aiboleg.h

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// ***************************************************************************
//                           aiboleg.h
//
//    copyright            : (C) 2003 by tbaier
//    email                : tbaier@informatik.uni-hamburg.de
// ***************************************************************************
#ifndef AIBOLEG_H
#define AIBOLEG_H

#include "aibojoint.h"
#include "aibolegpositions.h"

static const int NUM_LEG_JOINTS = 12;

enum LEG_JOINT{
  
  RF1,  
  RF2,  
  RF3,  
  LF1,  
  LF2,  
  LF3,  
  RR1,  
  RR2,  
  RR3,  
  LR1,  
  LR2,  
  LR3   
};

static const char* const  LEG_JOINT_ARRAY[] = {
    "PRM:/r4/c1-Joint2:j1",       // RFLEG J1 (Right Front Leg)
    "PRM:/r4/c1/c2-Joint2:j2",    // RFLEG J2
    "PRM:/r4/c1/c2/c3-Joint2:j3", // RFLEG J3

    "PRM:/r2/c1-Joint2:j1",       // LFLEG J1 (Left Front Leg)
    "PRM:/r2/c1/c2-Joint2:j2",    // LFLEG J2
    "PRM:/r2/c1/c2/c3-Joint2:j3", // LFLEG J3

    "PRM:/r5/c1-Joint2:j1",       // RRLEG J1 (Right Rear Leg)
    "PRM:/r5/c1/c2-Joint2:j2",    // RRLEG J2
    "PRM:/r5/c1/c2/c3-Joint2:j3", // RRLEG J3

    "PRM:/r3/c1-Joint2:j1",       // LRLEG J1 (Left Rear Leg)
    "PRM:/r3/c1/c2-Joint2:j2",    // LRLEG J2
    "PRM:/r3/c1/c2/c3-Joint2:j3"  // LRLEG J3
};


class AiboLeg : public  AiboJoint {

  
 public: 
  AiboLeg();
  
  virtual ~AiboLeg(){};

  
  
  void OpenPrimitives();
  OPrimitiveID GetJointID(LEG_JOINT j) const;
  

  
  void NewCommandVectorData();
  



  void SetJoint(slongword angle, 
                LEG_JOINT joint,
                int cmdVecIndex);
 
  void SetJoint(double angle, 
                LEG_JOINT joint,
                int cmdVecIndex);

  void SetJoint(double start, double angle, 
                LEG_JOINT joint,
                int cmdVecIndex);
    

  void SetJoint(slongword angle, 
                LEG_JOINT joint,
                int numFrames,
                int cmdVecIndex);
 
  void SetJoint(double angle, 
                LEG_JOINT joint,
                int numFrames,
                int cmdVecIndex);

  void SetJoint(double start, double angle, 
                LEG_JOINT joint,
                int numFrames,
                int cmdVecIndex);
    



  void SetJointRel(slongword angle, 
                   LEG_JOINT joint,
                   int cmdVecIndex);
  
  void SetJointRel(double angle, LEG_JOINT joint,
                   int cmdVecIndex);

  
  void SetJointRel(double start,double angle, 
                   LEG_JOINT joint,
                   int cmdVecIndex);

  void SetJointRel(slongword angle, 
                   LEG_JOINT joint,
                   int numFrames,
                   int cmdVecIndex);
  
  void SetJointRel(double angle, 
                   LEG_JOINT joint,
                   int numFrames,
                   int cmdVecIndex);

  
  void SetJointRel(double start,double angle, 
                   LEG_JOINT joint,
                   int numFrames,
                   int cmdVecIndex);





  double GetJointValue(LEG_JOINT joint) const;

  double GetOPENRJointValue(LEG_JOINT joint) const;


  double GetMaxJointValue(int index, JOINT_UNIT unit = ANGLE_RAD) const;
  double GetMaxJointValue(LEG_JOINT joint, JOINT_UNIT unit = ANGLE_RAD) const;


  double GetMinJointValue(int index, JOINT_UNIT unit = ANGLE_RAD) const;
  double GetMinJointValue(LEG_JOINT joint, JOINT_UNIT unit = ANGLE_RAD) const;


  double GetMaxJointVelocity(int index, JOINT_UNIT unit = ANGLE_RAD) const;
  double GetMaxJointVelocity(LEG_JOINT joint, JOINT_UNIT unit = ANGLE_RAD) const;


  void SetJointGain();

  void EnableJointGain(LEG_JOINT joint);

  void DisableJointGain(LEG_JOINT joint);


 

 protected:

  static const word   J1_PGAIN        = 0x0016;
  static const word   J1_IGAIN        = 0x0004;
  static const word   J1_DGAIN        = 0x0008;
  
  static const word   J2_PGAIN        = 0x0014;
  static const word   J2_IGAIN        = 0x0004;
  static const word   J2_DGAIN        = 0x0006;
  
  static const word   J3_PGAIN        = 0x0023;
  static const word   J3_IGAIN        = 0x0004;
  static const word   J3_DGAIN        = 0x0005;

  static const double MAX_J1_DEG      = 117.0;
  static const double MAX_J2_DEG      = 89.0;
  static const double MAX_J3_DEG      = 147.0;

  static const double MIN_J1_DEG      = -117.0;
  static const double MIN_J2_DEG      = -11.0; 
  static const double MIN_J3_DEG      = -27.0; 
  
  static const double MAX_J1          = MAX_J1_DEG * DEGTORAD;
  static const double MAX_J2          = MAX_J2_DEG * DEGTORAD;
  static const double MAX_J3          = MAX_J3_DEG * DEGTORAD;
  

  static const double MIN_J1          = MIN_J1_DEG * DEGTORAD;
  static const double MIN_J2          = MIN_J2_DEG * DEGTORAD;
  static const double MIN_J3          = MIN_J3_DEG * DEGTORAD;
  
  // .../2.0 because values are from open-r faq and
  // belong to std masterstudio coammnds where 1 
  // frame is 16ms
  
  static const double MAX_J1_VELO_DEG = 2.58/2.0; 
  static const double MAX_J2_VELO_DEG = 2.29/2.0;
  static const double MAX_J3_VELO_DEG = 2.60/2.0;


  static const double MAX_J1_VELO     = MAX_J1_VELO_DEG * DEGTORAD;
  static const double MAX_J2_VELO     = MAX_J2_VELO_DEG * DEGTORAD;
  static const double MAX_J3_VELO     = MAX_J3_VELO_DEG * DEGTORAD;

};


// ******************************************
// **                                      **
// ******************************************
inline OPrimitiveID AiboLeg::GetJointID(LEG_JOINT j) const
{
  return JointID[j];
};
       

// ******************************************
// **                                      **
// ******************************************
inline void AiboLeg::EnableJointGain(LEG_JOINT joint)
{
    AiboJoint::EnableJointGain(JointID[joint]);
};
    


// ******************************************
// **                                      **
// ******************************************
inline void AiboLeg::DisableJointGain(LEG_JOINT joint)
{
    AiboJoint::DisableJointGain(JointID[joint]);
};


// ******************************************
// **                                      **
// ******************************************
inline void AiboLeg::SetJoint(slongword angle, 
                              LEG_JOINT joint,
                              int cmdVecIndex)
{ 
   AiboJoint::SetJoint(JointValues[joint], ((double)angle)/MICRO,
                      JointID[joint], joint, 
                      cmdVecIndex);
};


// ******************************************
// **                                      **
// ******************************************
inline void AiboLeg::SetJoint(double angle, 
                              LEG_JOINT joint,
                              int cmdVecIndex)
{ 
  AiboJoint::SetJoint(JointValues[joint], angle, 
                      JointID[joint], joint, 
                      cmdVecIndex);
};


// ******************************************
// **                                      **
// ******************************************
inline void AiboLeg::SetJoint(double start,double angle, 
                              LEG_JOINT joint,
                              int cmdVecIndex)
{ 
  AiboJoint::SetJoint(start, angle, 
                      JointID[joint], joint, 
                      cmdVecIndex);
};


// ******************************************
// **                                      **
// ******************************************
inline void AiboLeg::SetJoint(slongword angle, 
                              LEG_JOINT joint,
                              int numFrames,
                              int cmdVecIndex)
{ 
  AiboJoint::SetJoint(JointValues[joint], ((double)angle)/MICRO,
                      JointID[joint], joint,
                      numFrames,
                      cmdVecIndex);
};


// ******************************************
// **                                      **
// ******************************************
inline void AiboLeg::SetJoint(double angle, 
                              LEG_JOINT joint,
                              int numFrames,
                              int cmdVecIndex)
{ 
  AiboJoint::SetJoint(JointValues[joint], angle, 
                      JointID[joint], joint,
                      numFrames,
                      cmdVecIndex);
};


// ******************************************
// **                                      **
// ******************************************
inline void AiboLeg::SetJoint(double start,double angle, 
                              LEG_JOINT joint,
                              int numFrames,
                              int cmdVecIndex)
{ 
  AiboJoint::SetJoint(start, angle, 
                      JointID[joint], joint,
                      numFrames,
                      cmdVecIndex);
};


// ******************************************
// **                                      **
// ******************************************
inline void AiboLeg::SetJointRel(slongword angle, 
                                 LEG_JOINT joint,
                                 int cmdVecIndex)
{ 
  AiboJoint::SetJointRel(JointValues[joint], ((double)angle)/MICRO, 
                         JointID[joint], joint, 
                         cmdVecIndex);
};

// ******************************************
// **                                      **
// ******************************************
inline void AiboLeg::SetJointRel(double angle, 
                                 LEG_JOINT joint,
                                 int cmdVecIndex)
{ 
  AiboJoint::SetJointRel(JointValues[joint], angle, 
                         JointID[joint], joint, 
                         cmdVecIndex);
};


// ******************************************
// **                                      **
// ******************************************
inline void AiboLeg::SetJointRel(double start, double angle, 
                                 LEG_JOINT joint,
                                 int cmdVecIndex)
{ 
  AiboJoint::SetJointRel(start, angle, 
                         JointID[joint], joint, 
                         cmdVecIndex);
};


// ******************************************
// **                                      **
// ******************************************
inline void AiboLeg::SetJointRel(slongword angle, 
                                 LEG_JOINT joint,
                                 int numFrames,
                                 int cmdVecIndex)
{ 
  AiboJoint::SetJointRel(JointValues[joint], ((double)angle)/MICRO, 
                         JointID[joint], joint,
                         numFrames,
                         cmdVecIndex);
};


// ******************************************
// **                                      **
// ******************************************
inline void AiboLeg::SetJointRel(double angle, 
                                 LEG_JOINT joint,
                                 int numFrames,
                                 int cmdVecIndex)
{ 
  AiboJoint::SetJointRel(JointValues[joint], angle, 
                         JointID[joint], joint,
                         numFrames,
                         cmdVecIndex);
};


// ******************************************
// **                                      **
// ******************************************
inline void AiboLeg::SetJointRel(double start, double angle, 
                                 LEG_JOINT joint,
                                 int numFrames,
                                 int cmdVecIndex)
{ 
  AiboJoint::SetJointRel(start, angle, 
                         JointID[joint], joint,
                         numFrames,
                         cmdVecIndex);
};


// ******************************************
// **                                      **
// ******************************************
inline double AiboLeg::GetJointValue(LEG_JOINT joint) const
{
  return JointValues[joint];
};


// ******************************************
// **                                      **
// ******************************************
inline double AiboLeg::GetOPENRJointValue(LEG_JOINT joint) const
{
  return AiboJoint::GetOPENRJointValue(JointID[joint]);
};


// ******************************************
// **                                      **
// ******************************************
inline double AiboLeg::GetMaxJointValue(int index, JOINT_UNIT unit) const
{
  return GetMaxJointValue(LEG_JOINT(index), unit);
};

// ******************************************
// **                                      **
// ******************************************
inline double AiboLeg::GetMinJointValue(int index, JOINT_UNIT unit) const
{
  return GetMinJointValue(LEG_JOINT(index), unit);
};


// ******************************************
// **                                      **
// ******************************************
inline double AiboLeg::GetMaxJointVelocity(int index, JOINT_UNIT unit) const
{
  return GetMaxJointVelocity(LEG_JOINT(index), unit);
};


#endif // define AIBOLEG_H

---

Tim Baier AiboLib v0.2.4

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