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Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
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Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
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Struct containing all the configuration options for the nejihebi robot. More...
#include <nejihebi.h>
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... | |
Struct containing all the configuration options for the nejihebi robot.
| 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
1.8.6 
