libnifalcon::StamperKinematicImpl Namespace Reference


Classes

struct  Angle

Enumerations

enum  arm_id { ARM_1 = 0, ARM_2, ARM_3 }
enum  theta_id { THETA_1 = 0, THETA_2, THETA_3 }
enum  coord { X = 0, Y, Z }

Enumeration Type Documentation

Enumeration for joints. Looking at the falcon from the front, goes from top, clockwise

Enumerator:
ARM_1 
ARM_2 
ARM_3 

Enumeration for cartesian coordinates

Enumerator:
X 
Y 
Z 

Enumeration for joint angles. THETA_1 is thigh angle (connecting the leg to the device), THETA_2 is knee angle (connecting thigh to shin) THETA_3 is shin angle (connecting shin to end effector)

Enumerator:
THETA_1 
THETA_2 
THETA_3 


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