Robot Simulator of the Robotics Group for Self-Organization of Control  0.8.0
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Nejihebi::Conf Struct Reference

Struct containing all the configuration options for the nejihebi robot. More...

#include <nejihebi.h>

Collaboration diagram for Nejihebi::Conf:

Public Attributes

int numberOfScrews
 number of screw elements More...
 
struct {
   Color   color
 color of ball bearing More...
 
   double   mass
 mass of each ball bearing More...
 
   double   radius
 radius of each ball bearing More...
 
   Color   stickColor
 color of the stick holding the ball bearing More...
 
   double   stickLength
 length of the stick holding the ball bearing More...
 
   double   stickMass
 mass of the stick holding the ball bearing More...
 
   double   stickWidth
 width of the stick holding the ball bearing More...
 
ballBearing
 configurations for the two ball bearings at the robot head More...
 
struct {
   double   angle
 angle of the blades versus the screw axis More...
 
   Color   color
 color of the blades More...
 
   double   height
 height of the blades More...
 
   double   length
 length of the blades More...
 
   double   mass
 mass of each blade More...
 
   int   wheels
 number of wheels per blade More...
 
   double   width
 width of each blade More...
 
blade
 configurations for the blades holding the passive wheels More...
 
struct {
   Color   color
 color of the robot head More...
 
   double   height
 height of the robot head More...
 
   double   length
 length of the robot head More...
 
   double   mass
 mass of the robot head More...
 
   double   width
 width of the robot head More...
 
head
 configurations for the robot head More...
 
struct {
   double   backLength
 length of inner body behind the screw center More...
 
   Color   color
 color of the inner body More...
 
   double   frontLength
 length of inner body before the screw center More...
 
   double   height
 height of the inner body More...
 
   double   mass
 mass of the inner body More...
 
   double   width
 width of the inner body More...
 
innerBody
 configurations for the inner non-rotating part of the screw elements More...
 
struct {
   double   damping
 damping of the joint servo motors More...
 
   double   maxVel
 maximum velocity of the joint servo motors More...
 
   struct {
      double   minAngle
 minimum angle [rad] More...
 
      double   maxAngle
 maximum angle [rad] More...
 
      double   power
 maximum power More...
 
   }   pitch
 configurations for the pitch (up-down) servo motors More...
 
   struct {
      double   minAngle
 minimum angle [rad] More...
 
      double   maxAngle
 maximum angle [rad] More...
 
      double   power
 maximum power More...
 
   }   yaw
 configurations for the yaw (left-right) servo motors More...
 
jointUnit
 configurations for the joints between the screw elements More...
 
struct {
   int   blades
 number of blades per screw element More...
 
   Color   color
 color of screw ring More...
 
   double   mass
 mass of screw ring More...
 
   double   maxForce
 maximum torque for screw ring More...
 
   double   maxSpeed
 maximum speed for screw ring More...
 
   double   radius
 radius of screw ring More...
 
   double   width
 width of screw ring More...
 
screwbase
 configurations for the basic ring of the screw elements More...
 
struct {
   bool   axisVisible
 decides if the wheel axis will be visible More...
 
   double   axisSize
 size of the wheel axis if visible More...
 
   Color   color
 color of the passive wheels More...
 
   double   mass
 mass of each passive wheel More...
 
   double   posradius
 radius of the circle on which the wheels are placed More...
 
   double   posshift
 offset of the center of the position circle and the screw center More...
 
   double   possegment
 angle size of the circle segment on which the wheels are placed More...
 
   double   radius
 radius of the passive wheels More...
 
   double   width
 width of the passive wheels More...
 
wheel
 configurations for the passive wheels More...
 

Detailed Description

Struct containing all the configuration options for the nejihebi robot.

Member Data Documentation

double angle

angle of the blades versus the screw axis

double axisSize

size of the wheel axis if visible

bool axisVisible

decides if the wheel axis will be visible

double backLength

length of inner body behind the screw center

struct { ... } ballBearing

configurations for the two ball bearings at the robot head

struct { ... } blade

configurations for the blades holding the passive wheels

int blades

number of blades per screw element

Color color

color of ball bearing

color of the passive wheels

color of screw ring

color of the inner body

color of the robot head

color of the blades

double damping

damping of the joint servo motors

double frontLength

length of inner body before the screw center

struct { ... } head

configurations for the robot head

double height

height of the blades

height of the inner body

height of the robot head

struct { ... } innerBody

configurations for the inner non-rotating part of the screw elements

struct { ... } jointUnit

configurations for the joints between the screw elements

double length

length of the blades

length of the robot head

double mass

mass of each ball bearing

mass of each passive wheel

mass of screw ring

mass of the inner body

mass of the robot head

mass of each blade

double maxAngle

maximum angle [rad]

double maxForce

maximum torque for screw ring

double maxSpeed

maximum speed for screw ring

double maxVel

maximum velocity of the joint servo motors

double minAngle

minimum angle [rad]

int numberOfScrews

number of screw elements

struct { ... } pitch

configurations for the pitch (up-down) servo motors

double posradius

radius of the circle on which the wheels are placed

double possegment

angle size of the circle segment on which the wheels are placed

double posshift

offset of the center of the position circle and the screw center

double power

maximum power

double radius

radius of each ball bearing

radius of the passive wheels

radius of screw ring

struct { ... } screwbase

configurations for the basic ring of the screw elements

Color stickColor

color of the stick holding the ball bearing

double stickLength

length of the stick holding the ball bearing

double stickMass

mass of the stick holding the ball bearing

double stickWidth

width of the stick holding the ball bearing

struct { ... } wheel

configurations for the passive wheels

int wheels

number of wheels per blade

double width

width of each blade

width of the passive wheels

width of screw ring

width of the inner body

width of the robot head

struct { ... } yaw

configurations for the yaw (left-right) servo motors


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