FRICheck_legacy.cc File Reference

#include "FRICheck_legacy.hh"
#include <string.h>
#include <math.h>
#include <stdio.h>
#include <stdlib.h>

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Defines
#define	DEG   *M_PI/180.0
#define	RAD   /M_PI*180.0
Functions
void	safety_check (float *vel, float *vel_old, float *pos, float rate)
Variables
double	j5_angles_left [] = {-120.0 DEG, -100 DEG, -80 DEG, -60 DEG, -40 DEG, -35 DEG, -30 DEG, -25 DEG, -20 DEG, -10 DEG, 0 DEG, 10 DEG, 20 DEG, 30 DEG, 40 DEG, 50 DEG, 60 DEG, 70 DEG, 80 DEG,100 DEG, 120 DEG}
double	j5_angles_right [] = {-120 DEG, -100 DEG, -80 DEG, -60 DEG, -40 DEG, -35 DEG, -30 DEG, -25 DEG, -20 DEG, -10 DEG, 0 DEG, 10 DEG, 20 DEG, 30 DEG, 40 DEG, 50 DEG, 60 DEG, 70 DEG, 80 DEG, 100 DEG, 120 DEG}
double	j6_max_left [] = {-4 DEG, -4 DEG, 0 DEG, 0 DEG, 10 DEG, 30 DEG, 50 DEG, 60 DEG, 65 DEG, 70 DEG, 80 DEG, 80 DEG, 85 DEG, 90 DEG, 90 DEG, 90 DEG, 90 DEG, 90 DEG, 90 DEG, 90 DEG, 90 DEG}
double	j6_max_right [] = { 84 DEG, 84 DEG, 90 DEG, 90 DEG, 100 DEG, 120 DEG, 140 DEG, 150 DEG, 155 DEG, 160 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG}
double	j6_min_left [] = {-170 DEG, -170 DEG, -170 DEG, -170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-160 DEG,-150 DEG,-140 DEG,-105 DEG,-90 DEG,-85 DEG,-85 DEG,-80 DEG,-75 DEG,-75 DEG}
double	j6_min_right [] = {-80 DEG, -80 DEG, -80 DEG, -80 DEG, -80 DEG, -80 DEG, -80 DEG, -80 DEG, -80 DEG, -80 DEG, -80 DEG, -70 DEG, -60 DEG, -50 DEG, -15 DEG, 0 DEG, 5 DEG, 5 DEG, 10 DEG, 15 DEG, 15 DEG}
int	length_left = 21
int	length_right = 21
double	limh [7] = { 169.5 DEG, 119.5 DEG, 169.5 DEG, 119.5 DEG, 169.5 DEG, 119.5 DEG, 169.5 DEG}
double	liml [7] = {-169.5 DEG, -119.5 DEG, -169.5 DEG, -119.5 DEG, -169.5 DEG, -119.5 DEG, -169.5 DEG}

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Define Documentation

#define DEG   *M_PI/180.0

Definition at line 6 of file FRICheck_legacy.cc.

#define RAD   /M_PI*180.0

Definition at line 7 of file FRICheck_legacy.cc.

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Function Documentation

void safety_check	(	float *	vel,
		float *	vel_old,
		float *	pos,
		float	rate
	)

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Variable Documentation

double j5_angles_left[] = {-120.0 DEG, -100 DEG, -80 DEG, -60 DEG, -40 DEG, -35 DEG, -30 DEG, -25 DEG, -20 DEG, -10 DEG, 0 DEG, 10 DEG, 20 DEG, 30 DEG, 40 DEG, 50 DEG, 60 DEG, 70 DEG, 80 DEG,100 DEG, 120 DEG}

Definition at line 66 of file FRICheck_legacy.cc.

double j5_angles_right[] = {-120 DEG, -100 DEG, -80 DEG, -60 DEG, -40 DEG, -35 DEG, -30 DEG, -25 DEG, -20 DEG, -10 DEG, 0 DEG, 10 DEG, 20 DEG, 30 DEG, 40 DEG, 50 DEG, 60 DEG, 70 DEG, 80 DEG, 100 DEG, 120 DEG}

Definition at line 71 of file FRICheck_legacy.cc.

double j6_max_left[] = {-4 DEG, -4 DEG, 0 DEG, 0 DEG, 10 DEG, 30 DEG, 50 DEG, 60 DEG, 65 DEG, 70 DEG, 80 DEG, 80 DEG, 85 DEG, 90 DEG, 90 DEG, 90 DEG, 90 DEG, 90 DEG, 90 DEG, 90 DEG, 90 DEG}

Definition at line 68 of file FRICheck_legacy.cc.

double j6_max_right[] = { 84 DEG, 84 DEG, 90 DEG, 90 DEG, 100 DEG, 120 DEG, 140 DEG, 150 DEG, 155 DEG, 160 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG, 170 DEG}

Definition at line 72 of file FRICheck_legacy.cc.

double j6_min_left[] = {-170 DEG, -170 DEG, -170 DEG, -170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-170 DEG,-160 DEG,-150 DEG,-140 DEG,-105 DEG,-90 DEG,-85 DEG,-85 DEG,-80 DEG,-75 DEG,-75 DEG}

Definition at line 67 of file FRICheck_legacy.cc.

double j6_min_right[] = {-80 DEG, -80 DEG, -80 DEG, -80 DEG, -80 DEG, -80 DEG, -80 DEG, -80 DEG, -80 DEG, -80 DEG, -80 DEG, -70 DEG, -60 DEG, -50 DEG, -15 DEG, 0 DEG, 5 DEG, 5 DEG, 10 DEG, 15 DEG, 15 DEG}

Definition at line 73 of file FRICheck_legacy.cc.

int length_left = 21

Definition at line 69 of file FRICheck_legacy.cc.

int length_right = 21

Definition at line 74 of file FRICheck_legacy.cc.

double limh[7] = { 169.5 DEG, 119.5 DEG, 169.5 DEG, 119.5 DEG, 169.5 DEG, 119.5 DEG, 169.5 DEG}

Definition at line 78 of file FRICheck_legacy.cc.

double liml[7] = {-169.5 DEG, -119.5 DEG, -169.5 DEG, -119.5 DEG, -169.5 DEG, -119.5 DEG, -169.5 DEG}

Definition at line 77 of file FRICheck_legacy.cc.