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SerializedSpineControl::Config Struct Reference
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Public Member Functions

 Config (std::string fileName)
 

Public Attributes

tgImpedanceController * in_controller
 
tgImpedanceController * out_controller
 
tgImpedanceController * top_controller
 
double rod_edge
 
double rod_front
 
double rod_offset
 
std::vector< double > insideTopLength
 
std::vector< double > insideLeftLength
 
std::vector< double > insideRightLength
 
std::vector< double > outsideTopLength
 
std::vector< double > outsideLeftLength
 
std::vector< double > outsideRightLength
 
std::vector< double > insideTopTens
 
std::vector< double > insideLeftTens
 
std::vector< double > insideRightTens
 
std::vector< double > outsideTopTens
 
std::vector< double > outsideLeftTens
 
std::vector< double > outsideRightTens
 
double offsetSpeed
 
double cpgAmplitude
 
double cpgFrequency
 
double bodyWaves
 
double insideMod
 
std::vector< double > phaseOffsets
 
double updateFrequency
 

Detailed Description

Definition at line 51 of file SerializedSpineControl.h.

Constructor & Destructor Documentation

SerializedSpineControl::Config::Config ( std::string  fileName)
Todo:
verify data!

Definition at line 52 of file SerializedSpineControl.cpp.

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Member Data Documentation

tgImpedanceController* SerializedSpineControl::Config::in_controller

Pointers to impedance controllers

Definition at line 60 of file SerializedSpineControl.h.

double SerializedSpineControl::Config::insideMod

How the inside strings re-interpret the signal

Definition at line 105 of file SerializedSpineControl.h.

std::vector<double> SerializedSpineControl::Config::insideTopLength

Muscle Length Parameters

Definition at line 76 of file SerializedSpineControl.h.

std::vector<double> SerializedSpineControl::Config::insideTopTens

Muscle Tension Parameters

Definition at line 87 of file SerializedSpineControl.h.

double SerializedSpineControl::Config::offsetSpeed

CPG related parameters.

Definition at line 97 of file SerializedSpineControl.h.

std::vector<double> SerializedSpineControl::Config::phaseOffsets

Phase offsets for the CPGs. Units are radians

Definition at line 111 of file SerializedSpineControl.h.

double SerializedSpineControl::Config::rod_edge

Definitions to find muscle length parameters

Definition at line 67 of file SerializedSpineControl.h.

double SerializedSpineControl::Config::updateFrequency

How often to send a sine wave signal

Definition at line 116 of file SerializedSpineControl.h.

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