ERS7Info.h File Reference
Defines RobotInfo namespace for ERS-7 models, gives some information about the robot's capabilities, such as joint counts, offsets, names and PID values. More...
#include "Shared/CommonERSInfo.h"
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Classes | |
| class | ERS7Info::ERS7Capabilities |
| provides polymorphic robot capability detection/mapping More... | |
Namespaces | |
| namespace | ERS7Info |
Contains information about the ERS-7 Robot, such as number of joints, PID defaults, timing information, 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 | ERS7Info::TargetName = "ERS-7" |
| the name of the model, to be used for logging and remote GUIs | |
| const unsigned int | ERS7Info::FrameTime = 8 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | ERS7Info::NumFrames = 4 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | ERS7Info::SlowFrameTime = 8 |
| 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 | ERS7Info::NumSlowFrames = 4 |
| the number of frames per buffer being sent to ears (double buffered as well) | |
| const unsigned int | ERS7Info::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
| const fmat::Column< 3 > | ERS7Info::AgentBoundingBoxBaseFrameOffset = fmat::pack(0,0,0) |
| Offset needed so that the centroid of the robot is correct relative to the bounding box. | |
| const fmat::Column< 3 > | ERS7Info::AgentBoundingBoxHalfDims = fmat::pack(304.8/2, 304.8/2, 0) |
| Half of the length, width, and height of the robot. | |
| const char *const | ERS7Info::outputNames [NumReferenceFrames+1] |
| Names for each of the outputs. | |
| const ERS7Capabilities | ERS7Info::capabilities |
| allocation declared in RobotInfo.cc | |
| const char *const | ERS7Info::PrimitiveName [NumOutputs] |
| the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others) | |
| const char *const | ERS7Info::SpeakerLocator = "PRM:/s1-Speaker:S1" |
| use to open speaker connection with the system | |
| const char *const | ERS7Info::CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1" |
| use to open camera connection with the system | |
| const float | ERS7Info::DefaultPIDs [NumPIDJoints][3] |
| This table holds the default PID values for each joint. see PIDMC. | |
| const unsigned char | ERS7Info::DefaultPIDShifts [3] = {0x0E, 0x02-1, 0x0F-3} |
| These will control the shift values given to the system. see PIDMC. | |
| const float | ERS7Info::MaxOutputSpeed [NumOutputs] |
| These values are Sony's recommended maximum joint velocities, in rad/ms. | |
| const float | ERS7Info::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 | ERS7Info::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 | |
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 | |
| const unsigned | ERS7Info::NumWheels = 0 |
| no wheels, just legs | |
| const unsigned | ERS7Info::JointsPerArm = 0 |
| no arms, just legs | |
| const unsigned | ERS7Info::NumArms = 0 |
| no arms, just legs | |
| const unsigned | ERS7Info::NumArmJoints = JointsPerArm*NumArms |
| no wheels, just legs | |
| const unsigned | ERS7Info::JointsPerLeg = 3 |
| The number of joints per leg. | |
| const unsigned | ERS7Info::NumLegs = 4 |
| The number of legs. | |
| const unsigned | ERS7Info::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs | |
| const unsigned | ERS7Info::NumHeadJoints = 3 |
| The number of joints in the neck. | |
| const unsigned | ERS7Info::NumTailJoints = 2 |
| The number of joints assigned to the tail. | |
| const unsigned | ERS7Info::NumMouthJoints = 1 |
| the number of joints that control the mouth | |
| const unsigned | ERS7Info::NumEarJoints = 2 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | ERS7Info::NumButtons = 2+4+3+1 |
| the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t | |
| const unsigned | ERS7Info::NumSensors = 3+3+5 |
| 3 IR (distance), 3 accel (force), 5 from power, see ERS7Info::SensorOffset_t | |
| const unsigned | ERS7Info::NumLEDs = 27 |
| The number of LEDs which can be controlled. | |
| const unsigned | ERS7Info::NumFacePanelLEDs = 14 |
| The number of face panel LEDs. | |
| const unsigned | ERS7Info::NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints |
| The number of joints which use PID motion - everything except ears. | |
| const unsigned | ERS7Info::NumBinJoints = NumEarJoints |
| The number of binary joints - just the ears. | |
| const unsigned | ERS7Info::NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs |
| the total number of outputs | |
| const unsigned | ERS7Info::NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 3 |
| for the base, paws (NumLegs), camera, and IR sensors (3) reference frames | |
| const float | ERS7Info::CameraHorizFOV = 56.9f/180*static_cast<float>(M_PI) |
| horizontal field of view (radians) | |
| const float | ERS7Info::CameraVertFOV = 45.2f/180*static_cast<float>(M_PI) |
| vertical field of view (radians) | |
| const float | ERS7Info::CameraFOV = CameraHorizFOV |
| should be set to maximum of CameraHorizFOV or CameraVertFOV | |
| const unsigned int | ERS7Info::CameraResolutionX = 208 |
| the number of pixels available in the 'full' layer | |
| const unsigned int | ERS7Info::CameraResolutionY = 160 |
| the number of pixels available in the 'full' layer | |
| const char | ERS7Info::CameraModelName [] = "ERS-7-Camera" |
| specifies a name of the camera to load calibration parameters into RobotInfo::CameraHomography | |
| const float | ERS7Info::BallOfFootRadius = 23.433f/2 |
| radius of the ball of the foot | |
| const bool | ERS7Info::IsFastOutput [NumOutputs] |
| true for joints which can be updated every 32 ms (all joints on ERS-7) | |
CPC IDs | |
Values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - values don't correspond to order of ERS7Info::PrimitiveName | |
| const int | ERS7Info::CPCJointMouth = 0 |
| Mouth. | |
| const int | ERS7Info::CPCSwitchChin = 1 |
| Chin sensor. | |
| const int | ERS7Info::CPCJointNeckNod = 2 |
| Neck tilt2. | |
| const int | ERS7Info::CPCSensorHead = 3 |
| Head sensor. | |
| const int | ERS7Info::CPCSensorNearPSD = 4 |
| Head distance sensor(near). | |
| const int | ERS7Info::CPCSensorFarPSD = 5 |
| Head distance sensor(far). | |
| const int | ERS7Info::CPCJointNeckPan = 6 |
| Neck pan. | |
| const int | ERS7Info::CPCJointNeckTilt = 7 |
| Neck tilt1. | |
| const int | ERS7Info::CPCSwitchLFPaw = 8 |
| Left fore leg paw sensor. | |
| const int | ERS7Info::CPCJointLFKnee = 9 |
| Left fore legJ3. | |
| const int | ERS7Info::CPCJointLFElevator = 10 |
| Left fore legJ2. | |
| const int | ERS7Info::CPCJointLFRotator = 11 |
| Left fore legJ1. | |
| const int | ERS7Info::CPCSwitchLHPaw = 12 |
| Left hind leg paw sensor. | |
| const int | ERS7Info::CPCJointLHKnee = 13 |
| Left hind legJ3. | |
| const int | ERS7Info::CPCJointLHElevator = 14 |
| Left hind legJ2. | |
| const int | ERS7Info::CPCJointLHRotator = 15 |
| Left hind legJ1. | |
| const int | ERS7Info::CPCSwitchRFPaw = 16 |
| Right fore leg paw sensor. | |
| const int | ERS7Info::CPCJointRFKnee = 17 |
| Right fore legJ3. | |
| const int | ERS7Info::CPCJointRFElevator = 18 |
| Right fore legJ2. | |
| const int | ERS7Info::CPCJointRFRotator = 19 |
| Right fore legJ1. | |
| const int | ERS7Info::CPCSwitchRHPaw = 20 |
| Right hind leg paw sensor. | |
| const int | ERS7Info::CPCJointRHKnee = 21 |
| Right hind legJ3. | |
| const int | ERS7Info::CPCJointRHElevator = 22 |
| Right hind legJ2. | |
| const int | ERS7Info::CPCJointRHRotator = 23 |
| Right hind legJ1. | |
| const int | ERS7Info::CPCJointTailTilt = 24 |
| Tail tilt. | |
| const int | ERS7Info::CPCJointTailPan = 25 |
| Tail pan. | |
| const int | ERS7Info::CPCSensorAccelFB = 26 |
| Acceleration sensor(front-back). | |
| const int | ERS7Info::CPCSensorAccelLR = 27 |
| Acceleration sensor(right-left). | |
| const int | ERS7Info::CPCSensorAccelUD = 28 |
| Acceleration sensor(up-down). | |
| const int | ERS7Info::CPCSensorChestPSD = 29 |
| Chest distance sensor. | |
| const int | ERS7Info::CPCSwitchWireless = 30 |
| Wireless LAN switch. | |
| const int | ERS7Info::CPCSensorBackRear = 31 |
| Back sensor(rear). | |
| const int | ERS7Info::CPCSensorBackMiddle = 32 |
| Back sensor(middle). | |
| const int | ERS7Info::CPCSensorBackFront = 33 |
| Back sensor(front). | |
Output Offsets | |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file | |
| enum | ERS7Info::LegOrder_t { ERS7Info::LFrLegOrder = 0, ERS7Info::RFrLegOrder, ERS7Info::LBkLegOrder, ERS7Info::RBkLegOrder } |
the ordering of legs More... | |
| enum | ERS7Info::REKOffset_t { ERS7Info::RotatorOffset = 0, ERS7Info::ElevatorOffset, ERS7Info::KneeOffset } |
The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the head's TPROffset_t's). More... | |
| enum | ERS7Info::TPROffset_t { ERS7Info::TiltOffset = 0, ERS7Info::PanOffset, ERS7Info::RollOffset, ERS7Info::NodOffset = RollOffset } |
The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the leg's REKOffset_t's). More... | |
| enum | ERS7Info::LegOffset_t { ERS7Info::LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, ERS7Info::RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, ERS7Info::LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg, ERS7Info::RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg } |
The offsets of the individual legs, add REKOffset_t value to access specific joint. More... | |
| enum | ERS7Info::LEDOffset_t { ERS7Info::HeadColorLEDOffset = LEDOffset, ERS7Info::HeadWhiteLEDOffset, ERS7Info::ModeRedLEDOffset, ERS7Info::ModeGreenLEDOffset, ERS7Info::ModeBlueLEDOffset, ERS7Info::WirelessLEDOffset, ERS7Info::FaceLEDPanelOffset, ERS7Info::FrBackColorLEDOffset = FaceLEDPanelOffset+NumFacePanelLEDs, ERS7Info::FrBackWhiteLEDOffset, ERS7Info::MdBackColorLEDOffset, ERS7Info::MdBackWhiteLEDOffset, ERS7Info::RrBackColorLEDOffset, ERS7Info::RrBackWhiteLEDOffset, ERS7Info::LEDABModeOffset, ERS7Info::BotLLEDOffset = FaceLEDPanelOffset+1, ERS7Info::BotRLEDOffset = FaceLEDPanelOffset+0, ERS7Info::MidLLEDOffset = FaceLEDPanelOffset+3, ERS7Info::MidRLEDOffset = FaceLEDPanelOffset+2, ERS7Info::TopLLEDOffset = FaceLEDPanelOffset+7, ERS7Info::TopRLEDOffset = FaceLEDPanelOffset+6, ERS7Info::TopBrLEDOffset = HeadColorLEDOffset, ERS7Info::TlRedLEDOffset = RrBackColorLEDOffset, ERS7Info::TlBluLEDOffset = FrBackColorLEDOffset } |
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. More... | |
| const unsigned | ERS7Info::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | ERS7Info::LegOffset = PIDJointOffset |
| the offset of the beginning of the leg joints, NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t | |
| const unsigned | ERS7Info::HeadOffset = LegOffset+NumLegJoints |
| the offset of the beginning of the head joints, add TPROffset_t to get specific joint | |
| const unsigned | ERS7Info::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 | ERS7Info::MouthOffset = TailOffset+NumTailJoints |
| the offset of the beginning of the mouth joint, is specific joint | |
| const unsigned | ERS7Info::LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets | |
| const unsigned | ERS7Info::BinJointOffset = LEDOffset + NumLEDs |
| The beginning of the binary joints. | |
| const unsigned | ERS7Info::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 | ERS7Info::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | ERS7Info::FootFrameOffset = BaseFrameOffset+1 |
| Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw). | |
| const unsigned | ERS7Info::PawFrameOffset = FootFrameOffset |
| Aibo-era alias for FootFrameOffset. | |
| const unsigned | ERS7Info::CameraFrameOffset = FootFrameOffset+NumLegs |
| Use with kinematics to refer to camera reference frame. | |
| const unsigned | ERS7Info::NearIRFrameOffset = CameraFrameOffset+1 |
| Use with kinematics to refer to short-range infrared (distance) sensor reference frame. | |
| const unsigned | ERS7Info::IRFrameOffset = NearIRFrameOffset |
| alias for the near IR sensor | |
| const unsigned | ERS7Info::FarIRFrameOffset = NearIRFrameOffset+1 |
| Use with kinematics to refer to long-range infrared (distance) sensor reference frame. | |
| const unsigned | ERS7Info::ChestIRFrameOffset = FarIRFrameOffset+1 |
| Use with kinematics to refer to chest-mounted infrared (distance) sensor reference frame. | |
Input Offsets | |
The order in which inputs should be stored | |
| enum | ERS7Info::ButtonOffset_t { ERS7Info::LFrPawOffset = LFrLegOrder, ERS7Info::RFrPawOffset = RFrLegOrder, ERS7Info::LBkPawOffset = LBkLegOrder, ERS7Info::RBkPawOffset = RBkLegOrder, ERS7Info::ChinButOffset = 4, ERS7Info::HeadButOffset, ERS7Info::HeadFrButOffset = HeadButOffset, ERS7Info::FrontBackButOffset, ERS7Info::MiddleBackButOffset, ERS7Info::BackButOffset = MiddleBackButOffset, ERS7Info::RearBackButOffset, ERS7Info::WirelessSwOffset } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | ERS7Info::SensorOffset_t { ERS7Info::NearIRDistOffset = 0, ERS7Info::IRDistOffset = NearIRDistOffset, ERS7Info::FarIRDistOffset, ERS7Info::ChestIRDistOffset, ERS7Info::BAccelOffset, ERS7Info::LAccelOffset, ERS7Info::DAccelOffset, ERS7Info::PowerRemainOffset, ERS7Info::PowerThermoOffset, ERS7Info::PowerCapacityOffset, ERS7Info::PowerVoltageOffset, ERS7Info::PowerCurrentOffset } |
holds offset to different sensor values in WorldState::sensors[] More... | |
| const char *const | ERS7Info::buttonNames [NumButtons] |
| Provides a string name for each button. | |
| const char *const | ERS7Info::sensorNames [NumSensors] |
| Provides a string name for each sensor. | |
LED Bitmasks | |
Bitmasks for use when specifying combinations of LEDs (see LedEngine ) Note that left/right are robot's point of view | |
| typedef unsigned int | ERS7Info::LEDBitMask_t |
| So you can be clear when you're refering to a LED bitmask. | |
| const LEDBitMask_t | ERS7Info::HeadColorLEDMask = 1<<(HeadColorLEDOffset-LEDOffset) |
| mask corresponding to HeadColorLEDOffset | |
| const LEDBitMask_t | ERS7Info::HeadWhiteLEDMask = 1<<(HeadWhiteLEDOffset-LEDOffset) |
| mask corresponding to HeadWhiteLEDOffset | |
| const LEDBitMask_t | ERS7Info::ModeRedLEDMask = 1<<(ModeRedLEDOffset-LEDOffset) |
| mask corresponding to ModeRedLEDOffset | |
| const LEDBitMask_t | ERS7Info::ModeGreenLEDMask = 1<<(ModeGreenLEDOffset-LEDOffset) |
| mask corresponding to ModeGreenLEDOffset | |
| const LEDBitMask_t | ERS7Info::ModeBlueLEDMask = 1<<(ModeBlueLEDOffset-LEDOffset) |
| mask corresponding to ModeBlueLEDOffset | |
| const LEDBitMask_t | ERS7Info::WirelessLEDMask = 1<<(WirelessLEDOffset-LEDOffset) |
| mask corresponding to WirelessLEDOffset | |
| const LEDBitMask_t | ERS7Info::FaceLEDPanelMask = 1<<(FaceLEDPanelOffset-LEDOffset) |
| mask corresponding to FaceLEDPanelOffset, selects only the first of the panel - shift this to get the others | |
| const LEDBitMask_t | ERS7Info::FrBackColorLEDMask = 1<<(FrBackColorLEDOffset-LEDOffset) |
| mask corresponding to FrBackColorLEDOffset | |
| const LEDBitMask_t | ERS7Info::FrBackWhiteLEDMask = 1<<(FrBackWhiteLEDOffset-LEDOffset) |
| mask corresponding to FrBackWhiteLEDOffset | |
| const LEDBitMask_t | ERS7Info::MdBackColorLEDMask = 1<<(MdBackColorLEDOffset-LEDOffset) |
| mask corresponding to MdBackColorLEDOffset | |
| const LEDBitMask_t | ERS7Info::MdBackWhiteLEDMask = 1<<(MdBackWhiteLEDOffset-LEDOffset) |
| mask corresponding to MdBackWhiteLEDOffset | |
| const LEDBitMask_t | ERS7Info::RrBackColorLEDMask = 1<<(RrBackColorLEDOffset-LEDOffset) |
| mask corresponding to RrBackColorLEDOffset | |
| const LEDBitMask_t | ERS7Info::RrBackWhiteLEDMask = 1<<(RrBackWhiteLEDOffset-LEDOffset) |
| mask corresponding to RrBackWhiteLEDOffset | |
| const LEDBitMask_t | ERS7Info::LEDABModeMask = 1<<(LEDABModeOffset-LEDOffset) |
| mask corresponding to LEDABModeOffset | |
| const LEDBitMask_t | ERS7Info::BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset) |
| bottom left | |
| const LEDBitMask_t | ERS7Info::BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset) |
| bottom right | |
| const LEDBitMask_t | ERS7Info::MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset) |
| middle left | |
| const LEDBitMask_t | ERS7Info::MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset) |
| middle right | |
| const LEDBitMask_t | ERS7Info::TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset) |
| top left | |
| const LEDBitMask_t | ERS7Info::TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset) |
| top right | |
| const LEDBitMask_t | ERS7Info::TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset) |
| top bar | |
| const LEDBitMask_t | ERS7Info::TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset) |
| red tail light | |
| const LEDBitMask_t | ERS7Info::TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset) |
| blue tail light | |
| const LEDBitMask_t | ERS7Info::FaceLEDMask |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries). | |
| const LEDBitMask_t | ERS7Info::HeadLEDMask |
| LEDs for face (all but back lights). | |
| const LEDBitMask_t | ERS7Info::BackLEDMask |
| LEDS on the back. | |
| const LEDBitMask_t | ERS7Info::TailLEDMask = 0 |
| LEDs on tail (ERS-7 has none). | |
| const LEDBitMask_t | ERS7Info::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
Detailed Description
Defines RobotInfo namespace for ERS-7 models, gives some information about the robot's capabilities, such as joint counts, offsets, names and PID values.
Definition in file ERS7Info.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 552 of file ERS7Info.h.
| #define RAD | ( | deg | ) | (((deg) * (float)M_PI ) / 180.0f) |
Just a little macro for converting degrees to radians.
Definition at line 550 of file ERS7Info.h.
