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wb_hal_armtarget.h File Reference
#include <gu_util.h>
#include <stdint.h>
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Classes

struct  wb_hal_armtarget
 HalArmTarget c struct. More...
 

Macros

#define LEFT_ARM   0
 /file wb_hal_armtarget.h More...
 
#define RIGHT_ARM   1
 
#define SHOULDER_PITCH_LIMIT_DOWN_DEG   119.5f
 Issued Commands that exceed the movement limits given below are treated as NO-OP. More...
 
#define SHOULDER_PITCH_LIMIT_UP_DEG   -SHOULDER_PITCH_LIMIT_DOWN_DEG
 
#define LEFT_SHOULDER_ROLL_OUT_DEG   76.0f
 
#define LEFT_SHOULDER_ROLL_IN_DEG   -18.0f
 
#define RIGHT_SHOULDER_ROLL_OUT_DEG   -LEFT_SHOULDER_ROLL_OUT_DEG
 
#define RIGHT_SHOULDER_ROLL_IN_DEG   -LEFT_SHOULDER_ROLL_IN_DEG
 
#define LEFT_ELBOW_ROLL_STRAIGHT_DEG   -2.0f
 
#define LEFT_ELBOW_ROLL_BENT_DEG   -88.5f
 
#define RIGHT_ELBOW_ROLL_STRAIGHT_DEG   -LEFT_ELBOW_ROLL_STRAIGHT_DEG
 
#define RIGHT_ELBOW_ROLL_BENT_DEG   -LEFT_ELBOW_ROLL_BENT_DEG
 
#define LEFT_ELBOW_YAW_RIGHT_DEG   119.5f
 
#define LEFT_ELBOW_YAW_LEFT_DEG   -LEFT_ELBOW_YAW_RIGHT_DEG
 
#define RIGHT_ELBOW_YAW_RIGHT_DEG   LEFT_ELBOW_YAW_RIGHT_DEG
 
#define RIGHT_ELBOW_YAW_LEFT_DEG   -LEFT_ELBOW_YAW_RIGHT_DEG
 
#define LEFT_WRIST_YAW_RIGHT_DEG   104.5f
 
#define LEFT_WRIST_YAW_LEFT_DEG   -LEFT_WRIST_YAW_RIGHT_DEG
 
#define RIGHT_WRIST_YAW_RIGHT_DEG   LEFT_WRIST_YAW_RIGHT_DEG
 
#define RIGHT_WRIST_YAW_LEFT_DEG   -LEFT_WRIST_YAW_RIGHT_DEG
 
#define SHOULDER_PITCH_LIMIT_DOWN_RAD   2.0857f
 Limits expressed in radians. More...
 
#define SHOULDER_PITCH_LIMIT_UP_RAD   -SHOULDER_PITCH_LIMIT_DOWN_RAD
 
#define LEFT_SHOULDER_ROLL_OUT_RAD   1.3265f
 
#define LEFT_SHOULDER_ROLL_IN_RAD   -0.3142f
 
#define RIGHT_SHOULDER_ROLL_OUT_RAD   -LEFT_SHOULDER_ROLL_OUT_RAD
 
#define RIGHT_SHOULDER_ROLL_IN_RAD   -LEFT_SHOULDER_ROLL_IN_RAD
 
#define LEFT_ELBOW_ROLL_STRAIGHT_RAD   -0.0349f
 
#define LEFT_ELBOW_ROLL_BENT_RAD   -1.5446f
 
#define RIGHT_ELBOW_ROLL_STRAIGHT_RAD   -LEFT_ELBOW_ROLL_STRAIGHT_RAD
 
#define RIGHT_ELBOW_ROLL_BENT_RAD   -LEFT_ELBOW_ROLL_BENT_RAD
 
#define LEFT_ELBOW_YAW_RIGHT_RAD   2.0857f
 
#define LEFT_ELBOW_YAW_LEFT_RAD   -LEFT_ELBOW_YAW_RIGHT_RAD
 
#define RIGHT_ELBOW_YAW_RIGHT_RAD   LEFT_ELBOW_YAW_RIGHT_RAD
 
#define RIGHT_ELBOW_YAW_LEFT_RAD   -LEFT_ELBOW_YAW_RIGHT_RAD
 
#define LEFT_WRIST_YAW_RIGHT_RAD   1.8238f
 
#define LEFT_WRIST_YAW_LEFT_RAD   -LEFT_WRIST_YAW_RIGHT_RAD
 
#define RIGHT_WRIST_YAW_RIGHT_RAD   LEFT_WRIST_YAW_RIGHT_RAD
 
#define RIGHT_WRIST_YAW_LEFT_RAD   -LEFT_WRIST_YAW_RIGHT_RAD
 

Macro Definition Documentation

◆ LEFT_ARM

#define LEFT_ARM   0

/file wb_hal_armtarget.h

Created by Dimitri Joukoff 2016. Copyright (c) 2016 Dimitri Joukoff All rights reserved.

Definition at line 15 of file wb_hal_armtarget.h.

◆ LEFT_ELBOW_ROLL_BENT_DEG

#define LEFT_ELBOW_ROLL_BENT_DEG   -88.5f

Definition at line 33 of file wb_hal_armtarget.h.

◆ LEFT_ELBOW_ROLL_BENT_RAD

#define LEFT_ELBOW_ROLL_BENT_RAD   -1.5446f

Definition at line 57 of file wb_hal_armtarget.h.

◆ LEFT_ELBOW_ROLL_STRAIGHT_DEG

#define LEFT_ELBOW_ROLL_STRAIGHT_DEG   -2.0f

Definition at line 32 of file wb_hal_armtarget.h.

◆ LEFT_ELBOW_ROLL_STRAIGHT_RAD

#define LEFT_ELBOW_ROLL_STRAIGHT_RAD   -0.0349f

Definition at line 56 of file wb_hal_armtarget.h.

◆ LEFT_ELBOW_YAW_LEFT_DEG

#define LEFT_ELBOW_YAW_LEFT_DEG   -LEFT_ELBOW_YAW_RIGHT_DEG

Definition at line 38 of file wb_hal_armtarget.h.

◆ LEFT_ELBOW_YAW_LEFT_RAD

#define LEFT_ELBOW_YAW_LEFT_RAD   -LEFT_ELBOW_YAW_RIGHT_RAD

Definition at line 62 of file wb_hal_armtarget.h.

◆ LEFT_ELBOW_YAW_RIGHT_DEG

#define LEFT_ELBOW_YAW_RIGHT_DEG   119.5f

Definition at line 37 of file wb_hal_armtarget.h.

◆ LEFT_ELBOW_YAW_RIGHT_RAD

#define LEFT_ELBOW_YAW_RIGHT_RAD   2.0857f

Definition at line 61 of file wb_hal_armtarget.h.

◆ LEFT_SHOULDER_ROLL_IN_DEG

#define LEFT_SHOULDER_ROLL_IN_DEG   -18.0f

Definition at line 28 of file wb_hal_armtarget.h.

◆ LEFT_SHOULDER_ROLL_IN_RAD

#define LEFT_SHOULDER_ROLL_IN_RAD   -0.3142f

Definition at line 52 of file wb_hal_armtarget.h.

◆ LEFT_SHOULDER_ROLL_OUT_DEG

#define LEFT_SHOULDER_ROLL_OUT_DEG   76.0f

Definition at line 27 of file wb_hal_armtarget.h.

◆ LEFT_SHOULDER_ROLL_OUT_RAD

#define LEFT_SHOULDER_ROLL_OUT_RAD   1.3265f

Definition at line 51 of file wb_hal_armtarget.h.

◆ LEFT_WRIST_YAW_LEFT_DEG

#define LEFT_WRIST_YAW_LEFT_DEG   -LEFT_WRIST_YAW_RIGHT_DEG

Definition at line 43 of file wb_hal_armtarget.h.

◆ LEFT_WRIST_YAW_LEFT_RAD

#define LEFT_WRIST_YAW_LEFT_RAD   -LEFT_WRIST_YAW_RIGHT_RAD

Definition at line 67 of file wb_hal_armtarget.h.

◆ LEFT_WRIST_YAW_RIGHT_DEG

#define LEFT_WRIST_YAW_RIGHT_DEG   104.5f

Definition at line 42 of file wb_hal_armtarget.h.

◆ LEFT_WRIST_YAW_RIGHT_RAD

#define LEFT_WRIST_YAW_RIGHT_RAD   1.8238f

Definition at line 66 of file wb_hal_armtarget.h.

◆ RIGHT_ARM

#define RIGHT_ARM   1

Definition at line 16 of file wb_hal_armtarget.h.

◆ RIGHT_ELBOW_ROLL_BENT_DEG

#define RIGHT_ELBOW_ROLL_BENT_DEG   -LEFT_ELBOW_ROLL_BENT_DEG

Definition at line 35 of file wb_hal_armtarget.h.

◆ RIGHT_ELBOW_ROLL_BENT_RAD

#define RIGHT_ELBOW_ROLL_BENT_RAD   -LEFT_ELBOW_ROLL_BENT_RAD

Definition at line 59 of file wb_hal_armtarget.h.

◆ RIGHT_ELBOW_ROLL_STRAIGHT_DEG

#define RIGHT_ELBOW_ROLL_STRAIGHT_DEG   -LEFT_ELBOW_ROLL_STRAIGHT_DEG

Definition at line 34 of file wb_hal_armtarget.h.

◆ RIGHT_ELBOW_ROLL_STRAIGHT_RAD

#define RIGHT_ELBOW_ROLL_STRAIGHT_RAD   -LEFT_ELBOW_ROLL_STRAIGHT_RAD

Definition at line 58 of file wb_hal_armtarget.h.

◆ RIGHT_ELBOW_YAW_LEFT_DEG

#define RIGHT_ELBOW_YAW_LEFT_DEG   -LEFT_ELBOW_YAW_RIGHT_DEG

Definition at line 40 of file wb_hal_armtarget.h.

◆ RIGHT_ELBOW_YAW_LEFT_RAD

#define RIGHT_ELBOW_YAW_LEFT_RAD   -LEFT_ELBOW_YAW_RIGHT_RAD

Definition at line 64 of file wb_hal_armtarget.h.

◆ RIGHT_ELBOW_YAW_RIGHT_DEG

#define RIGHT_ELBOW_YAW_RIGHT_DEG   LEFT_ELBOW_YAW_RIGHT_DEG

Definition at line 39 of file wb_hal_armtarget.h.

◆ RIGHT_ELBOW_YAW_RIGHT_RAD

#define RIGHT_ELBOW_YAW_RIGHT_RAD   LEFT_ELBOW_YAW_RIGHT_RAD

Definition at line 63 of file wb_hal_armtarget.h.

◆ RIGHT_SHOULDER_ROLL_IN_DEG

#define RIGHT_SHOULDER_ROLL_IN_DEG   -LEFT_SHOULDER_ROLL_IN_DEG

Definition at line 30 of file wb_hal_armtarget.h.

◆ RIGHT_SHOULDER_ROLL_IN_RAD

#define RIGHT_SHOULDER_ROLL_IN_RAD   -LEFT_SHOULDER_ROLL_IN_RAD

Definition at line 54 of file wb_hal_armtarget.h.

◆ RIGHT_SHOULDER_ROLL_OUT_DEG

#define RIGHT_SHOULDER_ROLL_OUT_DEG   -LEFT_SHOULDER_ROLL_OUT_DEG

Definition at line 29 of file wb_hal_armtarget.h.

◆ RIGHT_SHOULDER_ROLL_OUT_RAD

#define RIGHT_SHOULDER_ROLL_OUT_RAD   -LEFT_SHOULDER_ROLL_OUT_RAD

Definition at line 53 of file wb_hal_armtarget.h.

◆ RIGHT_WRIST_YAW_LEFT_DEG

#define RIGHT_WRIST_YAW_LEFT_DEG   -LEFT_WRIST_YAW_RIGHT_DEG

Definition at line 45 of file wb_hal_armtarget.h.

◆ RIGHT_WRIST_YAW_LEFT_RAD

#define RIGHT_WRIST_YAW_LEFT_RAD   -LEFT_WRIST_YAW_RIGHT_RAD

Definition at line 69 of file wb_hal_armtarget.h.

◆ RIGHT_WRIST_YAW_RIGHT_DEG

#define RIGHT_WRIST_YAW_RIGHT_DEG   LEFT_WRIST_YAW_RIGHT_DEG

Definition at line 44 of file wb_hal_armtarget.h.

◆ RIGHT_WRIST_YAW_RIGHT_RAD

#define RIGHT_WRIST_YAW_RIGHT_RAD   LEFT_WRIST_YAW_RIGHT_RAD

Definition at line 68 of file wb_hal_armtarget.h.

◆ SHOULDER_PITCH_LIMIT_DOWN_DEG

#define SHOULDER_PITCH_LIMIT_DOWN_DEG   119.5f

Issued Commands that exceed the movement limits given below are treated as NO-OP.

I.e. the pose of the joint is not altered by the command. Limits expressed in degrees

Definition at line 24 of file wb_hal_armtarget.h.

◆ SHOULDER_PITCH_LIMIT_DOWN_RAD

#define SHOULDER_PITCH_LIMIT_DOWN_RAD   2.0857f

Limits expressed in radians.

Definition at line 48 of file wb_hal_armtarget.h.

◆ SHOULDER_PITCH_LIMIT_UP_DEG

#define SHOULDER_PITCH_LIMIT_UP_DEG   -SHOULDER_PITCH_LIMIT_DOWN_DEG

Definition at line 25 of file wb_hal_armtarget.h.

◆ SHOULDER_PITCH_LIMIT_UP_RAD

#define SHOULDER_PITCH_LIMIT_UP_RAD   -SHOULDER_PITCH_LIMIT_DOWN_RAD

Definition at line 49 of file wb_hal_armtarget.h.