ERS220Info.h File Reference

Detailed Description

Defines RobotInfo namespace for ERS-220 models, gives some information about the robot's capabilities, such as joint counts, offsets, names and PID values.

Author:: Daishi MORI (Creator)

Mad props to Daishi MORI, the 220 master chief, for porting to the 220 ;)

Author: ejt

Name

Revision: 1.28

State: Exp

Date: 2007/03/05 01:19:12

Definition in file ERS220Info.h.

#include "CommonERSInfo.h"

Include dependency graph for ERS220Info.h:

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Go to the source code of this file.

Namespaces

namespace ERS220Info

LED Bitmasks

Bitmasks for use when specifying combinations of LEDs (see LedEngine ) Note that left/right are robot's point of view

typedef unsigned int ERS220Info::LEDBitMask_t

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::FaceFrontLeftLEDMask = 1<<(FaceFrontLeftLEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::FaceFrontRightLEDMask = 1<<(FaceFrontRightLEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::FaceCenterLeftLEDMask = 1<<(FaceCenterLeftLEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::FaceCenterRightLEDMask = 1<<(FaceCenterRightLEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::FaceBackLeftLEDMask = 1<<(FaceBackLeftLEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::FaceBackRightLEDMask = 1<<(FaceBackRightLEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::ModeLEDMask = 1<<(ModeLEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::BackLeft1LEDMask = 1<<(BackLeft1LEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::BackLeft2LEDMask = 1<<(BackLeft2LEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::BackLeft3LEDMask = 1<<(BackLeft3LEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::BackRight3LEDMask = 1<<(BackRight3LEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::BackRight2LEDMask = 1<<(BackRight2LEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::BackRight1LEDMask = 1<<(BackRight1LEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::TailLeftLEDMask = 1<<(TailLeftLEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::TailCenterLEDMask = 1<<(TailCenterLEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::TailRightLEDMask = 1<<(TailRightLEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::FaceFrontBLEDMask = 1<<(FaceFrontBLEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::FaceFrontALEDMask = 1<<(FaceFrontALEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::FaceFrontCLEDMask = 1<<(FaceFrontCLEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::RetractableHeadLEDMask = 1<<(RetractableHeadLEDOffset-LEDOffset)

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t ERS220Info::BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset)

bottom left (red - sad)

const LEDBitMask_t ERS220Info::BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset)

bottom right (red - sad)

const LEDBitMask_t ERS220Info::MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset)

middle left (green - happy)

const LEDBitMask_t ERS220Info::MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset)

middle right (green - happy)

const LEDBitMask_t ERS220Info::TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset)

top left (red - angry)

const LEDBitMask_t ERS220Info::TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset)

top right (red - angry)

const LEDBitMask_t ERS220Info::TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset)

top bar (green)

const LEDBitMask_t ERS220Info::TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset)

red tail light

const LEDBitMask_t ERS220Info::TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset)

blue tail light

const LEDBitMask_t ERS220Info::FaceLEDMask

LEDs for face.

const LEDBitMask_t ERS220Info::HeadLEDMask = FaceLEDMask | RetractableHeadLEDMask

LEDs on head (face plus retractable light).

const LEDBitMask_t ERS220Info::BackLEDMask

LEDs on back.

const LEDBitMask_t ERS220Info::TailLEDMask

LEDs for tail.

const LEDBitMask_t ERS220Info::AllLEDMask = (LEDBitMask_t)~0

selects all of the leds

Output Offsets

Corresponds to entries in ERS220Info::PrimitiveName, defined at the end of this file

enum ERS220Info::LegOffset_t { ERS220Info::LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, ERS220Info::RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, ERS220Info::LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg, ERS220Info::RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg }

The offsets of the individual legs. More...

const unsigned ERS220Info::PIDJointOffset = 0

The beginning of the PID Joints.

const unsigned ERS220Info::LegOffset = PIDJointOffset

the offset of the beginning of the leg joints

const unsigned ERS220Info::HeadOffset = LegOffset+NumLegJoints

the offset of the beginning of the head joints

const unsigned ERS220Info::LEDOffset = PIDJointOffset + NumPIDJoints

the offset of LEDs in WorldState::outputs and MotionCommand functions

const unsigned ERS220Info::BinJointOffset = NumOutputs

The beginning of the binary joints.

const unsigned ERS220Info::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

const unsigned ERS220Info::PawFrameOffset = BaseFrameOffset+1

Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw).

const unsigned ERS220Info::CameraFrameOffset = PawFrameOffset+NumLegs

Use with kinematics to refer to camera reference frame.

const unsigned ERS220Info::IRFrameOffset = CameraFrameOffset+1

Use with kinematics to refer to infrared (distance) sensor reference frame.

Input Offsets

The order in which inputs should be stored

enum ERS220Info::ButtonOffset_t {
  LFrPawOffset = LFrLegOrder, RFrPawOffset = RFrLegOrder, LBkPawOffset = LBkLegOrder, RBkPawOffset = RBkLegOrder,
  ChinButOffset = 4, BackButOffset, ERS220Info::HeadFrButOffset, ERS220Info::HeadButOffset = HeadFrButOffset,
  ERS220Info::HeadBkButOffset, TailLeftButOffset, TailCenterButOffset, TailRightButOffset
}

holds offsets to different buttons in WorldState::buttons[] More...

enum ERS220Info::SensorOffset_t {
  ERS220Info::IRDistOffset = 0, ERS220Info::BAccelOffset, ERS220Info::LAccelOffset, ERS220Info::DAccelOffset,
  ERS220Info::ThermoOffset, ERS220Info::PowerRemainOffset, ERS220Info::PowerThermoOffset, ERS220Info::PowerCapacityOffset,
  ERS220Info::PowerVoltageOffset, ERS220Info::PowerCurrentOffset
}

holds offset to different sensor values in WorldState::sensors[] More...

const char *const ERS220Info::buttonNames [NumButtons]

Provides a string name for each button.

const char *const ERS220Info::sensorNames [NumSensors]

Provides a string name for each sensor.

Output Types Information

Right now all binary joints are slow, but perhaps this won't always be the case... hence the IsFast/Slow bitmasks to select which type, in order to be more general

const unsigned ERS220Info::JointsPerLeg = 3

The number of joints per leg.

const unsigned ERS220Info::NumLegs = 4

The number of legs.

const unsigned ERS220Info::NumLegJoints = JointsPerLeg*NumLegs

the TOTAL number of joints on ALL legs

const unsigned ERS220Info::NumHeadJoints = 3

The number of joints in the neck.

const unsigned ERS220Info::NumTailJoints = 0

The number of joints assigned to the tail.

const unsigned ERS220Info::NumMouthJoints = 0

the number of joints that control the mouth

const unsigned ERS220Info::NumEarJoints = 0

The number of joints which control the ears (NOT per ear, is total).

const unsigned ERS220Info::NumButtons = 11

the number of buttons that are available, see ERS220Info::ButtonOffset_t

const unsigned ERS220Info::NumSensors = 1+3+1+5

1 dist, 3 accel, 1 thermo, 5 from power, see ERS220Info::SensorOffset_t

const unsigned ERS220Info::NumLEDs = 20

The number of LEDs which can be controlled.

const unsigned ERS220Info::NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints

The number of joints which use PID motion - everything.

const unsigned ERS220Info::NumBinJoints = NumEarJoints

The number of binary joints - just the ears (which the 220 doesn't have).

const unsigned ERS220Info::NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs

the total number of outputs

const unsigned ERS220Info::NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 1

for the base, paw, camera, and IR sensor reference frames

const float ERS220Info::CameraHorizFOV = 57.6/180*M_PI

horizontal field of view (radians)

const float ERS220Info::CameraVertFOV = 47.8/180*M_PI

vertical field of view (radians)

const float ERS220Info::CameraFOV = CameraHorizFOV

should be set to maximum of CameraHorizFOV or CameraVertFOV

const unsigned int ERS220Info::CameraResolutionX = 176

the number of pixels available in the 'full' layer

const unsigned int ERS220Info::CameraResolutionY = 144

the number of pixels available in the 'full' layer

const float ERS220Info::BallOfFootRadius = 27.922/2

radius of the ball of the foot

const float ERS220Info::CylinderOfFootRadius = 24.606/2

radius of the cylinder of the foot

const bool ERS220Info::IsFastOutput [NumOutputs]

true for joints which can be updated every 32 ms (true for all)

const bool ERS220Info::IsRealERS220 [NumOutputs]

we need this so you can tell programmatically which joints are "real" and which are "fake" in ERS-2xx target mode

CPC IDs

values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - DOESN'T correspond to ERS220Info::PrimitiveName

static const int ERS220Info::CPCJointNeckTilt = 0

static const int ERS220Info::CPCJointNeckPan = 1

static const int ERS220Info::CPCJointNeckRoll = 2

static const int ERS220Info::CPCSensorPSD = 3

static const int ERS220Info::CPCSensorHeadBackPressure = 4

static const int ERS220Info::CPCSensorHeadFrontPressure = 5

static const int ERS220Info::CPCSensorChinSwitch = 6

static const int ERS220Info::CPCJointLFRotator = 7

static const int ERS220Info::CPCJointLFElevator = 8

static const int ERS220Info::CPCJointLFKnee = 9

static const int ERS220Info::CPCSensorLFPaw = 10

static const int ERS220Info::CPCJointLHRotator = 11

static const int ERS220Info::CPCJointLHElevator = 12

static const int ERS220Info::CPCJointLHKnee = 13

static const int ERS220Info::CPCSensorLHPaw = 14

static const int ERS220Info::CPCJointRFRotator = 15

static const int ERS220Info::CPCJointRFElevator = 16

static const int ERS220Info::CPCJointRFKnee = 17

static const int ERS220Info::CPCSensorRFPaw = 18

static const int ERS220Info::CPCJointRHRotator = 19

static const int ERS220Info::CPCJointRHElevator = 20

static const int ERS220Info::CPCJointRHKnee = 21

static const int ERS220Info::CPCSensorRHPaw = 22

static const int ERS220Info::CPCSensorThermoSensor = 23

static const int ERS220Info::CPCSensorBackSwitch = 24

static const int ERS220Info::CPCSensorTailLeftSwitch = 25

static const int ERS220Info::CPCSensorTailCenterSwitch = 26

static const int ERS220Info::CPCSensorTailRightSwitch = 27

static const int ERS220Info::CPCSensorAccelFB = 28

static const int ERS220Info::CPCSensorAccelLR = 29

static const int ERS220Info::CPCSensorAccelUD = 30

Defines

#define RAD(deg)   (((deg) * M_PI ) / 180.0)

Just a little macro for converting degrees to radians.

#define __RI_RAD_FLAG

a flag so we undef these after we're done - do you have a cleaner solution?

Enumerations

enum ERS220Info::LEDOffset_t {
  ERS220Info::FaceFrontLeftLEDOffset = LEDOffset, ERS220Info::FaceFrontRightLEDOffset, ERS220Info::FaceCenterLeftLEDOffset, ERS220Info::FaceCenterRightLEDOffset,
  ERS220Info::FaceBackLeftLEDOffset, ERS220Info::FaceBackRightLEDOffset, ERS220Info::ModeLEDOffset, ERS220Info::BackLeft1LEDOffset,
  ERS220Info::BackLeft2LEDOffset, ERS220Info::BackLeft3LEDOffset, ERS220Info::BackRight3LEDOffset, ERS220Info::BackRight2LEDOffset,
  ERS220Info::BackRight1LEDOffset, ERS220Info::TailLeftLEDOffset, ERS220Info::TailCenterLEDOffset, ERS220Info::TailRightLEDOffset,
  ERS220Info::FaceFrontBLEDOffset, ERS220Info::FaceFrontALEDOffset, ERS220Info::FaceFrontCLEDOffset, ERS220Info::RetractableHeadLEDOffset,
  ERS220Info::BotLLEDOffset = FaceFrontLeftLEDOffset, ERS220Info::BotRLEDOffset = FaceFrontRightLEDOffset, ERS220Info::MidLLEDOffset = FaceCenterLeftLEDOffset, ERS220Info::MidRLEDOffset = FaceCenterRightLEDOffset,
  ERS220Info::TopLLEDOffset = FaceBackLeftLEDOffset, ERS220Info::TopRLEDOffset = FaceBackRightLEDOffset, ERS220Info::TopBrLEDOffset = ModeLEDOffset, ERS220Info::TlBluLEDOffset = TailLeftLEDOffset,
  ERS220Info::TlRedLEDOffset = TailRightLEDOffset
}

The offsets of the individual LEDs on the head and tail. Note that left/right are robot's point of view. See also LEDBitMask_t. More...

Variables

const char *const ERS220Info::RobotName = "ERS-220"

the name of the model, to be used for logging and remote GUIs

const unsigned int ERS220Info::FrameTime = 8

time between frames in the motion system (milliseconds)

const unsigned int ERS220Info::NumFrames = 4

the number of frames per buffer (don't forget also double buffered)

const unsigned int ERS220Info::SlowFrameTime = 128

time between frames for the ears (which move slower for some reason, don't want to mix with other outputs) (milliseconds)

const unsigned int ERS220Info::NumSlowFrames = 1

the number of frames per buffer being sent to ears (double buffered as well)

const unsigned int ERS220Info::SoundBufferTime = 32

the number of milliseconds per sound buffer... I'm not sure if this can be changed

const unsigned ERS220Info::outputNameLen = 9

The length of the strings used for each of the outputs in outputNames (doesn't include null term).

const char *const ERS220Info::outputNames [NumOutputs]

A name of uniform length for referring to joints - handy for posture files, etc.

const char *const ERS220Info::PrimitiveName [NumOutputs]

the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others)

const char *const ERS220Info::SpeakerLocator = "PRM:/r1/c1/c2/c3/s1-Speaker:S1"

use to open speaker connectio with the system

const char *const ERS220Info::CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1"

use to open camera connection with the system

const float ERS220Info::DefaultPIDs [NumPIDJoints][3]

This table holds the default PID values for each joint. see PIDMC.

const unsigned char ERS220Info::DefaultPIDShifts [3] = {0x0E, 0x02, 0x0F}

These will control the shift values given to the system. see PIDMC.

const float ERS220Info::MaxOutputSpeed [NumOutputs]

These values are Sony's recommended maximum joint velocities, in rad/ms.

const double ERS220Info::outputRanges [NumOutputs][2]

This table holds the software limits of each of the outputs.

const double ERS220Info::mechanicalLimits [NumOutputs][2]

This table holds the mechanical limits of each of the outputs.

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