katana_constants.h
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00001 /*
00002  * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
00003  * Copyright (C) 2010  University of Osnabrück
00004  *
00005  * This program is free software; you can redistribute it and/or
00006  * modify it under the terms of the GNU General Public License
00007  * as published by the Free Software Foundation; either version 2
00008  * of the License, or (at your option) any later version.
00009  *
00010  * This program is distributed in the hope that it will be useful,
00011  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00012  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00013  * GNU General Public License for more details.
00014  *
00015  * You should have received a copy of the GNU General Public License
00016  * along with this program; if not, write to the Free Software
00017  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
00018  *
00019  * katana_constants.h
00020  *
00021  *  Created on: 29.01.2011
00022  *      Author: Martin Günther <mguenthe@uos.de>
00023  */
00024 
00025 #ifndef KATANA_CONSTANTS_H_
00026 #define KATANA_CONSTANTS_H_
00027 
00028 namespace katana
00029 {
00031 const size_t NUM_MOTORS = 6;
00032 
00034 const size_t NUM_JOINTS = NUM_MOTORS - 1;
00035 
00037 const size_t NUM_GRIPPER_JOINTS = 2;
00038 
00040 const size_t GRIPPER_INDEX = NUM_MOTORS - 1;
00041 
00043 static const double GRIPPER_OPEN_ANGLE = 0.30;
00044 
00046 static const double GRIPPER_CLOSED_ANGLE = -0.44;
00047 
00049 static const double GRIPPER_OPENING_CLOSING_DURATION = 3.0;
00050 
00052 static const double KNI_GRIPPER_CLOSED_ANGLE = 0.21652991032554647;
00053 static const double KNI_GRIPPER_OPEN_ANGLE = -2.057443;
00054 
00055 static const double KNI_TO_URDF_GRIPPER_FACTOR = (GRIPPER_OPEN_ANGLE - GRIPPER_CLOSED_ANGLE) / (KNI_GRIPPER_OPEN_ANGLE
00056     - KNI_GRIPPER_CLOSED_ANGLE);
00057 
00059 static const double KNI_TO_ROS_TIME = 100.0;
00060 
00062 static const double KNI_TO_ROS_LENGTH = 0.001;
00063 
00065 static const int KNI_MAX_VELOCITY = 180;
00066 
00068 static const int KNI_MAX_ACCELERATION = 2;
00069 
00070 static const size_t MOVE_BUFFER_SIZE = 16;  // TODO: find out exact value
00071 
00072 } // namespace katana
00073 
00074 
00075 #endif /* KATANA_CONSTANTS_H_ */


katana
Author(s): Martin Günther
autogenerated on Mon Oct 6 2014 10:46:04