29 : ctrl_module_name_(
"none"),
30 torque_to_current_value_ratio_(1.0),
31 velocity_to_value_ratio_(1.0),
32 value_of_0_radian_position_(0),
33 value_of_min_radian_position_(0),
34 value_of_max_radian_position_(0),
35 min_radian_(-3.14159265),
36 max_radian_(3.14159265),
37 torque_enable_item_(0),
38 present_position_item_(0),
39 present_velocity_item_(0),
40 present_current_item_(0),
41 goal_position_item_(0),
42 goal_velocity_item_(0),
43 goal_current_item_(0),
44 position_p_gain_item_(0),
45 position_i_gain_item_(0),
46 position_d_gain_item_(0),
47 velocity_p_gain_item_(0),
48 velocity_i_gain_item_(0),
49 velocity_d_gain_item_(0)
int32_t value_of_0_radian_position_
int32_t value_of_max_radian_position_
double convertValue2Torque(int16_t value)
double convertValue2Radian(int32_t value)
double convertValue2Velocity(int32_t value)
std::vector< ControlTableItem * > bulk_read_items_
int32_t convertRadian2Value(double radian)
double torque_to_current_value_ratio_
int32_t convertVelocity2Value(double velocity)
DynamixelState * dxl_state_
int32_t value_of_min_radian_position_
int16_t convertTorque2Value(double torque)
double velocity_to_value_ratio_
std::map< std::string, ControlTableItem * > ctrl_table_
Dynamixel(int id, std::string model_name, float protocol_version)