Chiara2Info.h File Reference
Defines some capabilities of the Chiara hexapod robots. More...
#include <cmath>#include <stdlib.h>#include "CommonInfo.h"
Include dependency graph for Chiara2Info.h:
Go to the source code of this file.
Classes | |
| class | Chiara2Info::ChiaraCapabilities |
| provides polymorphic robot capability detection/mapping More... | |
Namespaces | |
| namespace | Chiara2Info |
Contains information about an Chiara hexapod robot, 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 | Chiara2Info::TargetName = "Chiara2" |
| the name of the model, to be used for logging and remote GUIs | |
| const unsigned int | Chiara2Info::FrameTime = 32 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | Chiara2Info::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | Chiara2Info::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
| const char *const | Chiara2Info::outputNames [NumReferenceFrames+1] |
| Names for each of the outputs. | |
| const ChiaraCapabilities | Chiara2Info::capabilities |
| allocation declared in RobotInfo.cc | |
| const float | Chiara2Info::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 | Chiara2Info::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/ms. | |
| const float | Chiara2Info::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 | Chiara2Info::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 | Chiara2Info::NumWheels = 0 |
| The number of joints per leg. | |
| const unsigned | Chiara2Info::FingerJointsPerArm = 2 |
| The number of joints per leg. | |
| const unsigned | Chiara2Info::JointsPerArm = 6 |
| The number of joints per leg. | |
| const unsigned | Chiara2Info::NumArms = 1 |
| The number of joints per leg. | |
| const unsigned | Chiara2Info::NumArmJoints = JointsPerArm*NumArms |
| The number of joints per leg. | |
| const unsigned | Chiara2Info::JointsPerLeg = 3 |
| The number of joints per leg. | |
| const unsigned | Chiara2Info::NumLegs = 6 |
| The number of legs. | |
| const unsigned | Chiara2Info::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs | |
| const unsigned | Chiara2Info::NumHeadJoints = 2 |
| The number of joints in the pantilt. | |
| const unsigned | Chiara2Info::NumTailJoints = 0 |
| The number of joints assigned to the tail. | |
| const unsigned | Chiara2Info::NumMouthJoints = 0 |
| the number of joints that control the mouth | |
| const unsigned | Chiara2Info::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | Chiara2Info::NumButtons = 3 |
| the number of buttons that are available | |
| const unsigned | Chiara2Info::NumSensors = 11 |
| the number of sensors available | |
| const unsigned | Chiara2Info::NumFacePanelLEDs = 0 |
| The number of face panel LEDs. | |
| const unsigned | Chiara2Info::NumLEDs = NumLegs + 1 |
| There's an LED on every dynamixel, but can't see most of them, so save some computational resources and only expose the visible ones: knees and pan. | |
| const unsigned | Chiara2Info::NumPIDJoints = NumArmJoints + 1 + NumLegJoints + NumHeadJoints+NumTailJoints+NumMouthJoints |
| The number of joints per leg. | |
| const unsigned | Chiara2Info::NumOutputs = NumWheels + NumPIDJoints + NumLEDs |
| servo pins | |
| const unsigned | Chiara2Info::NumReferenceFrames = NumOutputs + 1 + NumLegs + NumArms + 1 + 3 |
| for the base, feet, gripper, camera, and IR distance rangefinder | |
| const float | Chiara2Info::BallOfFootRadius = 0 |
| radius of the ball of the foot | |
Output Offsets | |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file | |
| enum | Chiara2Info::LegOrder_t { Chiara2Info::RFrLegOrder = 0, Chiara2Info::LFrLegOrder, Chiara2Info::RMdLegOrder, Chiara2Info::LMdLegOrder, Chiara2Info::RBkLegOrder, Chiara2Info::LBkLegOrder } |
the ordering of legs More... | |
| enum | Chiara2Info::SEKOffset_t { Chiara2Info::SweepOffset = 0, Chiara2Info::ElevatorOffset, Chiara2Info::KneeOffset } |
The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage. More... | |
| enum | Chiara2Info::TPROffset_t { Chiara2Info::PanOffset = 0, Chiara2Info::TiltOffset, Chiara2Info::NodOffset = TiltOffset, Chiara2Info::RollOffset } |
The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head/wrist). More... | |
| enum | Chiara2Info::LegOffset_t { Chiara2Info::RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, Chiara2Info::LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, Chiara2Info::RMdLegOffset = LegOffset+RMdLegOrder*JointsPerLeg, Chiara2Info::LMdLegOffset = LegOffset+LMdLegOrder*JointsPerLeg, Chiara2Info::RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg, Chiara2Info::LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg } |
The offsets of the individual legs, add REKOffset_t value to access specific joint. More... | |
| enum | Chiara2Info::ArmOffset_t { Chiara2Info::ArmShoulderOffset = ArmOffset, Chiara2Info::ArmElbowOffset, Chiara2Info::WristOffset, Chiara2Info::WristYawOffset = WristOffset, Chiara2Info::WristPitchOffset, Chiara2Info::GripperLeftOffset, Chiara2Info::GripperRightOffset, Chiara2Info::GripperOffset } |
These are 'absolute' offsets for the arm joints, don't need to add to ArmOffset like TPROffset_t values do. More... | |
| enum | Chiara2Info::HeadOffset_t { Chiara2Info::HeadPanOffset = HeadOffset, Chiara2Info::HeadTiltOffset } |
These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do. More... | |
| enum | Chiara2Info::LEDOffset_t { Chiara2Info::RFrKneeLEDOffset = LEDOffset, Chiara2Info::LFrKneeLEDOffset, Chiara2Info::RMdKneeLEDOffset, Chiara2Info::LMdKneeLEDOffset, Chiara2Info::RBkKneeLEDOffset, Chiara2Info::LBkKneeLEDOffset, Chiara2Info::HeadLEDOffset } |
The offsets of the individual LEDs, one LED on each dynamixel servo, these match the servo order, so this is empty. More... | |
| typedef unsigned int | Chiara2Info::LEDBitMask_t |
| So you can be clear when you're refering to a LED bitmask. | |
| const unsigned | Chiara2Info::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | Chiara2Info::RFrRotatorOffset = PIDJointOffset |
| The right front leg's rotator joint. | |
| const unsigned | Chiara2Info::LegOffset = RFrRotatorOffset+1 |
| the offset of the beginning of the regular leg joints (after the 1 rotator joint for the right front leg): NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t | |
| const unsigned | Chiara2Info::ArmOffset = LegOffset+NumLegJoints |
| the offset of the beginning of the arm joints, add TPROffset_t to get specific joint | |
| const unsigned | Chiara2Info::HeadOffset = ArmOffset+NumArmJoints |
| the offset of the beginning of the head joints, add TPROffset_t to get specific joint | |
| const unsigned | Chiara2Info::LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets | |
| const unsigned | Chiara2Info::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | Chiara2Info::FootFrameOffset = BaseFrameOffset+1 |
| Use with kinematics to refer to feet reference frames (add appropriate LegOrder_t to specify which paw). | |
| const unsigned | Chiara2Info::GripperFrameOffset = FootFrameOffset+NumLegs |
| Use with kinematics to refer to gripper reference frame. | |
| const unsigned | Chiara2Info::CameraFrameOffset = GripperFrameOffset+NumArms |
| Use with kinematics to refer to camera reference frame. | |
| const unsigned | Chiara2Info::LeftIRFrameOffset = CameraFrameOffset+1 |
| Use with kinematics to refer to left IR distance rangefinder reference frame. | |
| const unsigned | Chiara2Info::CenterIRFrameOffset = LeftIRFrameOffset+1 |
| Use with kinematics to refer to center IR distance rangefinder reference frame. | |
| const unsigned | Chiara2Info::IRFrameOffset = CenterIRFrameOffset |
| alias for CenterIRFrameOffset | |
| const unsigned | Chiara2Info::RightIRFrameOffset = CenterIRFrameOffset+1 |
| Use with kinematics to refer to right IR distance rangefinder reference frame. | |
| const LEDBitMask_t | Chiara2Info::RFrKneeLEDMask = 1<<(RFrKneeLEDOffset-LEDOffset) |
| mask corresponding to RFrKneeLEDOffset | |
| const LEDBitMask_t | Chiara2Info::LFrKneeLEDMask = 1<<(LFrKneeLEDOffset-LEDOffset) |
| mask corresponding to LFrKneeLEDOffset | |
| const LEDBitMask_t | Chiara2Info::RMdKneeLEDMask = 1<<(RMdKneeLEDOffset-LEDOffset) |
| mask corresponding to RMdKneeLEDOffset | |
| const LEDBitMask_t | Chiara2Info::LMdKneeLEDMask = 1<<(LMdKneeLEDOffset-LEDOffset) |
| mask corresponding to LMdKneeLEDOffset | |
| const LEDBitMask_t | Chiara2Info::RBkKneeLEDMask = 1<<(RBkKneeLEDOffset-LEDOffset) |
| mask corresponding to RBkKneeLEDOffset | |
| const LEDBitMask_t | Chiara2Info::LBkKneeLEDMask = 1<<(LBkKneeLEDOffset-LEDOffset) |
| mask corresponding to LBkKneeLEDOffset | |
| const LEDBitMask_t | Chiara2Info::HeadLEDMask = 1<<(HeadLEDOffset-LEDOffset) |
| mask corresponding to HeadLEDOffset | |
| const LEDBitMask_t | Chiara2Info::FaceLEDMask = HeadLEDMask |
| LEDs for the "face panel" -- on the Chiara this is just HeadLEDMask. | |
| const LEDBitMask_t | Chiara2Info::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
Input Offsets | |
The order in which inputs should be stored | |
| enum | Chiara2Info::ButtonOffset_t { Chiara2Info::GreenButOffset, Chiara2Info::RedButOffset, Chiara2Info::YellowButOffset } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | Chiara2Info::SensorOffset_t { Chiara2Info::LeftIRDistOffset, Chiara2Info::CenterIRDistOffset, Chiara2Info::IRDistOffset = CenterIRDistOffset, Chiara2Info::RightIRDistOffset, Chiara2Info::LeftLuminosityOffset, Chiara2Info::CenterLuminosityOffset, Chiara2Info::RightLuminosityOffset, Chiara2Info::MicVolumeOffset, Chiara2Info::MicSpikeCountOffset, Chiara2Info::PowerRemainOffset, Chiara2Info::PowerThermoOffset, Chiara2Info::PowerVoltageOffset } |
holds offset to different sensor values in WorldState::sensors[] More... | |
| const char *const | Chiara2Info::buttonNames [NumButtons+1] = { "GreenBut", "RedBut", "YellowBut", NULL } |
| Provides a string name for each button. | |
| const char *const | Chiara2Info::sensorNames [NumSensors+1] |
| Provides a string name for each sensor. | |
Detailed Description
Defines some capabilities of the Chiara hexapod robots.
Definition in file Chiara2Info.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 326 of file Chiara2Info.h.
| #define RAD | ( | deg | ) | (((deg) * (float)M_PI ) / 180.0f) |
Just a little macro for converting degrees to radians.
Definition at line 324 of file Chiara2Info.h.
