DynamicInfo.cc File Reference
Defines RobotInfo namespace for 'dynamic' models, gives some information about the robot's capabilities, such as joint counts, offsets, names and PID values. More...
#include "Shared/DynamicInfo.h"
Include dependency graph for DynamicInfo.cc:
Go to the source code of this file.
Namespaces | |
| namespace | DynamicInfo |
Declares symbols for the 'Dynamic' robot model, used for tools which are model agnostic. | |
Variables | |
| const char * | DynamicInfo::TargetName = "Dynamic" |
| the name of the model, to be used for logging and remote GUIs | |
Output Types Information | |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file, these are the primary grouping 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 | |
| unsigned | DynamicInfo::NumWheels = 0 |
| no wheels, just legs | |
| unsigned | DynamicInfo::JointsPerArm = 0 |
| no arms, just legs | |
| unsigned | DynamicInfo::NumArms = 0 |
| no arms, just legs | |
| unsigned | DynamicInfo::NumArmJoints = 0 |
| no wheels, just legs | |
| unsigned | DynamicInfo::JointsPerLeg = 0 |
| The number of joints per leg. | |
| unsigned | DynamicInfo::NumLegs = 0 |
| The number of legs. | |
| unsigned | DynamicInfo::NumLegJoints = 0 |
| the TOTAL number of joints on ALL legs | |
| unsigned | DynamicInfo::NumHeadJoints = 0 |
| The number of joints in the neck. | |
| unsigned | DynamicInfo::NumTailJoints = 0 |
| The number of joints assigned to the tail. | |
| unsigned | DynamicInfo::NumMouthJoints = 0 |
| the number of joints that control the mouth | |
| unsigned | DynamicInfo::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total). | |
| unsigned | DynamicInfo::NumButtons = 0 |
| the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t | |
| unsigned | DynamicInfo::NumSensors = 0 |
| 3 IR (distance), 3 accel (force), 5 from power, see ERS7Info::SensorOffset_t | |
| unsigned | DynamicInfo::NumLEDs = 0 |
| The number of LEDs which can be controlled. | |
| unsigned | DynamicInfo::NumFacePanelLEDs = 0 |
| The number of face panel LEDs. | |
| unsigned | DynamicInfo::NumPIDJoints = 0 |
| The number of joints which use PID motion - everything except ears. | |
| unsigned | DynamicInfo::NumOutputs = 0 |
| the total number of outputs | |
| unsigned | DynamicInfo::NumReferenceFrames = 0 |
| for the base, paws (NumLegs), camera, and IR sensors (3) reference frames | |
| unsigned | DynamicInfo::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| unsigned | DynamicInfo::LEDOffset = 0 |
| the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets | |
| unsigned | DynamicInfo::BaseFrameOffset = 0 |
| Use with kinematics to refer to base reference frame. | |
| std::vector< const char * > | DynamicInfo::buttonNames |
| Name for each button. | |
| std::vector< const char * > | DynamicInfo::sensorNames |
| Provides a string name for each sensor. | |
| std::vector< const char * > | DynamicInfo::outputNames |
| Names for each of the outputs. | |
| DynamicCapabilities | DynamicInfo::capabilities |
| allocation declared in RobotInfo.cc | |
| std::vector< DynamicInfoRow < float, 3 > > | DynamicInfo::DefaultPIDs |
| This table holds the default PID values for each joint. see PIDMC. | |
| std::vector< float > | DynamicInfo::MaxOutputSpeed |
| These values are Sony's recommended maximum joint velocities, in rad/sec. | |
| std::vector< DynamicInfoRow < float, 2 > > | DynamicInfo::outputRanges |
| 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). | |
| std::vector< DynamicInfoRow < float, 2 > > | DynamicInfo::mechanicalLimits |
| 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). | |
Detailed Description
Defines RobotInfo namespace for 'dynamic' models, gives some information about the robot's capabilities, such as joint counts, offsets, names and PID values.
Definition in file DynamicInfo.cc.
