MantisLegInfo.h File Reference
Defines some capabilities of the Mantis leg robots. More...
#include <cmath>#include <stdlib.h>#include "CommonInfo.h"
Include dependency graph for MantisLegInfo.h:
Go to the source code of this file.
Classes | |
| class | MantisLegInfo::MantisLegCapabilities |
| provides polymorphic robot capability detection/mapping More... | |
Namespaces | |
| namespace | MantisLegInfo |
Contains information about an Mantis Leg 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? | |
Enumerations | |
| enum | MantisLegInfo::ServoParam_t { MantisLegInfo::DYNAMIXEL_SLOPE = 0, MantisLegInfo::DYNAMIXEL_PUNCH, MantisLegInfo::DYNAMIXEL_MARGIN } |
offsets into DefaultPIDs, since Dynamixel servos don't actually use PID control, but a different set of parameters More... | |
Variables | |
| const char *const | MantisLegInfo::TargetName = "MantisLeg" |
| the name of the model, to be used for logging and remote GUIs | |
| const unsigned int | MantisLegInfo::FrameTime = 32 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | MantisLegInfo::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | MantisLegInfo::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
| const fmat::Column< 3 > | MantisLegInfo::AgentBoundingBoxBaseFrameOffset = fmat::pack(400,70,350) |
| Offset needed so that the centroid of the robot is correct related to the bounding box. | |
| const fmat::Column< 3 > | MantisLegInfo::AgentBoundingBoxHalfDims = fmat::pack(100,100,100) |
| Half of the length, width, and height of the robot. | |
| const char *const | MantisLegInfo::outputNames [NumReferenceFrames+1] |
| Names for each of the outputs. | |
| const MantisLegCapabilities | MantisLegInfo::capabilities |
| allocation declared in RobotInfo.cc | |
| const float | MantisLegInfo::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 | MantisLegInfo::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/ms. | |
| const float | MantisLegInfo::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 | MantisLegInfo::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 | MantisLegInfo::NumWheels = 0 |
| The number of joints per leg. | |
| const unsigned | MantisLegInfo::JointsPerArm = 0 |
| The number of joints per leg. | |
| const unsigned | MantisLegInfo::NumArms = 0 |
| The number of joints per leg. | |
| const unsigned | MantisLegInfo::NumArmJoints = JointsPerArm*NumArms |
| The number of joints per leg. | |
| const unsigned | MantisLegInfo::JointsPerLeg = 4 |
| The number of joints per leg. | |
| const unsigned | MantisLegInfo::NumLegs = 1 |
| The number of legs. | |
| const unsigned | MantisLegInfo::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs | |
| const unsigned | MantisLegInfo::NumHeadJoints = 0 |
| The number of joints in the pantilt. | |
| const unsigned | MantisLegInfo::NumTailJoints = 0 |
| The number of joints assigned to the tail. | |
| const unsigned | MantisLegInfo::NumMouthJoints = 0 |
| the number of joints that control the mouth | |
| const unsigned | MantisLegInfo::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | MantisLegInfo::NumButtons = 3 |
| the number of buttons that are available | |
| const unsigned | MantisLegInfo::NumSensors = 11 |
| the number of sensors available | |
| const unsigned | MantisLegInfo::NumFacePanelLEDs = 0 |
| The number of face panel LEDs. | |
| const unsigned | MantisLegInfo::NumPIDJoints = NumArmJoints + NumLegJoints + NumHeadJoints + NumTailJoints + NumMouthJoints |
| servo pins | |
| const unsigned | MantisLegInfo::NumLEDs = NumPIDJoints |
| 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. | |
| const unsigned | MantisLegInfo::NumOutputs = NumWheels + NumPIDJoints + NumLEDs |
| the total number of outputs | |
| const unsigned | MantisLegInfo::NumReferenceFrames = NumOutputs + NumLegs + NumArms + 1 |
| for the base, feet, gripper, camera, and IR distance rangefinder | |
| const float | MantisLegInfo::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 | MantisLegInfo::LegOrder_t { MantisLegInfo::MdLegOrder = 0 } |
the ordering of legs More... | |
| enum | MantisLegInfo::SEKOffset_t { MantisLegInfo::SweepOffset = 0, MantisLegInfo::ElevatorOffset, MantisLegInfo::RotorOffset, MantisLegInfo::KneeOffset } |
The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage. More... | |
| enum | MantisLegInfo::TPROffset_t { MantisLegInfo::PanOffset = 0, MantisLegInfo::TiltOffset, MantisLegInfo::NodOffset = TiltOffset, MantisLegInfo::RollOffset } |
The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head/wrist). More... | |
| enum | MantisLegInfo::LegOffset_t { MantisLegInfo::MdLegOffset = LegOffset+MdLegOrder*JointsPerLeg } |
The offsets of the individual legs, add REKOffset_t value to access specific joint. More... | |
| enum | MantisLegInfo::LEDOffset_t { MantisLegInfo::PowerRedLEDOffset = LEDOffset, MantisLegInfo::PowerGreenLEDOffset, MantisLegInfo::PlayLEDOffset, MantisLegInfo::AdvanceLEDOffset } |
The offsets of the individual LEDs. More... | |
| typedef unsigned int | MantisLegInfo::LEDBitMask_t |
| So you can be clear when you're refering to a LED bitmask. | |
| const unsigned | MantisLegInfo::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | MantisLegInfo::LegOffset = PIDJointOffset |
| 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 | MantisLegInfo::LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets | |
| const unsigned | MantisLegInfo::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | MantisLegInfo::FootFrameOffset = BaseFrameOffset+1 |
| Use with kinematics to refer to feet reference frames (add appropriate LegOrder_t to specify which paw). | |
| const unsigned | MantisLegInfo::GripperFrameOffset = FootFrameOffset+NumLegs |
| Use with kinematics to refer to gripper reference frame. | |
| const unsigned | MantisLegInfo::CameraFrameOffset = GripperFrameOffset+NumArms |
| Use with kinematics to refer to camera reference frame. | |
| const unsigned | MantisLegInfo::LeftIRFrameOffset = CameraFrameOffset+1 |
| Use with kinematics to refer to left IR distance rangefinder reference frame. | |
| const unsigned | MantisLegInfo::CenterIRFrameOffset = LeftIRFrameOffset+1 |
| Use with kinematics to refer to center IR distance rangefinder reference frame. | |
| const unsigned | MantisLegInfo::IRFrameOffset = CenterIRFrameOffset |
| alias for CenterIRFrameOffset | |
| const unsigned | MantisLegInfo::RightIRFrameOffset = CenterIRFrameOffset+1 |
| Use with kinematics to refer to right IR distance rangefinder reference frame. | |
| const LEDOffset_t | MantisLegInfo::RedLEDOffset = PowerRedLEDOffset |
| the ordering of legs | |
| const LEDOffset_t | MantisLegInfo::BlueLEDOffset = AdvanceLEDOffset |
| the ordering of legs | |
| const LEDOffset_t | MantisLegInfo::GreenLEDOffset = PlayLEDOffset |
| the ordering of legs | |
| const LEDOffset_t | MantisLegInfo::YellowLEDOffset = AdvanceLEDOffset |
| the ordering of legs | |
| const LEDBitMask_t | MantisLegInfo::BlueLEDMask = (1<<(AdvanceLEDOffset-LEDOffset)) | (1<<(PowerRedLEDOffset-LEDOffset)) |
| the ordering of legs | |
| const LEDBitMask_t | MantisLegInfo::GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset) |
| mask corresponding to GreenLEDOffset | |
| const LEDBitMask_t | MantisLegInfo::YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset) |
| mask corresponding to YellowLEDOffset | |
| const LEDBitMask_t | MantisLegInfo::RedLEDMask = 1<<(RedLEDOffset-LEDOffset) |
| mask corresponding to RedLEDOffset | |
| const LEDBitMask_t | MantisLegInfo::PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset) |
| mask corresponding to BlueLEDOffset | |
| const LEDBitMask_t | MantisLegInfo::PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset) |
| mask corresponding to GreenLEDOffset | |
| const LEDBitMask_t | MantisLegInfo::PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset) |
| mask corresponding to YellowLEDOffset | |
| const LEDBitMask_t | MantisLegInfo::AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset) |
| mask corresponding to RedLEDOffset | |
| const LEDBitMask_t | MantisLegInfo::FaceLEDMask = 0 |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries). | |
| const LEDBitMask_t | MantisLegInfo::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
Input Offsets | |
The order in which inputs should be stored | |
| enum | MantisLegInfo::ButtonOffset_t { MantisLegInfo::GreenButOffset, MantisLegInfo::RedButOffset, MantisLegInfo::YellowButOffset } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | MantisLegInfo::SensorOffset_t { MantisLegInfo::LeftIRDistOffset, MantisLegInfo::CenterIRDistOffset, MantisLegInfo::IRDistOffset = CenterIRDistOffset, MantisLegInfo::RightIRDistOffset, MantisLegInfo::LeftLuminosityOffset, MantisLegInfo::CenterLuminosityOffset, MantisLegInfo::RightLuminosityOffset, MantisLegInfo::MicVolumeOffset, MantisLegInfo::MicSpikeCountOffset, MantisLegInfo::PowerRemainOffset, MantisLegInfo::PowerThermoOffset, MantisLegInfo::PowerVoltageOffset } |
holds offset to different sensor values in WorldState::sensors[] More... | |
| const char *const | MantisLegInfo::buttonNames [NumButtons+1] = { "GreenBut", "RedBut", "YellowBut", NULL } |
| Provides a string name for each button. | |
| const char *const | MantisLegInfo::sensorNames [NumSensors+1] |
| Provides a string name for each sensor. | |
Detailed Description
Defines some capabilities of the Mantis leg robots.
Definition in file MantisLegInfo.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 266 of file MantisLegInfo.h.
| #define RAD | ( | deg | ) | (((deg) * (float)M_PI ) / 180.0f) |
Just a little macro for converting degrees to radians.
Definition at line 264 of file MantisLegInfo.h.
