HZ
BANDWIDTH_50HZ
BANDWIDTH_25HZ

Definition at line 221 of file hardware_interface.h.

Constructor & Destructor Documentation

AccelerometerCommand()

pr2_hardware_interface::AccelerometerCommand::AccelerometerCommand ( )

inline

Enums for possible accelerometer bandwidth settings.

Definition at line 222 of file hardware_interface.h.

Member Data Documentation

bandwidth_

int pr2_hardware_interface::AccelerometerCommand::bandwidth_

Accelerometer bandwidth setting. Value is passed directly to Bosch accelerometer (BMA 150). The maximum bandwidth of 1500Hz is appropriate in almost all cases. Instead of changing bandwidth value, use software filter to remove high frequencies from accelerometer data. This way, other accerometer users are not affected. Read accelerometer datasheet for more information about possible bandwidth setting.

Definition at line 224 of file hardware_interface.h.

range_

int pr2_hardware_interface::AccelerometerCommand::range_

The range of the values to be returned (range of 0 means within +/- 2g, 1 means within +/-4g, 2 means /- 8g). Value is reported in m/s/s.

Definition at line 223 of file hardware_interface.h.

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The documentation for this class was generated from the following file:

• hardware_interface.h