Constants::Arm Namespace Reference

Arm constants. More...

Variables
const double	SHOULDER_LENGTH = 0.6
	Length of the Shoulder link, in meters.
const double	ELBOW_LENGTH = 0.7
	Length of the Elbow link, in meters.
const double	SAFETY_FACTOR = 0.95
	Percentage of fully extended overall arm length to limit arm extension within.
const double	MAX_EE_VEL = 0.1
	Maximum commanded end-effector velocity, in m/s.
const double	IK_SOLVER_THRESH = 0.001
const int	IK_SOLVER_MAX_ITER = 50
const std::array< robot::types::jointid_t, 2 >	IK_MOTOR_JOINTS
	The joints corresponding to the motors used for IK in the arm.
const std::array< robot::types::motorid_t, 2 >	IK_MOTORS
	The motors used in IK.
constexpr frozen::unordered_map< motorid_t, std::pair< int, int >, IK_MOTORS.size()>	JOINT_LIMITS
	Map from motor ids to min and max joint limits in millidegrees.
constexpr frozen::unordered_map< motorid_t, double, IK_MOTORS.size()>	SEGMENT_LENGTHS
	Map from motor ids to segment length in meters.

Detailed Description

Arm constants.

Variable Documentation

IK_MOTOR_JOINTS

const std::array< jointid_t, 2 > Constants::Arm::IK_MOTOR_JOINTS

Initial value:

= {
    robot::types::jointid_t::shoulder, robot::types::jointid_t::elbow}

The joints corresponding to the motors used for IK in the arm.

The ordering in this array is the canonical ordering of these joints for IK purposes.

IK_MOTORS

const std::array< motorid_t, 2 > Constants::Arm::IK_MOTORS

Initial value:

= ([]() {
    std::array<robot::types::motorid_t, IK_MOTOR_JOINTS.size()> ret{};
    for (size_t i = 0; i < IK_MOTOR_JOINTS.size(); i++) {
        ret[i] = JOINT_MOTOR_MAP.at(IK_MOTOR_JOINTS[i]);
    }
    return ret;
})()

The motors used in IK.

The i-th element in this array corresponds to the joint in the i-th element of IK_MOTOR_JOINTS

JOINT_LIMITS

frozen::unordered_map<motorid_t, std::pair<int, int>, IK_MOTORS.size()> Constants::Arm::JOINT_LIMITS

constexpr

Initial value:

{
    {motorid_t::shoulder, {18200, 152500}}, {motorid_t::elbow, {-169100, 0}}}

Map from motor ids to min and max joint limits in millidegrees.

SEGMENT_LENGTHS

frozen::unordered_map<motorid_t, double, IK_MOTORS.size()> Constants::Arm::SEGMENT_LENGTHS

constexpr

Initial value:

{
    {motorid_t::shoulder, 0.3848608}, {motorid_t::elbow, 0.461264}}

Map from motor ids to segment length in meters.