iCub-main
motionControlDefaultValues.h
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1 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
2 
3 
4 /* Copyright (C) 2012 iCub Facility, Istituto Italiano di Tecnologia
5  * Author: Valentina Gaggero
6  * email: valentina.gaggero@iit.it
7  * Permission is granted to copy, distribute, and/or modify this program
8  * under the terms of the GNU General Public License, version 2 or any
9  * later version published by the Free Software Foundation.
10  *
11  * A copy of the license can be found at
12  * http://www.robotcub.org/icub/license/gpl.txt
13  *
14  * This program is distributed in the hope that it will be useful, but
15  * WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
17  * Public License for more details
18  */
19 
20 /*
21  This file contains the default values for the optional configuration paramters.
22  In the future these values could be asked to the firmware
23  */
24 
25 #ifndef MOTIONCONTROLDEFAULTVALUES
26 #define MOTIONCONTROLDEFAULTVALUES
28 {
29  namespace DeadZone
30  {
31  const double jointWithAEA = 0.0494;
32  const double jointWithAEA3 = 0.0; // TODO: fix if needed
33  const double jointWithAMO = 0.0055; // 360 / 2^16
34  const double jointWithAKSIM2 = 0.00068; // 360 / 2^19
35  }
36 }
37 #endif