DynamicInfo Namespace Reference

Declares symbols for the 'Dynamic' robot model, used for tools which are model agnostic. More...

Classes
class	DynamicCapabilities
	provides polymorphic robot capability detection/mapping More...
struct	DynamicInfoRow
	provides 2D array of constant width More...
Variables
const char *	TargetName = "Dynamic"
	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
Output Types Information
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file, these are the primary grouping Right now all binary joints are slow, but perhaps this won't always be the case... hence the IsFast/Slow bitmasks to select which type, in order to be more general
unsigned	NumWheels = 0
	no wheels, just legs
unsigned	JointsPerArm = 0
	no arms, just legs
unsigned	NumArms = 0
	no arms, just legs
unsigned	NumArmJoints = 0
	no wheels, just legs
unsigned	JointsPerLeg = 0
	The number of joints per leg.
unsigned	NumLegs = 0
	The number of legs.
unsigned	NumLegJoints = 0
	the TOTAL number of joints on ALL legs
unsigned	NumHeadJoints = 0
	The number of joints in the neck.
unsigned	NumTailJoints = 0
	The number of joints assigned to the tail.
unsigned	NumMouthJoints = 0
	the number of joints that control the mouth
unsigned	NumEarJoints = 0
	The number of joints which control the ears (NOT per ear, is total).
unsigned	NumButtons = 0
	the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t
unsigned	NumSensors = 0
	3 IR (distance), 3 accel (force), 5 from power, see ERS7Info::SensorOffset_t
unsigned	NumLEDs = 0
	The number of LEDs which can be controlled.
unsigned	NumFacePanelLEDs = 0
	The number of face panel LEDs.
unsigned	NumPIDJoints = 0
	The number of joints which use PID motion - everything except ears.
unsigned	NumOutputs = 0
	the total number of outputs
unsigned	NumReferenceFrames = 0
	for the base, paws (NumLegs), camera, and IR sensors (3) reference frames
unsigned	PIDJointOffset = 0
	The beginning of the PID Joints.
unsigned	LEDOffset = 0
	the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets
unsigned	BaseFrameOffset = 0
	Use with kinematics to refer to base reference frame.
std::vector< const char * >	buttonNames
	Name for each button.
std::vector< const char * >	sensorNames
	Provides a string name for each sensor.
std::vector< const char * >	outputNames
	Names for each of the outputs.
DynamicCapabilities	capabilities
	allocation declared in RobotInfo.cc
std::vector< DynamicInfoRow < float, 3 > >	DefaultPIDs
	This table holds the default PID values for each joint. see PIDMC.
std::vector< float >	MaxOutputSpeed
	These values are Sony's recommended maximum joint velocities, in rad/sec.
std::vector< DynamicInfoRow < float, 2 > >	outputRanges
	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).
std::vector< DynamicInfoRow < float, 2 > >	mechanicalLimits
	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).

Detailed Description

Declares symbols for the 'Dynamic' robot model, used for tools which are model agnostic.

Variable Documentation

unsigned DynamicInfo::BaseFrameOffset = 0

Use with kinematics to refer to base reference frame.

Definition at line 31 of file DynamicInfo.cc.

std::vector< const char * > DynamicInfo::buttonNames

Name for each button.

Definition at line 33 of file DynamicInfo.cc.

DynamicCapabilities DynamicInfo::capabilities

allocation declared in RobotInfo.cc

Definition at line 37 of file DynamicInfo.cc.

std::vector< DynamicInfoRow< float, 3 > > DynamicInfo::DefaultPIDs

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

Definition at line 39 of file DynamicInfo.cc.

const unsigned int DynamicInfo::FrameTime = 32

time between frames in the motion system (milliseconds)

Definition at line 19 of file DynamicInfo.h.

unsigned DynamicInfo::JointsPerArm = 0

no arms, just legs

Definition at line 9 of file DynamicInfo.cc.

unsigned DynamicInfo::JointsPerLeg = 0

The number of joints per leg.

Definition at line 13 of file DynamicInfo.cc.

unsigned DynamicInfo::LEDOffset = 0

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

Definition at line 30 of file DynamicInfo.cc.

Referenced by DynamicInfo::DynamicCapabilities::operator=().

std::vector< float > DynamicInfo::MaxOutputSpeed

These values are Sony's 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 41 of file DynamicInfo.cc.

std::vector< DynamicInfoRow< float, 2 > > DynamicInfo::mechanicalLimits

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 45 of file DynamicInfo.cc.

unsigned DynamicInfo::NumArmJoints = 0

no wheels, just legs

Definition at line 11 of file DynamicInfo.cc.

unsigned DynamicInfo::NumArms = 0

no arms, just legs

Definition at line 10 of file DynamicInfo.cc.

unsigned DynamicInfo::NumButtons = 0

the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t

Definition at line 20 of file DynamicInfo.cc.

Referenced by DynamicInfo::DynamicCapabilities::findButtonOffset(), DynamicInfo::DynamicCapabilities::getButtonOffset(), and DynamicInfo::DynamicCapabilities::operator=().

unsigned DynamicInfo::NumEarJoints = 0

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

Definition at line 19 of file DynamicInfo.cc.

unsigned DynamicInfo::NumFacePanelLEDs = 0

The number of face panel LEDs.

Definition at line 23 of file DynamicInfo.cc.

const unsigned int DynamicInfo::NumFrames = 1

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

Definition at line 20 of file DynamicInfo.h.

unsigned DynamicInfo::NumHeadJoints = 0

The number of joints in the neck.

Definition at line 16 of file DynamicInfo.cc.

unsigned DynamicInfo::NumLEDs = 0

The number of LEDs which can be controlled.

Definition at line 22 of file DynamicInfo.cc.

Referenced by DynamicInfo::DynamicCapabilities::operator=().

unsigned DynamicInfo::NumLegJoints = 0

the TOTAL number of joints on ALL legs

Definition at line 15 of file DynamicInfo.cc.

unsigned DynamicInfo::NumLegs = 0

The number of legs.

Definition at line 14 of file DynamicInfo.cc.

unsigned DynamicInfo::NumMouthJoints = 0

the number of joints that control the mouth

Definition at line 18 of file DynamicInfo.cc.

unsigned DynamicInfo::NumOutputs = 0

the total number of outputs

Definition at line 26 of file DynamicInfo.cc.

Referenced by DynamicInfo::DynamicCapabilities::findFrameOffset(), DynamicInfo::DynamicCapabilities::findOutputOffset(), DynamicInfo::DynamicCapabilities::getFrameOffset(), DynamicInfo::DynamicCapabilities::getOutputOffset(), and DynamicInfo::DynamicCapabilities::operator=().

unsigned DynamicInfo::NumPIDJoints = 0

The number of joints which use PID motion - everything except ears.

Definition at line 25 of file DynamicInfo.cc.

Referenced by DynamicInfo::DynamicCapabilities::operator=().

unsigned DynamicInfo::NumReferenceFrames = 0

for the base, paws (NumLegs), camera, and IR sensors (3) reference frames

Definition at line 27 of file DynamicInfo.cc.

Referenced by DynamicInfo::DynamicCapabilities::findFrameOffset(), DynamicInfo::DynamicCapabilities::findOutputOffset(), DynamicInfo::DynamicCapabilities::getFrameOffset(), DynamicInfo::DynamicCapabilities::getOutputOffset(), and DynamicInfo::DynamicCapabilities::operator=().

unsigned DynamicInfo::NumSensors = 0

3 IR (distance), 3 accel (force), 5 from power, see ERS7Info::SensorOffset_t

Definition at line 21 of file DynamicInfo.cc.

Referenced by DynamicInfo::DynamicCapabilities::findSensorOffset(), DynamicInfo::DynamicCapabilities::getSensorOffset(), and DynamicInfo::DynamicCapabilities::operator=().

unsigned DynamicInfo::NumTailJoints = 0

The number of joints assigned to the tail.

Definition at line 17 of file DynamicInfo.cc.

unsigned DynamicInfo::NumWheels = 0

no wheels, just legs

Definition at line 7 of file DynamicInfo.cc.

std::vector< const char * > DynamicInfo::outputNames

Names for each of the outputs.

Definition at line 35 of file DynamicInfo.cc.

std::vector< DynamicInfoRow< float, 2 > > DynamicInfo::outputRanges

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 43 of file DynamicInfo.cc.

unsigned DynamicInfo::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 29 of file DynamicInfo.cc.

Referenced by DynamicInfo::DynamicCapabilities::operator=().

std::vector< const char * > DynamicInfo::sensorNames

Provides a string name for each sensor.

Definition at line 34 of file DynamicInfo.cc.

const unsigned int DynamicInfo::SoundBufferTime = 32

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

Definition at line 21 of file DynamicInfo.h.

const char * DynamicInfo::TargetName = "Dynamic"