Classes |
class | HandEyeInfo::HandEyeCapabilities |
| provides polymorphic robot capability detection/mapping More...
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Namespaces |
namespace | HandEyeInfo |
| Declares configuration of the HandEye planar arm robot, such as number of joints, LEDs, etc.
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Defines |
#define | RAD(deg) (((deg) * (float)M_PI ) / 180.0f) |
| Just a little macro for converting degrees to radians.
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#define | __RI_RAD_FLAG |
| a flag so we undef these after we're done - do you have a cleaner solution?
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Variables |
const char *const | HandEyeInfo::TargetName = "HandEye" |
| the name of the model, to be used for logging and remote GUIs
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const unsigned int | HandEyeInfo::FrameTime = 32 |
| time between frames in the motion system (milliseconds)
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const unsigned int | HandEyeInfo::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered)
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const unsigned int | HandEyeInfo::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed
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const fmat::Column< 3 > | HandEyeInfo::AgentBoundingBoxBaseFrameOffset = fmat::pack(0,0,0) |
| Offset needed so that the centroid of the robot is correct relative to the bounding box.
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const fmat::Column< 3 > | HandEyeInfo::AgentBoundingBoxHalfDims = fmat::pack(304.8/2, 304.8/2, 0) |
| Half of the length, width, and height of the robot.
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const char *const | HandEyeInfo::outputNames [NumReferenceFrames+1] |
| Names for each of the outputs.
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const HandEyeCapabilities | HandEyeInfo::capabilities |
| allocation declared in RobotInfo.cc
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const float | HandEyeInfo::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).
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const float | HandEyeInfo::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/ms.
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const float | HandEyeInfo::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).
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const float | HandEyeInfo::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).
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const unsigned | HandEyeInfo::NumWheels = 0 |
| The number of joints per leg.
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const unsigned | HandEyeInfo::FingerJointsPerArm = 0 |
| The number of joints per leg.
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const unsigned | HandEyeInfo::JointsPerArm = 3 |
| The number of joints per leg.
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const unsigned | HandEyeInfo::NumArms = 1 |
| The number of joints per leg.
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const unsigned | HandEyeInfo::NumArmJoints = JointsPerArm*NumArms |
| The number of joints per leg.
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const unsigned | HandEyeInfo::JointsPerLeg = 0 |
| The number of joints per leg.
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const unsigned | HandEyeInfo::NumLegs = 0 |
| The number of legs.
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const unsigned | HandEyeInfo::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs
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const unsigned | HandEyeInfo::NumHeadJoints = 2 |
| The number of joints in the pantilt.
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const unsigned | HandEyeInfo::NumTailJoints = 0 |
| The number of joints assigned to the tail.
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const unsigned | HandEyeInfo::NumMouthJoints = 0 |
| the number of joints that control the mouth
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const unsigned | HandEyeInfo::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total).
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const unsigned | HandEyeInfo::NumButtons = 3 |
| the number of buttons that are available
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const unsigned | HandEyeInfo::NumSensors = 2 |
| the number of sensors available
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const unsigned | HandEyeInfo::NumFacePanelLEDs = 0 |
| The number of face panel LEDs.
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const unsigned | HandEyeInfo::NumLEDs = 5 |
| The number of LEDs which can be controlled (one per dynamixel servo).
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const unsigned | HandEyeInfo::NumPIDJoints = NumWheels + NumArmJoints + NumLegJoints + NumHeadJoints + NumTailJoints + NumMouthJoints |
| The number of joints per leg.
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const unsigned | HandEyeInfo::NumOutputs = NumWheels + NumPIDJoints + NumLEDs |
| servo pins
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const unsigned | HandEyeInfo::NumReferenceFrames = NumOutputs + 1 + NumArms + 1 |
| for the base, gripper (* NumArms), and camera reference frames
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Output Offsets |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
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enum | HandEyeInfo::ArmOffset_t { HandEyeInfo::ArmShoulderOffset = ArmOffset,
HandEyeInfo::ArmElbowOffset,
HandEyeInfo::WristOffset,
HandEyeInfo::WristYawOffset = WristOffset
} |
| These are 'absolute' offsets for the arm joints.
More...
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enum | HandEyeInfo::TPROffset_t { HandEyeInfo::PanOffset = 0,
HandEyeInfo::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...
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enum | HandEyeInfo::HeadOffset_t { HandEyeInfo::HeadPanOffset = HeadOffset,
HandEyeInfo::HeadTiltOffset
} |
| These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do.
More...
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enum | HandEyeInfo::LEDOffset_t {
HandEyeInfo::ArmShoulderLEDOffset = LEDOffset,
HandEyeInfo::ArmElbowLEDOffset,
HandEyeInfo::ArmWristLEDOffset,
HandEyeInfo::NeckPanLEDOffset,
HandEyeInfo::NeckTiltLEDOffset
} |
| The offsets of the individual LEDs.
More...
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typedef unsigned int | HandEyeInfo::LEDBitMask_t |
| So you can be clear when you're refering to a LED bitmask.
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const unsigned | HandEyeInfo::PIDJointOffset = 0 |
| The beginning of the PID Joints.
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const unsigned | HandEyeInfo::ArmOffset = PIDJointOffset |
| beginning of arm joints, don't add anything, just use ArmOffset_t entries directly
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const unsigned | HandEyeInfo::HeadOffset = ArmOffset+NumArmJoints |
| the offset of the beginning of the head joints, add TPROffset_t to get specific joint
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const unsigned | HandEyeInfo::LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets
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const unsigned | HandEyeInfo::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame.
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const unsigned | HandEyeInfo::GripperFrameOffset = BaseFrameOffset+1 |
| Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw).
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const unsigned | HandEyeInfo::CameraFrameOffset = GripperFrameOffset+NumArms |
| Use with kinematics to refer to camera reference frame.
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const LEDBitMask_t | HandEyeInfo::ArmShoulderLEDMask = 1 << (ArmShoulderLEDOffset-LEDOffset) |
| Mask corresponding to ArmShoulderLEDOffset.
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const LEDBitMask_t | HandEyeInfo::ArmElbowLEDMask = 1 << (ArmElbowLEDOffset-LEDOffset) |
| Mask corresponding to ArmElbowLEDOffset.
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const LEDBitMask_t | HandEyeInfo::ArmWristLEDMask = 1 << (ArmWristLEDOffset-LEDOffset) |
| Mask corresponding to ArmWristLEDOffset.
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const LEDBitMask_t | HandEyeInfo::NeckPanLEDMask = 1 << (NeckPanLEDOffset-LEDOffset) |
| Mask corresponding to NeckPanLEDOffset.
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const LEDBitMask_t | HandEyeInfo::NeckTiltLEDMask = 1 << (NeckTiltLEDOffset-LEDOffset) |
| Mask corresponding to NeckTiltLEDOffset.
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const LEDBitMask_t | HandEyeInfo::FaceLEDMask = NeckPanLEDMask | NeckTiltLEDMask |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
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const LEDBitMask_t | HandEyeInfo::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds
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Input Offsets |
The order in which inputs should be stored
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enum | HandEyeInfo::ButtonOffset_t { HandEyeInfo::GreenButOffset,
HandEyeInfo::RedButOffset,
HandEyeInfo::YellowButOffset
} |
| holds offsets to different buttons in WorldState::buttons[]
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enum | HandEyeInfo::SensorOffset_t { HandEyeInfo::PowerThermoOffset,
HandEyeInfo::PowerVoltageOffset
} |
| holds offset to different sensor values in WorldState::sensors[]
More...
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const char *const | HandEyeInfo::buttonNames [NumButtons+1] = { "GreenBut", "RedBut", "YellowBut", NULL } |
| Provides a string name for each button.
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const char *const | HandEyeInfo::sensorNames [NumSensors+1] |
| Provides a string name for each sensor.
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Defines some capabilities of the HandEye planar arm robot.