ERS2xxInfo.h File Reference
Detailed Description
Defines RobotInfo namespace for ERS-2xx series of robots, such as joint counts, offsets, names and PID values.
- Author:
- Daishi MORI (Creator)
- Author
- ejt
- Name
- Revision
- 1.22
- State
- Exp
- Date
- 2007/03/05 01:19:12
Definition in file ERS2xxInfo.h.
#include "CommonERSInfo.h"
Include dependency graph for ERS2xxInfo.h:
Go to the source code of this file.
Namespaces | |
| namespace | ERS2xxInfo |
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 | ERS2xxInfo::LEDBitMask_t |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::FaceFrontLeftLEDMask = 1<<(FaceFrontLeftLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::FaceFrontRightLEDMask = 1<<(FaceFrontRightLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::FaceCenterLeftLEDMask = 1<<(FaceCenterLeftLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::FaceCenterRightLEDMask = 1<<(FaceCenterRightLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::FaceBackLeftLEDMask = 1<<(FaceBackLeftLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::FaceBackRightLEDMask = 1<<(FaceBackRightLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::ModeLEDMask = 1<<(ModeLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::BackLeft1LEDMask = 1<<(BackLeft1LEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::BackLeft2LEDMask = 1<<(BackLeft2LEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::BackLeft3LEDMask = 1<<(BackLeft3LEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::BackRight3LEDMask = 1<<(BackRight3LEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::BackRight2LEDMask = 1<<(BackRight2LEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::BackRight1LEDMask = 1<<(BackRight1LEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::TailLeftLEDMask = 1<<(TailLeftLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::TailCenterLEDMask = 1<<(TailCenterLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::TailRightLEDMask = 1<<(TailRightLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::FaceFrontBLEDMask = 1<<(FaceFrontBLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::FaceFrontALEDMask = 1<<(FaceFrontALEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::FaceFrontCLEDMask = 1<<(FaceFrontCLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::RetractableHeadLEDMask = 1<<(RetractableHeadLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS2xxInfo::TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset) |
| red tail light | |
| const LEDBitMask_t | ERS2xxInfo::TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset) |
| blue tail light | |
| const LEDBitMask_t | ERS2xxInfo::BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset) |
| bottom left (red - sad) | |
| const LEDBitMask_t | ERS2xxInfo::BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset) |
| bottom right (red - sad) | |
| const LEDBitMask_t | ERS2xxInfo::MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset) |
| middle left (green - happy) | |
| const LEDBitMask_t | ERS2xxInfo::MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset) |
| middle right (green - happy) | |
| const LEDBitMask_t | ERS2xxInfo::TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset) |
| top left (red - angry) | |
| const LEDBitMask_t | ERS2xxInfo::TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset) |
| top right (red - angry) | |
| const LEDBitMask_t | ERS2xxInfo::TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset) |
| top bar (green) | |
| const LEDBitMask_t | ERS2xxInfo::FaceLEDMask |
| LEDs for face. | |
| const LEDBitMask_t | ERS2xxInfo::HeadLEDMask = FaceLEDMask | RetractableHeadLEDMask |
| LEDs on head (face plus retractable light). | |
| const LEDBitMask_t | ERS2xxInfo::BackLEDMask |
| LEDs on back. | |
| const LEDBitMask_t | ERS2xxInfo::TailLEDMask |
| LEDs for tail. | |
| const LEDBitMask_t | ERS2xxInfo::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
Output Offsets | |
| Corresponds to entries in ERS2xxInfo::PrimitiveName, defined at the end of this file | |
| enum | ERS2xxInfo::LegOffset_t { ERS2xxInfo::LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, ERS2xxInfo::RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, ERS2xxInfo::LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg, ERS2xxInfo::RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg } |
| The offsets of the individual legs. More... | |
| const unsigned | ERS2xxInfo::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | ERS2xxInfo::LegOffset = PIDJointOffset |
| the offset of the beginning of the leg joints | |
| const unsigned | ERS2xxInfo::HeadOffset = LegOffset+NumLegJoints |
| the offset of the beginning of the head joints | |
| const unsigned | ERS2xxInfo::TailOffset = HeadOffset+NumHeadJoints |
| the offset of the beginning of the tail joints | |
| const unsigned | ERS2xxInfo::MouthOffset = TailOffset+NumTailJoints |
| the offset of the beginning of the mouth joint | |
| const unsigned | ERS2xxInfo::LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions | |
| const unsigned | ERS2xxInfo::BinJointOffset = LEDOffset+NumLEDs |
| The beginning of the binary joints. | |
| const unsigned | ERS2xxInfo::EarOffset = BinJointOffset |
| the offset of the beginning of the ear joints - note that ears aren't sensed. They can be flicked by the environment and you won't know. Nor will they be flicked back | |
| const unsigned | ERS2xxInfo::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | ERS2xxInfo::PawFrameOffset = BaseFrameOffset+1 |
| Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw). | |
| const unsigned | ERS2xxInfo::CameraFrameOffset = PawFrameOffset+NumLegs |
| Use with kinematics to refer to camera reference frame. | |
| const unsigned | ERS2xxInfo::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 | ERS2xxInfo::ButtonOffset_t { LFrPawOffset = LFrLegOrder, RFrPawOffset = RFrLegOrder, LBkPawOffset = LBkLegOrder, RBkPawOffset = RBkLegOrder, ChinButOffset = 4, BackButOffset, ERS2xxInfo::HeadFrButOffset, ERS2xxInfo::HeadButOffset = HeadFrButOffset, ERS2xxInfo::HeadBkButOffset, TailLeftButOffset, TailCenterButOffset, TailRightButOffset } |
| holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | ERS2xxInfo::SensorOffset_t { ERS2xxInfo::IRDistOffset = 0, ERS2xxInfo::BAccelOffset, ERS2xxInfo::LAccelOffset, ERS2xxInfo::DAccelOffset, ERS2xxInfo::ThermoOffset, ERS2xxInfo::PowerRemainOffset, ERS2xxInfo::PowerThermoOffset, ERS2xxInfo::PowerCapacityOffset, ERS2xxInfo::PowerVoltageOffset, ERS2xxInfo::PowerCurrentOffset } |
| holds offset to different sensor values in WorldState::sensors[] More... | |
| const char *const | ERS2xxInfo::buttonNames [NumButtons] |
| Provides a string name for each button. | |
| const char *const | ERS2xxInfo::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 | ERS2xxInfo::JointsPerLeg = 3 |
| The number of joints per leg. | |
| const unsigned | ERS2xxInfo::NumLegs = 4 |
| The number of legs. | |
| const unsigned | ERS2xxInfo::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs | |
| const unsigned | ERS2xxInfo::NumHeadJoints = 3 |
| The number of joints in the neck. | |
| const unsigned | ERS2xxInfo::NumTailJoints = 2 |
| The number of joints assigned to the tail. | |
| const unsigned | ERS2xxInfo::NumMouthJoints = 1 |
| the number of joints that control the mouth | |
| const unsigned | ERS2xxInfo::NumEarJoints = 2 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | ERS2xxInfo::NumButtons = 11 |
| the number of buttons that are available, see ERS2xxInfo::ButtonOffset_t | |
| const unsigned | ERS2xxInfo::NumSensors = 1+3+1+5 |
| 1 dist, 3 accel, 1 thermo, 5 from power, see ERS2xxInfo::SensorOffset_t | |
| const unsigned | ERS2xxInfo::NumLEDs = 22 |
| The number of LEDs which can be controlled. | |
| const unsigned | ERS2xxInfo::NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints |
| The number of joints which use PID motion - everything except ears. | |
| const unsigned | ERS2xxInfo::NumBinJoints = NumEarJoints |
| The number of binary joints - just the ears. | |
| const unsigned | ERS2xxInfo::NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs |
| the total number of outputs | |
| const unsigned | ERS2xxInfo::NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 1 |
| for the base, paw, camera, and IR sensor reference frames | |
| const float | ERS2xxInfo::CameraHorizFOV = 57.6/180*M_PI |
| horizontal field of view (radians) | |
| const float | ERS2xxInfo::CameraVertFOV = 47.8/180*M_PI |
| vertical field of view (radians) | |
| const float | ERS2xxInfo::CameraFOV = CameraHorizFOV |
| should be set to maximum of CameraHorizFOV or CameraVertFOV | |
| const unsigned int | ERS2xxInfo::CameraResolutionX = 176 |
| the number of pixels available in the 'full' layer | |
| const unsigned int | ERS2xxInfo::CameraResolutionY = 144 |
| the number of pixels available in the 'full' layer | |
| const float | ERS2xxInfo::BallOfFootRadius = 27.922/2 |
| radius of the ball of the foot | |
| const float | ERS2xxInfo::CylinderOfFootRadius = 24.606/2 |
| radius of the cylinder of the foot | |
| const bool | ERS2xxInfo::IsFastOutput [NumOutputs] |
| true for joints which can be updated every 32 ms (all but the ears on a 210) | |
| const bool | ERS2xxInfo::IsRealERS210 [NumOutputs] |
| we need this so you can tell programmatically which joints are "real" and which are "fake" in compatability mode | |
| const bool | ERS2xxInfo::IsRealERS220 [NumOutputs] |
| we need this so you can tell programmatically which joints are "real" and which are "fake" in compatability mode | |
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 | ERS2xxInfo::LEDOffset_t { ERS2xxInfo::FaceFrontLeftLEDOffset = LEDOffset, ERS2xxInfo::FaceFrontRightLEDOffset, ERS2xxInfo::FaceCenterLeftLEDOffset, ERS2xxInfo::FaceCenterRightLEDOffset, ERS2xxInfo::FaceBackLeftLEDOffset, ERS2xxInfo::FaceBackRightLEDOffset, ERS2xxInfo::ModeLEDOffset, ERS2xxInfo::BackLeft1LEDOffset, ERS2xxInfo::BackLeft2LEDOffset, ERS2xxInfo::BackLeft3LEDOffset, ERS2xxInfo::BackRight3LEDOffset, ERS2xxInfo::BackRight2LEDOffset, ERS2xxInfo::BackRight1LEDOffset, ERS2xxInfo::TailLeftLEDOffset, ERS2xxInfo::TailCenterLEDOffset, ERS2xxInfo::TailRightLEDOffset, ERS2xxInfo::FaceFrontBLEDOffset, ERS2xxInfo::FaceFrontALEDOffset, ERS2xxInfo::FaceFrontCLEDOffset, ERS2xxInfo::RetractableHeadLEDOffset, ERS2xxInfo::TlBluLEDOffset, ERS2xxInfo::TlRedLEDOffset, ERS2xxInfo::BotLLEDOffset = FaceFrontLeftLEDOffset, ERS2xxInfo::BotRLEDOffset = FaceFrontRightLEDOffset, ERS2xxInfo::MidLLEDOffset = FaceCenterLeftLEDOffset, ERS2xxInfo::MidRLEDOffset = FaceCenterRightLEDOffset, ERS2xxInfo::TopLLEDOffset = FaceBackLeftLEDOffset, ERS2xxInfo::TopRLEDOffset = FaceBackRightLEDOffset, ERS2xxInfo::TopBrLEDOffset = ModeLEDOffset } |
| 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 | ERS2xxInfo::RobotName = "ERS-2xx" |
| the name of the model, to be used for logging and remote GUIs | |
| const unsigned int | ERS2xxInfo::FrameTime = 8 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | ERS2xxInfo::NumFrames = 4 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | ERS2xxInfo::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 | ERS2xxInfo::NumSlowFrames = 1 |
| the number of frames per buffer being sent to ears (double buffered as well) | |
| const unsigned int | ERS2xxInfo::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
| const unsigned | ERS2xxInfo::outputNameLen = 9 |
| The length of the strings used for each of the outputs in outputNames (doesn't include null term). | |
| const char *const | ERS2xxInfo::outputNames [NumOutputs] |
| A name of uniform length for referring to joints - handy for posture files, etc. | |
| const char *const | ERS2xxInfo::PrimitiveName [NumOutputs] |
| the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others) | |
| const char *const | ERS2xxInfo::SpeakerLocator = "PRM:/r1/c1/c2/c3/s1-Speaker:S1" |
| use to open speaker connectio with the system | |
| const char *const | ERS2xxInfo::CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1" |
| use to open camera connection with the system | |
| const float | ERS2xxInfo::DefaultPIDs [NumPIDJoints][3] |
| This table holds the default PID values for each joint. see PIDMC. | |
| const unsigned char | ERS2xxInfo::DefaultPIDShifts [3] = {0x0E, 0x02, 0x0F} |
| These will control the shift values given to the system. see PIDMC. | |
| const float | ERS2xxInfo::MaxOutputSpeed [NumOutputs] |
| These values are Sony's recommended maximum joint velocities, in rad/ms. | |
| const double | ERS2xxInfo::outputRanges [NumOutputs][2] |
| This table holds the software limits of each of the outputs. | |
| const double | ERS2xxInfo::mechanicalLimits [NumOutputs][2] |
| This table holds the mechanical limits of each of the outputs. | |
