motoman::parameters::Parameters Class Reference

This is a static class that is meant to capture controller level and global constants related to the motoman interface. Capturing the data in a single place makes sense for now given that this information is needed in multiple places. More...

#include <definitions.h>

List of all members.

Static Public Attributes
static const std::string	JOINT_SUFFIXES [JOINT_SUFFIXES_SIZE]
	Ordered list of joint suffixes expected by the motoman interface. Suffixes are used in order to allow the joints to be prefixed by another string. Such ability is often desired in multi-robot systems where the joint and link names are prefixed with the robot that they belong to.
static const int	JOINT_SUFFIXES_SIZE = 12
	Size of the joint suffixes array. NOTE: This size must be less than or equal to the limit imposed by the motoman controller. Under motoplus this is defined by MAX_NO_OF_AXES.

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Detailed Description

This is a static class that is meant to capture controller level and global constants related to the motoman interface. Capturing the data in a single place makes sense for now given that this information is needed in multiple places.

Definition at line 75 of file definitions.h.

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Member Data Documentation

const std::string motoman::parameters::Parameters::JOINT_SUFFIXES [static]

Initial value:

 {"joint_s", "joint_l", "joint_e", "joint_u",
                                             "joint_r", "joint_b", "joint_t", "joint_8",
                                             "unused", "unused", "unused", "unused"}

Ordered list of joint suffixes expected by the motoman interface. Suffixes are used in order to allow the joints to be prefixed by another string. Such ability is often desired in multi-robot systems where the joint and link names are prefixed with the robot that they belong to.

Definition at line 93 of file definitions.h.

const int motoman::parameters::Parameters::JOINT_SUFFIXES_SIZE = 12 [static]

Size of the joint suffixes array. NOTE: This size must be less than or equal to the limit imposed by the motoman controller. Under motoplus this is defined by MAX_NO_OF_AXES.

Definition at line 85 of file definitions.h.

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

• definitions.h