hekCalibStretch.cxx File Reference

HekCalibStretch - Hekateros calibration by stretching class implementation. More...

#include "rnr/rnrconfig.h"
#include "Dynamixel/Dynamixel.h"
#include "Dynamixel/DynaServo.h"
#include "Hekateros/hekateros.h"
#include "Hekateros/hekJoint.h"
#include "Hekateros/hekMonitor.h"
#include "Hekateros/hekCalib.h"
#include "Hekateros/hekCalibStretch.h"
#include "Hekateros/hekRobot.h"

Go to the source code of this file.

Macros
#define	HEK_TRY_GET_SERVO(nServoId, pServo)
	Convenience macro for trying to get a servo object from dynamixel chain. More...

Variables
static const string	CalibOrder []
	Calibration order by master servo id. More...

Detailed Description

HekCalibStretch - Hekateros calibration by stretching class implementation.

LastChangedDate

2015-02-11 15:38:58 -0700 (Wed, 11 Feb 2015)

Rev

3868

Author

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Copyright

© 2013-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file hekCalibStretch.cxx.

Macro Definition Documentation

#define HEK_TRY_GET_SERVO	(		nServoId,
			pServo
	)

Value:

do \
  { \
    if( (pServo = m_robot.m_pDynaChain->GetServo(nServoId)) == NULL ) \
    { \
      LOGERROR("BUG: Servo %d: Cannot find in dynamixel chain.", nServoId); \
      return -HEK_ECODE_INTERNAL; \
    } \
  } while(0)

Convenience macro for trying to get a servo object from dynamixel chain.

Failure is considered a software bug since the chain has already be verified.

Only works locally.

Parameters

[in]	nServoId	Servo id.
[out]	pServo	Pointer to associated servo object.

Returns

On failure, forces return from calling function with the appropriate error code.

Definition at line 84 of file hekCalibStretch.cxx.

Referenced by hekateros::HekCalibStretch::calibrateJointByTorqueLimits().

Variable Documentation

const string CalibOrder[]

static

Initial value:

=
{
  "grip",
  "wrist_pitch",
  "wrist_rot",
  "elbow",
  "shoulder",
  "base_rot"
}

Calibration order by master servo id.

Definition at line 97 of file hekCalibStretch.cxx.

Referenced by hekateros::HekCalibStretch::calibrate().