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<h1>/Users/jason/Code/naowalkoptimiser/src/Locomotion/Walk/actuators.cpp File Reference</h1><code>#include "<a class="el" href="jwalk_8h_source.html">jwalk.h</a>"</code><br/>
<code>#include "<a class="el" href="alproxies_8h_source.html">alproxies.h</a>"</code><br/>
<code>#include "<a class="el" href="actuators_8h_source.html">actuators.h</a>"</code><br/>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Defines</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="actuators_8cpp.html#ac4fd1d58935d7d97c54a28ed1a8187fe">ACTUATORS_VERBOSITY</a> 0</td></tr>
<tr><td colspan="2"><h2>Variables</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">string </td><td class="memItemRight" valign="bottom"><a class="el" href="actuators_8cpp.html#a8db8f36e3917fc7e4406cc04d41b0c68">indexToPositionActuator</a> [] = {"HeadYaw/Position/Actuator/Value","HeadPitch/Position/Actuator/Value","LShoulderRoll/Position/Actuator/Value","LShoulderPitch/Position/Actuator/Value","LElbowYaw/Position/Actuator/Value","LElbowRoll/Position/Actuator/Value","RShoulderRoll/Position/Actuator/Value","RShoulderPitch/Position/Actuator/Value","RElbowYaw/Position/Actuator/Value","RElbowRoll/Position/Actuator/Value","LHipYawPitch/Position/Actuator/Value","LHipRoll/Position/Actuator/Value","LHipPitch/Position/Actuator/Value","LKneePitch/Position/Actuator/Value","LAnklePitch/Position/Actuator/Value","LAnkleRoll/Position/Actuator/Value","RHipYawPitch/Position/Actuator/Value","RHipRoll/Position/Actuator/Value","RHipPitch/Position/Actuator/Value","RKneePitch/Position/Actuator/Value","RAnklePitch/Position/Actuator/Value","RAnkleRoll/Position/Actuator/Value"}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">string </td><td class="memItemRight" valign="bottom"><a class="el" href="actuators_8cpp.html#af16ebe6a7786b1b37fb68a19a73db472">indexToHardnessActuator</a> [] = {"HeadYaw/Hardness/Actuator/Value","HeadPitch/Hardness/Actuator/Value","LShoulderRoll/Hardness/Actuator/Value","LShoulderPitch/Hardness/Actuator/Value","LElbowYaw/Hardness/Actuator/Value","LElbowRoll/Hardness/Actuator/Value","RShoulderRoll/Hardness/Actuator/Value","RShoulderPitch/Hardness/Actuator/Value","RElbowYaw/Hardness/Actuator/Value","RElbowRoll/Hardness/Actuator/Value","LHipYawPitch/Hardness/Actuator/Value","LHipRoll/Hardness/Actuator/Value","LHipPitch/Hardness/Actuator/Value","LKneePitch/Hardness/Actuator/Value","LAnklePitch/Hardness/Actuator/Value","LAnkleRoll/Hardness/Actuator/Value","RHipYawPitch/Hardness/Actuator/Value","RHipRoll/Hardness/Actuator/Value","RHipPitch/Hardness/Actuator/Value","RKneePitch/Hardness/Actuator/Value","RAnklePitch/Hardness/Actuator/Value","RAnkleRoll/Hardness/Actuator/Value"}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="actuators_8cpp.html#ac6ebabd2fbc89c3765e0b93d4faeaae5">jointLimits</a> [][2] = {{-1.5707963705062866, 1.5707963705062866}, {-0.78539818525314331, 0.78539818525314331}, {0.0, 1.6580628156661987}, {-2.0943951606750488, 2.0943951606750488}, {-2.0943951606750488, 2.0943951606750488}, {-1.6580628156661987, 0.0}, {-1.6580628156661987, 0.0}, {-2.0943951606750488, 2.0943951606750488}, {-2.0943951606750488, 2.0943951606750488}, {0.0, 1.6580628156661987}, {-0.95993107557296753, 0.69813168048858643}, {-0.43633231520652771, 0.78539818525314331}, {-1.5707963705062866, 0.52359879016876221}, {0.0, 2.268928050994873}, {-1.2217304706573486, 0.78539818525314331}, {-0.78539818525314331, 0.78539818525314331}, {-0.95993107557296753, 0.69813168048858643}, {-0.78539818525314331, 0.43633231520652771}, {-1.5707963705062866, 0.52359879016876221}, {0.0, 2.268928050994873}, {-1.2217304706573486, 0.78539818525314331}, {-0.78539818525314331, 0.78539818525314331}}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="actuators_8cpp.html#adc91e1f088b052fc32f82984d500436f">actuatorHardnesses</a> [J_NUM_JOINTS]</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="actuators_8cpp.html#a7abd97891cc8f39c731d2ea8cd0777db">actuatorPositions</a> [J_NUM_JOINTS]</td></tr>
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<hr/><h2>Define Documentation</h2>
<a class="anchor" id="ac4fd1d58935d7d97c54a28ed1a8187fe"></a><!-- doxytag: member="actuators.cpp::ACTUATORS_VERBOSITY" ref="ac4fd1d58935d7d97c54a28ed1a8187fe" args="" -->
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<td class="memname">#define ACTUATORS_VERBOSITY 0</td>
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<p>A low level wrapper of the alDcm </p>
<dl class="author"><dt><b>Author:</b></dt><dd>Jason Kulk</dd></dl>
<p>Version : </p>
<dl class="rcs"><dt><b>Id</b></dt><dd><a class="el" href="actuators_8cpp.html">actuators.cpp</a>,v 1.4 2009/05/24 06:26:27 jason Exp </dd></dl>
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<hr/><h2>Variable Documentation</h2>
<a class="anchor" id="adc91e1f088b052fc32f82984d500436f"></a><!-- doxytag: member="actuators.cpp::actuatorHardnesses" ref="adc91e1f088b052fc32f82984d500436f" args="[J_NUM_JOINTS]" -->
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<td class="memname">float <a class="el" href="actuators_8h.html#af6f1455261a8f0c6ed513879997d0686">actuatorHardnesses</a>[J_NUM_JOINTS]</td>
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<a class="anchor" id="a7abd97891cc8f39c731d2ea8cd0777db"></a><!-- doxytag: member="actuators.cpp::actuatorPositions" ref="a7abd97891cc8f39c731d2ea8cd0777db" args="[J_NUM_JOINTS]" -->
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<td class="memname">float <a class="el" href="actuators_8h.html#ae4550e5cfa76454fb2196adc67e6dd58">actuatorPositions</a>[J_NUM_JOINTS]</td>
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<a class="anchor" id="af16ebe6a7786b1b37fb68a19a73db472"></a><!-- doxytag: member="actuators.cpp::indexToHardnessActuator" ref="af16ebe6a7786b1b37fb68a19a73db472" args="[]" -->
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<td class="memname">string <a class="el" href="actuators_8h.html#af16ebe6a7786b1b37fb68a19a73db472">indexToHardnessActuator</a>[] = {"HeadYaw/Hardness/Actuator/Value","HeadPitch/Hardness/Actuator/Value","LShoulderRoll/Hardness/Actuator/Value","LShoulderPitch/Hardness/Actuator/Value","LElbowYaw/Hardness/Actuator/Value","LElbowRoll/Hardness/Actuator/Value","RShoulderRoll/Hardness/Actuator/Value","RShoulderPitch/Hardness/Actuator/Value","RElbowYaw/Hardness/Actuator/Value","RElbowRoll/Hardness/Actuator/Value","LHipYawPitch/Hardness/Actuator/Value","LHipRoll/Hardness/Actuator/Value","LHipPitch/Hardness/Actuator/Value","LKneePitch/Hardness/Actuator/Value","LAnklePitch/Hardness/Actuator/Value","LAnkleRoll/Hardness/Actuator/Value","RHipYawPitch/Hardness/Actuator/Value","RHipRoll/Hardness/Actuator/Value","RHipPitch/Hardness/Actuator/Value","RKneePitch/Hardness/Actuator/Value","RAnklePitch/Hardness/Actuator/Value","RAnkleRoll/Hardness/Actuator/Value"}</td>
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<a class="anchor" id="a8db8f36e3917fc7e4406cc04d41b0c68"></a><!-- doxytag: member="actuators.cpp::indexToPositionActuator" ref="a8db8f36e3917fc7e4406cc04d41b0c68" args="[]" -->
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<td class="memname">string <a class="el" href="actuators_8h.html#a8db8f36e3917fc7e4406cc04d41b0c68">indexToPositionActuator</a>[] = {"HeadYaw/Position/Actuator/Value","HeadPitch/Position/Actuator/Value","LShoulderRoll/Position/Actuator/Value","LShoulderPitch/Position/Actuator/Value","LElbowYaw/Position/Actuator/Value","LElbowRoll/Position/Actuator/Value","RShoulderRoll/Position/Actuator/Value","RShoulderPitch/Position/Actuator/Value","RElbowYaw/Position/Actuator/Value","RElbowRoll/Position/Actuator/Value","LHipYawPitch/Position/Actuator/Value","LHipRoll/Position/Actuator/Value","LHipPitch/Position/Actuator/Value","LKneePitch/Position/Actuator/Value","LAnklePitch/Position/Actuator/Value","LAnkleRoll/Position/Actuator/Value","RHipYawPitch/Position/Actuator/Value","RHipRoll/Position/Actuator/Value","RHipPitch/Position/Actuator/Value","RKneePitch/Position/Actuator/Value","RAnklePitch/Position/Actuator/Value","RAnkleRoll/Position/Actuator/Value"}</td>
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<a class="anchor" id="ac6ebabd2fbc89c3765e0b93d4faeaae5"></a><!-- doxytag: member="actuators.cpp::jointLimits" ref="ac6ebabd2fbc89c3765e0b93d4faeaae5" args="[][2]" -->
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<td class="memname">float <a class="el" href="actuators_8h.html#ac6ebabd2fbc89c3765e0b93d4faeaae5">jointLimits</a>[][2] = {{-1.5707963705062866, 1.5707963705062866}, {-0.78539818525314331, 0.78539818525314331}, {0.0, 1.6580628156661987}, {-2.0943951606750488, 2.0943951606750488}, {-2.0943951606750488, 2.0943951606750488}, {-1.6580628156661987, 0.0}, {-1.6580628156661987, 0.0}, {-2.0943951606750488, 2.0943951606750488}, {-2.0943951606750488, 2.0943951606750488}, {0.0, 1.6580628156661987}, {-0.95993107557296753, 0.69813168048858643}, {-0.43633231520652771, 0.78539818525314331}, {-1.5707963705062866, 0.52359879016876221}, {0.0, 2.268928050994873}, {-1.2217304706573486, 0.78539818525314331}, {-0.78539818525314331, 0.78539818525314331}, {-0.95993107557296753, 0.69813168048858643}, {-0.78539818525314331, 0.43633231520652771}, {-1.5707963705062866, 0.52359879016876221}, {0.0, 2.268928050994873}, {-1.2217304706573486, 0.78539818525314331}, {-0.78539818525314331, 0.78539818525314331}}</td>
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