/home/laradmin/lar/bases/humanoid_control/include/humanoid_control/servohumanoid.h File Reference

Class develop to control PHUA robot's servomotors using hitec_5980SG Lar3's' module. More...

#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <iostream>
#include <ros/ros.h>
#include <Eigen/Dense>
#include <hitec5980sg/hitec5980sg.h>

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Classes
struct	ServoHumanoid::RoboState
class	ServoHumanoid
Defines
#define	ANKLE_HEIGHT   230
#define	ARM_LENGTH   100
#define	FOOT_LENGTH   220
#define	FOOT_WIDTH   240
#define	FOREARM_LENGTH   110
#define	LEFT   1
#define	LEG_LENGTH   200
#define	PI   3.141592653589793238462643383279502884197
#define	RIGHT   -1
#define	THIGH_LENGTH   210

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Detailed Description

Class develop to control PHUA robot's servomotors using hitec_5980SG Lar3's' module.

Author:

Emílio Estrelinha nº 38637 (emilio.estrelinha@ua.pt)

Definition in file servohumanoid.h.

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Define Documentation

#define ANKLE_HEIGHT   230

Definition at line 49 of file servohumanoid.h.

#define ARM_LENGTH   100

Definition at line 44 of file servohumanoid.h.

#define FOOT_LENGTH   220

Definition at line 48 of file servohumanoid.h.

#define FOOT_WIDTH   240

Definition at line 50 of file servohumanoid.h.

#define FOREARM_LENGTH   110

Definition at line 45 of file servohumanoid.h.

#define LEFT   1

Definition at line 40 of file servohumanoid.h.

#define LEG_LENGTH   200

Definition at line 46 of file servohumanoid.h.

#define PI   3.141592653589793238462643383279502884197

Definition at line 37 of file servohumanoid.h.

#define RIGHT   -1

Definition at line 41 of file servohumanoid.h.

#define THIGH_LENGTH   210

Definition at line 47 of file servohumanoid.h.