ChiaraInfo Namespace Reference

Contains information about an Chiara hexapod robot, such as number of joints, LEDs, etc. More...

Classes
class	ChiaraCapabilities
	provides polymorphic robot capability detection/mapping More...
Variables
const char *const	TargetName = "Chiara"
	the name of the model, to be used for logging and remote GUIs
const unsigned int	FrameTime = 32
	time between frames in the motion system (milliseconds)
const unsigned int	NumFrames = 1
	the number of frames per buffer (don't forget also double buffered)
const unsigned int	SoundBufferTime = 32
	the number of milliseconds per sound buffer... I'm not sure if this can be changed
const fmat::Column< 3 >	AgentBoundingBoxBaseFrameOffset = fmat::pack(0,0,0)
	Offset needed so that the centroid of the robot is correct relative to the bounding box.
const fmat::Column< 3 >	AgentBoundingBoxHalfDims = fmat::pack(304.8/2, 304.8/2, 0)
	Half of the length, width, and height of the robot.
const char *const	outputNames [NumReferenceFrames+1]
	Names for each of the outputs.
const ChiaraCapabilities	capabilities
	allocation declared in RobotInfo.cc
const float	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	MaxOutputSpeed [NumOutputs]
	These values are our recommended maximum joint velocities, in rad/sec.
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).
const float	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	NumWheels = 0
	The number of joints per leg.
const unsigned	FingerJointsPerArm = 2
	The number of joints per leg.
const unsigned	JointsPerArm = 6
	The number of joints per leg.
const unsigned	NumArms = 1
	The number of joints per leg.
const unsigned	NumArmJoints = JointsPerArm*NumArms
	The number of joints per leg.
const unsigned	JointsPerLeg = 3
	The number of joints per leg.
const unsigned	NumLegs = 6
	The number of legs.
const unsigned	NumLegJoints = JointsPerLeg*NumLegs
	the TOTAL number of joints on ALL legs
const unsigned	NumHeadJoints = 2
	The number of joints in the pantilt.
const unsigned	NumTailJoints = 0
	The number of joints assigned to the tail.
const unsigned	NumMouthJoints = 0
	the number of joints that control the mouth
const unsigned	NumEarJoints = 0
	The number of joints which control the ears (NOT per ear, is total).
const unsigned	NumButtons = 3
	the number of buttons that are available
const unsigned	NumSensors = 11
	the number of sensors available
const unsigned	NumFacePanelLEDs = 0
	The number of face panel LEDs.
const unsigned	NumLEDs = NumLegs + 1 + 4
	There's an LED on every dynamixel, but can't see most of them, so save some computational resources and only expose the visible ones: knees and pan.
const unsigned	NumPIDJoints = NumArmJoints + 1 + NumLegJoints + NumHeadJoints+NumTailJoints+NumMouthJoints
	The number of joints per leg.
const unsigned	NumOutputs = NumWheels + NumPIDJoints + NumLEDs
	servo pins
const unsigned	NumReferenceFrames = NumOutputs + 1 + NumLegs + NumArms + 1 + 3
	for the base, feet, gripper, camera, and IR distance rangefinder
const float	BallOfFootRadius = 0
	radius of the ball of the foot
Output Offsets
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
enum	LegOrder_t { RFrLegOrder = 0, LFrLegOrder, RMdLegOrder, LMdLegOrder, RBkLegOrder, LBkLegOrder }
	the ordering of legs More...
enum	SEKOffset_t { SweepOffset = 0, ElevatorOffset, KneeOffset }
	The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage. More...
enum	TPROffset_t { PanOffset = 0, TiltOffset, NodOffset = TiltOffset, RollOffset }
	The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head/wrist). More...
enum	LegOffset_t { RFrLegOffset = LegOffset+RFrLegOrderJointsPerLeg, LFrLegOffset = LegOffset+LFrLegOrderJointsPerLeg, RMdLegOffset = LegOffset+RMdLegOrderJointsPerLeg, LMdLegOffset = LegOffset+LMdLegOrderJointsPerLeg, RBkLegOffset = LegOffset+RBkLegOrderJointsPerLeg, LBkLegOffset = LegOffset+LBkLegOrderJointsPerLeg }
	The offsets of the individual legs, add REKOffset_t value to access specific joint. More...
enum	ArmOffset_t { ArmShoulderOffset = ArmOffset, ArmElbowOffset, WristOffset, WristYawOffset = WristOffset, WristPitchOffset, WristRollOffset, GripperOffset }
	These are 'absolute' offsets for the arm joints, don't need to add to ArmOffset like TPROffset_t values do. 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	LEDOffset_t { BlueLEDOffset = LEDOffset, GreenLEDOffset, YellowLEDOffset, RedLEDOffset, RFrKneeLEDOffset, LFrKneeLEDOffset, RMdKneeLEDOffset, LMdKneeLEDOffset, RBkKneeLEDOffset, LBkKneeLEDOffset, HeadLEDOffset }
	The offsets of the individual LEDs, one LED on each dynamixel servo, these match the servo order, so this is empty. More...
typedef unsigned int	LEDBitMask_t
	So you can be clear when you're refering to a LED bitmask.
const unsigned	PIDJointOffset = 0
	The beginning of the PID Joints.
const unsigned	RFrRotatorOffset = PIDJointOffset
	The right front leg's rotator joint.
const unsigned	LegOffset = RFrRotatorOffset+1
	the offset of the beginning of the regular leg joints (after the 1 rotator joint for the right front leg): NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t
const unsigned	ArmOffset = LegOffset+NumLegJoints
	the offset of the beginning of the arm joints, add TPROffset_t to get specific joint
const unsigned	HeadOffset = ArmOffset+NumArmJoints
	the offset of the beginning of the head joints, add TPROffset_t to get specific joint
const unsigned	LEDOffset = PIDJointOffset + NumPIDJoints
	the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets
const unsigned	BaseFrameOffset = NumOutputs
	Use with kinematics to refer to base reference frame.
const unsigned	FootFrameOffset = BaseFrameOffset+1
	Use with kinematics to refer to feet reference frames (add appropriate LegOrder_t to specify which paw).
const unsigned	GripperFrameOffset = FootFrameOffset+NumLegs
	Use with kinematics to refer to gripper reference frame.
const unsigned	CameraFrameOffset = GripperFrameOffset+NumArms
	Use with kinematics to refer to camera reference frame.
const unsigned	LeftIRFrameOffset = CameraFrameOffset+1
	Use with kinematics to refer to left IR distance rangefinder reference frame.
const unsigned	CenterIRFrameOffset = LeftIRFrameOffset+1
	Use with kinematics to refer to center IR distance rangefinder reference frame.
const unsigned	IRFrameOffset = CenterIRFrameOffset
	alias for CenterIRFrameOffset
const unsigned	RightIRFrameOffset = CenterIRFrameOffset+1
	Use with kinematics to refer to right IR distance rangefinder reference frame.
const LEDBitMask_t	BlueLEDMask = 1<<(BlueLEDOffset-LEDOffset)
	mask corresponding to BlueLEDOffset
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	RFrKneeLEDMask = 1<<(RFrKneeLEDOffset-LEDOffset)
	mask corresponding to RFrKneeLEDOffset
const LEDBitMask_t	LFrKneeLEDMask = 1<<(LFrKneeLEDOffset-LEDOffset)
	mask corresponding to LFrKneeLEDOffset
const LEDBitMask_t	RMdKneeLEDMask = 1<<(RMdKneeLEDOffset-LEDOffset)
	mask corresponding to RMdKneeLEDOffset
const LEDBitMask_t	LMdKneeLEDMask = 1<<(LMdKneeLEDOffset-LEDOffset)
	mask corresponding to LMdKneeLEDOffset
const LEDBitMask_t	RBkKneeLEDMask = 1<<(RBkKneeLEDOffset-LEDOffset)
	mask corresponding to RBkKneeLEDOffset
const LEDBitMask_t	LBkKneeLEDMask = 1<<(LBkKneeLEDOffset-LEDOffset)
	mask corresponding to LBkKneeLEDOffset
const LEDBitMask_t	HeadLEDMask = 1<<(HeadLEDOffset-LEDOffset)
	mask corresponding to HeadLEDOffset
const LEDBitMask_t	FaceLEDMask = HeadLEDMask
	LEDs for the "face panel" -- on the Chiara this is just HeadLEDMask.
const LEDBitMask_t	AllLEDMask = (LEDBitMask_t)~0
	selects all of the leds
Input Offsets
The order in which inputs should be stored
enum	ButtonOffset_t { GreenButOffset, RedButOffset, YellowButOffset }
	holds offsets to different buttons in WorldState::buttons[] More...
enum	SensorOffset_t { LeftIRDistOffset, CenterIRDistOffset, IRDistOffset = CenterIRDistOffset, RightIRDistOffset, LeftLuminosityOffset, CenterLuminosityOffset, RightLuminosityOffset, MicVolumeOffset, MicSpikeCountOffset, PowerRemainOffset, PowerThermoOffset, PowerVoltageOffset }
	holds offset to different sensor values in WorldState::sensors[] More...
const char *const	buttonNames [NumButtons+1] = { "GreenBut", "RedBut", "YellowBut", NULL }
	Provides a string name for each button.
const char *const	sensorNames [NumSensors+1]
	Provides a string name for each sensor.

Detailed Description

Contains information about an Chiara hexapod robot, such as number of joints, LEDs, etc.

Typedef Documentation

typedef unsigned int ChiaraInfo::LEDBitMask_t

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

Definition at line 164 of file ChiaraInfo.h.

Enumeration Type Documentation

enum ChiaraInfo::ArmOffset_t

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

Enumerator:

ArmShoulderOffset
ArmElbowOffset
WristOffset
WristYawOffset
WristPitchOffset
WristRollOffset
GripperOffset

Definition at line 132 of file ChiaraInfo.h.

enum ChiaraInfo::ButtonOffset_t

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

Should be a straight mapping to the ButtonSourceIDs

Note that the chest (power) button is not a normal button. It kills power to the motors at a hardware level, and isn't sensed in the normal way. If you want to know when it is pressed (and you are about to shut down) see PowerSrcID::PauseSID.

See also:: WorldState::buttons; ButtonSourceID_t

Enumerator:

GreenButOffset
RedButOffset
YellowButOffset

Definition at line 209 of file ChiaraInfo.h.

enum ChiaraInfo::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 143 of file ChiaraInfo.h.

enum ChiaraInfo::LEDOffset_t

The offsets of the individual LEDs, one LED on each dynamixel servo, these match the servo order, so this is empty.

Enumerator:

BlueLEDOffset	The blue LED on the back of the robot (closest to rear button panel).
GreenLEDOffset	The green LED on the back of the robot (second closest to rear button panel).
YellowLEDOffset	The yellow LED on the back of the robot (second closest to neck).
RedLEDOffset	The red LED on the back of the robot (closest to neck).
RFrKneeLEDOffset	Small LED on the knee servo.
LFrKneeLEDOffset	Small LED on the knee servo.
RMdKneeLEDOffset	Small LED on the knee servo.
LMdKneeLEDOffset	Small LED on the knee servo.
RBkKneeLEDOffset	Small LED on the knee servo.
LBkKneeLEDOffset	Small LED on the knee servo.
HeadLEDOffset	Small LED on the camera's pan servo.

Definition at line 150 of file ChiaraInfo.h.

enum ChiaraInfo::LegOffset_t

The offsets of the individual legs, add REKOffset_t value to access specific joint.

Enumerator:

RFrLegOffset	beginning of right front leg's joints
LFrLegOffset	beginning of left front leg's joints
RMdLegOffset	beginning of right front leg's joints
LMdLegOffset	beginning of left front leg's joints
RBkLegOffset	beginning of right back leg's joints
LBkLegOffset	beginning of left back leg's joints

Definition at line 122 of file ChiaraInfo.h.

enum ChiaraInfo::LegOrder_t

the ordering of legs

Enumerator:

RFrLegOrder	right front leg
LFrLegOrder	left front leg
RMdLegOrder	right middle leg
LMdLegOrder	left middle leg
RBkLegOrder	right back leg
LBkLegOrder	left back leg

Definition at line 96 of file ChiaraInfo.h.

enum ChiaraInfo::SEKOffset_t

The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage.

Enumerator:

SweepOffset	moves leg forward or backward along body
ElevatorOffset	moves leg toward or away from body
KneeOffset	moves knee

Definition at line 106 of file ChiaraInfo.h.

enum ChiaraInfo::SensorOffset_t

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

See also:: WorldState::sensors[]

Enumerator:

LeftIRDistOffset
CenterIRDistOffset
IRDistOffset
RightIRDistOffset
LeftLuminosityOffset
CenterLuminosityOffset
RightLuminosityOffset
MicVolumeOffset
MicSpikeCountOffset
PowerRemainOffset
PowerThermoOffset	estimate of power capacity as percentage, 0-1 degrees Celcius
PowerVoltageOffset	volts

Definition at line 216 of file ChiaraInfo.h.

enum ChiaraInfo::TPROffset_t

The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head/wrist).

Enumerator:

PanOffset	pan/yaw/heading (horizontal)
TiltOffset	tilt/pitch/elevation (vertical)
NodOffset	replicated tilt (could be left undefined instead...)
RollOffset	spin/twist final axis (can be applied to WristOffset, but Chiara neck only has pan/tilt)

Definition at line 113 of file ChiaraInfo.h.

Variable Documentation

const fmat::Column<3> ChiaraInfo::AgentBoundingBoxBaseFrameOffset = fmat::pack(0,0,0)

Offset needed so that the centroid of the robot is correct relative to the bounding box.

Definition at line 186 of file ChiaraInfo.h.

const fmat::Column<3> ChiaraInfo::AgentBoundingBoxHalfDims = fmat::pack(304.8/2, 304.8/2, 0)

Half of the length, width, and height of the robot.

Definition at line 189 of file ChiaraInfo.h.

const LEDBitMask_t ChiaraInfo::AllLEDMask = (LEDBitMask_t)~0

selects all of the leds

Definition at line 181 of file ChiaraInfo.h.

const unsigned ChiaraInfo::ArmOffset = LegOffset+NumLegJoints

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

Definition at line 80 of file ChiaraInfo.h.

const float ChiaraInfo::BallOfFootRadius = 0

radius of the ball of the foot

Definition at line 65 of file ChiaraInfo.h.

const unsigned ChiaraInfo::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 85 of file ChiaraInfo.h.

const LEDBitMask_t ChiaraInfo::BlueLEDMask = 1<<(BlueLEDOffset-LEDOffset)

mask corresponding to BlueLEDOffset

Definition at line 166 of file ChiaraInfo.h.

const char* const ChiaraInfo::buttonNames[NumButtons+1] = { "GreenBut", "RedBut", "YellowBut", NULL }

Provides a string name for each button.

Definition at line 212 of file ChiaraInfo.h.

const unsigned ChiaraInfo::CameraFrameOffset = GripperFrameOffset+NumArms

Use with kinematics to refer to camera reference frame.

Definition at line 88 of file ChiaraInfo.h.

const ChiaraCapabilities ChiaraInfo::capabilities

allocation declared in RobotInfo.cc

Definition at line 147 of file RobotInfo.cc.

const unsigned ChiaraInfo::CenterIRFrameOffset = LeftIRFrameOffset+1

Use with kinematics to refer to center IR distance rangefinder reference frame.

Definition at line 91 of file ChiaraInfo.h.

const float ChiaraInfo::DefaultPIDs[NumPIDJoints][3]

Initial value:

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

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).

I believe the torque calculation goes something like: torque = (error<compliance) ? 0 : punch + P*error Dynamixel servos allow different values to be supplied for CW vs. CCW motion, but we just use the same value for each

Definition at line 298 of file ChiaraInfo.h.

const LEDBitMask_t ChiaraInfo::FaceLEDMask = HeadLEDMask

LEDs for the "face panel" -- on the Chiara this is just HeadLEDMask.

Definition at line 179 of file ChiaraInfo.h.

const unsigned ChiaraInfo::FingerJointsPerArm = 2

The number of joints per leg.

Definition at line 41 of file ChiaraInfo.h.

const unsigned ChiaraInfo::FootFrameOffset = BaseFrameOffset+1

Use with kinematics to refer to feet reference frames (add appropriate LegOrder_t to specify which paw).

Definition at line 86 of file ChiaraInfo.h.

const unsigned int ChiaraInfo::FrameTime = 32

time between frames in the motion system (milliseconds)

Definition at line 34 of file ChiaraInfo.h.

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

mask corresponding to GreenLEDOffset

Definition at line 167 of file ChiaraInfo.h.

const unsigned ChiaraInfo::GripperFrameOffset = FootFrameOffset+NumLegs

Use with kinematics to refer to gripper reference frame.

Definition at line 87 of file ChiaraInfo.h.

const LEDBitMask_t ChiaraInfo::HeadLEDMask = 1<<(HeadLEDOffset-LEDOffset)

mask corresponding to HeadLEDOffset

Definition at line 176 of file ChiaraInfo.h.

const unsigned ChiaraInfo::HeadOffset = ArmOffset+NumArmJoints

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

Definition at line 81 of file ChiaraInfo.h.

const unsigned ChiaraInfo::IRFrameOffset = CenterIRFrameOffset

alias for CenterIRFrameOffset

Definition at line 92 of file ChiaraInfo.h.

Referenced by ChiaraInfo::ChiaraCapabilities::ChiaraCapabilities().

const unsigned ChiaraInfo::JointsPerArm = 6

The number of joints per leg.

Definition at line 42 of file ChiaraInfo.h.

const unsigned ChiaraInfo::JointsPerLeg = 3

The number of joints per leg.

Definition at line 46 of file ChiaraInfo.h.

const LEDBitMask_t ChiaraInfo::LBkKneeLEDMask = 1<<(LBkKneeLEDOffset-LEDOffset)

mask corresponding to LBkKneeLEDOffset

Definition at line 175 of file ChiaraInfo.h.

const unsigned ChiaraInfo::LEDOffset = PIDJointOffset + NumPIDJoints

the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets

Definition at line 83 of file ChiaraInfo.h.

const unsigned ChiaraInfo::LeftIRFrameOffset = CameraFrameOffset+1

Use with kinematics to refer to left IR distance rangefinder reference frame.

Definition at line 90 of file ChiaraInfo.h.

const unsigned ChiaraInfo::LegOffset = RFrRotatorOffset+1

the offset of the beginning of the regular leg joints (after the 1 rotator joint for the right front leg): NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t

Definition at line 79 of file ChiaraInfo.h.

const LEDBitMask_t ChiaraInfo::LFrKneeLEDMask = 1<<(LFrKneeLEDOffset-LEDOffset)

mask corresponding to LFrKneeLEDOffset

Definition at line 171 of file ChiaraInfo.h.

const LEDBitMask_t ChiaraInfo::LMdKneeLEDMask = 1<<(LMdKneeLEDOffset-LEDOffset)

mask corresponding to LMdKneeLEDOffset

Definition at line 173 of file ChiaraInfo.h.

const float ChiaraInfo::MaxOutputSpeed[NumOutputs]

Initial value:

 {
    
    0.4f,
    0.4f,0.4f,0.4f,
    0.4f,0.4f,0.4f,
    0.4f,0.4f,0.4f,
    0.4f,0.4f,0.4f,
    0.4f,0.4f,0.4f,
    0.4f,0.4f,0.4f,
    0.4f,0.4f,0.4f,0.4f,0.4f,0.4f,
    0.4f,0.4f,
    
    0,0,
    0,0,
    0,0,
    0,
    0,0,0,0,
  }

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

a value <= 0 means infinite speed (e.g. LEDs)

These limits are not enforced by the framework. They are simply available for you to use as you see fit. HeadPointerMC and PostureMC are primary examples of included classes which do respect these values (although they can be overridden)

These values were obtained from the administrators of the Sony OPEN-R BBS

Definition at line 317 of file ChiaraInfo.h.

const float ChiaraInfo::mechanicalLimits[NumOutputs][2]

Initial value:

 {
    
    {RAD(-17),RAD(90)},
    {RAD(-102),RAD(67)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(58)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-73),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-95),RAD(95)}, {RAD(-95),RAD(95)}, {RAD(-100),RAD(100)}, {RAD(-90),RAD(90)}, {RAD(-90),RAD(90)}, {RAD(-90),RAD(90)},
    {RAD(-150),RAD(150)}, {RAD(-92),RAD(75)},     

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

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).

Same as outputRanges, don't know actual values because they were never specified by Sony

Definition at line 366 of file ChiaraInfo.h.

const unsigned ChiaraInfo::NumArmJoints = JointsPerArm*NumArms

The number of joints per leg.

Definition at line 44 of file ChiaraInfo.h.

const unsigned ChiaraInfo::NumArms = 1

The number of joints per leg.

Definition at line 43 of file ChiaraInfo.h.

const unsigned ChiaraInfo::NumButtons = 3

the number of buttons that are available

Definition at line 53 of file ChiaraInfo.h.

const unsigned ChiaraInfo::NumEarJoints = 0

The number of joints which control the ears (NOT per ear, is total).

Definition at line 52 of file ChiaraInfo.h.

const unsigned ChiaraInfo::NumFacePanelLEDs = 0

The number of face panel LEDs.

Definition at line 55 of file ChiaraInfo.h.

const unsigned int ChiaraInfo::NumFrames = 1

the number of frames per buffer (don't forget also double buffered)

Definition at line 35 of file ChiaraInfo.h.

const unsigned ChiaraInfo::NumHeadJoints = 2

The number of joints in the pantilt.

Definition at line 49 of file ChiaraInfo.h.

const unsigned ChiaraInfo::NumLEDs = NumLegs + 1 + 4

There's an LED on every dynamixel, but can't see most of them, so save some computational resources and only expose the visible ones: knees and pan.

Definition at line 57 of file ChiaraInfo.h.

const unsigned ChiaraInfo::NumLegJoints = JointsPerLeg*NumLegs

the TOTAL number of joints on ALL legs

Definition at line 48 of file ChiaraInfo.h.

const unsigned ChiaraInfo::NumLegs = 6

The number of legs.

Definition at line 47 of file ChiaraInfo.h.

const unsigned ChiaraInfo::NumMouthJoints = 0

the number of joints that control the mouth

Definition at line 51 of file ChiaraInfo.h.

const unsigned ChiaraInfo::NumOutputs = NumWheels + NumPIDJoints + NumLEDs

servo pins

the total number of outputs

Definition at line 60 of file ChiaraInfo.h.

const unsigned ChiaraInfo::NumPIDJoints = NumArmJoints + 1 + NumLegJoints + NumHeadJoints+NumTailJoints+NumMouthJoints

The number of joints per leg.

Definition at line 58 of file ChiaraInfo.h.

const unsigned ChiaraInfo::NumReferenceFrames = NumOutputs + 1 + NumLegs + NumArms + 1 + 3

for the base, feet, gripper, camera, and IR distance rangefinder

Definition at line 61 of file ChiaraInfo.h.

const unsigned ChiaraInfo::NumSensors = 11

the number of sensors available

Definition at line 54 of file ChiaraInfo.h.

const unsigned ChiaraInfo::NumTailJoints = 0

The number of joints assigned to the tail.

Definition at line 50 of file ChiaraInfo.h.

const unsigned ChiaraInfo::NumWheels = 0

The number of joints per leg.

Definition at line 39 of file ChiaraInfo.h.

const char* const ChiaraInfo::outputNames[NumReferenceFrames+1]

Names for each of the outputs.

Definition at line 243 of file ChiaraInfo.h.

const float ChiaraInfo::outputRanges[NumOutputs][2]

Initial value:

 {
    
    {RAD(-17),RAD(90)},
    {RAD(-102),RAD(67)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(58)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-73),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-95),RAD(95)}, {RAD(-95),RAD(95)}, {RAD(-100),RAD(100)}, {RAD(-90),RAD(90)}, {RAD(-90),RAD(90)}, {RAD(-90),RAD(90)},
    {RAD(-150),RAD(150)}, {RAD(-92),RAD(75)}, 
    
    
    {0,1}, {0,1},
    {0,1}, {0,1},
    {0,1}, {0,1},
    {0,1}, 
    {0,1}, {0,1}, {0,1}, {0,1},
  }

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 344 of file ChiaraInfo.h.

const unsigned ChiaraInfo::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 77 of file ChiaraInfo.h.

const LEDBitMask_t ChiaraInfo::RBkKneeLEDMask = 1<<(RBkKneeLEDOffset-LEDOffset)

mask corresponding to RBkKneeLEDOffset

Definition at line 174 of file ChiaraInfo.h.

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

mask corresponding to RedLEDOffset

Definition at line 169 of file ChiaraInfo.h.

const LEDBitMask_t ChiaraInfo::RFrKneeLEDMask = 1<<(RFrKneeLEDOffset-LEDOffset)

mask corresponding to RFrKneeLEDOffset

Definition at line 170 of file ChiaraInfo.h.

const unsigned ChiaraInfo::RFrRotatorOffset = PIDJointOffset

The right front leg's rotator joint.

Definition at line 78 of file ChiaraInfo.h.

const unsigned ChiaraInfo::RightIRFrameOffset = CenterIRFrameOffset+1

Use with kinematics to refer to right IR distance rangefinder reference frame.

Definition at line 93 of file ChiaraInfo.h.

const LEDBitMask_t ChiaraInfo::RMdKneeLEDMask = 1<<(RMdKneeLEDOffset-LEDOffset)

mask corresponding to RMdKneeLEDOffset

Definition at line 172 of file ChiaraInfo.h.

const char* const ChiaraInfo::sensorNames[NumSensors+1]

Initial value:

 {
    "LeftIRDist", "CenterIRDist", "RightIRDist",
    "LeftLuminosity", "CenterLuminosity", "RightLuminosity",
    "MicVolume", "MicSpikeCount",
    "PowerRemain", "PowerThermo", "PowerVoltage", NULL
  }

Provides a string name for each sensor.

Definition at line 232 of file ChiaraInfo.h.

const unsigned int ChiaraInfo::SoundBufferTime = 32

the number of milliseconds per sound buffer... I'm not sure if this can be changed

Definition at line 36 of file ChiaraInfo.h.

const char *const ChiaraInfo::TargetName = "Chiara"

the name of the model, to be used for logging and remote GUIs

Definition at line 146 of file RobotInfo.cc.

Referenced by Controller::init().

const LEDBitMask_t ChiaraInfo::YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset)

mask corresponding to YellowLEDOffset

Definition at line 168 of file ChiaraInfo.h.

ChiaraInfo Namespace Reference

Classes

Variables

Output Offsets

Input Offsets

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Variable Documentation