Robot Simulator of the Robotics Group for Self-Organization of Control  0.8.0
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HexapodConf Struct Reference

#include <hexapod.h>

Collaboration diagram for HexapodConf:

Public Attributes

double size
 scaling factor for robot (diameter of body) More...
 
double legLength
 length of the legs in units of size More...
 
int legNumber
 number of snake elements More...
 
double width
 body with in units of size More...
 
double height
 body with in units of size More...
 
double mass
 chassis mass More...
 
double percentageBodyMass
 relation between bodymass(trunk) and rest More...
 
double coxaPower
 maximal force for at hip joint motors More...
 
double coxaJointLimitV
 angle range for vertical direction of legs More...
 
double coxaJointLimitH
 angle range for horizontal direction of legs More...
 
double coxaDamping
 damping of hip joint servos More...
 
double coxaSpeed
 speed of the hip servo More...
 
bool useTebiaJoints
 whether to use joints at the knees More...
 
bool useTebiaMotors
 if true tebia joints are actuated, otherwise springs More...
 
double tebiaPower
 spring strength in the knees More...
 
double tebiaJointLimit
 angle range for knees More...
 
double tebiaOffset
 angle offset for knees More...
 
double tebiaDamping
 damping in the knees More...
 
double legSpreading
 angle at which legs are spread to the front and back More...
 
double backLegFactor
 size factor for back legs More...
 
bool tarsus
 whether to use a tarsus or not More...
 
int numTarsusSections
 the number of sections in the tarsus More...
 
bool useTarsusJoints
 whether to use joints on the tarsus More...
 
bool useBigBox
 whether to use a big invisible box on the back of the robot More...
 
bool useWhiskers
 if true add whiskers to robot More...
 
bool useActiveWhisker
 if true whiskers have motorized joints, otherwise springs More...
 
double whiskerSpread
 angle by which the wiskers are spread More...
 
double T
 T is the for the time for calculating the cost of transport over time. More...
 
double * v
 
bool ignoreInternalCollisions
 
bool calculateEnergy
 
bool useContactSensors
 
matrix::Matrix m
 
int * legContacts
 
double irSensors
 
bool irFront
 
bool irBack
 
bool irLeft
 
bool irRight
 
double irRangeFront
 
double irRangeBack
 
double irRangeLeft
 
double irRangeRight
 

Member Data Documentation

double backLegFactor

size factor for back legs

bool calculateEnergy
double coxaDamping

damping of hip joint servos

double coxaJointLimitH

angle range for horizontal direction of legs

double coxaJointLimitV

angle range for vertical direction of legs

double coxaPower

maximal force for at hip joint motors

double coxaSpeed

speed of the hip servo

double height

body with in units of size

bool ignoreInternalCollisions
bool irBack
bool irFront
bool irLeft
double irRangeBack
double irRangeFront
double irRangeLeft
double irRangeRight
bool irRight
double irSensors
int* legContacts
double legLength

length of the legs in units of size

int legNumber

number of snake elements

double legSpreading

angle at which legs are spread to the front and back

double mass

chassis mass

int numTarsusSections

the number of sections in the tarsus

double percentageBodyMass

relation between bodymass(trunk) and rest

double size

scaling factor for robot (diameter of body)

double T

T is the for the time for calculating the cost of transport over time.

bool tarsus

whether to use a tarsus or not

double tebiaDamping

damping in the knees

double tebiaJointLimit

angle range for knees

double tebiaOffset

angle offset for knees

double tebiaPower

spring strength in the knees

bool useActiveWhisker

if true whiskers have motorized joints, otherwise springs

bool useBigBox

whether to use a big invisible box on the back of the robot

bool useContactSensors
bool useTarsusJoints

whether to use joints on the tarsus

bool useTebiaJoints

whether to use joints at the knees

bool useTebiaMotors

if true tebia joints are actuated, otherwise springs

bool useWhiskers

if true add whiskers to robot

double* v
double whiskerSpread

angle by which the wiskers are spread

double width

body with in units of size


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