#include <gu_util.h>
#include <stdint.h>

Include dependency graph for wb_hal_legtarget.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	wb_hal_legtarget
	HalLegTarget c struct. More...

Macros
#define	LEFT_LEG 0
	/file wb_hal_legtarget.h More...

#define	RIGHT_LEG 1

#define	HIP_YAWPITCH_LIMIT_BACK_DEG -65.62f
	Issued Commands that exceed the movement limits given below are treated as NO-OP. More...

#define	HIP_YAWPITCH_LIMIT_FRONT_DEG 42.44f

#define	LEFT_HIP_ROLL_OUT_DEG 45.29f

#define	LEFT_HIP_ROLL_IN_DEG -21.74f

#define	LEFT_HIP_PITCH_FRONT_DEG -88.00f

#define	LEFT_HIP_PITCH_BACK_DEG 27.73f

#define	LEFT_KNEE_PITCH_FRONT_DEG -5.29f

#define	LEFT_KNEE_PITCH_BACK_DEG 121.04f

#define	LEFT_ANKLE_PITCH_FRONT_DEG -68.15f

#define	LEFT_ANKLE_PITCH_BACK_DEG 52.86f

#define	LEFT_ANKLE_ROLL_OUT_DEG 44.06f

#define	LEFT_ANKLE_ROLL_IN_DEG -22.79f

#define	RIGHT_HIP_ROLL_OUT_DEG -45.29f

#define	RIGHT_HIP_ROLL_IN_DEG 21.74f

#define	RIGHT_HIP_PITCH_FRONT_DEG -88.00f

#define	RIGHT_HIP_PITCH_BACK_DEG 27.73f

#define	RIGHT_KNEE_PITCH_FRONT_DEG -5.90f

#define	RIGHT_KNEE_PITCH_BACK_DEG 121.47f

#define	RIGHT_ANKLE_PITCH_FRONT_DEG -67.97f

#define	RIGHT_ANKLE_PITCH_BACK_DEG 53.40f

#define	RIGHT_ANKLE_ROLL_OUT_DEG -44.06f

#define	RIGHT_ANKLE_ROLL_IN_DEG 22.80f

#define	HIP_YAWPITCH_LIMIT_BACK_RAD -1.145303f
	Limits expressed in radians. More...

#define	HIP_YAWPITCH_LIMIT_FRONT_RAD 0.740810f

#define	LEFT_HIP_ROLL_OUT_RAD 0.790477f

#define	LEFT_HIP_ROLL_IN_RAD -0.379472f

#define	LEFT_HIP_PITCH_FRONT_RAD -1.535889f

#define	LEFT_HIP_PITCH_BACK_RAD 0.484090f

#define	LEFT_KNEE_PITCH_FRONT_RAD -0.092346f

#define	LEFT_KNEE_PITCH_BACK_RAD 2.112528f

#define	LEFT_ANKLE_PITCH_FRONT_RAD -1.189516f

#define	LEFT_ANKLE_PITCH_BACK_RAD 0.922747f

#define	LEFT_ANKLE_ROLL_OUT_RAD 0.769001f

#define	LEFT_ANKLE_ROLL_IN_RAD -0.397880f

#define	RIGHT_HIP_ROLL_OUT_RAD -0.790477f

#define	RIGHT_HIP_ROLL_IN_RAD 0.379472f

#define	RIGHT_HIP_PITCH_FRONT_RAD -1.535889f

#define	RIGHT_HIP_PITCH_BACK_RAD 0.484090f

#define	RIGHT_KNEE_PITCH_FRONT_RAD -0.103083f

#define	RIGHT_KNEE_PITCH_BACK_RAD 2.120198f

#define	RIGHT_ANKLE_PITCH_FRONT_RAD -1.186448f

#define	RIGHT_ANKLE_PITCH_BACK_RAD 0.932056f

#define	RIGHT_ANKLE_ROLL_OUT_RAD -0.768992f

#define	RIGHT_ANKLE_ROLL_IN_RAD 0.397935f

Macro Definition Documentation

◆ HIP_YAWPITCH_LIMIT_BACK_DEG

#define HIP_YAWPITCH_LIMIT_BACK_DEG -65.62f

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 (from Aldebaran Docs ./family/nao_h25/joints_h25.html)

Definition at line 24 of file wb_hal_legtarget.h.

◆ HIP_YAWPITCH_LIMIT_BACK_RAD

#define HIP_YAWPITCH_LIMIT_BACK_RAD -1.145303f

Limits expressed in radians.

Definition at line 50 of file wb_hal_legtarget.h.

◆ HIP_YAWPITCH_LIMIT_FRONT_DEG

#define HIP_YAWPITCH_LIMIT_FRONT_DEG 42.44f

Definition at line 25 of file wb_hal_legtarget.h.

◆ HIP_YAWPITCH_LIMIT_FRONT_RAD

#define HIP_YAWPITCH_LIMIT_FRONT_RAD 0.740810f

Definition at line 51 of file wb_hal_legtarget.h.

◆ LEFT_ANKLE_PITCH_BACK_DEG

#define LEFT_ANKLE_PITCH_BACK_DEG 52.86f

Definition at line 34 of file wb_hal_legtarget.h.

◆ LEFT_ANKLE_PITCH_BACK_RAD

#define LEFT_ANKLE_PITCH_BACK_RAD 0.922747f

Definition at line 60 of file wb_hal_legtarget.h.

◆ LEFT_ANKLE_PITCH_FRONT_DEG

#define LEFT_ANKLE_PITCH_FRONT_DEG -68.15f

Definition at line 33 of file wb_hal_legtarget.h.

◆ LEFT_ANKLE_PITCH_FRONT_RAD

#define LEFT_ANKLE_PITCH_FRONT_RAD -1.189516f

Definition at line 59 of file wb_hal_legtarget.h.

◆ LEFT_ANKLE_ROLL_IN_DEG

#define LEFT_ANKLE_ROLL_IN_DEG -22.79f

Definition at line 36 of file wb_hal_legtarget.h.

◆ LEFT_ANKLE_ROLL_IN_RAD

#define LEFT_ANKLE_ROLL_IN_RAD -0.397880f

Definition at line 62 of file wb_hal_legtarget.h.

◆ LEFT_ANKLE_ROLL_OUT_DEG

#define LEFT_ANKLE_ROLL_OUT_DEG 44.06f

Definition at line 35 of file wb_hal_legtarget.h.

◆ LEFT_ANKLE_ROLL_OUT_RAD

#define LEFT_ANKLE_ROLL_OUT_RAD 0.769001f

Definition at line 61 of file wb_hal_legtarget.h.

◆ LEFT_HIP_PITCH_BACK_DEG

#define LEFT_HIP_PITCH_BACK_DEG 27.73f

Definition at line 30 of file wb_hal_legtarget.h.

◆ LEFT_HIP_PITCH_BACK_RAD

#define LEFT_HIP_PITCH_BACK_RAD 0.484090f

Definition at line 56 of file wb_hal_legtarget.h.

◆ LEFT_HIP_PITCH_FRONT_DEG

#define LEFT_HIP_PITCH_FRONT_DEG -88.00f

Definition at line 29 of file wb_hal_legtarget.h.

◆ LEFT_HIP_PITCH_FRONT_RAD

#define LEFT_HIP_PITCH_FRONT_RAD -1.535889f

Definition at line 55 of file wb_hal_legtarget.h.

◆ LEFT_HIP_ROLL_IN_DEG

#define LEFT_HIP_ROLL_IN_DEG -21.74f

Definition at line 28 of file wb_hal_legtarget.h.

◆ LEFT_HIP_ROLL_IN_RAD

#define LEFT_HIP_ROLL_IN_RAD -0.379472f

Definition at line 54 of file wb_hal_legtarget.h.

◆ LEFT_HIP_ROLL_OUT_DEG

#define LEFT_HIP_ROLL_OUT_DEG 45.29f

Definition at line 27 of file wb_hal_legtarget.h.

◆ LEFT_HIP_ROLL_OUT_RAD

#define LEFT_HIP_ROLL_OUT_RAD 0.790477f

Definition at line 53 of file wb_hal_legtarget.h.

◆ LEFT_KNEE_PITCH_BACK_DEG

#define LEFT_KNEE_PITCH_BACK_DEG 121.04f

Definition at line 32 of file wb_hal_legtarget.h.

◆ LEFT_KNEE_PITCH_BACK_RAD

#define LEFT_KNEE_PITCH_BACK_RAD 2.112528f

Definition at line 58 of file wb_hal_legtarget.h.

◆ LEFT_KNEE_PITCH_FRONT_DEG

#define LEFT_KNEE_PITCH_FRONT_DEG -5.29f

Definition at line 31 of file wb_hal_legtarget.h.

◆ LEFT_KNEE_PITCH_FRONT_RAD

#define LEFT_KNEE_PITCH_FRONT_RAD -0.092346f

Definition at line 57 of file wb_hal_legtarget.h.

◆ LEFT_LEG

#define LEFT_LEG 0

/file wb_hal_legtarget.h

Definition at line 15 of file wb_hal_legtarget.h.

◆ RIGHT_ANKLE_PITCH_BACK_DEG

#define RIGHT_ANKLE_PITCH_BACK_DEG 53.40f

Definition at line 45 of file wb_hal_legtarget.h.

◆ RIGHT_ANKLE_PITCH_BACK_RAD

#define RIGHT_ANKLE_PITCH_BACK_RAD 0.932056f

Definition at line 71 of file wb_hal_legtarget.h.

◆ RIGHT_ANKLE_PITCH_FRONT_DEG

#define RIGHT_ANKLE_PITCH_FRONT_DEG -67.97f

Definition at line 44 of file wb_hal_legtarget.h.

◆ RIGHT_ANKLE_PITCH_FRONT_RAD

#define RIGHT_ANKLE_PITCH_FRONT_RAD -1.186448f

Definition at line 70 of file wb_hal_legtarget.h.

◆ RIGHT_ANKLE_ROLL_IN_DEG

#define RIGHT_ANKLE_ROLL_IN_DEG 22.80f

Definition at line 47 of file wb_hal_legtarget.h.

◆ RIGHT_ANKLE_ROLL_IN_RAD

#define RIGHT_ANKLE_ROLL_IN_RAD 0.397935f

Definition at line 73 of file wb_hal_legtarget.h.

◆ RIGHT_ANKLE_ROLL_OUT_DEG

#define RIGHT_ANKLE_ROLL_OUT_DEG -44.06f

Definition at line 46 of file wb_hal_legtarget.h.

◆ RIGHT_ANKLE_ROLL_OUT_RAD

#define RIGHT_ANKLE_ROLL_OUT_RAD -0.768992f

Definition at line 72 of file wb_hal_legtarget.h.

◆ RIGHT_HIP_PITCH_BACK_DEG

#define RIGHT_HIP_PITCH_BACK_DEG 27.73f

Definition at line 41 of file wb_hal_legtarget.h.

◆ RIGHT_HIP_PITCH_BACK_RAD

#define RIGHT_HIP_PITCH_BACK_RAD 0.484090f

Definition at line 67 of file wb_hal_legtarget.h.

◆ RIGHT_HIP_PITCH_FRONT_DEG

#define RIGHT_HIP_PITCH_FRONT_DEG -88.00f

Definition at line 40 of file wb_hal_legtarget.h.

◆ RIGHT_HIP_PITCH_FRONT_RAD

#define RIGHT_HIP_PITCH_FRONT_RAD -1.535889f

Definition at line 66 of file wb_hal_legtarget.h.

◆ RIGHT_HIP_ROLL_IN_DEG

#define RIGHT_HIP_ROLL_IN_DEG 21.74f

Definition at line 39 of file wb_hal_legtarget.h.

◆ RIGHT_HIP_ROLL_IN_RAD

#define RIGHT_HIP_ROLL_IN_RAD 0.379472f

Definition at line 65 of file wb_hal_legtarget.h.

◆ RIGHT_HIP_ROLL_OUT_DEG

#define RIGHT_HIP_ROLL_OUT_DEG -45.29f

Definition at line 38 of file wb_hal_legtarget.h.

◆ RIGHT_HIP_ROLL_OUT_RAD

#define RIGHT_HIP_ROLL_OUT_RAD -0.790477f

Definition at line 64 of file wb_hal_legtarget.h.

◆ RIGHT_KNEE_PITCH_BACK_DEG

#define RIGHT_KNEE_PITCH_BACK_DEG 121.47f

Definition at line 43 of file wb_hal_legtarget.h.

◆ RIGHT_KNEE_PITCH_BACK_RAD

#define RIGHT_KNEE_PITCH_BACK_RAD 2.120198f

Definition at line 69 of file wb_hal_legtarget.h.

◆ RIGHT_KNEE_PITCH_FRONT_DEG

#define RIGHT_KNEE_PITCH_FRONT_DEG -5.90f

Definition at line 42 of file wb_hal_legtarget.h.

◆ RIGHT_KNEE_PITCH_FRONT_RAD

#define RIGHT_KNEE_PITCH_FRONT_RAD -0.103083f

Definition at line 68 of file wb_hal_legtarget.h.

◆ RIGHT_LEG

#define RIGHT_LEG 1

Definition at line 16 of file wb_hal_legtarget.h.

Classes

Macros