Calliope3Components::Calliope3 Namespace Reference

Typedefs
typedef unsigned int	LEDBitMask_t
	So you can be clear when you're refering to a LED bitmask.
Enumerations
enum	TPROffset_t { PanOffset = 0, TiltOffset, 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	HeadOffset_t { HeadPanOffset = HeadOffset, HeadTiltOffset }
	These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do. More...
enum	ArmOffset_t { ArmBaseOffset = ArmOffset, ArmShoulderOffset, GripperOffset }
	These are 'absolute' offsets for the arm joints, don't need to add to ArmOffset like TPROffset_t values do. More...
enum	LEDOffset_t { PowerRedLEDOffset = LEDOffset, PowerGreenLEDOffset, PlayLEDOffset, AdvanceLEDOffset }
	The offsets of the individual LEDs. More...
Variables
const unsigned	NumHeadJoints = 2
	The number of joints in the pan/tilt.
const unsigned	HeadOffset = WheelOffset+NumWheels
	the offset of the beginning of the head joints, add TPROffset_t to get specific joint
const unsigned	FingerJointsPerArm = 1
const unsigned	JointsPerArm = 3
	2 arm joints plus gripper
const unsigned	NumArms = 1
const unsigned	NumArmJoints = JointsPerArm*NumArms
const unsigned	NumPIDJoints = NumWheels + NumHeadJoints + NumArmJoints
	number of motors and servos
const unsigned	NumOutputs = NumPIDJoints + NumLEDs + 1
	the total number of outputs
const unsigned	ArmOffset = HeadOffset+NumHeadJoints
const unsigned	LEDOffset = ArmOffset+NumArmJoints
const unsigned	ModeOffset = LEDOffset + NumLEDs
const unsigned	BaseFrameOffset = NumOutputs
	Use with kinematics to refer to base reference frame.
const unsigned	GripperFrameOffset = BaseFrameOffset + 1
	Use with kinematics to refer to gripper reference frame.
const unsigned	CameraFrameOffset = GripperFrameOffset+NumArms
	Use with kinematics to refer to camera reference frame.
const LEDOffset_t	RedLEDOffset = PowerRedLEDOffset
const LEDOffset_t	BlueLEDOffset = AdvanceLEDOffset
	Create has no blue LED: use Advance LED here, and Advance+PowerRED in BlueLEDMask.
const LEDOffset_t	GreenLEDOffset = PlayLEDOffset
const LEDOffset_t	YellowLEDOffset = AdvanceLEDOffset
const LEDBitMask_t	BlueLEDMask
	Create has no blue LED, so use Advance (green) + Power (red).
const LEDBitMask_t	GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset)
	mask corresponding to GreenLEDOffset
const LEDBitMask_t	YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset)
	mask corresponding to YellowLEDOffset
const LEDBitMask_t	RedLEDMask = 1<<(RedLEDOffset-LEDOffset)
	mask corresponding to RedLEDOffset
const LEDBitMask_t	PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset)
	mask corresponding to BlueLEDOffset
const LEDBitMask_t	PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset)
	mask corresponding to GreenLEDOffset
const LEDBitMask_t	PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset)
	mask corresponding to YellowLEDOffset
const LEDBitMask_t	AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset)
	mask corresponding to RedLEDOffset
const LEDBitMask_t	FaceLEDMask = 0
	LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
const LEDBitMask_t	AllLEDMask = (LEDBitMask_t)~0
	selects all of the leds
const float	DefaultPIDs [NumPIDJoints][3]
	This table holds the default PID values for each joint. see PIDMC.
const float	MaxOutputSpeed [NumOutputs]
	These values are our recommended maximum joint velocities, in rad/ms.
const float	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).

Typedef Documentation

typedef unsigned int Calliope3Components::Calliope3::LEDBitMask_t

So you can be clear when you're refering to a LED bitmask.

Definition at line 354 of file Calliope3Components.h.

Enumeration Type Documentation

enum Calliope3Components::Calliope3::ArmOffset_t

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

Enumerator:

ArmBaseOffset
ArmShoulderOffset
GripperOffset

Definition at line 334 of file Calliope3Components.h.

enum Calliope3Components::Calliope3::HeadOffset_t

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

Enumerator:

HeadPanOffset	pan/heading (horizontal)
HeadTiltOffset	tilt/elevation (vertical)

Definition at line 313 of file Calliope3Components.h.

enum Calliope3Components::Calliope3::LEDOffset_t

The offsets of the individual LEDs.

Enumerator:

PowerRedLEDOffset
PowerGreenLEDOffset
PlayLEDOffset
AdvanceLEDOffset

Definition at line 342 of file Calliope3Components.h.

enum Calliope3Components::Calliope3::TPROffset_t

The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).

Enumerator:

PanOffset	pan/heading (horizontal)
TiltOffset	tilt/elevation (vertical)
NodOffset	replicated tilt (could be left undefined instead...)

Definition at line 306 of file Calliope3Components.h.

Variable Documentation

const LEDBitMask_t Calliope3Components::Calliope3::AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset)

mask corresponding to RedLEDOffset

Definition at line 365 of file Calliope3Components.h.

const LEDBitMask_t Calliope3Components::Calliope3::AllLEDMask = (LEDBitMask_t)~0

selects all of the leds

Definition at line 370 of file Calliope3Components.h.

const unsigned Calliope3Components::Calliope3::ArmOffset = HeadOffset+NumHeadJoints

const unsigned Calliope3Components::Calliope3::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 329 of file Calliope3Components.h.

const LEDBitMask_t Calliope3Components::Calliope3::BlueLEDMask

Initial value:

 (1<<(AdvanceLEDOffset-LEDOffset)) |
    (1<<(PowerRedLEDOffset-LEDOffset))

Create has no blue LED, so use Advance (green) + Power (red).

Definition at line 356 of file Calliope3Components.h.

const LEDOffset_t Calliope3Components::Calliope3::BlueLEDOffset = AdvanceLEDOffset

Create has no blue LED: use Advance LED here, and Advance+PowerRED in BlueLEDMask.

Definition at line 350 of file Calliope3Components.h.

const unsigned Calliope3Components::Calliope3::CameraFrameOffset = GripperFrameOffset+NumArms

Use with kinematics to refer to camera reference frame.

Definition at line 331 of file Calliope3Components.h.

Referenced by LookAtMarkers::Search::doEvent(), LookAtMarkers::TrackMarker::doEvent(), RawCam::drawShapesIntoBuffer(), DualCoding::Lookout::findLocationFor(), DualCoding::MapBuilder::getCamCrosses(), DualCoding::MapBuilder::getCamCylinders(), DualCoding::MapBuilder::getCamDominoes(), DualCoding::MapBuilder::grabCameraImageAndGo(), HeadPointerMC::lookAtPoint(), HeadPointerMC::lookInDirection(), DualCoding::Lookout::processSearchEvent(), projectShapeToCamera(), Kinematics::projectToGround(), DualCoding::MapBuilder::projectToLocal(), and DualCoding::Lookout::setupTrack().

const float Calliope3Components::Calliope3::DefaultPIDs[NumPIDJoints][3]

Initial value:

 {
      {1,0,0},
      {1,0,0},
      {32,32,1},
      {32,32,1},
      {32,32,1},
      {32,32,1},
      {32,32,1}
    }

This table holds the default PID values for each joint. see PIDMC.

Definition at line 373 of file Calliope3Components.h.

const LEDBitMask_t Calliope3Components::Calliope3::FaceLEDMask = 0

LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).

Definition at line 368 of file Calliope3Components.h.

const unsigned Calliope3Components::Calliope3::FingerJointsPerArm = 1

Definition at line 318 of file Calliope3Components.h.

const LEDBitMask_t Calliope3Components::Calliope3::GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset)

mask corresponding to GreenLEDOffset

Definition at line 358 of file Calliope3Components.h.

const LEDOffset_t Calliope3Components::Calliope3::GreenLEDOffset = PlayLEDOffset

Definition at line 351 of file Calliope3Components.h.

const unsigned Calliope3Components::Calliope3::GripperFrameOffset = BaseFrameOffset + 1

Use with kinematics to refer to gripper reference frame.

Definition at line 330 of file Calliope3Components.h.

Referenced by ArmController::ArmController(), CBracketGrasperPredicate< N >::CBracketGrasperPredicate(), KoduInterpreter::GiveActionRunner::GiveActionSend::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::RepositionBody::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed::VerifyObjectInGripper::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed::LookAtTheGripper::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::RepositionBody::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::VerifyObjectInGripper::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::LookAtTheGripper::doStart(), Grasper::ReleaseArm::doStart(), Grasper::PlanArmDeliver::doStart(), Grasper::PlanBodyTransport::doStart(), Grasper::ArmRaise::doStart(), Grasper::ArmNudge::doStart(), Grasper::Verify::CheckCross::doStart(), Grasper::Verify::CheckDomino::doStart(), Grasper::DoBodyApproach3::doStart(), Grasper::DoBodyApproach2::doStart(), Grasper::PlanArmApproach::doStart(), Grasper::PlanBodyApproach::doStart(), ArmController::doStart(), GrasperRequest::GrasperRequest(), IKCalliope::IKCalliope(), ArmController::pointPicked(), and IKCalliope::solve().

const unsigned Calliope3Components::Calliope3::HeadOffset = WheelOffset+NumWheels

the offset of the beginning of the head joints, add TPROffset_t to get specific joint

Definition at line 303 of file Calliope3Components.h.

Referenced by PostureMC::defaultMaxSpeed(), HeadPointerMC::defaultMaxSpeed(), HeadPointerMC::ensureValidJoint(), HeadPointerMC::isAlive(), HeadPointerMC::lookAtPoint(), HeadPointerMC::lookInDirection(), HeadController::runCommand(), DualCoding::Lookout::scanAlongLine(), DualCoding::Lookout::scanAlongPolygon(), HeadPointerMC::setDirty(), HeadPointerMC::setJoints(), HeadPointerMC::setJointValue(), HeadPointerMC::takeSnapshot(), DualCoding::Lookout::triggerSearchMotionSequence(), and HeadPointerMC::updateOutputs().

const unsigned Calliope3Components::Calliope3::JointsPerArm = 3

2 arm joints plus gripper

Definition at line 319 of file Calliope3Components.h.

const unsigned Calliope3Components::Calliope3::LEDOffset = ArmOffset+NumArmJoints

Definition at line 326 of file Calliope3Components.h.

const float Calliope3Components::Calliope3::MaxOutputSpeed[NumOutputs]

Initial value:

 {
      0, 0,   
      1.f, 1.f,   
      1.f, 1.f, 1.f, 
      0,
      0,
      0,
      0,
      0
    }

These values are our recommended maximum joint velocities, in rad/ms.

Definition at line 384 of file Calliope3Components.h.

const unsigned Calliope3Components::Calliope3::ModeOffset = LEDOffset + NumLEDs

Definition at line 327 of file Calliope3Components.h.

const unsigned Calliope3Components::Calliope3::NumArmJoints = JointsPerArm*NumArms

Definition at line 321 of file Calliope3Components.h.

const unsigned Calliope3Components::Calliope3::NumArms = 1

Definition at line 320 of file Calliope3Components.h.

const unsigned Calliope3Components::Calliope3::NumHeadJoints = 2

The number of joints in the pan/tilt.

Definition at line 302 of file Calliope3Components.h.

const unsigned Calliope3Components::Calliope3::NumOutputs = NumPIDJoints + NumLEDs + 1

the total number of outputs

Definition at line 323 of file Calliope3Components.h.

const unsigned Calliope3Components::Calliope3::NumPIDJoints = NumWheels + NumHeadJoints + NumArmJoints

number of motors and servos

Definition at line 322 of file Calliope3Components.h.

const float Calliope3Components::Calliope3::outputRanges[NumOutputs][2]

Initial value:

    {
      { -500 , 500 }, 
      { -500 , 500 }, 
      {RAD(-150),RAD(150)}, 
      {RAD(-92),RAD(75)}, 
      {RAD(-150),RAD(75)}, 
      {RAD(-60),RAD(49)}, 
      {RAD(0),RAD(130)}, 
      {  0 , 1 },
      {  0 , 1 },
      {  0 , 1 },
      {  0 , 1 },
      { MODE_PASSIVE, MODE_SAFE }
    }

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).

Definition at line 396 of file Calliope3Components.h.

const LEDBitMask_t Calliope3Components::Calliope3::PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset)

mask corresponding to YellowLEDOffset

Definition at line 364 of file Calliope3Components.h.

const LEDBitMask_t Calliope3Components::Calliope3::PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset)

mask corresponding to GreenLEDOffset

Definition at line 363 of file Calliope3Components.h.

const LEDBitMask_t Calliope3Components::Calliope3::PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset)

mask corresponding to BlueLEDOffset

Definition at line 362 of file Calliope3Components.h.

const LEDBitMask_t Calliope3Components::Calliope3::RedLEDMask = 1<<(RedLEDOffset-LEDOffset)

mask corresponding to RedLEDOffset