hekateros::HekSpecJoint_T Struct Reference

Robotic joint specification. More...

#include <hekSpec.h>

Public Member Functions
HekSpecJoint_T	operator= (const HekSpecJoint_T &rhs)
	Assignment operator. More...

Public Attributes
std::string	m_strName
	joint name
int	m_nMasterServoId
	master servo id
int	m_nSlaveServoId
	linked slave servo id, if any
int	m_eJointType
	joint type
double	m_fGearRatio
	joint gear ratio
double	m_fMinPhyLimit
	joint minimum physical limit (degrees)
double	m_fMaxPhyLimit
	joint maximum physical limit (degrees)
int	m_eLimitTypes
	joint limit types
HekOpticalLimit_T	m_limit [HekOptLimitMaxPerJoint]
	optical limits
double	m_fCalibPos
	joint calibrated position (degrees)
double	m_fBalancedPos
	joint balanced position (degrees)
double	m_fParkedPos
	joint parked position (degrees)
int	m_nLinkParent
	parent link index
int	m_nLinkChild
	child link index

Detailed Description

Robotic joint specification.

Definition at line 139 of file hekSpec.h.

Member Function Documentation

HekSpecJoint_T hekateros::HekSpecJoint_T::operator= ( const HekSpecJoint_T &  rhs )

inline

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

this.

Definition at line 148 of file hekSpec.h.

References hekateros::HekOptLimitMaxPerJoint, m_eJointType, m_eLimitTypes, m_fBalancedPos, m_fCalibPos, m_fGearRatio, m_fMaxPhyLimit, m_fMinPhyLimit, m_fParkedPos, m_limit, m_nLinkChild, m_nLinkParent, m_nMasterServoId, m_nSlaveServoId, hekateros::HekSpecLink_T::m_strName, and m_strName.

    {
      int i;

      m_strName         = rhs.m_strName;
      m_nMasterServoId  = rhs.m_nMasterServoId;
      m_nSlaveServoId   = rhs.m_nSlaveServoId;
      m_eJointType      = rhs.m_eJointType;
      m_fGearRatio      = rhs.m_fGearRatio;
      m_fMinPhyLimit    = rhs.m_fMinPhyLimit;
      m_fMaxPhyLimit    = rhs.m_fMaxPhyLimit;
      m_eLimitTypes     = rhs.m_eLimitTypes;
      m_fCalibPos       = rhs.m_fCalibPos;
      m_fBalancedPos    = rhs.m_fBalancedPos;
      m_fParkedPos      = rhs.m_fParkedPos;
      m_nLinkParent     = rhs.m_nLinkParent;
      m_nLinkChild      = rhs.m_nLinkChild;

      for(i=0; i<HekOptLimitMaxPerJoint; ++i)
      {
        m_limit[i] = rhs.m_limit[i];
      }

      return *this;
    }

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

• include/Hekateros/hekSpec.h