Tekkotsu: LynxArm6Info Namespace Reference


Output Offsets
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
typedef unsigned int	LEDBitMask_t
enum	LegOffset_t { LFrLegOffset = LegOffset+LFrLegOrderJointsPerLeg, RFrLegOffset = LegOffset+RFrLegOrderJointsPerLeg, LBkLegOffset = LegOffset+LBkLegOrderJointsPerLeg, RBkLegOffset = LegOffset+RBkLegOrderJointsPerLeg }
	The offsets of the individual legs, add REKOffset_t value to access specific joint. More...
enum	LEDOffset_t
	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.
const unsigned	PIDJointOffset = 0
	The beginning of the PID Joints.
const unsigned	ArmOffset = PIDJointOffset
const unsigned	LegOffset = ArmOffset+NumArmJoints
	the offset of the beginning of the leg joints, NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t
const unsigned	HeadOffset = LegOffset+NumLegJoints
	the offset of the beginning of the head joints, add TPROffset_t to get specific joint
const unsigned	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	MouthOffset = TailOffset+NumTailJoints
	the offset of the beginning of the mouth joint, is specific joint
const unsigned	LEDOffset = PIDJointOffset + NumPIDJoints
	the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets
const unsigned	BinJointOffset = LEDOffset + NumLEDs
	The beginning of the binary joints.
const unsigned	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	BaseFrameOffset = NumOutputs
	Use with kinematics to refer to base reference frame.
const unsigned	GripperFrameOffset = BaseFrameOffset+1
	Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw).
const unsigned	CameraFrameOffset = GripperFrameOffset+NumArms
	Use with kinematics to refer to camera reference frame.
const LEDBitMask_t	FaceLEDMask = 0
	LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
const LEDBitMask_t	AllLEDMask = (LEDBitMask_t)~0
	selects all of the leds
Input Offsets
The order in which inputs should be stored
enum	ButtonOffset_t
	holds offsets to different buttons in WorldState::buttons[] More...
enum	SensorOffset_t
	holds offset to different sensor values in WorldState::sensors[] More...
const char *const	buttonNames [NumButtons] = { }
	Provides a string name for each button.
const char *const	sensorNames [NumSensors] = { }
	Provides a string name for each sensor.
Output Types Information
const unsigned	JointsPerArm = 6
const unsigned	NumArms = 1
const unsigned	NumArmJoints = JointsPerArm*NumArms
const unsigned	JointsPerLeg = 0
	The number of joints per leg.
const unsigned	NumLegs = 0
	The number of legs.
const unsigned	NumLegJoints = JointsPerLeg*NumLegs
	the TOTAL number of joints on ALL legs
const unsigned	NumHeadJoints = 0
	The number of joints in the neck.
const unsigned	NumTailJoints = 0
	The number of joints assigned to the tail.
const unsigned	NumMouthJoints = 0
	the number of joints that control the mouth
const unsigned	NumEarJoints = 0
	The number of joints which control the ears (NOT per ear, is total).
const unsigned	NumButtons = 0
	the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t
const unsigned	NumSensors = 0
	3 IR (distance), 3 accel (force), 5 from power, see ERS7Info::SensorOffset_t
const unsigned	NumLEDs = 0
	The number of LEDs which can be controlled.
const unsigned	NumFacePanelLEDs = 0
	The number of face panel LEDs.
const unsigned	NumPIDJoints = NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints
	The number of joints which use PID motion - everything except ears.
const unsigned	NumBinJoints = NumEarJoints
	The number of binary joints - just the ears.
const unsigned	NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs
	the total number of outputs
const unsigned	NumReferenceFrames = NumOutputs + 1 + NumArms + 1
	for the base, gripper (* NumArms), and camera reference frames
const float	CameraHorizFOV = 56.9/180*M_PI
	horizontal field of view (radians)
const float	CameraVertFOV = 45.2/180*M_PI
	vertical field of view (radians)
const float	CameraFOV = CameraHorizFOV
	should be set to maximum of CameraHorizFOV or CameraVertFOV
const unsigned int	CameraResolutionX = 320
	the number of pixels available in the 'full' layer
const unsigned int	CameraResolutionY = 240
	the number of pixels available in the 'full' layer
Variables
const char *const	RobotName = "LynxArm6"
	the name of the model, to be used for logging and remote GUIs
const unsigned int	FrameTime = 32
	time between frames in the motion system (milliseconds)
const unsigned int	NumFrames = 1
	the number of frames per buffer (don't forget also double buffered)
const unsigned int	SlowFrameTime = 32
	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	NumSlowFrames = 1
	the number of frames per buffer being sent to ears (double buffered as well)
const unsigned int	SoundBufferTime = 32
	the number of milliseconds per sound buffer... I'm not sure if this can be changed
const unsigned	outputNameLen = 9
	The length of the strings used for each of the outputs in outputNames (doesn't include null term).
const char *const	outputNames [NumOutputs]
	A name of uniform length for referring to joints - handy for posture files, etc.
const float	DefaultPIDs [NumPIDJoints][3]
	This table holds the default PID values for each joint. see PIDMC.
const float	MaxOutputSpeed [NumOutputs]
	These values are Sony's recommended maximum joint velocities, in rad/ms.
const double	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	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).

Typedef Documentation

typedef unsigned int LynxArm6Info::LEDBitMask_t

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

Definition at line 90 of file LynxArm6Info.h.

Enumeration Type Documentation

enum LynxArm6Info::LegOffset_t

The offsets of the individual legs, add REKOffset_t value to access specific joint.

Enumerator:

LFrLegOffset	beginning of left front leg's joints
RFrLegOffset	beginning of right front leg's joints
LBkLegOffset	beginning of left back leg's joints
RBkLegOffset	beginning of right back leg's joints

Definition at line 79 of file LynxArm6Info.h.

enum LynxArm6Info::ButtonOffset_t

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

Should be a straight mapping to the ButtonSourceIDs

Note that the chest (power) button is not a normal button. It kills power to the motors at a hardware level, and isn't sensed in the normal way. If you want to know when it is pressed (and you are about to shut down) see PowerSourceID::PauseSID.

See also:: WorldState::buttons
ButtonSourceID_t

Definition at line 116 of file LynxArm6Info.h.

enum LynxArm6Info::SensorOffset_t

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

See also:: WorldState::sensors[]

Definition at line 123 of file LynxArm6Info.h.

Variable Documentation

const unsigned LynxArm6Info::ArmOffset = PIDJointOffset

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

Definition at line 62 of file LynxArm6Info.h.

const char* const LynxArm6Info::outputNames[NumOutputs]

Initial value:

 {
    "Shldr:rot","Shldr:elv","Elbow~~~~",
    "Wrist:rot","Wrist:elv","Gripper~~"
  }

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

Definition at line 134 of file LynxArm6Info.h.

const float LynxArm6Info::DefaultPIDs[NumPIDJoints][3]

Initial value:

 {
    {1,0,0}, {1,0,0}, {1,0,0},
    {1,0,0}, {1,0,0}, {1,0,0},
  }

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

Definition at line 140 of file LynxArm6Info.h.

const float LynxArm6Info::MaxOutputSpeed[NumOutputs]

Initial value:

 {
    4.86510529e-3, 
    5.27962099e-3,
    5.27962099e-3,
    4.86510529e-3,
    5.27962099e-3,
    5.27962099e-3
  }

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

a value <= 0 means infinite speed (e.g. LEDs)

These limits are not enforced by the framework. They are simply available for you to use as you see fit. HeadPointerMC and PostureMC are primary examples of included classes which do respect these values (although they can be overridden)

These values were obtained from the administrators of the Sony OPEN-R BBS

Definition at line 152 of file LynxArm6Info.h.

const double LynxArm6Info::outputRanges[NumOutputs][2]

Initial value:

    {
      { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) },
      { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) },
    }

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).

Definition at line 169 of file LynxArm6Info.h.

const double LynxArm6Info::mechanicalLimits[NumOutputs][2]

Initial value:

    {
      { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) },
      { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) },
    }

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).

Same as outputLimits, don't know actual values because they were never specified by Sony

Definition at line 177 of file LynxArm6Info.h.

LynxArm6Info Namespace Reference

Output Offsets

Input Offsets

Output Types Information

Variables

Typedef Documentation

Enumeration Type Documentation

Variable Documentation