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