BioloidInfo.h File Reference
Defines some capabilities common to generic bioloid/dynamixel based robots. More...
#include <cmath>#include <stdlib.h>#include "CommonInfo.h"#include <vector>#include <map>#include <set>#include <string>#include <stdexcept>#include "Shared/fmat.h"
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Namespaces | |
| namespace | BioloidInfo |
Declares configuration of generic bioloid/dynamixel based robots, such as number of joints, LEDs, etc. | |
Defines | |
| #define | RAD(deg) (((deg) * (float)M_PI ) / 180.0f) |
| 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 | BioloidInfo::TargetName = "Bioloid" |
| the name of the model, to be used for logging and remote GUIs | |
| const unsigned int | BioloidInfo::FrameTime = 32 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | BioloidInfo::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | BioloidInfo::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
| const char *const | BioloidInfo::outputNames [NumReferenceFrames+1] |
| Names for each of the outputs. | |
| const Capabilities | BioloidInfo::capabilities |
| allocation declared in RobotInfo.cc | |
| const float | BioloidInfo::DefaultPIDs [NumPIDJoints][3] |
| Dynamixel servos don't use PID control. Instead, these values indicate compliance slope (P), punch (add to P*error), compliance margin (min error to start applying torque) (see ServoParam_t). | |
| const float | BioloidInfo::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/sec. | |
| const float | BioloidInfo::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 float | BioloidInfo::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). | |
Output Types Information | |
| const unsigned | BioloidInfo::NumWheels = 0 |
| The number of joints per leg. | |
| const unsigned | BioloidInfo::FingerJointsPerArm = 0 |
| The number of joints per leg. | |
| const unsigned | BioloidInfo::JointsPerArm = 0 |
| The number of joints per leg. | |
| const unsigned | BioloidInfo::NumArms = 0 |
| The number of joints per leg. | |
| const unsigned | BioloidInfo::NumArmJoints = JointsPerArm*NumArms |
| The number of joints per leg. | |
| const unsigned | BioloidInfo::JointsPerLeg = 0 |
| The number of joints per leg. | |
| const unsigned | BioloidInfo::NumLegs = 0 |
| The number of legs. | |
| const unsigned | BioloidInfo::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs | |
| const unsigned | BioloidInfo::NumHeadJoints = 0 |
| The number of joints in the pantilt. | |
| const unsigned | BioloidInfo::NumTailJoints = 0 |
| The number of joints assigned to the tail. | |
| const unsigned | BioloidInfo::NumMouthJoints = 0 |
| the number of joints that control the mouth | |
| const unsigned | BioloidInfo::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | BioloidInfo::NumButtons = 0 |
| the number of buttons that are available | |
| const unsigned | BioloidInfo::NumSensors = 2 |
| the number of sensors available (voltage and temperature) | |
| const unsigned | BioloidInfo::NumFacePanelLEDs = 0 |
| The number of face panel LEDs. | |
| const unsigned | BioloidInfo::NumLEDs = 18 |
| The number of LEDs which can be controlled (one per dynamixel servo). | |
| const unsigned | BioloidInfo::NumPIDJoints = 18 + NumWheels + NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints |
| The number of joints per leg. | |
| const unsigned | BioloidInfo::NumOutputs = NumWheels + NumPIDJoints + NumLEDs |
| servo pins | |
| const unsigned | BioloidInfo::NumReferenceFrames = NumOutputs+1 |
| Since we don't know what the user built, we don't actually know any of the kinematics... | |
Output Offsets | |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file | |
| enum | BioloidInfo::WheelOffset_t { BioloidInfo::LWheelOffset = WheelOffset, BioloidInfo::RWheelOffset } |
The offsets of the individual LEDs -- except we don't have any idea what to 'name' the servos in a reconfigurable kit, so this is empty (just add numeric offsets). More... | |
| enum | BioloidInfo::LEDOffset_t |
The offsets of the individual LEDs -- except we don't have any idea what to 'name' the servos in a reconfigurable kit, so this is empty (just add numeric offsets). More... | |
| typedef unsigned int | BioloidInfo::LEDBitMask_t |
| const unsigned | BioloidInfo::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | BioloidInfo::WheelOffset = PIDJointOffset |
| The offsets of the individual LEDs -- except we don't have any idea what to 'name' the servos in a reconfigurable kit, so this is empty (just add numeric offsets). | |
| const unsigned | BioloidInfo::LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets | |
| const unsigned | BioloidInfo::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const LEDBitMask_t | BioloidInfo::FaceLEDMask = 0 |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries). | |
| const LEDBitMask_t | BioloidInfo::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
Input Offsets | |
The order in which inputs should be stored | |
| enum | BioloidInfo::ButtonOffset_t |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | BioloidInfo::SensorOffset_t { BioloidInfo::PowerThermoOffset, BioloidInfo::PowerVoltageOffset } |
holds offset to different sensor values in WorldState::sensors[] More... | |
| const char *const | BioloidInfo::buttonNames [NumButtons+1] = { NULL } |
| Provides a string name for each button. | |
| const char *const | BioloidInfo::sensorNames [NumSensors+1] |
| Provides a string name for each sensor. | |
Detailed Description
Defines some capabilities common to generic bioloid/dynamixel based robots.
Definition in file BioloidInfo.h.
Define Documentation
| #define __RI_RAD_FLAG |
a flag so we undef these after we're done - do you have a cleaner solution?
Definition at line 224 of file BioloidInfo.h.
| #define RAD | ( | deg | ) | (((deg) * (float)M_PI ) / 180.0f) |
Just a little macro for converting degrees to radians.
Definition at line 222 of file BioloidInfo.h.
