ERS7Info.h File Reference
Detailed Description
Defines RobotInfo namespace for ERS-7 models, gives some information about the robot's capabilities, such as joint counts, offsets, names and PID values.
- Author:
- ejt (Creator)
- Author
- ejt
- Name
- Revision
- 1.36
- State
- Exp
- Date
- 2007/03/05 01:19:13
Definition in file ERS7Info.h.
#include "CommonERSInfo.h"
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Namespaces | |
| namespace | ERS7Info |
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 | ERS7Info::LEDBitMask_t |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS7Info::HeadColorLEDMask = 1<<(HeadColorLEDOffset-LEDOffset) |
| mask corresponding to HeadColorLEDOffset | |
| const LEDBitMask_t | ERS7Info::HeadWhiteLEDMask = 1<<(HeadWhiteLEDOffset-LEDOffset) |
| mask corresponding to HeadWhiteLEDOffset | |
| const LEDBitMask_t | ERS7Info::ModeRedLEDMask = 1<<(ModeRedLEDOffset-LEDOffset) |
| mask corresponding to ModeRedLEDOffset | |
| const LEDBitMask_t | ERS7Info::ModeGreenLEDMask = 1<<(ModeGreenLEDOffset-LEDOffset) |
| mask corresponding to ModeGreenLEDOffset | |
| const LEDBitMask_t | ERS7Info::ModeBlueLEDMask = 1<<(ModeBlueLEDOffset-LEDOffset) |
| mask corresponding to ModeBlueLEDOffset | |
| const LEDBitMask_t | ERS7Info::WirelessLEDMask = 1<<(WirelessLEDOffset-LEDOffset) |
| mask corresponding to WirelessLEDOffset | |
| const LEDBitMask_t | ERS7Info::FaceLEDPanelMask = 1<<(FaceLEDPanelOffset-LEDOffset) |
| mask corresponding to FaceLEDPanelOffset, selects only the first of the panel - shift this to get the others | |
| const LEDBitMask_t | ERS7Info::FrBackColorLEDMask = 1<<(FrBackColorLEDOffset-LEDOffset) |
| mask corresponding to FrBackColorLEDOffset | |
| const LEDBitMask_t | ERS7Info::FrBackWhiteLEDMask = 1<<(FrBackWhiteLEDOffset-LEDOffset) |
| mask corresponding to FrBackWhiteLEDOffset | |
| const LEDBitMask_t | ERS7Info::MdBackColorLEDMask = 1<<(MdBackColorLEDOffset-LEDOffset) |
| mask corresponding to MdBackColorLEDOffset | |
| const LEDBitMask_t | ERS7Info::MdBackWhiteLEDMask = 1<<(MdBackWhiteLEDOffset-LEDOffset) |
| mask corresponding to MdBackWhiteLEDOffset | |
| const LEDBitMask_t | ERS7Info::RrBackColorLEDMask = 1<<(RrBackColorLEDOffset-LEDOffset) |
| mask corresponding to RrBackColorLEDOffset | |
| const LEDBitMask_t | ERS7Info::RrBackWhiteLEDMask = 1<<(RrBackWhiteLEDOffset-LEDOffset) |
| mask corresponding to RrBackWhiteLEDOffset | |
| const LEDBitMask_t | ERS7Info::LEDABModeMask = 1<<(LEDABModeOffset-LEDOffset) |
| mask corresponding to LEDABModeOffset | |
| const LEDBitMask_t | ERS7Info::BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset) |
| bottom left | |
| const LEDBitMask_t | ERS7Info::BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset) |
| bottom right | |
| const LEDBitMask_t | ERS7Info::MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset) |
| middle left | |
| const LEDBitMask_t | ERS7Info::MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset) |
| middle right | |
| const LEDBitMask_t | ERS7Info::TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset) |
| top left | |
| const LEDBitMask_t | ERS7Info::TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset) |
| top right | |
| const LEDBitMask_t | ERS7Info::TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset) |
| top bar | |
| const LEDBitMask_t | ERS7Info::TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset) |
| red tail light | |
| const LEDBitMask_t | ERS7Info::TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset) |
| blue tail light | |
| const LEDBitMask_t | ERS7Info::FaceLEDMask |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries). | |
| const LEDBitMask_t | ERS7Info::HeadLEDMask |
| LEDs for face (all but back lights). | |
| const LEDBitMask_t | ERS7Info::BackLEDMask |
| LEDS on the back. | |
| const LEDBitMask_t | ERS7Info::TailLEDMask = 0 |
| LEDs on tail (ERS-7 has none). | |
| const LEDBitMask_t | ERS7Info::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
Output Offsets | |
| Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file | |
| enum | ERS7Info::LegOffset_t { ERS7Info::LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, ERS7Info::RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, ERS7Info::LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg, ERS7Info::RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg } |
| The offsets of the individual legs, add REKOffset_t value to access specific joint. More... | |
| enum | ERS7Info::LEDOffset_t { ERS7Info::HeadColorLEDOffset = LEDOffset, ERS7Info::HeadWhiteLEDOffset, ERS7Info::ModeRedLEDOffset, ERS7Info::ModeGreenLEDOffset, ERS7Info::ModeBlueLEDOffset, ERS7Info::WirelessLEDOffset, ERS7Info::FaceLEDPanelOffset, ERS7Info::FrBackColorLEDOffset = FaceLEDPanelOffset+NumFacePanelLEDs, ERS7Info::FrBackWhiteLEDOffset, ERS7Info::MdBackColorLEDOffset, ERS7Info::MdBackWhiteLEDOffset, ERS7Info::RrBackColorLEDOffset, ERS7Info::RrBackWhiteLEDOffset, LEDABModeOffset, ERS7Info::BotLLEDOffset = FaceLEDPanelOffset+1, ERS7Info::BotRLEDOffset = FaceLEDPanelOffset+0, ERS7Info::MidLLEDOffset = FaceLEDPanelOffset+3, ERS7Info::MidRLEDOffset = FaceLEDPanelOffset+2, ERS7Info::TopLLEDOffset = FaceLEDPanelOffset+7, ERS7Info::TopRLEDOffset = FaceLEDPanelOffset+6, ERS7Info::TopBrLEDOffset = HeadColorLEDOffset, ERS7Info::TlRedLEDOffset = RrBackColorLEDOffset, ERS7Info::TlBluLEDOffset = FrBackColorLEDOffset } |
| 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... | |
| const unsigned | ERS7Info::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | ERS7Info::LegOffset = PIDJointOffset |
| the offset of the beginning of the leg joints, NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t | |
| const unsigned | ERS7Info::HeadOffset = LegOffset+NumLegJoints |
| the offset of the beginning of the head joints, add TPROffset_t to get specific joint | |
| const unsigned | ERS7Info::TailOffset = HeadOffset+NumHeadJoints |
| the offset of the beginning of the tail joints, add TPROffset_t to get specific joint (except RollOffset not available) | |
| const unsigned | ERS7Info::MouthOffset = TailOffset+NumTailJoints |
| the offset of the beginning of the mouth joint, is specific joint | |
| const unsigned | ERS7Info::LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets | |
| const unsigned | ERS7Info::BinJointOffset = LEDOffset + NumLEDs |
| The beginning of the binary joints. | |
| const unsigned | ERS7Info::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. | |
| const unsigned | ERS7Info::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | ERS7Info::PawFrameOffset = BaseFrameOffset+1 |
| Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw). | |
| const unsigned | ERS7Info::CameraFrameOffset = PawFrameOffset+NumLegs |
| Use with kinematics to refer to camera reference frame. | |
| const unsigned | ERS7Info::NearIRFrameOffset = CameraFrameOffset+1 |
| Use with kinematics to refer to short-range infrared (distance) sensor reference frame. | |
| const unsigned | ERS7Info::FarIRFrameOffset = NearIRFrameOffset+1 |
| Use with kinematics to refer to long-range infrared (distance) sensor reference frame. | |
| const unsigned | ERS7Info::ChestIRFrameOffset = FarIRFrameOffset+1 |
| Use with kinematics to refer to chest-mounted infrared (distance) sensor reference frame. | |
Input Offsets | |
| The order in which inputs should be stored | |
| enum | ERS7Info::ButtonOffset_t { LFrPawOffset = LFrLegOrder, RFrPawOffset = RFrLegOrder, LBkPawOffset = LBkLegOrder, RBkPawOffset = RBkLegOrder, ChinButOffset = 4, HeadButOffset, HeadFrButOffset = HeadButOffset, FrontBackButOffset, MiddleBackButOffset, BackButOffset = MiddleBackButOffset, RearBackButOffset, WirelessSwOffset } |
| holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | ERS7Info::SensorOffset_t { ERS7Info::NearIRDistOffset = 0, ERS7Info::FarIRDistOffset, ERS7Info::ChestIRDistOffset, ERS7Info::BAccelOffset, ERS7Info::LAccelOffset, ERS7Info::DAccelOffset, ERS7Info::PowerRemainOffset, ERS7Info::PowerThermoOffset, ERS7Info::PowerCapacityOffset, ERS7Info::PowerVoltageOffset, ERS7Info::PowerCurrentOffset } |
| holds offset to different sensor values in WorldState::sensors[] More... | |
| const char *const | ERS7Info::buttonNames [NumButtons] |
| Provides a string name for each button. | |
| const char *const | ERS7Info::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 | ERS7Info::JointsPerLeg = 3 |
| The number of joints per leg. | |
| const unsigned | ERS7Info::NumLegs = 4 |
| The number of legs. | |
| const unsigned | ERS7Info::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs | |
| const unsigned | ERS7Info::NumHeadJoints = 3 |
| The number of joints in the neck. | |
| const unsigned | ERS7Info::NumTailJoints = 2 |
| The number of joints assigned to the tail. | |
| const unsigned | ERS7Info::NumMouthJoints = 1 |
| the number of joints that control the mouth | |
| const unsigned | ERS7Info::NumEarJoints = 2 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | ERS7Info::NumButtons = 2+4+3+1 |
| the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t | |
| const unsigned | ERS7Info::NumSensors = 3+3+5 |
| 3 IR (distance), 3 accel (force), 5 from power, see ERS7Info::SensorOffset_t | |
| const unsigned | ERS7Info::NumLEDs = 27 |
| The number of LEDs which can be controlled. | |
| const unsigned | ERS7Info::NumFacePanelLEDs = 14 |
| The number of face panel LEDs. | |
| const unsigned | ERS7Info::NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints |
| The number of joints which use PID motion - everything except ears. | |
| const unsigned | ERS7Info::NumBinJoints = NumEarJoints |
| The number of binary joints - just the ears. | |
| const unsigned | ERS7Info::NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs |
| the total number of outputs | |
| const unsigned | ERS7Info::NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 3 |
| for the base, paws (NumLegs), camera, and IR sensors (3) reference frames | |
| const float | ERS7Info::CameraHorizFOV = 56.9/180*M_PI |
| horizontal field of view (radians) | |
| const float | ERS7Info::CameraVertFOV = 45.2/180*M_PI |
| vertical field of view (radians) | |
| const float | ERS7Info::CameraFOV = CameraHorizFOV |
| should be set to maximum of CameraHorizFOV or CameraVertFOV | |
| const unsigned int | ERS7Info::CameraResolutionX = 208 |
| the number of pixels available in the 'full' layer | |
| const unsigned int | ERS7Info::CameraResolutionY = 160 |
| the number of pixels available in the 'full' layer | |
| const float | ERS7Info::BallOfFootRadius = 23.433/2 |
| radius of the ball of the foot | |
| const bool | ERS7Info::IsFastOutput [NumOutputs] |
| true for joints which can be updated every 32 ms (all joints on ERS-7) | |
| const bool | ERS7Info::IsRealERS7 [NumOutputs] |
| we need this so you can tell programmatically which joints are "real" and which are "fake" in a compatability mode | |
CPC IDs | |
| Values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - values don't correspond to order of ERS7Info::PrimitiveName | |
| static const int | ERS7Info::CPCJointMouth = 0 |
| Mouth. | |
| static const int | ERS7Info::CPCSwitchChin = 1 |
| Chin sensor. | |
| static const int | ERS7Info::CPCJointNeckNod = 2 |
| Neck tilt2. | |
| static const int | ERS7Info::CPCSensorHead = 3 |
| Head sensor. | |
| static const int | ERS7Info::CPCSensorNearPSD = 4 |
| Head distance sensor(near). | |
| static const int | ERS7Info::CPCSensorFarPSD = 5 |
| Head distance sensor(far). | |
| static const int | ERS7Info::CPCJointNeckPan = 6 |
| Neck pan. | |
| static const int | ERS7Info::CPCJointNeckTilt = 7 |
| Neck tilt1. | |
| static const int | ERS7Info::CPCSwitchLFPaw = 8 |
| Left fore leg paw sensor. | |
| static const int | ERS7Info::CPCJointLFKnee = 9 |
| Left fore legJ3. | |
| static const int | ERS7Info::CPCJointLFElevator = 10 |
| Left fore legJ2. | |
| static const int | ERS7Info::CPCJointLFRotator = 11 |
| Left fore legJ1. | |
| static const int | ERS7Info::CPCSwitchLHPaw = 12 |
| Left hind leg paw sensor. | |
| static const int | ERS7Info::CPCJointLHKnee = 13 |
| Left hind legJ3. | |
| static const int | ERS7Info::CPCJointLHElevator = 14 |
| Left hind legJ2. | |
| static const int | ERS7Info::CPCJointLHRotator = 15 |
| Left hind legJ1. | |
| static const int | ERS7Info::CPCSwitchRFPaw = 16 |
| Right fore leg paw sensor. | |
| static const int | ERS7Info::CPCJointRFKnee = 17 |
| Right fore legJ3. | |
| static const int | ERS7Info::CPCJointRFElevator = 18 |
| Right fore legJ2. | |
| static const int | ERS7Info::CPCJointRFRotator = 19 |
| Right fore legJ1. | |
| static const int | ERS7Info::CPCSwitchRHPaw = 20 |
| Right hind leg paw sensor. | |
| static const int | ERS7Info::CPCJointRHKnee = 21 |
| Right hind legJ3. | |
| static const int | ERS7Info::CPCJointRHElevator = 22 |
| Right hind legJ2. | |
| static const int | ERS7Info::CPCJointRHRotator = 23 |
| Right hind legJ1. | |
| static const int | ERS7Info::CPCJointTailTilt = 24 |
| Tail tilt. | |
| static const int | ERS7Info::CPCJointTailPan = 25 |
| Tail pan. | |
| static const int | ERS7Info::CPCSensorAccelFB = 26 |
| Acceleration sensor(front-back). | |
| static const int | ERS7Info::CPCSensorAccelLR = 27 |
| Acceleration sensor(right-left). | |
| static const int | ERS7Info::CPCSensorAccelUD = 28 |
| Acceleration sensor(up-down). | |
| static const int | ERS7Info::CPCSensorChestPSD = 29 |
| Chest distance sensor. | |
| static const int | ERS7Info::CPCSwitchWireless = 30 |
| Wireless LAN switch. | |
| static const int | ERS7Info::CPCSensorBackRear = 31 |
| Back sensor(rear). | |
| static const int | ERS7Info::CPCSensorBackMiddle = 32 |
| Back sensor(middle). | |
| static const int | ERS7Info::CPCSensorBackFront = 33 |
| Back sensor(front). | |
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? | |
Variables | |
| const char *const | ERS7Info::RobotName = "ERS-7" |
| the name of the model, to be used for logging and remote GUIs | |
| const unsigned int | ERS7Info::FrameTime = 8 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | ERS7Info::NumFrames = 4 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | ERS7Info::SlowFrameTime = 8 |
| time between frames for the ears (ERS-7 doesn't seem to have any "slow" joints; this only applied for the ears on the ERS-210) | |
| const unsigned int | ERS7Info::NumSlowFrames = 4 |
| the number of frames per buffer being sent to ears (double buffered as well) | |
| const unsigned int | ERS7Info::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
| const unsigned | ERS7Info::outputNameLen = 9 |
| The length of the strings used for each of the outputs in outputNames (doesn't include null term). | |
| const char *const | ERS7Info::outputNames [NumOutputs] |
| A name of uniform length for referring to joints - handy for posture files, etc. | |
| const char *const | ERS7Info::PrimitiveName [NumOutputs] |
| the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others) | |
| const char *const | ERS7Info::SpeakerLocator = "PRM:/s1-Speaker:S1" |
| use to open speaker connection with the system | |
| const char *const | ERS7Info::CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1" |
| use to open camera connection with the system | |
| const float | ERS7Info::DefaultPIDs [NumPIDJoints][3] |
| This table holds the default PID values for each joint. see PIDMC. | |
| const unsigned char | ERS7Info::DefaultPIDShifts [3] = {0x0E, 0x02-1, 0x0F-3} |
| These will control the shift values given to the system. see PIDMC. | |
| const float | ERS7Info::MaxOutputSpeed [NumOutputs] |
| These values are Sony's recommended maximum joint velocities, in rad/ms. | |
| const double | ERS7Info::outputRanges [NumOutputs][2] |
| This table holds the software limits of each of the outputs, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange). | |
| const double | ERS7Info::mechanicalLimits [NumOutputs][2] |
| This table holds the mechanical limits of each of the outputs, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange). | |
