humanoid Class Reference

Class to implement humanoid related functions. More...

#include <humanoid_functions.h>

Public Member Functions
short unsigned int	Ankle_Flexion_Conversion (short int SIDE, double joint_angle)
	Converts joint angle for ankle flexion.
double	Ankle_Flexion_ServoValue_Conversion (short int SIDE, short unsigned int servo_value)
	Converts servo value for ankle flexion.
short unsigned int	Ankle_Inversion_Eversion_Conversion (short int SIDE, double joint_angle)
	Converts joint angle for ankle inversion/eversion.
double	Ankle_Inversion_Eversion_ServoValue_Conversion (short int SIDE, short unsigned int servo_value)
	Converts servo value for ankle inversion/eversion.
void	Calculate_Detached_Leg_3DOF_COG (double theta_1, double theta_2, double theta_3, int SIDE, Eigen::Vector3d *COG)
void	Calculate_Detached_Leg_3DOF_Jacobian (double theta_1, double theta_2, double theta_3, Eigen::Matrix3d *jacobian)
void	CalculateArmAlternateJacobian_No_Theta3_Singularity (double theta_1, double theta_2, double theta_3, Eigen::MatrixXd *jacobian)
	Calculates humanoid arm alternate jacobian matrix for no \theta3 positions.
void	CalculateArmJacobian (double theta_1, double theta_2, double theta_3, Eigen::Matrix3d *jacobian)
	Calculates humanoid arm jacobian matrix for a given position.
void	Dir_Kin_3DOF_Arm (double t1, double t2, double t3, short int SIDE, double *end_pos_n_RPY)
	Calculates humanoid arm end position given joint values.
void	Dir_Kin_4DOF_Detached_Leg (double t1, double t2, double t3, double t4, short int SIDE, double *end_pos_n_RPY)
	Calculates humanoid detached leg end position given joint values.
short unsigned int	Elbow_Flexion_Extension_Conversion (short int SIDE, double joint_angle)
	Converts joint angle for the left arm elbow flection.
double	Elbow_Flexion_Extension_ServoValue_Conversion (short int SIDE, short unsigned int servo_value)
	Converts servo value for the left arm elbow flection.
double	GetRobotDimension (int dimension)
	Outputs selected robot dimension length.
short unsigned int	Head_Pan_Tilt_Conversion (double joint_angle)
	Converts joint angle for the head.
double	Head_Pan_Tilt_ServoValue_Conversion (short unsigned int servo_value)
	Converts servo value for the head.
short unsigned int	Hip_Abduction_Hiperabduction_Conversion (short int SIDE, double joint_angle)
	Converts joint angle for the hip abduction.
double	Hip_Abduction_Hiperabduction_ServoValue_Conversion (short int SIDE, short unsigned int servo_value)
	Converts servo value for the hip abduction.
short unsigned int	Hip_Flexion_Conversion (short int SIDE, double joint_angle)
	Converts joint angle for the hip flexion.
double	Hip_Flexion_ServoValue_Conversion (short int SIDE, short unsigned int servo_value)
	Converts servo value for the hip flexion.
	humanoid (void)
	Constructor.
void	Inv_Kin_3DOF_Arm (double X, double Y, double Z, double *req_angle)
	Calculates humanoid arm joint values given required position.
void	Inv_Kin_3DOF_Detached_Leg (double X, double Y, double Z, double *req_angle)
	Calculates humanoid detached leg joint values given required position.
short unsigned int	Knee_Conversion (short int SIDE, double joint_angle)
	Converts joint angle for the knee flexion.
double	Knee_Flexion_ServoValue_Conversion (short int SIDE, short unsigned int servo_value)
	Converts servo value for the knee flexion.
short unsigned int	Shoulder_Abduction_Adduction_Conversion (short int SIDE, double joint_angle)
	Converts joint angle for the shoulder abduction.
double	Shoulder_Abduction_Adduction_ServoValue_Conversion (short int SIDE, short unsigned int servo_value)
	Converts servo value for the shoulder abduction.
short unsigned int	Shoulder_Flexion_Extension_Conversion (short int SIDE, double joint_angle)
	Converts joint angle for the shoulder flexion.
double	Shoulder_Flexion_Extension_ServoValue_Conversion (short int SIDE, short unsigned int servo_value)
	Converts servo value for the shoulder flexion.
short unsigned int	Torso_Flexion_Extension_Conversion (double joint_angle)
	Converts joint angle for the torso flexion/extension.
double	Torso_Flexion_Extension_ServoValue_Conversion (short unsigned int servo_value)
	Converts servo value for the torso flexion/extension.
short unsigned int	Torso_Lateral_Flexion_Extension_Conversion (double joint_angle)
	Converts joint angle for the torso lateral flexion/extension.
double	Torso_Lateral_Flexion_Extension_ServoValue_Conversion (short unsigned int servo_value)
	Converts servo value for the torso lateral flexion/extension.
short unsigned int	Torso_Rotation_Conversion (double joint_angle)
	Converts joint angle for the torso rotation.
double	Torso_Rotation_ServoValue_Conversion (short unsigned int servo_value)
	Converts servo value for the torso rotation.
	~humanoid (void)
	De-constructor.
Private Attributes
double	PI
	definition of PI as a double for calculations
struct {
double ankle_height
	robot ankle height (mm)
double arm_length
	robot arm lenght (mm)
double foot_length
	robot foot lenght (mm)
double foot_width
	robot foot lenght (mm)
double forearm_length
	robot forearm lenght (mm)
double shin_length
	robot leg lenght (mm)
double thigh_length
	robot thigh lenght (mm)
}	robot_dimensions
	Structure to hold robot dimensional data.
struct {
double foot_mass
	foot mass
double shin_mass
	shin mass
double thigh_mass
	thigh mass
}	robot_element_mass
	Structure to hold the robot limb/element masses.
struct {
double ankle_max_flexion
	ankle flexion maximum angular limits
double ankle_max_inversion
	ankle inversion maximum angular limits
double ankle_min_flexion
	ankle flexion minimum angular limits
double ankle_min_inversion
	ankle inversion minimum angular limits
double elbow_max_flexion
	elbow flexion maximum angular limits
double elbow_min_flexion
	elbow flexion minimum angular limits
double head_max_tilt
	head maximum angular limits
double head_min_tilt
	head minimum angular limits
double hip_max_abduction
	hip abduction maximum angular limits
double hip_max_flexion
	hip inversion maximum angular limits
double hip_min_abduction
	hip abduction minimum angular limits
double hip_min_flexion
	hip inversion minimum angular limits
double knee_max_flexion
	ankle inversion maximum angular limits
double knee_min_flexion
	ankle inversion minimum angular limits
double shoulder_max_abduction
	shoulder abduction maximum angular limits
double shoulder_max_flexion
	shoulder flexion maximum angular limits
double shoulder_min_abduction
	shoulder abduction minimum angular limits
double shoulder_min_flexion
	shoulder flexion minimum angular limits
double torso_max_flexion
	torso flexion maximum angular limits
double torso_max_lateral_flexion
	torso lateral flexion maximum angular limits
double torso_max_rotation
	torso rotation maximum angular limits
double torso_min_flexion
	torso flexion minimum angular limits
double torso_min_lateral_flexion
	torso lateral flexion minimum angular limits
double torso_min_rotation
	torso rotation minimum angular limits
}	robot_joint_limits
	Structure to hold current robot joint limits.
struct {
Eigen::Vector3d foot_COM
	foot COM
Eigen::Vector3d shin_COM
	shin COM
Eigen::Vector3d thigh_COM
	thigh COM
}	robot_relative_COM
	Structure to hold the robot limb centers of mass, in their own frames.
struct {
double elbow_flexion_servo_offset_left
	elbow flexion offset left
double elbow_flexion_servo_offset_right
	elbow flexion offset right
double head_servo_offset
	head servo offset
double hip_flexion_b_value_left
	hip flexion adjust curve b value left
double hip_flexion_b_value_right
	hip flexion adjust curve b value right
double knee_flexion_b_value_left
	knee flexion adjust curve b value left
double knee_flexion_b_value_right
	knee flexion adjust curve b value right
double shoulder_abduction_servo_offset_left
	shoulder abduction offset left
double shoulder_abduction_servo_offset_right
	shoulder abduction offset right
double shoulder_flexion_servo_offset_left
	shoulder flexion offset left
double shoulder_flexion_servo_offset_right
	shoulder flexion offset right
double torso_flexion_servo_offset
	torso flexion offset
double torso_lateral_flexion_servo_offset
	torso lateral flexion offset
double torso_rotation_servo_offset
	torso rotation offset
}	robot_servo_conversion
	Structure to hold servomotor digital value conversion constants.

Detailed Description

Class to implement humanoid related functions.

This modules contains several functions used to work with kinematics (direct/inverse), convert joint angle to servo values and some other minor functions.
This class stores inside the robot dimensions, accessible thru a dedicated function.

Definition at line 66 of file humanoid_functions.h.

Constructor & Destructor Documentation

humanoid::humanoid ( void )

Constructor.

This functions sets the default values for internal variables.

Returns:: void

Definition at line 36 of file humanoid_functions.cpp.

humanoid::~humanoid ( void )

De-constructor.

This terminates the class.

Returns:: void

Definition at line 100 of file humanoid_functions.cpp.

Member Function Documentation

short unsigned int humanoid::Ankle_Flexion_Conversion	(	short int	SIDE,
		double	joint_angle
	)

Converts joint angle for ankle flexion.

This function converts joint angle for the ankle flexion [-40...20] to servomotor values [600...2400].

Parameters:

`[in]`	joint_angle	a double with requested joint angle value in degrees.
`[in]`	SIDE	LEFT or RIGHT

Returns:: returns a character from input.

Definition at line 1093 of file humanoid_functions.cpp.

double humanoid::Ankle_Flexion_ServoValue_Conversion	(	short int	SIDE,
		short unsigned int	servo_value
	)

Converts servo value for ankle flexion.

This function converts servomotor values [600...2400] to joint angle for the ankle flexion [-40...20].

Parameters:

`[in]`	servo_value	requested servo value.
`[in]`	SIDE	LEFT or RIGHT

Returns:: returns respective joint value.

Definition at line 1443 of file humanoid_functions.cpp.

short unsigned int humanoid::Ankle_Inversion_Eversion_Conversion	(	short int	SIDE,
		double	joint_angle
	)

Converts joint angle for ankle inversion/eversion.

This function converts joint angle for the ankle eversion [-30...45] to servomotor values [600...2400].

Parameters:

`[in]`	joint_angle	a double with requested joint angle value in degrees.
`[in]`	SIDE	LEFT or RIGHT.

Returns:: returns a character from input.

Definition at line 1052 of file humanoid_functions.cpp.

double humanoid::Ankle_Inversion_Eversion_ServoValue_Conversion	(	short int	SIDE,
		short unsigned int	servo_value
	)

Converts servo value for ankle inversion/eversion.

This function converts servomotor values [600...2400] to joint angle for the ankle eversion [-30...45].

Parameters:

`[in]`	servo_value	requested servo value.
`[in]`	SIDE	LEFT or RIGHT

Returns:: returns respective joint value.

Definition at line 1401 of file humanoid_functions.cpp.

void humanoid::Calculate_Detached_Leg_3DOF_COG	(	double	theta_1,
		double	theta_2,
		double	theta_3,
		int	SIDE,
		Eigen::Vector3d *	COG
	)

Definition at line 807 of file humanoid_functions.cpp.

void humanoid::Calculate_Detached_Leg_3DOF_Jacobian	(	double	theta_1,
		double	theta_2,
		double	theta_3,
		Eigen::Matrix3d *	jacobian
	)

Definition at line 784 of file humanoid_functions.cpp.

void humanoid::CalculateArmAlternateJacobian_No_Theta3_Singularity	(	double	theta_1,
		double	theta_2,
		double	theta_3,
		Eigen::MatrixXd *	jacobian
	)

Calculates humanoid arm alternate jacobian matrix for no \theta3 positions.

This function calculates the humanoid arm alternate jacobian matrix for no deltaZ positions given the joint angles. Tis function is called on the points where the inverse jacobian matrix is impossible.

Parameters:

`[in]`	theta_1	value for the shoulder flexion joint.
`[in]`	theta_2	value for the shoulder abduction joint.
`[in]`	theta_3	value for the elbow flexion joint.
`[out]`	jacobian	matrix for storing the result.

Returns:: none.

Definition at line 604 of file humanoid_functions.cpp.

void humanoid::CalculateArmJacobian	(	double	theta_1,
		double	theta_2,
		double	theta_3,
		Eigen::Matrix3d *	jacobian
	)

Calculates humanoid arm jacobian matrix for a given position.

This function calculates the humanoid arm jacobian matrix given the joint angles.

Parameters:

`[in]`	theta_1	value for the shoulder flexion joint.
`[in]`	theta_2	value for the shoulder abduction joint.
`[in]`	theta_3	value for the elbow flexion joint.
`[out]`	jacobian	matrix for storing the result.

Returns:: none..

Definition at line 566 of file humanoid_functions.cpp.

void humanoid::Dir_Kin_3DOF_Arm	(	double	t1,
		double	t2,
		double	t3,
		short int	SIDE,
		double *	end_pos_n_RPY
	)

Calculates humanoid arm end position given joint values.

This function calculates humanoid arm end position and RPY values given joint values in joint space.

Parameters:

`[in]`	t1	Shoulder Flexion value in degrees.
`[in]`	t2	Shoulder Abduction value in degrees.
`[in]`	t3	Elbow Flexion value in degrees.
`[in]`	SIDE	LEFT or RIGHT.
`[out]`	end_pos_n_RPY	6 element array for storing the result.

Returns:: array with the world position and RPY values.

Definition at line 110 of file humanoid_functions.cpp.

void humanoid::Dir_Kin_4DOF_Detached_Leg	(	double	t1,
		double	t2,
		double	t3,
		double	t4,
		short int	SIDE,
		double *	end_pos_n_RPY
	)

Calculates humanoid detached leg end position given joint values.

This function calculates humanoid detached leg end position and RPY values given joint values in joint space.

Parameters:

`[in]`	t1	Ankle inversion value in degrees.
`[in]`	t2	Ankle flexion value in degrees.
`[in]`	t3	Knee flexion value in degrees.
`[in]`	t4	Hip abduction value in degrees.
`[in]`	SIDE	LEFT or RIGHT.
`[out]`	end_pos_n_RPY	6 element array for storing the result.

Returns:: array with the world position and RPY values.

Definition at line 636 of file humanoid_functions.cpp.

short unsigned int humanoid::Elbow_Flexion_Extension_Conversion	(	short int	SIDE,
		double	joint_angle
	)

Converts joint angle for the left arm elbow flection.

This function converts joint angle for the left arm elbow flection/extension [0...180] to servomotor values [2400...600].

Parameters:

`[in]`	joint_angle	a double with requested joint angle value in degrees.
`[in]`	SIDE	LEFT or RIGHT

Returns:: returns respective servomotor value.

Definition at line 977 of file humanoid_functions.cpp.

double humanoid::Elbow_Flexion_Extension_ServoValue_Conversion	(	short int	SIDE,
		short unsigned int	servo_value
	)

Converts servo value for the left arm elbow flection.

This function converts servomotor values [2400...600] to joint angle for the left arm elbow flection/extension [0...180].

Parameters:

`[in]`	servo_value	requested servo value.
`[in]`	SIDE	LEFT or RIGHT

Returns:: returns respective joint value.

Definition at line 1329 of file humanoid_functions.cpp.

double humanoid::GetRobotDimension ( int dimension )

Outputs selected robot dimension length.

This function retrieves the selected robot length specified.
The following defines can be used:
ARM_LENGTH
FOREARM_LENGTH
LEG_LENGTH
THIGH_LENGTH
FOOT_LENGTH
FOOT_WIDTH
ANKLE_HEIGHT

Parameters:

[in] dimension specified robot dimension.

Returns:: returns respective length.

Definition at line 1604 of file humanoid_functions.cpp.

short unsigned int humanoid::Head_Pan_Tilt_Conversion ( double joint_angle )

Converts joint angle for the head.

This function converts joint angle for the head [0...10] to servomotor values [2300...2400].

Parameters:

[in] joint_angle a double with requested joint angle value in degrees.

Returns:: returns respective servomotor value.

Definition at line 892 of file humanoid_functions.cpp.

double humanoid::Head_Pan_Tilt_ServoValue_Conversion ( short unsigned int servo_value )

Converts servo value for the head.

This function converts servomotor values [2300...2400] to joint angle for the head [0...10].

Parameters:

[in] servo_value requested servo value.

Returns:: returns respective joint value.

Definition at line 1247 of file humanoid_functions.cpp.

short unsigned int humanoid::Hip_Abduction_Hiperabduction_Conversion	(	short int	SIDE,
		double	joint_angle
	)

Converts joint angle for the hip abduction.

This function converts joint angle for the hip hiperabduction/abduction [-40...45] to servomotor values [2400...600].

Parameters:

`[in]`	joint_angle	a double with requested joint angle value in degrees.
`[in]`	SIDE	LEFT or RIGHT.

Returns:: returns a character from input.

Definition at line 1170 of file humanoid_functions.cpp.

double humanoid::Hip_Abduction_Hiperabduction_ServoValue_Conversion	(	short int	SIDE,
		short unsigned int	servo_value
	)

Converts servo value for the hip abduction.

This function converts servomotor values [2400...600] to joint angle for the hip hiperabduction/abduction [-40...45].

Parameters:

`[in]`	servo_value	requested servo value.
`[in]`	SIDE	LEFT or RIGHT

Returns:: returns respective joint value.

Definition at line 1514 of file humanoid_functions.cpp.

short unsigned int humanoid::Hip_Flexion_Conversion	(	short int	SIDE,
		double	joint_angle
	)

Converts joint angle for the hip flexion.

This function converts joint angle for the hip flexion [-30...120] to servomotor values [600...2400].

Parameters:

`[in]`	joint_angle	a double with requested joint angle value in degrees.
`[in]`	SIDE	LEFT or RIGHT.

Returns:: returns a character from input.

Definition at line 1213 of file humanoid_functions.cpp.

double humanoid::Hip_Flexion_ServoValue_Conversion	(	short int	SIDE,
		short unsigned int	servo_value
	)

Converts servo value for the hip flexion.

This function converts servomotor values [600...2400] to joint angle for the hip flexion [-30...120].

Parameters:

`[in]`	servo_value	requested servo value.
`[in]`	SIDE	LEFT or RIGHT

Returns:: returns respective joint value.

Definition at line 1564 of file humanoid_functions.cpp.

void humanoid::Inv_Kin_3DOF_Arm	(	double	X,
		double	Y,
		double	Z,
		double *	req_angle
	)

Calculates humanoid arm joint values given required position.

This function calculates humanoid arm joint values given required end position in world space. (NOT TESTED FOR ALL RELEVANT OCTANTS! SEEMS TO BE WORKING FOR THE TIME BEEING...)

Parameters:

`[in]`	X	[X] required end position.
`[in]`	Y	[Y] required end position.
`[in]`	Z	[Z] required end position.
`[out]`	req_angle	3 element array for storing the result.

Returns:: array with all three angle values if possible / array with value 1000 if not.

Definition at line 142 of file humanoid_functions.cpp.

void humanoid::Inv_Kin_3DOF_Detached_Leg	(	double	X,
		double	Y,
		double	Z,
		double *	req_angle
	)

Calculates humanoid detached leg joint values given required position.

This function calculates humanoid detached leg joint values given required end position in world space.

Parameters:

`[in]`	X	[X] required end position.
`[in]`	Y	[Y] required end position.
`[in]`	Z	[Z] required end position.
`[out]`	req_angle	3 element array for storing the result.

Returns:: array with all three angle values if possible / array with value 1000 if not.

Definition at line 669 of file humanoid_functions.cpp.

short unsigned int humanoid::Knee_Conversion	(	short int	SIDE,
		double	joint_angle
	)

Converts joint angle for the knee flexion.

This function converts joint angle for the knee flexion [0...130] to servomotor values [600...2400].

Parameters:

`[in]`	joint_angle	a double with requested joint angle value
`[in]`	SIDE	LEFT or RIGHT

Returns:: returns a character from input.

Definition at line 1134 of file humanoid_functions.cpp.

double humanoid::Knee_Flexion_ServoValue_Conversion	(	short int	SIDE,
		short unsigned int	servo_value
	)

Converts servo value for the knee flexion.

This function converts servomotor values [600...2400] to joint angle for the knee flexion [0...130].

Parameters:

`[in]`	servo_value	requested servo value.
`[in]`	SIDE	LEFT or RIGHT

Returns:: returns respective joint value.

Definition at line 1485 of file humanoid_functions.cpp.

short unsigned int humanoid::Shoulder_Abduction_Adduction_Conversion	(	short int	SIDE,
		double	joint_angle
	)

Converts joint angle for the shoulder abduction.

This function converts joint angle for the shoulder abduction/adduction [0...180] to servomotor values [600...2400].

Parameters:

`[in]`	joint_angle	a double with requested joint angle value in degrees.
`[in]`	SIDE	LEFT or RIGHT.

Returns:: returns respective servomotor value.

Definition at line 942 of file humanoid_functions.cpp.

double humanoid::Shoulder_Abduction_Adduction_ServoValue_Conversion	(	short int	SIDE,
		short unsigned int	servo_value
	)

Converts servo value for the shoulder abduction.

This function converts servomotor values [600...2400] to joint angle for the shoulder abduction/adduction [0...180].

Parameters:

`[in]`	servo_value	requested servo value.
`[in]`	SIDE	LEFT or RIGHT

Returns:: returns respective joint value.

Definition at line 1296 of file humanoid_functions.cpp.

short unsigned int humanoid::Shoulder_Flexion_Extension_Conversion	(	short int	SIDE,
		double	joint_angle
	)

Converts joint angle for the shoulder flexion.

This function converts joint angle for the shoulder flexion/extension [-40...140] to servomotor values [600...2400].

Parameters:

`[in]`	joint_angle	a double with requested joint angle value in degrees.
`[in]`	SIDE	LEFT or RIGHT

Returns:: returns respective servomotor value.

Definition at line 907 of file humanoid_functions.cpp.

double humanoid::Shoulder_Flexion_Extension_ServoValue_Conversion	(	short int	SIDE,
		short unsigned int	servo_value
	)

Converts servo value for the shoulder flexion.

This function converts servomotor values [600...2400] to joint angle for the shoulder flexion/extension [-40...140].

Parameters:

`[in]`	servo_value	requested servo value.
`[in]`	SIDE	LEFT or RIGHT

Returns:: returns respective joint value.

Definition at line 1262 of file humanoid_functions.cpp.

short unsigned int humanoid::Torso_Flexion_Extension_Conversion ( double joint_angle )

Converts joint angle for the torso flexion/extension.

This function converts joint angle for the torso flexion [-15...90] to servomotor values [600...2400].

Parameters:

[in] joint_angle a double with requested joint angle value in degrees.

Returns:: returns respective servomotor value.

Definition at line 1025 of file humanoid_functions.cpp.

double humanoid::Torso_Flexion_Extension_ServoValue_Conversion ( short unsigned int servo_value )

Converts servo value for the torso flexion/extension.

This function converts servomotor values [600...2400] to joint angle for the torso flexion [-15...90] .

Parameters:

[in] servo_value requested servo value.

Returns:: returns respective joint value.

Definition at line 1375 of file humanoid_functions.cpp.

short unsigned int humanoid::Torso_Lateral_Flexion_Extension_Conversion ( double joint_angle )

Converts joint angle for the torso lateral flexion/extension.

This function converts joint angle for the torso lateral flexion [-90...90] to servomotor values [600...2400].

Parameters:

[in] joint_angle a double with requested joint angle value

Returns:: returns respective servomotor value.

Definition at line 1039 of file humanoid_functions.cpp.

double humanoid::Torso_Lateral_Flexion_Extension_ServoValue_Conversion ( short unsigned int servo_value )

Converts servo value for the torso lateral flexion/extension.

This function converts servomotor values [600...2400] to joint angle for the torso lateral flexion [-90...90].

Parameters:

[in] servo_value requested servo value.

Returns:: returns respective joint value.

Definition at line 1388 of file humanoid_functions.cpp.

short unsigned int humanoid::Torso_Rotation_Conversion ( double joint_angle )

Converts joint angle for the torso rotation.

This function converts joint angle for the torso rotation [-90...90] to servomotor values [600...2400].

Parameters:

[in] joint_angle a double with requested joint angle value in degrees.

Returns:: returns respective servomotor value.

Definition at line 1012 of file humanoid_functions.cpp.

double humanoid::Torso_Rotation_ServoValue_Conversion ( short unsigned int servo_value )

Converts servo value for the torso rotation.

This function converts servomotor values [600...2400] to joint angle for the torso rotation [-90...90].

Parameters:

[in] servo_value requested servo value.

Returns:: returns respective joint value.

Definition at line 1362 of file humanoid_functions.cpp.

Member Data Documentation

double humanoid::ankle_height

robot ankle height (mm)

Definition at line 479 of file humanoid_functions.h.

double humanoid::ankle_max_flexion

ankle flexion maximum angular limits

Definition at line 570 of file humanoid_functions.h.

double humanoid::ankle_max_inversion

ankle inversion maximum angular limits

Definition at line 561 of file humanoid_functions.h.

double humanoid::ankle_min_flexion

ankle flexion minimum angular limits

Definition at line 567 of file humanoid_functions.h.

double humanoid::ankle_min_inversion

ankle inversion minimum angular limits

Definition at line 558 of file humanoid_functions.h.

double humanoid::arm_length

robot arm lenght (mm)

Definition at line 461 of file humanoid_functions.h.

double humanoid::elbow_flexion_servo_offset_left

elbow flexion offset left

Definition at line 620 of file humanoid_functions.h.

double humanoid::elbow_flexion_servo_offset_right

elbow flexion offset right

Definition at line 623 of file humanoid_functions.h.

double humanoid::elbow_max_flexion

elbow flexion maximum angular limits

Definition at line 524 of file humanoid_functions.h.

double humanoid::elbow_min_flexion

elbow flexion minimum angular limits

Definition at line 521 of file humanoid_functions.h.

Eigen::Vector3d humanoid::foot_COM

foot COM

Definition at line 667 of file humanoid_functions.h.

double humanoid::foot_length

robot foot lenght (mm)

Definition at line 473 of file humanoid_functions.h.

double humanoid::foot_mass

foot mass

Definition at line 652 of file humanoid_functions.h.

double humanoid::foot_width

robot foot lenght (mm)

Definition at line 476 of file humanoid_functions.h.

double humanoid::forearm_length

robot forearm lenght (mm)

Definition at line 464 of file humanoid_functions.h.

double humanoid::head_max_tilt

head maximum angular limits

Definition at line 496 of file humanoid_functions.h.

double humanoid::head_min_tilt

head minimum angular limits

Definition at line 493 of file humanoid_functions.h.

double humanoid::head_servo_offset

head servo offset

Definition at line 605 of file humanoid_functions.h.

double humanoid::hip_flexion_b_value_left

hip flexion adjust curve b value left

Definition at line 641 of file humanoid_functions.h.

double humanoid::hip_flexion_b_value_right

hip flexion adjust curve b value right

Definition at line 644 of file humanoid_functions.h.

double humanoid::hip_max_abduction

hip abduction maximum angular limits

Definition at line 588 of file humanoid_functions.h.

double humanoid::hip_max_flexion

hip inversion maximum angular limits

Definition at line 597 of file humanoid_functions.h.

double humanoid::hip_min_abduction

hip abduction minimum angular limits

Definition at line 585 of file humanoid_functions.h.

double humanoid::hip_min_flexion

hip inversion minimum angular limits

Definition at line 594 of file humanoid_functions.h.

double humanoid::knee_flexion_b_value_left

knee flexion adjust curve b value left

Definition at line 635 of file humanoid_functions.h.

double humanoid::knee_flexion_b_value_right

knee flexion adjust curve b value right

Definition at line 638 of file humanoid_functions.h.

double humanoid::knee_max_flexion

ankle inversion maximum angular limits

Definition at line 579 of file humanoid_functions.h.

double humanoid::knee_min_flexion

ankle inversion minimum angular limits

Definition at line 576 of file humanoid_functions.h.

double humanoid::PI [private]

definition of PI as a double for calculations

Definition at line 451 of file humanoid_functions.h.

struct { ... } humanoid::robot_dimensions [private]

Structure to hold robot dimensional data.

struct { ... } humanoid::robot_element_mass [private]

Structure to hold the robot limb/element masses.

struct { ... } humanoid::robot_joint_limits [private]

Structure to hold current robot joint limits.

struct { ... } humanoid::robot_relative_COM [private]

Structure to hold the robot limb centers of mass, in their own frames.

struct { ... } humanoid::robot_servo_conversion [private]

Structure to hold servomotor digital value conversion constants.

Eigen::Vector3d humanoid::shin_COM

shin COM

Definition at line 670 of file humanoid_functions.h.

double humanoid::shin_length

robot leg lenght (mm)

Definition at line 467 of file humanoid_functions.h.

double humanoid::shin_mass

shin mass

Definition at line 655 of file humanoid_functions.h.

double humanoid::shoulder_abduction_servo_offset_left

shoulder abduction offset left

Definition at line 614 of file humanoid_functions.h.

double humanoid::shoulder_abduction_servo_offset_right

shoulder abduction offset right

Definition at line 617 of file humanoid_functions.h.

double humanoid::shoulder_flexion_servo_offset_left

shoulder flexion offset left

Definition at line 608 of file humanoid_functions.h.

double humanoid::shoulder_flexion_servo_offset_right

shoulder flexion offset right

Definition at line 611 of file humanoid_functions.h.

double humanoid::shoulder_max_abduction

shoulder abduction maximum angular limits

Definition at line 515 of file humanoid_functions.h.

double humanoid::shoulder_max_flexion

shoulder flexion maximum angular limits

Definition at line 506 of file humanoid_functions.h.

double humanoid::shoulder_min_abduction

shoulder abduction minimum angular limits

Definition at line 512 of file humanoid_functions.h.

double humanoid::shoulder_min_flexion

shoulder flexion minimum angular limits

Definition at line 503 of file humanoid_functions.h.

Eigen::Vector3d humanoid::thigh_COM

thigh COM

Definition at line 673 of file humanoid_functions.h.

double humanoid::thigh_length

robot thigh lenght (mm)

Definition at line 470 of file humanoid_functions.h.

double humanoid::thigh_mass

thigh mass

Definition at line 658 of file humanoid_functions.h.

double humanoid::torso_flexion_servo_offset

torso flexion offset

Definition at line 629 of file humanoid_functions.h.

double humanoid::torso_lateral_flexion_servo_offset

torso lateral flexion offset

Definition at line 632 of file humanoid_functions.h.

double humanoid::torso_max_flexion

torso flexion maximum angular limits

Definition at line 543 of file humanoid_functions.h.

double humanoid::torso_max_lateral_flexion

torso lateral flexion maximum angular limits

Definition at line 552 of file humanoid_functions.h.

double humanoid::torso_max_rotation

torso rotation maximum angular limits

Definition at line 534 of file humanoid_functions.h.

double humanoid::torso_min_flexion

torso flexion minimum angular limits

Definition at line 540 of file humanoid_functions.h.

double humanoid::torso_min_lateral_flexion

torso lateral flexion minimum angular limits

Definition at line 549 of file humanoid_functions.h.

double humanoid::torso_min_rotation

torso rotation minimum angular limits

Definition at line 531 of file humanoid_functions.h.

double humanoid::torso_rotation_servo_offset

torso rotation offset

Definition at line 626 of file humanoid_functions.h.

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

/home/laradmin/lar/bases/phua_haptic/include/humanoid_functions.h
/home/laradmin/lar/bases/phua_haptic/src/humanoid_functions.cpp

humanoid Class Reference

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation