CalliopeUInfo.h File Reference
Defines some capabilities of the CalliopeU robot. More...
#include <cmath>#include <stdlib.h>#include "CommonInfo.h"
Include dependency graph for CalliopeUInfo.h:
Go to the source code of this file.
Classes | |
| class | CalliopeUInfo::CalliopeUCapabilities |
| provides polymorphic robot capability detection/mapping More... | |
Namespaces | |
| namespace | CalliopeUInfo |
Contains information about the CalliopeU, 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 | CalliopeUInfo::TargetName = "CalliopeU" |
| the name of the model, to be used for logging and remote GUIs | |
| const unsigned int | CalliopeUInfo::FrameTime = 30 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | CalliopeUInfo::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | CalliopeUInfo::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
| const fmat::Column< 3 > | CalliopeUInfo::AgentBoundingBoxBaseFrameOffset = fmat::pack(0,0,0) |
| Offset needed so that the centroid of the robot is correct related to the bounding box. | |
| const fmat::Column< 3 > | CalliopeUInfo::AgentBoundingBoxHalfDims = fmat::pack(304.8/2, 304.8/2, 0) |
| Half of the length, width, and height of the robot without gadgets (E.G arms). | |
| const char *const | CalliopeUInfo::outputNames [NumReferenceFrames+1] |
| Names for each of the outputs. | |
| const CalliopeUCapabilities | CalliopeUInfo::capabilities |
| allocation declared in RobotInfo.cc | |
| const float | CalliopeUInfo::DefaultPIDs [NumPIDJoints+1][3] |
| This table holds the default PID values for each joint. see PIDMC. | |
| const float | CalliopeUInfo::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/ms. | |
| const float | CalliopeUInfo::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 | CalliopeUInfo::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 | CalliopeUInfo::NumWheels = 2 |
| The number of joints per leg. | |
| const unsigned | CalliopeUInfo::FingerJointsPerArm = 0 |
| The number of joints per leg. | |
| const unsigned | CalliopeUInfo::JointsPerArm = 0 |
| The number of joints per leg. | |
| const unsigned | CalliopeUInfo::NumArms = 0 |
| The number of joints per leg. | |
| const unsigned | CalliopeUInfo::NumArmJoints = JointsPerArm*NumArms |
| The number of joints per leg. | |
| const unsigned | CalliopeUInfo::JointsPerLeg = 0 |
| The number of joints per leg. | |
| const unsigned | CalliopeUInfo::NumLegs = 0 |
| The number of legs. | |
| const unsigned | CalliopeUInfo::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs | |
| const unsigned | CalliopeUInfo::NumHeadJoints = 0 |
| The number of joints in the neck. | |
| const unsigned | CalliopeUInfo::NumTailJoints = 0 |
| The number of joints assigned to the tail. | |
| const unsigned | CalliopeUInfo::NumMouthJoints = 0 |
| the number of joints that control the mouth | |
| const unsigned | CalliopeUInfo::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | CalliopeUInfo::NumButtons = 11 |
| the number of buttons that are available | |
| const unsigned | CalliopeUInfo::NumSensors = 42 |
| the number of sensors available | |
| const unsigned | CalliopeUInfo::NumLEDs = 4 |
| The number of LEDs which can be controlled. | |
| const unsigned | CalliopeUInfo::NumFacePanelLEDs = 0 |
| The number of face panel LEDs. | |
| const unsigned | CalliopeUInfo::NumPIDJoints = NumWheels |
| servo pins | |
| const unsigned | CalliopeUInfo::NumOutputs = NumPIDJoints + NumLEDs |
| the total number of outputs | |
| const unsigned | CalliopeUInfo::NumReferenceFrames = NumOutputs + 1 + NumArms + 1 |
| for the base, gripper (* NumArms), and Camera | |
| const float | CalliopeUInfo::wheelBase = 230.0 |
| Kobuki wheel base in mm. | |
| const float | CalliopeUInfo::wheelRadius = 35.0 |
| Kobuki wheel radius in mm. | |
| const float | CalliopeUInfo::tickToRad = 0.002436916871363930187454f |
| The number of joints per leg. | |
Output Offsets | |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file | |
| enum | CalliopeUInfo::TPROffset_t { CalliopeUInfo::PanOffset = 0, CalliopeUInfo::TiltOffset, CalliopeUInfo::NodOffset = TiltOffset } |
The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). More... | |
| enum | CalliopeUInfo::HeadOffset_t { CalliopeUInfo::HeadPanOffset = HeadOffset, CalliopeUInfo::HeadTiltOffset } |
These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do. More... | |
| enum | CalliopeUInfo::WheelOffset_t { CalliopeUInfo::SpeedOffset = WheelOffset, CalliopeUInfo::RadiusOffset } |
The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). More... | |
| enum | CalliopeUInfo::LEDOffset_t { CalliopeUInfo::RedLED1Offset = LEDOffset, CalliopeUInfo::GreenLED1Offset, CalliopeUInfo::RedLED2Offset, CalliopeUInfo::GreenLED2Offset } |
The offsets of the individual LEDs. More... | |
| typedef unsigned int | CalliopeUInfo::LEDBitMask_t |
| So you can be clear when you're refering to a LED bitmask. | |
| const unsigned | CalliopeUInfo::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | CalliopeUInfo::WheelOffset = PIDJointOffset |
| The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). | |
| const unsigned | CalliopeUInfo::HeadOffset = WheelOffset+NumWheels |
| the offset of the beginning of the head joints, add TPROffset_t to get specific joint | |
| const unsigned | CalliopeUInfo::LEDOffset = HeadOffset+NumHeadJoints |
| The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). | |
| const unsigned | CalliopeUInfo::ModeOffset = LEDOffset + NumLEDs |
| The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). | |
| const unsigned | CalliopeUInfo::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | CalliopeUInfo::CameraFrameOffset = BaseFrameOffset + 1 |
| Use with kinematics to refer to camera reference frame. | |
| const LEDOffset_t | CalliopeUInfo::RedLEDOffset = RedLED1Offset |
| The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). | |
| const LEDOffset_t | CalliopeUInfo::YellowLEDOffset = RedLED2Offset |
| The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). | |
| const LEDOffset_t | CalliopeUInfo::GreenLEDOffset = GreenLED1Offset |
| The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). | |
| const LEDOffset_t | CalliopeUInfo::BlueLEDOffset = GreenLED2Offset |
| The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). | |
| const LEDBitMask_t | CalliopeUInfo::RedLEDMask = 1<<(RedLED1Offset-LEDOffset) |
| mask corresponding to RedLEDOffset | |
| const LEDBitMask_t | CalliopeUInfo::YellowLEDMask = 1<<(RedLED2Offset-LEDOffset) |
| mask corresponding to YellowLEDOffset | |
| const LEDBitMask_t | CalliopeUInfo::GreenLEDMask = 1<<(GreenLED1Offset-LEDOffset) |
| mask corresponding to GreenLEDOffset | |
| const LEDBitMask_t | CalliopeUInfo::BlueLEDMask = (1<<(GreenLED2Offset-LEDOffset)) |
| mask corresponding to BlueLEDOffset | |
| const LEDBitMask_t | CalliopeUInfo::FaceLEDMask = 0 |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries). | |
| const LEDBitMask_t | CalliopeUInfo::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
Input Offsets | |
The order in which inputs should be stored | |
| enum | CalliopeUInfo::ButtonOffset_t { CalliopeUInfo::B0ButOffset, CalliopeUInfo::B1ButOffset, CalliopeUInfo::B2ButOffset, CalliopeUInfo::DropLeftWheelButOffset, CalliopeUInfo::DropRightWheelButOffset, CalliopeUInfo::BumpLeftButOffset, CalliopeUInfo::BumpRightButOffset, CalliopeUInfo::BumpCenterButOffset, CalliopeUInfo::CliffLeftButOffset, CalliopeUInfo::CliffRightButOffset, CalliopeUInfo::CliffCenterButOffset } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | CalliopeUInfo::SensorOffset_t { CalliopeUInfo::LeftEncoderOffset, CalliopeUInfo::RightEncoderOffset, CalliopeUInfo::LeftPwmOffset, CalliopeUInfo::RightPwmOffset, CalliopeUInfo::ChargerOffset, CalliopeUInfo::BatteryOffset, CalliopeUInfo::OverCurrentOffset, CalliopeUInfo::Docking0Offset, CalliopeUInfo::Docking1Offset, CalliopeUInfo::Docking2Offset, CalliopeUInfo::AngleOffset, CalliopeUInfo::AngleRateOffset, CalliopeUInfo::Acc0Offset, CalliopeUInfo::Acc1Offset, CalliopeUInfo::Acc2Offset, CalliopeUInfo::Bottom0Offset, CalliopeUInfo::Bottom1Offset, CalliopeUInfo::Bottom2Offset, CalliopeUInfo::Current0Offset, CalliopeUInfo::Current1Offset, CalliopeUInfo::FrameIdOffset, CalliopeUInfo::FollowedDataLenghtOffset, CalliopeUInfo::GyroParam0Offset, CalliopeUInfo::GyroParam1Offset, CalliopeUInfo::GyroParam2Offset, CalliopeUInfo::GyroParam3Offset, CalliopeUInfo::GyroParam4Offset, CalliopeUInfo::GyroParam5Offset, CalliopeUInfo::GyroParam6Offset, CalliopeUInfo::GyroParam7Offset, CalliopeUInfo::GyroParam8Offset, CalliopeUInfo::DigitalInputOffset, CalliopeUInfo::AnalogInput0Offset, CalliopeUInfo::AnalogInput1Offset, CalliopeUInfo::AnalogInput2Offset, CalliopeUInfo::AnalogInput3Offset, CalliopeUInfo::AnalogInput4Offset, CalliopeUInfo::AnalogInput5Offset, CalliopeUInfo::AnalogInput6Offset, CalliopeUInfo::GPSXOffset, CalliopeUInfo::GPSYOffset, CalliopeUInfo::GPSHeadingOffset } |
holds offset to different sensor values in WorldState::sensors[] More... | |
| const ButtonOffset_t | CalliopeUInfo::GreenButOffset = B0ButOffset |
| holds offsets to different buttons in WorldState::buttons[] | |
| const ButtonOffset_t | CalliopeUInfo::YellowButOffset = B1ButOffset |
| holds offsets to different buttons in WorldState::buttons[] | |
| const ButtonOffset_t | CalliopeUInfo::RedButOffset = B2ButOffset |
| holds offsets to different buttons in WorldState::buttons[] | |
| const char *const | CalliopeUInfo::buttonNames [NumButtons+1] |
| Provides a string name for each button. | |
| const char *const | CalliopeUInfo::sensorNames [NumSensors+1] |
| Provides a string name for each sensor. | |
Detailed Description
Defines some capabilities of the CalliopeU robot.
Definition in file CalliopeUInfo.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 353 of file CalliopeUInfo.h.
| #define RAD | ( | deg | ) | (((deg) * (float)M_PI ) / 180.0f) |
Just a little macro for converting degrees to radians.
Definition at line 351 of file CalliopeUInfo.h.
