00001 #ifndef YOUBOT_YOUBOTJOINTSTORAGE_H 00002 #define YOUBOT_YOUBOTJOINTSTORAGE_H 00003 00004 /**************************************************************** 00005 * 00006 * Copyright (c) 2011 00007 * All rights reserved. 00008 * 00009 * Hochschule Bonn-Rhein-Sieg 00010 * University of Applied Sciences 00011 * Computer Science Department 00012 * 00013 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00014 * 00015 * Author: 00016 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov 00017 * Supervised by: 00018 * Gerhard K. Kraetzschmar 00019 * 00020 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00021 * 00022 * This sofware is published under a dual-license: GNU Lesser General Public 00023 * License LGPL 2.1 and BSD license. The dual-license implies that users of this 00024 * code may choose which terms they prefer. 00025 * 00026 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00027 * 00028 * Redistribution and use in source and binary forms, with or without 00029 * modification, are permitted provided that the following conditions are met: 00030 * 00031 * * Redistributions of source code must retain the above copyright 00032 * notice, this list of conditions and the following disclaimer. 00033 * * Redistributions in binary form must reproduce the above copyright 00034 * notice, this list of conditions and the following disclaimer in the 00035 * documentation and/or other materials provided with the distribution. 00036 * * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its 00037 * contributors may be used to endorse or promote products derived from 00038 * this software without specific prior written permission. 00039 * 00040 * This program is free software: you can redistribute it and/or modify 00041 * it under the terms of the GNU Lesser General Public License LGPL as 00042 * published by the Free Software Foundation, either version 2.1 of the 00043 * License, or (at your option) any later version or the BSD license. 00044 * 00045 * This program is distributed in the hope that it will be useful, 00046 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00047 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00048 * GNU Lesser General Public License LGPL and the BSD license for more details. 00049 * 00050 * You should have received a copy of the GNU Lesser General Public 00051 * License LGPL and BSD license along with this program. 00052 * 00053 ****************************************************************/ 00054 namespace youbot { 00055 00056 /////////////////////////////////////////////////////////////////////////////// 00057 /// Stores YouBotJoint informations which are needed in the driver 00058 /////////////////////////////////////////////////////////////////////////////// 00059 class YouBotJointStorage { 00060 public: 00061 unsigned int encoderTicksPerRound; 00062 00063 std::string jointName; 00064 00065 unsigned int jointNumber; 00066 00067 std::string jointNumberStr; 00068 00069 double gearRatio; 00070 00071 bool inverseMovementDirection; 00072 00073 long upperLimit; 00074 00075 long lowerLimit; 00076 00077 bool areLimitsActive; 00078 00079 double torqueConstant; 00080 00081 long bevorUpperLimit; 00082 00083 long bevorLowerLimit; 00084 00085 }; 00086 00087 } // namespace youbot 00088 #endif