QBotPlusInfo.h File Reference
Defines some capabilities of the QwerkBot+, a QwerkBot with wheels and a pan/tilt camera. More...
#include <cmath>#include <stdlib.h>#include "CommonInfo.h"
Include dependency graph for QBotPlusInfo.h:
Go to the source code of this file.
Classes | |
| class | QBotPlusInfo::QBotPlusCapabilities |
| provides polymorphic robot capability detection/mapping More... | |
Namespaces | |
| namespace | QBotPlusInfo |
Declares configuration of the QwerkBot+, 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 | QBotPlusInfo::TargetName = "QBotPlus" |
| the name of the model, to be used for logging and remote GUIs | |
| const unsigned int | QBotPlusInfo::FrameTime = 25 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | QBotPlusInfo::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | QBotPlusInfo::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
| const char *const | QBotPlusInfo::outputNames [NumReferenceFrames+1] |
| Names for each of the outputs. | |
| const QBotPlusCapabilities | QBotPlusInfo::capabilities |
| allocation declared in RobotInfo.cc | |
| const float | QBotPlusInfo::DefaultPIDs [NumPIDJoints][3] |
| This table holds the default PID values for each joint. see PIDMC. | |
| const float | QBotPlusInfo::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/sec. | |
| const float | QBotPlusInfo::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 | QBotPlusInfo::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 | QBotPlusInfo::NumWheels = 2 |
| The number of joints per leg. | |
| const unsigned | QBotPlusInfo::JointsPerArm = 0 |
| The number of joints per leg. | |
| const unsigned | QBotPlusInfo::NumArms = 0 |
| The number of joints per leg. | |
| const unsigned | QBotPlusInfo::NumArmJoints = JointsPerArm*NumArms |
| The number of joints per leg. | |
| const unsigned | QBotPlusInfo::JointsPerLeg = 0 |
| The number of joints per leg. | |
| const unsigned | QBotPlusInfo::NumLegs = 0 |
| The number of legs. | |
| const unsigned | QBotPlusInfo::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs | |
| const unsigned | QBotPlusInfo::NumHeadJoints = 2 |
| The number of movable joints in the neck. | |
| const unsigned | QBotPlusInfo::NumTailJoints = 0 |
| The number of joints assigned to the tail. | |
| const unsigned | QBotPlusInfo::NumMouthJoints = 0 |
| the number of joints that control the mouth | |
| const unsigned | QBotPlusInfo::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | QBotPlusInfo::NumButtons = 8 |
| the number of buttons. 4 analog + 4 digital | |
| const unsigned | QBotPlusInfo::NumSensors = 17 |
| the number of sensors available. (8 analog + 8 digital + 1 battery) | |
| const unsigned | QBotPlusInfo::NumLEDs = 14 |
| The number of LEDs which can be controlled. | |
| const unsigned | QBotPlusInfo::NumFacePanelLEDs = 0 |
| The number of face panel LEDs. | |
| const unsigned | QBotPlusInfo::NumPIDJoints = NumWheels + NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints |
| The number of joints which use PID motion - everything except ears. | |
| const unsigned | QBotPlusInfo::NumOutputs = NumPIDJoints + NumLEDs |
| the total number of outputs | |
| const unsigned | QBotPlusInfo::NumReferenceFrames = NumOutputs + 1 + NumArms + 1 |
| for the base, gripper (* NumArms), and camera reference frames | |
Output Offsets | |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file | |
| enum | QBotPlusInfo::TPROffset_t { QBotPlusInfo::PanOffset = 0, QBotPlusInfo::TiltOffset, QBotPlusInfo::NodOffset = 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 | QBotPlusInfo::HeadOffset_t { QBotPlusInfo::HeadPanOffset = HeadOffset, QBotPlusInfo::HeadTiltOffset } |
These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do. More... | |
| enum | QBotPlusInfo::WheelOffset_t { QBotPlusInfo::LWheelOffset = WheelOffset, QBotPlusInfo::RWheelOffset } |
'Absolute' offsets for each of the wheels More... | |
| enum | QBotPlusInfo::LEDOffset_t |
The offsets of the individual LEDs -- except the qwerk board doesn't have any particularly symbolic LEDs, just use numeric values... More... | |
| typedef unsigned int | QBotPlusInfo::LEDBitMask_t |
| const unsigned | QBotPlusInfo::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | QBotPlusInfo::WheelOffset = PIDJointOffset |
| The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). | |
| const unsigned | QBotPlusInfo::HeadOffset = WheelOffset+NumWheels |
| the offset of the beginning of the head joints, add TPROffset_t to get specific joint | |
| const unsigned | QBotPlusInfo::LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets | |
| const unsigned | QBotPlusInfo::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | QBotPlusInfo::CameraFrameOffset = BaseFrameOffset + 1 |
| Use with kinematics to refer to camera reference frame. | |
| const LEDBitMask_t | QBotPlusInfo::FaceLEDMask = 0 |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries). | |
| const LEDBitMask_t | QBotPlusInfo::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
Input Offsets | |
The order in which inputs should be stored | |
| enum | QBotPlusInfo::ButtonOffset_t { QBotPlusInfo::Button0, QBotPlusInfo::Button1, QBotPlusInfo::Button2, QBotPlusInfo::Button3, QBotPlusInfo::Button4, QBotPlusInfo::Button5, QBotPlusInfo::Button6, QBotPlusInfo::Button7 } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | QBotPlusInfo::SensorOffset_t { QBotPlusInfo::AnalogInValues0, QBotPlusInfo::AnalogInValues1, QBotPlusInfo::AnalogInValues2, QBotPlusInfo::AnalogInValues3, QBotPlusInfo::AnalogInValues4, QBotPlusInfo::AnalogInValues5, QBotPlusInfo::AnalogInValues6, QBotPlusInfo::AnalogInValues7, QBotPlusInfo::DigitalInStates0, QBotPlusInfo::DigitalInStates1, QBotPlusInfo::DigitalInStates2, QBotPlusInfo::DigitalInStates3, QBotPlusInfo::DigitalInStates4, QBotPlusInfo::DigitalInStates5, QBotPlusInfo::DigitalInStates6, QBotPlusInfo::DigitalInStates7, QBotPlusInfo::BatteryVoltage } |
holds offset to different sensor values in WorldState::sensors[] More... | |
| const char *const | QBotPlusInfo::buttonNames [NumButtons+1] |
| Provides a string name for each button. | |
| const char *const | QBotPlusInfo::sensorNames [NumSensors] |
| Provides a string name for each sensor. | |
Detailed Description
Defines some capabilities of the QwerkBot+, a QwerkBot with wheels and a pan/tilt camera.
Definition in file QBotPlusInfo.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 245 of file QBotPlusInfo.h.
| #define RAD | ( | deg | ) | (((deg) * (float)M_PI ) / 180.0f) |
Just a little macro for converting degrees to radians.
Definition at line 243 of file QBotPlusInfo.h.
