File List

Here is a list of all files with brief descriptions:

[detail level 12345]

▼ src
▼ apps
▼ stateMachine
▼ states
ExoTestState.cpp
ExoTestState.h
InitState.cpp
InitState.h
Sitting.cpp
Sitting.h
SittingDwn.cpp
SittingDwn.h
Standing.cpp
Standing.h
StandingUp.cpp
StandingUp.h
ExoTestMachine.cpp
ExoTestMachine.h
application.cpp
application.h
CopleyDrive.cpp
CopleyDrive.h	An implementation of the Drive Object, specifically for the Copley Drive
DebugMacro.h	Defines some macros for debugging output
DummyActJoint.cpp
DummyActJoint.h	A dummy class to test whether the actuated joint inheritence stuff works
DummyTrajectoryGenerator.cpp
DummyTrajectoryGenerator.h	A trajectory generator to be used for testing purposes
ExoRobot.cpp
ExoRobot.h
Keyboard.cpp
Keyboard.h
RobotParams.h	Specific paramaters and naming definitions for exoskeleton robot class implementetion
▼ libs
▼ CANcomms
CO_comm_helpers.c
CO_comm_helpers.h
CO_command.c
CO_command.h
CO_master.c
CO_master.h
CO_time.c
CO_time.h
▼ inputDevice
InputDevice.cpp
InputDevice.h	The Input class is a abstract class which represents an input device. The Update function is called in a main program to query the devices input and update any memory representation of the device implemented. For example the keyboard implementation checks for key presses and fills key memory with a boolean value when pressed. See Keyboard for further detail
▼ robot
▼ joint
ActuatedJoint.cpp
ActuatedJoint.h	The ActuatedJoint class is a abstract class which represents a joint in a Robot objec. This class implements the Joint class, and specifically represents a joint which is actuated. This therefore requires a Drive object which will be used to interact with the physical hardware
Joint.cpp
Joint.h	The Joint class is a abstract class which represents a joint in a Robot objec. This class can be used to represent all types of joints, including actuated, non-actuated, revolute, prismatic, etc
Drive.cpp
Drive.h	The Drive class is used to interface with a CANOpen motor drive. According to the CiA402 standard
Robot.cpp	Generic Abstract Robot class, which includes joints and a trajectory generator, to be used with a CAN-based robot device
Robot.h	The Robot class is a abstract class which is a software representation of a Robot with a flexible representation in terms of number of joints, number of sensors and type of I/O the real world or virtual robot has. The class specificall represents a robot with an underlying bus network connecting components to a master node, being the robots computer or processor. Implementations have been designed ExoRobot under CANOpen protocol, however others may be implemented by future developers
TrajectoryGenerator.cpp	Base class of Trajectory Generator. Will always be extended with specific implementations
TrajectoryGenerator.h	Base class of Trajectory Generator. Will always be extended with specific implementations, and is relatively scarce, given the differences expected in the different trajectories
▼ stateMachine
Event.cpp
Event.h
State.cpp
State.h
StateMachine.cpp
StateMachine.h
Transition.cpp
Transition.h
▼ tests
testDrives.cpp	A script to test the functionality of the Drive Objects
testJoints.cpp	Tests for the Joint, ActuatedJoint, ExoJoint and Drive classes
testOD.cpp	A script to test the functionality of the Object dictionary access
testRobot.cpp	A script to test the functionality of the ExoRobot class
testSM.cpp	Test for the statemachine class and associated classes: state, event and transition
testTraj.cpp
main.cpp