CDxlConfig Class Reference

#include <CDxlConfig.h>

List of all members.

Public Member Functions
	CDxlConfig ()
int	configureDynamixel (CDxlGeneric *dxl)
bool	readConfig (const CConfigSection &configNode)
CDxlConfig *	setID (const int ID)
	~CDxlConfig ()
Public Attributes
COptionByte	m3mxlMode
COptionDouble	mAcceleration
COptionChar	mAlarmLED
COptionChar	mAlarmShutdown
COptionDouble	mAngleLowerLimit
double	mAngleLUT [DXL_NUM_POSITIONS]
COptionDouble	mAngleUpperLimit
double	mCalibData [DXLCONFIG_NUM_CALIBPOINTS]
EDxlCalibType	mCalibType
COptionBool	mClockwiseIsPositive
COptionByte	mComplianceMargin
COptionByte	mComplianceSlope
COptionDouble	mDCurrent
COptionDouble	mDEnergy
COptionDouble	mDPosition
COptionDouble	mDSpeed
COptionDouble	mDTorque
std::string	mDxlTypeStr
COptionWord	mEncoderCountJoint
COptionWord	mEncoderCountMotor
COptionByte	mEncoderIndexLevelMotor
COptionDouble	mGearboxRatioJoint
COptionDouble	mGearboxRatioMotor
COptionDouble	mICurrent
COptionInt	mID
COptionDouble	mIEnergy
COptionDouble	mILCurrent
COptionDouble	mILEnergy
COptionDouble	mILPosition
COptionDouble	mILSpeed
COptionDouble	mILTorque
COptionDouble	mIPosition
COptionDouble	mISpeed
COptionDouble	mITorque
COptionBool	mJointClockWiseIsPositive
COptionBool	mLED
COptionDouble	mMaxContinuousMotorCurrent
COptionDouble	mMaxMotorCurrent
COptionDouble	mMaxPeakMotorCurrent
COptionDouble	mMaxUninitialisedMotorCurrent
COptionDouble	mMotorConstant
COptionDouble	mMotorWindingTimeConstant
COptionDouble	mNullAngle
COptionDouble	mOffsetJoint
COptionDouble	mOffsetMotor
COptionDouble	mPCurrent
COptionDouble	mPEnergy
COptionDouble	mPPosition
COptionDouble	mPSpeed
COptionDouble	mPTorque
COptionWord	mPunch
COptionInt	mReturnDelay
COptionDouble	mSpringStiffness
COptionByte	mStatusReturnLevel
COptionInt	mTempLimit
COptionDouble	mTorqueLimit
COptionDouble	mVoltageLowerLimit
COptionDouble	mVoltageUpperLimit
COptionByte	mWatchdogMode
COptionByte	mWatchdogMult
COptionByte	mWatchdogTime
COptionDouble	mWheelDiameter
COptionDouble	mZeroLengthSpring

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Detailed Description

CDxlConfig is a class that describes the configuration of a dynamixel/3mxl

Definition at line 45 of file CDxlConfig.h.

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Constructor & Destructor Documentation

CDxlConfig::CDxlConfig

(

)

Definition at line 13 of file CDxlConfig.cpp.

CDxlConfig::~CDxlConfig

(

)

Definition at line 18 of file CDxlConfig.cpp.

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Member Function Documentation

int CDxlConfig::configureDynamixel

(

CDxlGeneric *

dxl

)

Definition at line 22 of file CDxlConfig.cpp.

bool CDxlConfig::readConfig

(

const CConfigSection &

configNode

)

Definition at line 124 of file CDxlConfig.cpp.

CDxlConfig * CDxlConfig::setID

(

const int

ID

)

Definition at line 118 of file CDxlConfig.cpp.

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Member Data Documentation

COptionByte CDxlConfig::m3mxlMode

Definition at line 76 of file CDxlConfig.h.

COptionDouble CDxlConfig::mAcceleration

Definition at line 95 of file CDxlConfig.h.

COptionChar CDxlConfig::mAlarmLED

Definition at line 59 of file CDxlConfig.h.

COptionChar CDxlConfig::mAlarmShutdown

Definition at line 60 of file CDxlConfig.h.

COptionDouble CDxlConfig::mAngleLowerLimit

Definition at line 52 of file CDxlConfig.h.

double CDxlConfig::mAngleLUT[DXL_NUM_POSITIONS]

Definition at line 73 of file CDxlConfig.h.

COptionDouble CDxlConfig::mAngleUpperLimit

Definition at line 53 of file CDxlConfig.h.

double CDxlConfig::mCalibData[DXLCONFIG_NUM_CALIBPOINTS]

Definition at line 72 of file CDxlConfig.h.

EDxlCalibType CDxlConfig::mCalibType

Definition at line 71 of file CDxlConfig.h.

COptionBool CDxlConfig::mClockwiseIsPositive

Definition at line 54 of file CDxlConfig.h.

COptionByte CDxlConfig::mComplianceMargin

Definition at line 61 of file CDxlConfig.h.

COptionByte CDxlConfig::mComplianceSlope

Definition at line 62 of file CDxlConfig.h.

COptionDouble CDxlConfig::mDCurrent

Definition at line 103 of file CDxlConfig.h.

COptionDouble CDxlConfig::mDEnergy

Definition at line 106 of file CDxlConfig.h.

COptionDouble CDxlConfig::mDPosition

Definition at line 104 of file CDxlConfig.h.

COptionDouble CDxlConfig::mDSpeed

Definition at line 105 of file CDxlConfig.h.

COptionDouble CDxlConfig::mDTorque

Definition at line 107 of file CDxlConfig.h.

std::string CDxlConfig::mDxlTypeStr

Definition at line 50 of file CDxlConfig.h.

COptionWord CDxlConfig::mEncoderCountJoint

Definition at line 88 of file CDxlConfig.h.

COptionWord CDxlConfig::mEncoderCountMotor

Definition at line 84 of file CDxlConfig.h.

COptionByte CDxlConfig::mEncoderIndexLevelMotor

Definition at line 100 of file CDxlConfig.h.

COptionDouble CDxlConfig::mGearboxRatioJoint

Definition at line 83 of file CDxlConfig.h.

COptionDouble CDxlConfig::mGearboxRatioMotor

Definition at line 82 of file CDxlConfig.h.

COptionDouble CDxlConfig::mICurrent

Definition at line 103 of file CDxlConfig.h.

COptionInt CDxlConfig::mID

Definition at line 49 of file CDxlConfig.h.

COptionDouble CDxlConfig::mIEnergy

Definition at line 106 of file CDxlConfig.h.

COptionDouble CDxlConfig::mILCurrent

Definition at line 103 of file CDxlConfig.h.

COptionDouble CDxlConfig::mILEnergy

Definition at line 106 of file CDxlConfig.h.

COptionDouble CDxlConfig::mILPosition

Definition at line 104 of file CDxlConfig.h.

COptionDouble CDxlConfig::mILSpeed

Definition at line 105 of file CDxlConfig.h.

COptionDouble CDxlConfig::mILTorque

Definition at line 107 of file CDxlConfig.h.

COptionDouble CDxlConfig::mIPosition

Definition at line 104 of file CDxlConfig.h.

COptionDouble CDxlConfig::mISpeed

Definition at line 105 of file CDxlConfig.h.

COptionDouble CDxlConfig::mITorque

Definition at line 107 of file CDxlConfig.h.

COptionBool CDxlConfig::mJointClockWiseIsPositive

Definition at line 94 of file CDxlConfig.h.

COptionBool CDxlConfig::mLED

Definition at line 64 of file CDxlConfig.h.

COptionDouble CDxlConfig::mMaxContinuousMotorCurrent

Definition at line 98 of file CDxlConfig.h.

COptionDouble CDxlConfig::mMaxMotorCurrent

Definition at line 87 of file CDxlConfig.h.

COptionDouble CDxlConfig::mMaxPeakMotorCurrent

Definition at line 97 of file CDxlConfig.h.

COptionDouble CDxlConfig::mMaxUninitialisedMotorCurrent

Definition at line 86 of file CDxlConfig.h.

COptionDouble CDxlConfig::mMotorConstant

Definition at line 81 of file CDxlConfig.h.

COptionDouble CDxlConfig::mMotorWindingTimeConstant

Definition at line 99 of file CDxlConfig.h.

COptionDouble CDxlConfig::mNullAngle

Definition at line 66 of file CDxlConfig.h.

COptionDouble CDxlConfig::mOffsetJoint

Definition at line 89 of file CDxlConfig.h.

COptionDouble CDxlConfig::mOffsetMotor

Definition at line 85 of file CDxlConfig.h.

COptionDouble CDxlConfig::mPCurrent

Definition at line 103 of file CDxlConfig.h.

COptionDouble CDxlConfig::mPEnergy

Definition at line 106 of file CDxlConfig.h.

COptionDouble CDxlConfig::mPPosition

Definition at line 104 of file CDxlConfig.h.

COptionDouble CDxlConfig::mPSpeed

Definition at line 105 of file CDxlConfig.h.

COptionDouble CDxlConfig::mPTorque

Definition at line 107 of file CDxlConfig.h.

COptionWord CDxlConfig::mPunch

Definition at line 67 of file CDxlConfig.h.

COptionInt CDxlConfig::mReturnDelay

Definition at line 51 of file CDxlConfig.h.

COptionDouble CDxlConfig::mSpringStiffness

Definition at line 93 of file CDxlConfig.h.

COptionByte CDxlConfig::mStatusReturnLevel

Definition at line 80 of file CDxlConfig.h.

COptionInt CDxlConfig::mTempLimit

Definition at line 63 of file CDxlConfig.h.

COptionDouble CDxlConfig::mTorqueLimit

Definition at line 65 of file CDxlConfig.h.

COptionDouble CDxlConfig::mVoltageLowerLimit

Definition at line 57 of file CDxlConfig.h.

COptionDouble CDxlConfig::mVoltageUpperLimit

Definition at line 58 of file CDxlConfig.h.

COptionByte CDxlConfig::mWatchdogMode

Definition at line 77 of file CDxlConfig.h.

COptionByte CDxlConfig::mWatchdogMult

Definition at line 79 of file CDxlConfig.h.

COptionByte CDxlConfig::mWatchdogTime

Definition at line 78 of file CDxlConfig.h.

COptionDouble CDxlConfig::mWheelDiameter

Definition at line 101 of file CDxlConfig.h.

COptionDouble CDxlConfig::mZeroLengthSpring

Definition at line 92 of file CDxlConfig.h.

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

• CDxlConfig.h
• CDxlConfig.cpp