#include <FRICheck_legacy.hh>
Public Member Functions | |
void | adjust (float *pos, float rate) |
adjust desired position according to past commands. | |
FRICheck_legacy () | |
float * | pos () |
robot position | |
int | safety_set_side (int side) |
void | setPos (float *pos) |
set robot position | |
Private Member Functions | |
int | find_index (float j5) |
double | interpolate (double x, double x1, double y1, double x2, double y2) |
double | max_j6 (float j5, int index) |
double | min_j6 (float j5, int index) |
void | safety_check (float *vel, float *vel_old, float *pos, float rate) |
Private Attributes | |
double * | j5_angles |
double * | j6_max |
double * | j6_min |
int | length |
float | pos_ [7] |
float | vel_old_ [7] |
Static Private Attributes | |
static const float | lim_acc [7] = {1200, 1200, 1600, 1600, 2500, 4400, 4400} |
static const float | lim_high [7] = { 169.5 DEG, 119.5 DEG, 169.5 DEG, 119.5 DEG, 169.5 DEG, 119.5 DEG, 169.5 DEG} |
static const float | lim_low [7] = {-169.5 DEG, -119.5 DEG, -169.5 DEG, -119.5 DEG, -169.5 DEG, -119.5 DEG, -169.5 DEG} |
static const float | lim_vel [7] = {120 DEG, 120 DEG, 160 DEG, 160 DEG, 250 DEG, 220 DEG, 220 DEG} |
Definition at line 6 of file FRICheck_legacy.hh.
Definition at line 23 of file FRICheck_legacy.cc.
void FRICheck_legacy::adjust | ( | float * | pos, |
float | rate | ||
) |
adjust desired position according to past commands.
Definition at line 38 of file FRICheck_legacy.cc.
int FRICheck_legacy::find_index | ( | float | j5 | ) | [private] |
Definition at line 90 of file FRICheck_legacy.cc.
double FRICheck_legacy::interpolate | ( | double | x, |
double | x1, | ||
double | y1, | ||
double | x2, | ||
double | y2 | ||
) | [private] |
Definition at line 82 of file FRICheck_legacy.cc.
double FRICheck_legacy::max_j6 | ( | float | j5, |
int | index | ||
) | [private] |
Definition at line 123 of file FRICheck_legacy.cc.
double FRICheck_legacy::min_j6 | ( | float | j5, |
int | index | ||
) | [private] |
Definition at line 115 of file FRICheck_legacy.cc.
float* FRICheck_legacy::pos | ( | ) | [inline] |
robot position
Definition at line 41 of file FRICheck_legacy.hh.
void FRICheck_legacy::safety_check | ( | float * | vel, |
float * | vel_old, | ||
float * | pos, | ||
float | rate | ||
) | [private] |
Definition at line 132 of file FRICheck_legacy.cc.
int FRICheck_legacy::safety_set_side | ( | int | side | ) |
Definition at line 242 of file FRICheck_legacy.cc.
void FRICheck_legacy::setPos | ( | float * | pos | ) |
set robot position
Definition at line 31 of file FRICheck_legacy.cc.
double* FRICheck_legacy::j5_angles [private] |
Definition at line 18 of file FRICheck_legacy.hh.
double* FRICheck_legacy::j6_max [private] |
Definition at line 20 of file FRICheck_legacy.hh.
double* FRICheck_legacy::j6_min [private] |
Definition at line 19 of file FRICheck_legacy.hh.
int FRICheck_legacy::length [private] |
Definition at line 21 of file FRICheck_legacy.hh.
const float FRICheck_legacy::lim_acc = {1200, 1200, 1600, 1600, 2500, 4400, 4400} [static, private] |
Definition at line 15 of file FRICheck_legacy.hh.
const float FRICheck_legacy::lim_high = { 169.5 DEG, 119.5 DEG, 169.5 DEG, 119.5 DEG, 169.5 DEG, 119.5 DEG, 169.5 DEG} [static, private] |
Definition at line 13 of file FRICheck_legacy.hh.
const float FRICheck_legacy::lim_low = {-169.5 DEG, -119.5 DEG, -169.5 DEG, -119.5 DEG, -169.5 DEG, -119.5 DEG, -169.5 DEG} [static, private] |
Definition at line 12 of file FRICheck_legacy.hh.
const float FRICheck_legacy::lim_vel = {120 DEG, 120 DEG, 160 DEG, 160 DEG, 250 DEG, 220 DEG, 220 DEG} [static, private] |
Definition at line 14 of file FRICheck_legacy.hh.
float FRICheck_legacy::pos_[7] [private] |
Definition at line 10 of file FRICheck_legacy.hh.
float FRICheck_legacy::vel_old_[7] [private] |
Definition at line 9 of file FRICheck_legacy.hh.