gait::CommonArmData Struct Reference

Data struct that contains the information pertaining to an arm pose that should be common amongst all pose representations. More...

#include <gait_common_pose.h>

Public Member Functions
	CommonArmData (bool left=true)
	Default constructor.
void	reset (bool left=true)
	Reset function.
void	setEffort (double eff)
	Set the effort of the arm (equal for all joints)
void	setEffort (double effPitch, double effRoll)
	Set the effort of the arm (equal for all pitch and roll joints)
void	setEffort (double effShoulderPitch, double effShoulderRoll, double effElbowPitch)
	Set the effort of the arm (independent for each joint)
void	setArmSign (bool left)
	Set the sign of the arm.
void	setLinkLength (double length)
	Set the link length used for pose conversions.

Public Attributes
double	effortShoulderPitch
	Dimensionless effort value associated with the shoulder pitch (in the range [0,1], 0 = No effort, 1 = Full effort)
double	effortShoulderRoll
	Dimensionless effort value associated with the shoulder roll (in the range [0,1], 0 = No effort, 1 = Full effort)
double	effortElbowPitch
	Dimensionless effort value associated with the elbow pitch (in the range [0,1], 0 = No effort, 1 = Full effort)
bool	isLeft
	Boolean flag that is true if this is a left arm and false if this is a right arm.
int	limbSign
	Integral value that is +1 if this is a left arm and -1 if this is a right arm.
double	linkLength
	The assumed (equal) length of the upper and lower arm links (used for joint pose conversions)

Detailed Description

Data struct that contains the information pertaining to an arm pose that should be common amongst all pose representations.

The assumed joint order is shoulder pitch → shoulder roll → elbow pitch. The upper and lower arm links are assumed to be of the same length (i.e. linkLength).

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

• /home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/motion/gait/include/gait/util/gait_common_pose.h