Robot Simulator of the Robotics Group for Self-Organization of Control  0.8.0
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Pages
SkeletonConf Struct Reference

#include <skeleton.h>

Public Attributes

double size
 scaling factor for robot (height) More...
 
double massfactor
 mass factor for all parts More...
 
bool useDensity
 massfactor is interpreted as a density More...
 
bool useVelocityServos
 if true the more stable velocity controlling servos are used More...
 
double relLegmass
 relative overall leg mass More...
 
double relArmmass
 relative overall arm mass More...
 
double relFeetmass
 relative overall feet mass More...
 
double hipPower
 maximal force for at hip joint motors More...
 
double hipDamping
 damping of hip joint servos More...
 
double hipVelocity
 velocity of hip joint servos More...
 
double hipJointLimit
 angle range for legs More...
 
double hip2Power
 maximal force for at hip2 (sagital joint axis) joint motors More...
 
double hip2Damping
 damping of hip2 joint servos More...
 
double hip2JointLimit
 angle range for hip joint in lateral direction More...
 
double neckPower
 spring strength in the neck More...
 
double neckDamping
 damping in the neck More...
 
double neckVelocity
 velocity in the neck More...
 
double neckJointLimit
 angle range for neck More...
 
double kneePower
 spring strength in the knees More...
 
double kneeDamping
 damping in the knees More...
 
double kneeVelocity
 velocity in the knees More...
 
double kneeJointLimit
 angle range for knees More...
 
double anklePower
 spring strength in the ankles More...
 
double ankleDamping
 damping in the ankles More...
 
double ankleVelocity
 velocity in the ankles More...
 
double ankleJointLimit
 angle range for ankles More...
 
double armPower
 maximal force for at arm (shoulder) joint motors More...
 
double armDamping
 damping of arm ((shoulder)) joint servos More...
 
double armVelocity
 velocity of arm ((shoulder)) joint servos More...
 
double armJointLimit
 angle range of arm joint More...
 
double elbowPower
 maximal force for at elbow (shoulder) joint motors More...
 
double elbowDamping
 damping of elbow ((shoulder)) joint servos More...
 
double elbowVelocity
 velocity of elbow ((shoulder)) joint servos More...
 
double elbowJointLimit
 angle range of elbow joint More...
 
double pelvisPower
 maximal force for at pelvis joint motor More...
 
double pelvisDamping
 damping of pelvis joint servo More...
 
double pelvisVelocity
 velocity of pelvis joint servo More...
 
double pelvisJointLimit
 angle range of pelvis joint More...
 
double backPower
 maximal force for at back joint motor More...
 
double backDamping
 damping of back joint servo More...
 
double backVelocity
 velocity of back joint servo More...
 
double backJointLimit
 angle range of back joint More...
 
double powerFactor
 scale factor for maximal forces of the servos More...
 
double relForce
 factor between arm force and rest More...
 
double dampingFactor
 scale factor for damping of the servos More...
 
double jointLimitFactor
 factor between servo range (XXXJointLimit, see above) and physical joint limit More...
 
bool onlyPrimaryFunctions
 true: only leg and arm are controlable, false: all joints More...
 
bool onlyMainParameters
 true: only a few parameters are exported for configuration More...
 
bool handsRotating
 hands are attached with a ball joint More...
 
bool useGripper
 hands have a gripper: use getGrippers and add grippables More...
 
double gripDuration
 time the gripper can grasp More...
 
double releaseDuration
 time the gripper has to release before grasping again More...
 
bool movableHead
 if false then no neck movement More...
 
bool useBackJoint
 whether to use the joint in the back More...
 
bool backSideBend
 whether to use a joint to bend the back sideways More...
 
bool irSensors
 whether to use the irsensor eyes More...
 
std::string headColor
 special color of head (typically like body) More...
 
std::string bodyColor
 color of skin More...
 
std::string trunkColor
 color of upper body (pullover-color) More...
 
std::string trouserColor
 color of upper legs and hands (trousers-color) More...
 
std::string headTexture
 
std::string bodyTexture
 
std::string trunkTexture
 

Member Data Documentation

double ankleDamping

damping in the ankles

double ankleJointLimit

angle range for ankles

double anklePower

spring strength in the ankles

double ankleVelocity

velocity in the ankles

double armDamping

damping of arm ((shoulder)) joint servos

double armJointLimit

angle range of arm joint

double armPower

maximal force for at arm (shoulder) joint motors

double armVelocity

velocity of arm ((shoulder)) joint servos

double backDamping

damping of back joint servo

double backJointLimit

angle range of back joint

double backPower

maximal force for at back joint motor

bool backSideBend

whether to use a joint to bend the back sideways

double backVelocity

velocity of back joint servo

std::string bodyColor

color of skin

std::string bodyTexture
double dampingFactor

scale factor for damping of the servos

double elbowDamping

damping of elbow ((shoulder)) joint servos

double elbowJointLimit

angle range of elbow joint

double elbowPower

maximal force for at elbow (shoulder) joint motors

double elbowVelocity

velocity of elbow ((shoulder)) joint servos

double gripDuration

time the gripper can grasp

bool handsRotating

hands are attached with a ball joint

std::string headColor

special color of head (typically like body)

std::string headTexture
double hip2Damping

damping of hip2 joint servos

double hip2JointLimit

angle range for hip joint in lateral direction

double hip2Power

maximal force for at hip2 (sagital joint axis) joint motors

double hipDamping

damping of hip joint servos

double hipJointLimit

angle range for legs

double hipPower

maximal force for at hip joint motors

double hipVelocity

velocity of hip joint servos

bool irSensors

whether to use the irsensor eyes

double jointLimitFactor

factor between servo range (XXXJointLimit, see above) and physical joint limit

double kneeDamping

damping in the knees

double kneeJointLimit

angle range for knees

double kneePower

spring strength in the knees

double kneeVelocity

velocity in the knees

double massfactor

mass factor for all parts

bool movableHead

if false then no neck movement

double neckDamping

damping in the neck

double neckJointLimit

angle range for neck

double neckPower

spring strength in the neck

double neckVelocity

velocity in the neck

bool onlyMainParameters

true: only a few parameters are exported for configuration

bool onlyPrimaryFunctions

true: only leg and arm are controlable, false: all joints

double pelvisDamping

damping of pelvis joint servo

double pelvisJointLimit

angle range of pelvis joint

double pelvisPower

maximal force for at pelvis joint motor

double pelvisVelocity

velocity of pelvis joint servo

double powerFactor

scale factor for maximal forces of the servos

double relArmmass

relative overall arm mass

double releaseDuration

time the gripper has to release before grasping again

double relFeetmass

relative overall feet mass

double relForce

factor between arm force and rest

double relLegmass

relative overall leg mass

double size

scaling factor for robot (height)

std::string trouserColor

color of upper legs and hands (trousers-color)

std::string trunkColor

color of upper body (pullover-color)

std::string trunkTexture
bool useBackJoint

whether to use the joint in the back

bool useDensity

massfactor is interpreted as a density

bool useGripper

hands have a gripper: use getGrippers and add grippables

bool useVelocityServos

if true the more stable velocity controlling servos are used


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