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RobotDimensions Class Reference

#include <RobotDimensions.h>

Inheritance diagram for RobotDimensions:

Inheritance graph
[legend]
List of all members.

Public Member Functions

 RobotDimensions (const double distancePanCenterToCameraX, const double distancePanCenterToCameraZ, const double distanceCameraToPSDSensor, const double distanceNeckToPanCenter, const double shoulderWidth, const double bodyWidth, const double overallBodyWidth, const double upperLegLengthX, const double upperLegLengthZ, const double lowerForeLegLengthX, const double lowerForeLegLengthZ, const double lowerHindLegLengthX, const double lowerHindLegLengthZ, const double lengthBetweenLegs, const double neckToLegsLengthX, const double neckToLegsLengthZ, const double specsKneeArc, const double bodyLength, const double lowerBodyWidth, const double shoulderRadius, const double kneeRadius, const double footRadius, const double jointLimitLeg1FN, const double jointLimitLeg1FP, const double jointLimitLeg1HN, const double jointLimitLeg1HP, const double jointLimitLeg2N, const double jointLimitLeg2P, const double jointLimitLeg3N, const double jointLimitLeg3P, const double jointLimitNeckTiltN, const double jointLimitNeckTiltP, const double jointLimitHeadPanN, const double jointLimitHeadPanP, const double jointLimitHeadTiltN, const double jointLimitHeadTiltP, const double jointLimitTailTiltN, const double jointLimitTailTiltP, const double jointLimitTailPanN, const double jointLimitTailPanP, const double motionCycleTime, const double imagesPerSecond)
 image frame rate of the camera in Hz.


Public Attributes

const double distancePanCenterToCameraX
 x-distance camera to center of head (specs)

const double distancePanCenterToCameraZ
 z-distance camera to center of head (specs)

const double distanceCameraToPSDSensor
 z-distanse camera to PSDsensor (estimated?)

const double distanceNeckToPanCenter
 distance center of head to neck (specs)

const double shoulderWidth
 width between shoulder joints (specs)

const double bodyWidth
 width between knee joints (specs)

const double overallBodyWidth
 overall width of the body including legs (specs)

const double upperLegLengthX
 length upper leg joint to joint in x-direction (specs)

const double upperLegLengthY
 length upper leg joint to joint in y-direction (calculated)

const double upperLegLengthZ
 length upper leg joint to joint in z-direction (specs)

const double upperLegLength
 length upper leg joint to joint (calculated)

const double lowerForeLegLengthX
 length lower front leg joint to footbase in x-direction (specs)

const double lowerForeLegLengthZ
 length lower front leg joint to footbase in z-direction (specs)

const double lowerForeLegLength
 length lower front leg joint to footbase (calculated)

const double lowerHindLegLengthX
 length lower rear leg joint to footbase in x-direction (specs)

const double lowerHindLegLengthZ
 length lower rear leg joint to footbase in z-direction (specs)

const double lowerHindLegLength
 length lower rear leg joint to footbase (calculated)

const double lengthBetweenLegs
 length from front to rear legs (specs)

const double neckToLegsLengthZ
 height from neck to front legs (specs)

const double neckToLegsLengthX
 length from front legs to neck projected on x-axis (specs)

const double lengthNeckToBodyCenter
 length from center of Robot to neck projected on x-axis (calculated)

const double zeroShoulderArc
 arc resulting from upperLegLengthX and -Z (calculated)

const double specsKneeArc
 knee arc lower leg lengths are based on (specs)

const double zeroFrontKneeArc
 arc resulting from lowerForeLegLengthX and -Z (calculated)

const double zeroHindKneeArc
 arc resulting from lowerHindLegLengthX and -Z (calculated)

const double zeroBodyTilt
 body tilt when all joints are 0 (calculated)

const double bodyLength
 length of robot body (estimated)

const double lowerBodyWidth
 width of body core at bottom (estimated),

const double shoulderRadius
 thickness of the body around the shoulder (estimated)

const double kneeRadius
 thickness of the leg at the knee (estimated)

const double footRadius
 thickness of the leg at the foot (estimated)

const double motionCycleTime
const double imagesPerSecond
 Length of one motion cycle in seconds.

joint limits in rad (estimated)
const double jointLimitLeg1FN
const double jointLimitLeg1FP
const double jointLimitLeg1HN
const double jointLimitLeg1HP
const double jointLimitLeg2N
const double jointLimitLeg2P
const double jointLimitLeg3N
const double jointLimitLeg3P
const double jointLimitNeckTiltN
const double jointLimitNeckTiltP
const double jointLimitHeadPanN
const double jointLimitHeadPanP
const double jointLimitHeadTiltN
const double jointLimitHeadTiltP
const double jointLimitTailTiltN
const double jointLimitTailTiltP
const double jointLimitTailPanN
const double jointLimitTailPanP

Constructor & Destructor Documentation

RobotDimensions::RobotDimensions (  const double  distancePanCenterToCameraX,
const double  distancePanCenterToCameraZ,
const double  distanceCameraToPSDSensor,
const double  distanceNeckToPanCenter,
const double  shoulderWidth,
const double  bodyWidth,
const double  overallBodyWidth,
const double  upperLegLengthX,
const double  upperLegLengthZ,
const double  lowerForeLegLengthX,
const double  lowerForeLegLengthZ,
const double  lowerHindLegLengthX,
const double  lowerHindLegLengthZ,
const double  lengthBetweenLegs,
const double  neckToLegsLengthX,
const double  neckToLegsLengthZ,
const double  specsKneeArc,
const double  bodyLength,
const double  lowerBodyWidth,
const double  shoulderRadius,
const double  kneeRadius,
const double  footRadius,
const double  jointLimitLeg1FN,
const double  jointLimitLeg1FP,
const double  jointLimitLeg1HN,
const double  jointLimitLeg1HP,
const double  jointLimitLeg2N,
const double  jointLimitLeg2P,
const double  jointLimitLeg3N,
const double  jointLimitLeg3P,
const double  jointLimitNeckTiltN,
const double  jointLimitNeckTiltP,
const double  jointLimitHeadPanN,
const double  jointLimitHeadPanP,
const double  jointLimitHeadTiltN,
const double  jointLimitHeadTiltP,
const double  jointLimitTailTiltN,
const double  jointLimitTailTiltP,
const double  jointLimitTailPanN,
const double  jointLimitTailPanP,
const double  motionCycleTime,
const double  imagesPerSecond
)  [inline]
 

image frame rate of the camera in Hz.

Definition at line 80 of file RobotDimensions.h.

References lengthNeckToBodyCenter, lowerForeLegLength, lowerHindLegLength, upperLegLength, upperLegLengthY, zeroBodyTilt, zeroFrontKneeArc, zeroHindKneeArc, and zeroShoulderArc.

Member Data Documentation

const double RobotDimensions::distancePanCenterToCameraX
 

x-distance camera to center of head (specs)

Definition at line 17 of file RobotDimensions.h.

Referenced by Kinematics::calcNoseHeight(), Kinematics::calculateCameraMatrix(), and CheckerboardDetector::execute().

const double RobotDimensions::distancePanCenterToCameraZ
 

z-distance camera to center of head (specs)

Definition at line 18 of file RobotDimensions.h.

Referenced by Kinematics::calculateCameraMatrix().

const double RobotDimensions::distanceCameraToPSDSensor
 

z-distanse camera to PSDsensor (estimated?)

Definition at line 19 of file RobotDimensions.h.

const double RobotDimensions::distanceNeckToPanCenter
 

distance center of head to neck (specs)

Definition at line 20 of file RobotDimensions.h.

Referenced by Kinematics::calcHeadHeight(), and Kinematics::calculateCameraMatrix().

const double RobotDimensions::shoulderWidth
 

width between shoulder joints (specs)

Definition at line 22 of file RobotDimensions.h.

Referenced by Kinematics::calcRelativeRobotVertices(), RobotPoseSymbols::computeGoalieDefendMinPos(), and RobotPoseSymbols::updateGoalieDefendPosition().

const double RobotDimensions::bodyWidth
 

width between knee joints (specs)

Definition at line 23 of file RobotDimensions.h.

Referenced by RobotPoseSymbols::computeGoalieDefendMinPos(), RobotVertices::RobotVertices(), and Kinematics::transformToLegBase().

const double RobotDimensions::overallBodyWidth
 

overall width of the body including legs (specs)

Definition at line 24 of file RobotDimensions.h.

Referenced by Field::addPlayer().

const double RobotDimensions::upperLegLengthX
 

length upper leg joint to joint in x-direction (specs)

Definition at line 26 of file RobotDimensions.h.

Referenced by Kinematics::calcRelativeRobotVertices(), and RobotVertices::RobotVertices().

const double RobotDimensions::upperLegLengthY
 

length upper leg joint to joint in y-direction (calculated)

Definition at line 27 of file RobotDimensions.h.

Referenced by Kinematics::calcRelativeRobotVertices(), and RobotDimensions().

const double RobotDimensions::upperLegLengthZ
 

length upper leg joint to joint in z-direction (specs)

Definition at line 28 of file RobotDimensions.h.

Referenced by Kinematics::calcRelativeRobotVertices().

const double RobotDimensions::upperLegLength
 

length upper leg joint to joint (calculated)

Definition at line 29 of file RobotDimensions.h.

Referenced by Kinematics::jointsFromLegPosition(), Kinematics::kneePositionFromJoints(), Kinematics::legPositionFromJoints(), RobotDimensions(), and RobotVertices::RobotVertices().

const double RobotDimensions::lowerForeLegLengthX
 

length lower front leg joint to footbase in x-direction (specs)

Definition at line 30 of file RobotDimensions.h.

Referenced by Kinematics::calcRelativeRobotVertices().

const double RobotDimensions::lowerForeLegLengthZ
 

length lower front leg joint to footbase in z-direction (specs)

Definition at line 31 of file RobotDimensions.h.

Referenced by Kinematics::calcRelativeRobotVertices().

const double RobotDimensions::lowerForeLegLength
 

length lower front leg joint to footbase (calculated)

Definition at line 32 of file RobotDimensions.h.

Referenced by Kinematics::calcRelativeRobotVertices(), Kinematics::legPositionFromJoints(), RobotDimensions(), RobotVertices::RobotVertices(), and Kinematics::transformToLegBase().

const double RobotDimensions::lowerHindLegLengthX
 

length lower rear leg joint to footbase in x-direction (specs)

Definition at line 33 of file RobotDimensions.h.

Referenced by Kinematics::calcRelativeRobotVertices().

const double RobotDimensions::lowerHindLegLengthZ
 

length lower rear leg joint to footbase in z-direction (specs)

Definition at line 34 of file RobotDimensions.h.

Referenced by Kinematics::calcRelativeRobotVertices().

const double RobotDimensions::lowerHindLegLength
 

length lower rear leg joint to footbase (calculated)

Definition at line 35 of file RobotDimensions.h.

Referenced by Kinematics::calcRelativeRobotVertices(), Kinematics::legPositionFromJoints(), RobotDimensions(), RobotVertices::RobotVertices(), and Kinematics::transformToLegBase().

const double RobotDimensions::lengthBetweenLegs
 

length from front to rear legs (specs)

Definition at line 36 of file RobotDimensions.h.

Referenced by Kinematics::calcRelativeRobotVertices(), and RobotVertices::RobotVertices().

const double RobotDimensions::neckToLegsLengthZ
 

height from neck to front legs (specs)

Definition at line 37 of file RobotDimensions.h.

Referenced by Kinematics::calcRelativeRobotVertices(), and RobotVertices::RobotVertices().

const double RobotDimensions::neckToLegsLengthX
 

length from front legs to neck projected on x-axis (specs)

Definition at line 38 of file RobotDimensions.h.

Referenced by Kinematics::calcRelativeRobotVertices(), and RobotVertices::RobotVertices().

const double RobotDimensions::lengthNeckToBodyCenter
 

length from center of Robot to neck projected on x-axis (calculated)

Definition at line 39 of file RobotDimensions.h.

Referenced by Field::addPlayer(), and RobotDimensions().

const double RobotDimensions::zeroShoulderArc
 

arc resulting from upperLegLengthX and -Z (calculated)

Definition at line 41 of file RobotDimensions.h.

Referenced by Kinematics::jointsFromLegPosition(), Kinematics::kneePositionFromJoints(), Kinematics::legPositionFromJoints(), RobotDimensions(), and RobotVertices::RobotVertices().

const double RobotDimensions::specsKneeArc
 

knee arc lower leg lengths are based on (specs)

Definition at line 42 of file RobotDimensions.h.

Referenced by Kinematics::calcRelativeRobotVertices().

const double RobotDimensions::zeroFrontKneeArc
 

arc resulting from lowerForeLegLengthX and -Z (calculated)

Definition at line 43 of file RobotDimensions.h.

Referenced by Kinematics::jointsFromLegPosition(), Kinematics::legPositionFromJoints(), RobotDimensions(), and RobotVertices::RobotVertices().

const double RobotDimensions::zeroHindKneeArc
 

arc resulting from lowerHindLegLengthX and -Z (calculated)

Definition at line 44 of file RobotDimensions.h.

Referenced by Kinematics::jointsFromLegPosition(), Kinematics::legPositionFromJoints(), RobotDimensions(), and RobotVertices::RobotVertices().

const double RobotDimensions::zeroBodyTilt
 

body tilt when all joints are 0 (calculated)

Definition at line 45 of file RobotDimensions.h.

Referenced by Kinematics::getAbsoluteRobotVertices(), and RobotDimensions().

const double RobotDimensions::bodyLength
 

length of robot body (estimated)

Definition at line 47 of file RobotDimensions.h.

Referenced by Field::addPlayer().

const double RobotDimensions::lowerBodyWidth
 

width of body core at bottom (estimated),

Definition at line 48 of file RobotDimensions.h.

Referenced by BallPercept::checkOffset().

const double RobotDimensions::shoulderRadius
 

thickness of the body around the shoulder (estimated)

Definition at line 49 of file RobotDimensions.h.

Referenced by Kinematics::calcNeckAndLegPositions().

const double RobotDimensions::kneeRadius
 

thickness of the leg at the knee (estimated)

Definition at line 50 of file RobotDimensions.h.

Referenced by Kinematics::calcRelativeRobotVertices().

const double RobotDimensions::footRadius
 

thickness of the leg at the foot (estimated)

Definition at line 51 of file RobotDimensions.h.

Referenced by Kinematics::calcRelativeRobotVertices().

const double RobotDimensions::jointLimitLeg1FN
 

Definition at line 55 of file RobotDimensions.h.

Referenced by Kinematics::jointsFromLegPosition().

const double RobotDimensions::jointLimitLeg1FP
 

Definition at line 56 of file RobotDimensions.h.

Referenced by Kinematics::jointsFromLegPosition().

const double RobotDimensions::jointLimitLeg1HN
 

Definition at line 57 of file RobotDimensions.h.

Referenced by Kinematics::jointsFromLegPosition().

const double RobotDimensions::jointLimitLeg1HP
 

Definition at line 58 of file RobotDimensions.h.

Referenced by Kinematics::jointsFromLegPosition().

const double RobotDimensions::jointLimitLeg2N
 

Definition at line 59 of file RobotDimensions.h.

Referenced by Kinematics::jointsFromLegPosition().

const double RobotDimensions::jointLimitLeg2P
 

Definition at line 60 of file RobotDimensions.h.

Referenced by Kinematics::jointsFromLegPosition().

const double RobotDimensions::jointLimitLeg3N
 

Definition at line 61 of file RobotDimensions.h.

Referenced by Kinematics::jointsFromLegPosition().

const double RobotDimensions::jointLimitLeg3P
 

Definition at line 62 of file RobotDimensions.h.

Referenced by Kinematics::jointsFromLegPosition().

const double RobotDimensions::jointLimitNeckTiltN
 

Definition at line 64 of file RobotDimensions.h.

Referenced by Kinematics::calcLowestPossibleTilt(), GT2004HeadControl::GT2004HeadControl(), and GT2004HeadPathPlanner::init().

const double RobotDimensions::jointLimitNeckTiltP
 

Definition at line 65 of file RobotDimensions.h.

Referenced by Kinematics::calcHighestPossibleTilt(), GT2004HeadControl::GT2004HeadControl(), and GT2004HeadPathPlanner::init().

const double RobotDimensions::jointLimitHeadPanN
 

Definition at line 66 of file RobotDimensions.h.

Referenced by GT2004HeadControl::GT2004HeadControl(), and GT2004HeadPathPlanner::init().

const double RobotDimensions::jointLimitHeadPanP
 

Definition at line 67 of file RobotDimensions.h.

Referenced by GT2004BasicBehaviorDirectedScanForLandmarks::execute(), GT2004HeadControl::GT2004HeadControl(), and GT2004HeadPathPlanner::init().

const double RobotDimensions::jointLimitHeadTiltN
 

Definition at line 68 of file RobotDimensions.h.

Referenced by Kinematics::calcAbsRollJoints(), Kinematics::calcHighestPossibleTilt(), GT2004HeadControl::GT2004HeadControl(), and GT2004HeadPathPlanner::init().

const double RobotDimensions::jointLimitHeadTiltP
 

Definition at line 69 of file RobotDimensions.h.

Referenced by Kinematics::calcAbsRollJoints(), Kinematics::calcLowestPossibleTilt(), GT2004HeadControl::GT2004HeadControl(), and GT2004HeadPathPlanner::init().

const double RobotDimensions::jointLimitTailTiltN
 

Definition at line 71 of file RobotDimensions.h.

const double RobotDimensions::jointLimitTailTiltP
 

Definition at line 72 of file RobotDimensions.h.

const double RobotDimensions::jointLimitTailPanN
 

Definition at line 73 of file RobotDimensions.h.

const double RobotDimensions::jointLimitTailPanP
 

Definition at line 74 of file RobotDimensions.h.

const double RobotDimensions::motionCycleTime
 

Definition at line 77 of file RobotDimensions.h.

Referenced by Geometry::calculateScaleFactor(), GT2004ImageProcessor::execute(), GT2004BallLocator::handleSeenBall(), and GT2003MotionNetSpecialActions::readOdometryTable().

const double RobotDimensions::imagesPerSecond
 

Length of one motion cycle in seconds.

Definition at line 78 of file RobotDimensions.h.

Referenced by Geometry::calculateScaleFactor().

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