op3_kinematics_dynamics_define.h
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1 /*******************************************************************************
2 * Copyright 2017 ROBOTIS CO., LTD.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *******************************************************************************/
16 
17 /* Author: SCH */
18 
19 #ifndef OP3_KINEMATICS_DYNAMICS_DEFINE_H_
20 #define OP3_KINEMATICS_DYNAMICS_DEFINE_H_
21 
22 namespace robotis_op
23 {
24 #define MAX_JOINT_ID (20)
25 #define ALL_JOINT_ID (31)
26 
27 #define MAX_ARM_ID (3)
28 #define MAX_LEG_ID (6)
29 #define MAX_ITER (5)
30 
31 #define ID_HEAD_END (20)
32 #define ID_COB (29)
33 #define ID_TORSO (29)
34 
35 #define ID_R_ARM_START (1)
36 #define ID_L_ARM_START (2)
37 #define ID_R_ARM_END (21)
38 #define ID_L_ARM_END (22)
39 
40 #define ID_R_LEG_START (7)
41 #define ID_L_LEG_START (8)
42 #define ID_R_LEG_END (31)
43 #define ID_L_LEG_END (30)
44 
45 #define GRAVITY_ACCELERATION (9.8)
46 }
47 
48 #endif /* OP3_KINEMATICS_DYNAMICS_DEFINE_H_ */


op3_kinematics_dynamics
Author(s): SCH , Kayman , Jay Song
autogenerated on Mon Jun 10 2019 14:41:13