utilBip.h File Reference

Bip joints transmission modelisation. More...

Go to the source code of this file.

Defines
#define	ArtCheD_F   0
#define	ArtCheD_S   1
#define	ArtCheG_F   4
#define	ArtCheG_S   5
#define	ArtGenD_S   2
#define	ArtGenG_S   6
#define	ArtHanD_F   8
#define	ArtHanD_S   3
#define	ArtHanD_V   9
#define	ArtHanG_F   10
#define	ArtHanG_S   7
#define	ArtHanG_V   11
#define	ArtLomb_F   13
#define	ArtLomb_S   14
#define	ArtLomb_V   12
#define	BIP_DDL   15
#define	BIP_DOF   15
#define	BIP_NUM_RATIO   21
#define	DEGTORAD(deg)   ((deg)*(Pi/180.))
#define	ERROR   -1
#define	MaxCheD_F   0.24
#define	MaxCheD_S   0.68
#define	MaxCheG_F   0.24
#define	MaxCheG_S   0.68
#define	MaxGenD_S   1.45
#define	MaxGenG_S   1.45
#define	MaxHanD_F   0.19
#define	MaxHanD_S   0.24
#define	MaxHanD_V   0.19
#define	MaxHanG_F   0.19
#define	MaxHanG_S   0.24
#define	MaxHanG_V   0.19
#define	MaxLomb_F   0.09
#define	MaxLomb_S   0.09
#define	MaxLomb_V   0.21
#define	MECH_MAX_ANKLE_FRON   0.3490658504
#define	MECH_MAX_ANKLE_SAGI   0.7853981635
#define	MECH_MAX_HIP_FLEX   0.3490658504
#define	MECH_MAX_HIP_SUBD   0.2617993878
#define	MECH_MAX_HIP_VERT   0.2617993878
#define	MECH_MAX_KNEE   1.570796327
#define	MECH_MAX_TRUNC_FRON   0.17453293
#define	MECH_MAX_TRUNC_SAGI   0.17453293
#define	MECH_MAX_TRUNC_VERT   0.2617993878
#define	MECH_MIN_ANKLE_FRON   -0.3490658504
#define	MECH_MIN_ANKLE_SAGI   -0.7853981635
#define	MECH_MIN_HIP_FLEX   -1.308996939
#define	MECH_MIN_HIP_SUBD   -0.2617993878
#define	MECH_MIN_HIP_VERT   -0.2617993878
#define	MECH_MIN_KNEE   0.0
#define	MECH_MIN_TRUNC_FRON   -0.17453293
#define	MECH_MIN_TRUNC_SAGI   -0.3490658504
#define	MECH_MIN_TRUNC_VERT   -0.2617993878
#define	MinCheD_F   -0.24
#define	MinCheD_S   -0.68
#define	MinCheG_F   -0.24
#define	MinCheG_S   -0.68
#define	MinGenD_S   0.10
#define	MinGenG_S   0.10
#define	MinHanD_F   -0.19
#define	MinHanD_S   -1.20
#define	MinHanD_V   -0.19
#define	MinHanG_F   -0.19
#define	MinHanG_S   -1.20
#define	MinHanG_V   -0.19
#define	MinLomb_F   -0.09
#define	MinLomb_S   -0.24
#define	MinLomb_V   -0.21
#define	MotCheD_E   0
#define	MotCheD_I   1
#define	MotCheG_E   5
#define	MotCheG_I   4
#define	MotGenD_S   2
#define	MotGenG_S   6
#define	MotHanD_F   8
#define	MotHanD_S   3
#define	MotHanD_V   9
#define	MotHanG_F   10
#define	MotHanG_S   7
#define	MotHanG_V   11
#define	MotLomb_D   13
#define	MotLomb_G   14
#define	MotLomb_V   12
#define	OK   0
#define	Pi   3.14159265358979323846
#define	RADTODEG(rad)   ((rad)*(180./Pi))
#define	RatCheD_FE   0
#define	RatCheD_FI   15
#define	RatCheD_SE   1
#define	RatCheD_SI   16
#define	RatCheG_FE   17
#define	RatCheG_FI   4
#define	RatCheG_SE   18
#define	RatCheG_SI   5
#define	RatGenD_S   2
#define	RatGenG_S   6
#define	RatHanD_F   8
#define	RatHanD_S   3
#define	RatHanD_V   9
#define	RatHanG_F   10
#define	RatHanG_S   7
#define	RatHanG_V   11
#define	RatLomb_FD   13
#define	RatLomb_FG   19
#define	RatLomb_SD   14
#define	RatLomb_SG   20
#define	RatLomb_V   12
Functions
int	bipUtilCalcMotors (double q[BIP_DDL], double th[BIP_DDL])
	This function to transform Joint position in Angular position.
int	bipUtilCalcPos (double th[BIP_DDL], double q[BIP_DDL])
	This function enables to transform Angular position in Joint position.
int	bipUtilCalcPosRatio (double th[BIP_DDL], double q[BIP_DDL], double ratio[BIP_NUM_RATIO])
	This function enables to transform Angular position in Joint position and compute transmission ratio.
int	bipUtilCalcRatio (double th[BIP_DDL], double ratio[BIP_NUM_RATIO])
	This function enables to compute transmission ratio.

---

Detailed Description

Bip joints transmission modelisation.

Author:

: Pierre-Brice Wieber Affiliation(s): INRIA, team BIPOP Email(s): Pierre-Brice.Wieber@inria.fr

---

Define Documentation

#define ArtCheD_F   0

#define ArtCheD_S   1

#define ArtCheG_F   4

#define ArtCheG_S   5

#define ArtGenD_S   2

#define ArtGenG_S   6

#define ArtHanD_F   8

#define ArtHanD_S   3

#define ArtHanD_V   9

#define ArtHanG_F   10

#define ArtHanG_S   7

#define ArtHanG_V   11

#define ArtLomb_F   13

#define ArtLomb_S   14

#define ArtLomb_V   12

#define BIP_DDL   15

#define BIP_DOF   15

#define BIP_NUM_RATIO   21

#define DEGTORAD

(

deg

)

((deg)*(Pi/180.))

#define ERROR   -1

#define MaxCheD_F   0.24

#define MaxCheD_S   0.68

#define MaxCheG_F   0.24

#define MaxCheG_S   0.68

#define MaxGenD_S   1.45

#define MaxGenG_S   1.45

#define MaxHanD_F   0.19

#define MaxHanD_S   0.24

#define MaxHanD_V   0.19

#define MaxHanG_F   0.19

#define MaxHanG_S   0.24

#define MaxHanG_V   0.19

#define MaxLomb_F   0.09

#define MaxLomb_S   0.09

#define MaxLomb_V   0.21

#define MECH_MAX_ANKLE_FRON   0.3490658504

#define MECH_MAX_ANKLE_SAGI   0.7853981635

#define MECH_MAX_HIP_FLEX   0.3490658504

#define MECH_MAX_HIP_SUBD   0.2617993878

#define MECH_MAX_HIP_VERT   0.2617993878

#define MECH_MAX_KNEE   1.570796327

#define MECH_MAX_TRUNC_FRON   0.17453293

#define MECH_MAX_TRUNC_SAGI   0.17453293

#define MECH_MAX_TRUNC_VERT   0.2617993878

#define MECH_MIN_ANKLE_FRON   -0.3490658504

#define MECH_MIN_ANKLE_SAGI   -0.7853981635

#define MECH_MIN_HIP_FLEX   -1.308996939

#define MECH_MIN_HIP_SUBD   -0.2617993878

#define MECH_MIN_HIP_VERT   -0.2617993878

#define MECH_MIN_KNEE   0.0

#define MECH_MIN_TRUNC_FRON   -0.17453293

#define MECH_MIN_TRUNC_SAGI   -0.3490658504

#define MECH_MIN_TRUNC_VERT   -0.2617993878

#define MinCheD_F   -0.24

#define MinCheD_S   -0.68

#define MinCheG_F   -0.24

#define MinCheG_S   -0.68

#define MinGenD_S   0.10

#define MinGenG_S   0.10

#define MinHanD_F   -0.19

#define MinHanD_S   -1.20

#define MinHanD_V   -0.19

#define MinHanG_F   -0.19

#define MinHanG_S   -1.20

#define MinHanG_V   -0.19

#define MinLomb_F   -0.09

#define MinLomb_S   -0.24

#define MinLomb_V   -0.21

#define MotCheD_E   0

#define MotCheD_I   1

#define MotCheG_E   5

#define MotCheG_I   4

#define MotGenD_S   2

#define MotGenG_S   6

#define MotHanD_F   8

#define MotHanD_S   3

#define MotHanD_V   9

#define MotHanG_F   10

#define MotHanG_S   7

#define MotHanG_V   11

#define MotLomb_D   13

#define MotLomb_G   14

#define MotLomb_V   12

#define OK   0

#define Pi   3.14159265358979323846

#define RADTODEG

(

rad

)

((rad)*(180./Pi))

#define RatCheD_FE   0

#define RatCheD_FI   15

#define RatCheD_SE   1

#define RatCheD_SI   16

#define RatCheG_FE   17

#define RatCheG_FI   4

#define RatCheG_SE   18

#define RatCheG_SI   5

#define RatGenD_S   2

#define RatGenG_S   6

#define RatHanD_F   8

#define RatHanD_S   3

#define RatHanD_V   9

#define RatHanG_F   10

#define RatHanG_S   7

#define RatHanG_V   11

#define RatLomb_FD   13

#define RatLomb_FG   19

#define RatLomb_SD   14

#define RatLomb_SG   20

#define RatLomb_V   12

---

Function Documentation

int bipUtilCalcMotors	(	double	q[BIP_DDL],
		double	th[BIP_DDL]
	)

This function to transform Joint position in Angular position.

Parameters:

[in]	q	Joint position of the 15 bipede degree of freedom
[in]	th	Angular position of the 15 motor axis

Returns:

OK : upon success
ERROR : upon error

int bipUtilCalcPos	(	double	th[BIP_DDL],
		double	q[BIP_DDL]
	)

This function enables to transform Angular position in Joint position.

Parameters:

[in]	th	Angular position of the 15 motor axis
[in]	q	Joint position of the 15 bipede degree of freedom

Returns:

OK : upon success
ERROR : upon error

int bipUtilCalcPosRatio	(	double	th[BIP_DDL],
		double	q[BIP_DDL],
		double	ratio[BIP_NUM_RATIO]
	)

This function enables to transform Angular position in Joint position and compute transmission ratio.

Parameters:

[in]	th	Angular position of the 15 motor axis
[in]	q	Joint position of the 15 bipede degree of freedom
[in]	ratio	Transmission ratio of the bipede Joints

Returns:

OK : upon success
ERROR : upon error

int bipUtilCalcRatio	(	double	th[BIP_DDL],
		double	ratio[BIP_NUM_RATIO]
	)

This function enables to compute transmission ratio.

Parameters:

[in]	th	Angular position of the 15 motor axis
[in]	ratio	Transmission ratio of the bipede Joints

Returns:

OK : upon success
ERROR : upon error

HuMAnS

humans-users@inrialpes.fr

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