Regis1Info.h File Reference
Defines some capabilities of the Regis robot prototype. More...
#include <stdlib.h>#include <cmath>#include "CommonInfo.h"
Include dependency graph for Regis1Info.h:
Go to the source code of this file.
Classes | |
| class | Regis1Info::Regis1Capabilities |
| provides polymorphic robot capability detection/mapping More... | |
Namespaces | |
| namespace | Regis1Info |
Declares configuration of the Regis robot prototype, such as number of joints, LEDs, etc. | |
Variables | |
| const char *const | Regis1Info::TargetName = "Regis1" |
| the name of the model, to be used for logging and remote GUIs | |
| const unsigned int | Regis1Info::FrameTime = 15 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | Regis1Info::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | Regis1Info::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
Output Types Information | |
| const unsigned | Regis1Info::NumWheels = 2 |
| Left and Right Wheels. | |
| const unsigned | Regis1Info::JointsPerArm = 6 |
| Base, Shoulder, Elbow, Wrist (Yaw, Roll), Gripper. | |
| const unsigned | Regis1Info::NumArms = 1 |
| Left and Right Wheels. | |
| const unsigned | Regis1Info::NumArmJoints = JointsPerArm*NumArms |
| Left and Right Wheels. | |
| const unsigned | Regis1Info::JointsPerLeg = 0 |
| Left and Right Wheels. | |
| const unsigned | Regis1Info::NumLegs = 0 |
| Left and Right Wheels. | |
| const unsigned | Regis1Info::NumLegJoints = JointsPerLeg*NumLegs |
| Left and Right Wheels. | |
| const unsigned | Regis1Info::NumHeadJoints = 4 |
| Left and Right Wheels. | |
| const unsigned | Regis1Info::NumTailJoints = 0 |
| Left and Right Wheels. | |
| const unsigned | Regis1Info::NumMouthJoints = 0 |
| Left and Right Wheels. | |
| const unsigned | Regis1Info::NumEarJoints = 0 |
| Left and Right Wheels. | |
| const unsigned | Regis1Info::NumButtons = 0 |
| Left and Right Wheels. | |
| const unsigned | Regis1Info::NumSensors = 0 |
| Left and Right Wheels. | |
| const unsigned | Regis1Info::NumLEDs = 0 |
| Left and Right Wheels. | |
| const unsigned | Regis1Info::NumFacePanelLEDs = 0 |
| Left and Right Wheels. | |
| const unsigned | Regis1Info::NumPIDJoints = NumWheels+NumArmJoints+NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints |
| The number of joints which use PID motion - everything except ears. | |
| const unsigned | Regis1Info::NumBinJoints = NumEarJoints |
| The number of binary joints - just the ears. | |
| const unsigned | Regis1Info::NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs |
| the total number of outputs | |
| const unsigned | Regis1Info::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 | |
| #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? | |
| enum | Regis1Info::WheelOffset_t { Regis1Info::LWheelOffset = WheelOffset, Regis1Info::RWheelOffset } |
Just a little macro for converting degrees to radians. More... | |
| enum | Regis1Info::HeadOffset_t { Regis1Info::HeadBaseOffset = HeadOffset, Regis1Info::HeadPanOffset = HeadBaseOffset, Regis1Info::HeadShoulderOffset, Regis1Info::HeadElbowOffset, Regis1Info::HeadTiltOffset = HeadElbowOffset, Regis1Info::HeadWristOffset, Regis1Info::HeadNodOffset = HeadWristOffset } |
these are all 'absolute' offsets -- no need to add to HeadOffset More... | |
| enum | Regis1Info::TPROffset_t { Regis1Info::PanOffset = HeadBaseOffset - HeadOffset, Regis1Info::TiltOffset = HeadElbowOffset - HeadOffset, Regis1Info::NodOffset = HeadWristOffset - HeadOffset } |
these are the traditional sub-offsets, relative to HeadOffset More... | |
| enum | Regis1Info::ArmOffset_t { Regis1Info::ArmBaseOffset = ArmOffset, Regis1Info::ArmShoulderOffset, Regis1Info::ArmElbowOffset, Regis1Info::ArmWristOffset, Regis1Info::ArmWristRotateOffset, Regis1Info::ArmGripperOffset } |
Just a little macro for converting degrees to radians. More... | |
| enum | Regis1Info::ArmJoint { Regis1Info::ArmBase, Regis1Info::ArmShoulder, Regis1Info::ArmElbow, Regis1Info::ArmWrist, Regis1Info::ArmWristRotate, Regis1Info::ArmGripper } |
Just a little macro for converting degrees to radians. More... | |
| enum | Regis1Info::ButtonOffset_t |
Just a little macro for converting degrees to radians. More... | |
| enum | Regis1Info::SensorOffset_t |
Just a little macro for converting degrees to radians. More... | |
| const unsigned | Regis1Info::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | Regis1Info::WheelOffset = PIDJointOffset |
| beginning of wheel velocities, don't need to add anything, just use WheelOffset_t entries directly | |
| const unsigned | Regis1Info::ArmOffset = WheelOffset+NumWheels |
| beginning of arm joints, don't add anything, just use ArmOffset_t entries directly | |
| const unsigned | Regis1Info::HeadOffset = ArmOffset+NumArmJoints |
| the offset of the beginning of the head joints, add TPROffset_t to get specific joint | |
| const unsigned | Regis1Info::LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets | |
| const unsigned | Regis1Info::BinJointOffset = LEDOffset + NumLEDs |
| The beginning of the binary joints. | |
| const unsigned | Regis1Info::EarOffset = BinJointOffset |
| the offset of the beginning of the ear joints - note that ears aren't sensed. They can be flicked by the environment and you won't know. | |
| const unsigned | Regis1Info::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | Regis1Info::GripperFrameOffset = BaseFrameOffset+1 |
| Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw). | |
| const unsigned | Regis1Info::CameraFrameOffset = GripperFrameOffset+NumArms |
| Use with kinematics to refer to camera reference frame. | |
| const char *const | Regis1Info::buttonNames [NumButtons+1] = { NULL } |
| Just a little macro for converting degrees to radians. | |
| const char *const | Regis1Info::sensorNames [NumSensors+1] = { NULL } |
| Just a little macro for converting degrees to radians. | |
| const char *const | Regis1Info::outputNames [NumReferenceFrames+1] |
| Names for each of the outputs. | |
| const Regis1Capabilities | Regis1Info::capabilities |
| allocation declared in RobotInfo.cc | |
| const float | Regis1Info::DefaultPIDs [NumPIDJoints][3] |
| Just a little macro for converting degrees to radians. | |
| const float | Regis1Info::MaxOutputSpeed [NumOutputs] |
| haven't determined safe speeds for regis yet | |
| const float | Regis1Info::outputRanges [NumOutputs][2] |
| the range that can be reached by the joint controller (i.e. the domain of the output commands) | |
| const float | Regis1Info::mechanicalLimits [NumOutputs][2] |
| the range that can be reached by external interaction (i.e. the domain of the output feedback) | |
Detailed Description
Defines some capabilities of the Regis robot prototype.
Definition in file Regis1Info.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 173 of file Regis1Info.h.
| #define RAD | ( | deg | ) | (((deg) * (float)M_PI ) / 180.0f) |
Just a little macro for converting degrees to radians.
Definition at line 171 of file Regis1Info.h.
