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PanTiltInfo.h File Reference

Defines some capabilities of a simple pan-tilt camera “robot”. More...

#include <cmath>
#include <stdlib.h>
#include "CommonInfo.h"
Include dependency graph for PanTiltInfo.h:

Go to the source code of this file.

Namespaces

namespace  PanTiltInfo
 

Declares configuration of a pan/tilt camera “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 PanTiltInfo::TargetName = "PanTilt"
 the name of the model, to be used for logging and remote GUIs
const unsigned int PanTiltInfo::FrameTime = 40
 time between frames in the motion system (milliseconds)
const unsigned int PanTiltInfo::NumFrames = 1
 the number of frames per buffer (don't forget also double buffered)
const unsigned int PanTiltInfo::SoundBufferTime = 32
 the number of milliseconds per sound buffer... I'm not sure if this can be changed
const char *const PanTiltInfo::outputNames [NumReferenceFrames+1]
 Names for each of the outputs.
const Capabilities PanTiltInfo::capabilities
 allocation declared in RobotInfo.cc
const float PanTiltInfo::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 PanTiltInfo::MaxOutputSpeed [NumOutputs]
 These values are our recommended maximum joint velocities, in rad/ms.
const float PanTiltInfo::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 PanTiltInfo::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 PanTiltInfo::NumWheels = 0
 The number of joints per leg.
const unsigned PanTiltInfo::JointsPerArm = 0
 The number of joints per leg.
const unsigned PanTiltInfo::NumArms = 0
 The number of joints per leg.
const unsigned PanTiltInfo::NumArmJoints = JointsPerArm*NumArms
 The number of joints per leg.
const unsigned PanTiltInfo::JointsPerLeg = 0
 The number of joints per leg.
const unsigned PanTiltInfo::NumLegs = 0
 The number of legs.
const unsigned PanTiltInfo::NumLegJoints = JointsPerLeg*NumLegs
 the TOTAL number of joints on ALL legs
const unsigned PanTiltInfo::NumHeadJoints = 2
 The number of joints in the pantilt.
const unsigned PanTiltInfo::NumTailJoints = 0
 The number of joints assigned to the tail.
const unsigned PanTiltInfo::NumMouthJoints = 0
 the number of joints that control the mouth
const unsigned PanTiltInfo::NumEarJoints = 0
 The number of joints which control the ears (NOT per ear, is total).
const unsigned PanTiltInfo::NumButtons = 0
 the number of buttons that are available
const unsigned PanTiltInfo::NumSensors = 0
 the number of sensors available
const unsigned PanTiltInfo::NumFacePanelLEDs = 0
 The number of face panel LEDs.
const unsigned PanTiltInfo::NumLEDs = 0
 The number of LEDs which can be controlled (one per dynamixel servo).
const unsigned PanTiltInfo::NumPIDJoints = NumWheels + NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints
 The number of joints per leg.
const unsigned PanTiltInfo::NumOutputs = NumWheels + NumPIDJoints + NumLEDs
 servo pins
const unsigned PanTiltInfo::NumReferenceFrames = NumOutputs + 1 + 1
 for the base and camera reference frames

Output Offsets

Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file



enum  PanTiltInfo::TPROffset_t { PanTiltInfo::PanOffset = 0, PanTiltInfo::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...
enum  PanTiltInfo::HeadOffset_t { PanTiltInfo::HeadPanOffset = HeadOffset, PanTiltInfo::HeadTiltOffset }
 

These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do.

More...
const unsigned PanTiltInfo::PIDJointOffset = 0
 The beginning of the PID Joints.
const unsigned PanTiltInfo::HeadOffset = PIDJointOffset
 The beginning of the head joints.
const unsigned PanTiltInfo::LEDOffset = PIDJointOffset + NumPIDJoints
 the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets
const unsigned PanTiltInfo::BaseFrameOffset = NumOutputs
 Use with kinematics to refer to base reference frame.
const unsigned PanTiltInfo::CameraFrameOffset = BaseFrameOffset+1
 Use with kinematics to refer to camera reference frame.

Input Offsets

The order in which inputs should be stored



enum  PanTiltInfo::ButtonOffset_t
 

holds offsets to different buttons in WorldState::buttons[]

More...
enum  PanTiltInfo::SensorOffset_t
 

holds offset to different sensor values in WorldState::sensors[]

More...
const char *const PanTiltInfo::buttonNames [NumButtons+1] = { NULL }
 Provides a string name for each button.
const char *const PanTiltInfo::sensorNames [NumSensors+1] = { NULL }
 Provides a string name for each sensor.

Detailed Description

Defines some capabilities of a simple pan-tilt camera “robot”.

Author:
ejt (Creator)

Definition in file PanTiltInfo.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 155 of file PanTiltInfo.h.

#define RAD ( deg   )     (((deg) * (float)M_PI ) / 180.0f)

Just a little macro for converting degrees to radians.

Definition at line 153 of file PanTiltInfo.h.


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