p3d_dof_data Struct Reference

Structure used to store the data of each degree of freedom. More...

#include <device.h>

List of all members.

Public Attributes
p3d_vector3	axis
	Axis of the degree of freedom.
double	v
	Value of the degree of freedom.
double	old_v
	Old value of the degree of freedom.
double	v0
	Reference value of the degree of freedom.
double	vmin
	Minimum bounds value of the degree of freedom.
double	vmax
	Maximum bounds value of the degree of freedom.
double	velocity_max
	velocity without payload of the degree of freedom.
double	acceleration_max
	acceleration without payload of the degree of freedom.
double	jerk_max
	jerk without payload of the degree of freedom.
double	torque_max
	Maximum torque of the degree of freedom.
double	vmin_r
	Minimum bounds of random value of the degree of freedom.
double	vmax_r
	Maximum bounds of random value of the degree of freedom.
int	is_user
	Flag to show if the degree of freedom is controled by user.
int	is_active_for_planner
	Flag to show if the degree of freedom is active/passive for the planner (used by ML-RRT).
int	is_modified
	Flag to show if the degree of freedom has been modified.
int	lock
bool	circular
	Is the dof allowed to rotate freely, or is it limited by the bounds ?

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Detailed Description

Structure used to store the data of each degree of freedom.

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Member Data Documentation

bool p3d_dof_data::circular

Is the dof allowed to rotate freely, or is it limited by the bounds ?

Note:

Whether a dof is circular or not is computed in the p3d_jnt_set_dof_bounds function.

int p3d_dof_data::is_active_for_planner

Flag to show if the degree of freedom is active/passive for the planner (used by ML-RRT).

Note:

This flag maybe redundant with the flag "is_user".

int p3d_dof_data::is_modified

Flag to show if the degree of freedom has been modified.

Note:

This flag is not set to FALSE by p3d_update_this_robot_pos_without_obj(), but p3d_update_this_robot_pos_without_cntrt() and p3d_update_this_robot_pos() put it to false after its modification.

int p3d_dof_data::is_user

Flag to show if the degree of freedom is controled by user.

Note:

If it isn't controled by user, then it isn't controled by p3d_shoot. This flag could be used for placement joint, passif joint or degree of freedom computed by local method.

int p3d_dof_data::lock

Warning:

unused... at this time.

double p3d_dof_data::old_v

Old value of the degree of freedom.

Note:

Use to see if there is a change in this degree of freedom.

double p3d_dof_data::v0

Reference value of the degree of freedom.

Note: Use only in the sdk. The real value is v+v0.

double p3d_dof_data::vmax_r

Maximum bounds of random value of the degree of freedom.

Note: Those bounds are used in p3d_shoot.

double p3d_dof_data::vmin_r

Minimum bounds of random value of the degree of freedom.

Note: Those bounds are used in p3d_shoot.

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

• /home/slemaign/softs-local/BioMove3D-git/include/device.h