JointInformation.h
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00001 // This JointInformation.h is for DRC-HUBO+
00002 
00003 #ifndef JOINT_INFORMATION_H
00004 #define JOINT_INFORMATION_H
00005 
00006 #include <string>
00007 
00008 enum JointSequentialNumber
00009 {
00010     RHY = 0, RHR, RHP, RKN, RAP, RAR,
00011     LHY, LHR, LHP, LKN, LAP, LAR,
00012     RSP, RSR, RSY, REB, RWY, RWP,
00013     LSP, LSR, LSY, LEB, LWY, LWP,
00014     WST,
00015     RWY2, RHAND, LWY2, LHAND,
00016     RWH, LWH, NO_OF_JOINTS
00017 };
00018 
00019 
00020 const std::string JointNameList[NO_OF_JOINTS] = {
00021     "RHY", "RHR", "RHP", "RKN", "RAP", "RAR",
00022     "LHY", "LHR", "LHP", "LKN", "LAP", "LAR",
00023     "RSP", "RSR", "RSY", "REB", "RWY", "RWP",
00024     "LSP", "LSR", "LSY", "LEB", "LWY", "LWP",
00025     "WST",
00026     "RWY2", "RHAND", "LWY2", "LHAND",
00027     "RWH", "LWH"
00028 };
00029 
00030 const struct {
00031     int id;
00032     int ch;
00033 } MC_ID_CH_Pairs[NO_OF_JOINTS] = {
00034     {0,0}, {1,0}, {2,0}, {3,0}, {4,0}, {5,0},
00035     {6,0}, {7,0}, {8,0}, {9,0}, {10,0},{11,0},
00036     {13,0}, {14,0}, {15,0}, {15,1}, {16,0},{16,1},
00037     {17,0},{18,0},{19,0},{19,1},{20,0},{20,1},
00038     {12,0},
00039     {21,0},{21,1},{22,0},{22,1},
00040     {4,1}, {10,1}
00041 };
00042 
00043 inline int MC_GetID(int jnum){
00044     return MC_ID_CH_Pairs[jnum].id;
00045 }
00046 inline int MC_GetCH(int jnum){
00047     return MC_ID_CH_Pairs[jnum].ch;
00048 }
00049 
00050 #endif // JOINT_INFORMATION_H


drc_podo_connector
Author(s): JeongsooLim , SeungwooHong
autogenerated on Sat Jun 8 2019 20:42:30