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ERS2xxInfo Namespace ReferenceContains information about the ERS-2xx series of robot, such as number of joints, PID defaults, timing information, etc. More...
Detailed DescriptionContains information about the ERS-2xx series of robot, such as number of joints, PID defaults, timing information, etc. This is a compatability mode, which allows dual-booting of the same memory stick on both models without needing to recompile, at the expense of (a little) runtime speed. Typedef Documentation
So you can be clear when you're refering to a LED bitmask. Definition at line 176 of file ERS2xxInfo.h. Enumeration Type Documentationholds 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.
Definition at line 271 of file ERS2xxInfo.h. The offsets of the individual LEDs on the head and tail. Note that left/right are robot's point of view. See also LEDBitMask_t.
Definition at line 139 of file ERS2xxInfo.h. The offsets of the individual legs.
Definition at line 129 of file ERS2xxInfo.h. the ordering of legs
Definition at line 106 of file ERS2xxInfo.h. The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the head's TPROffset_t's).
Definition at line 114 of file ERS2xxInfo.h. holds offset to different sensor values in WorldState::sensors[]
Definition at line 295 of file ERS2xxInfo.h. The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the leg's REKOffset_t's).
Definition at line 121 of file ERS2xxInfo.h. Variable Documentation
Offset needed so that the centroid of the robot is correct relative to the bounding box. Definition at line 250 of file ERS2xxInfo.h.
Half of the length, width, and height of the robot. Definition at line 253 of file ERS2xxInfo.h.
selects all of the leds Definition at line 245 of file ERS2xxInfo.h.
Initial value:
BackLeft1LEDMask | BackLeft2LEDMask | BackLeft3LEDMask | BackRight1LEDMask | BackRight2LEDMask | BackRight3LEDMask LEDs on back. Definition at line 229 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 184 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 185 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 186 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 189 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 188 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 187 of file ERS2xxInfo.h.
radius of the ball of the foot Definition at line 52 of file ERS2xxInfo.h.
Use with kinematics to refer to base reference frame. Definition at line 99 of file ERS2xxInfo.h.
The beginning of the binary joints. Definition at line 96 of file ERS2xxInfo.h.
bottom left (red - sad) Definition at line 202 of file ERS2xxInfo.h.
bottom right (red - sad) Definition at line 203 of file ERS2xxInfo.h.
Initial value:
{ "LFrPaw","RFrPaw","LBkPaw","RBkPaw", "ChinBut","BackBut","HeadFrBut","HeadBkBut", "TailLeftBut","TailCenterBut","TailRightBut" } Provides a string name for each button. Definition at line 287 of file ERS2xxInfo.h.
Use with kinematics to refer to camera reference frame. Definition at line 102 of file ERS2xxInfo.h.
use to open camera connection with the system Definition at line 494 of file ERS2xxInfo.h. allocation declared in RobotInfo.cc Definition at line 26 of file RobotInfo.cc.
radius of the cylinder of the foot Definition at line 53 of file ERS2xxInfo.h.
Initial value:
{ { 0x16/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x08/(float)(1<<(16-0xF)) }, { 0x14/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x06/(float)(1<<(16-0xF)) }, { 0x23/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x05/(float)(1<<(16-0xF)) }, { 0x16/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x08/(float)(1<<(16-0xF)) }, { 0x14/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x06/(float)(1<<(16-0xF)) }, { 0x23/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x05/(float)(1<<(16-0xF)) }, { 0x16/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x08/(float)(1<<(16-0xF)) }, { 0x14/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x06/(float)(1<<(16-0xF)) }, { 0x23/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x05/(float)(1<<(16-0xF)) }, { 0x16/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x08/(float)(1<<(16-0xF)) }, { 0x14/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x06/(float)(1<<(16-0xF)) }, { 0x23/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x05/(float)(1<<(16-0xF)) }, { 0x0A/(float)(1<<(16-0xE)), 0x08/(float)(1<<(16-0x2)), 0x0C/(float)(1<<(16-0xF)) }, { 0x0D/(float)(1<<(16-0xE)), 0x08/(float)(1<<(16-0x2)), 0x0B/(float)(1<<(16-0xF)) }, { 0x0A/(float)(1<<(16-0xE)), 0x08/(float)(1<<(16-0x2)), 0x0C/(float)(1<<(16-0xF)) }, { 0x0A/(float)(1<<(16-0xE)), 0x00/(float)(1<<(16-0x2)), 0x18/(float)(1<<(16-0xF)) }, { 0x07/(float)(1<<(16-0xE)), 0x00/(float)(1<<(16-0x2)), 0x11/(float)(1<<(16-0xF)) }, { 0x0E/(float)(1<<(16-0xE)), 0x08/(float)(1<<(16-0x2)), 0x10/(float)(1<<(16-0xF)) } } This table holds the default PID values for each joint. see PIDMC. Definition at line 522 of file ERS2xxInfo.h.
These will control the shift values given to the system. see PIDMC. Definition at line 548 of file ERS2xxInfo.h.
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. Nor will they be flicked back Definition at line 97 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 181 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 182 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 179 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 180 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 194 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 193 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 195 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 177 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 178 of file ERS2xxInfo.h.
Initial value:
FaceFrontLeftLEDMask | FaceFrontRightLEDMask | FaceCenterLeftLEDMask | FaceCenterRightLEDMask | FaceBackLeftLEDMask | FaceBackRightLEDMask | FaceFrontALEDMask | FaceFrontBLEDMask | FaceFrontCLEDMask | ModeLEDMask LEDs for face. Definition at line 212 of file ERS2xxInfo.h.
Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw). Definition at line 100 of file ERS2xxInfo.h.
time between frames in the motion system (milliseconds) Definition at line 19 of file ERS2xxInfo.h. LEDs on head (face plus retractable light). Definition at line 225 of file ERS2xxInfo.h.
the offset of the beginning of the head joints Definition at line 90 of file ERS2xxInfo.h.
Use with kinematics to refer to infrared (distance) sensor reference frame. Definition at line 103 of file ERS2xxInfo.h.
Initial value:
{ true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, false, false } true for joints which can be updated every 32 ms (all but the ears on a 210) Definition at line 56 of file ERS2xxInfo.h.
no arms, just legs Definition at line 30 of file ERS2xxInfo.h.
The number of joints per leg. Definition at line 34 of file ERS2xxInfo.h.
the offset of LEDs in WorldState::outputs and MotionCommand functions Definition at line 94 of file ERS2xxInfo.h.
the offset of the beginning of the leg joints Definition at line 89 of file ERS2xxInfo.h. 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 is (as of v1.6) the only included MotionCommand to actually use these values. Definition at line 555 of file ERS2xxInfo.h.
Initial value:
{ { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, { RAD(-85),RAD(46) },{ RAD(-92.6f),RAD(92.6f) },{ RAD(-32),RAD(32) }, { RAD(-25),RAD(25) },{ RAD(-25),RAD(25) }, { RAD(-50),RAD(0) }, {0,1},{0,1},{0,1}, {0,1},{0,1},{0,1}, {0,1}, {0,1},{0,1},{0,1}, {0,1},{0,1},{0,1}, {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. Definition at line 626 of file ERS2xxInfo.h.
middle left (green - happy) Definition at line 204 of file ERS2xxInfo.h.
middle right (green - happy) Definition at line 205 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 183 of file ERS2xxInfo.h.
the offset of the beginning of the mouth joint Definition at line 92 of file ERS2xxInfo.h.
no wheels, just legs Definition at line 32 of file ERS2xxInfo.h.
no arms, just legs Definition at line 31 of file ERS2xxInfo.h.
The number of binary joints - just the ears (Aperios only). Definition at line 46 of file ERS2xxInfo.h.
the number of buttons that are available, see ERS2xxInfo::ButtonOffset_t Definition at line 41 of file ERS2xxInfo.h.
The number of joints which control the ears (NOT per ear, is total). Definition at line 40 of file ERS2xxInfo.h.
the number of frames per buffer (don't forget also double buffered) Definition at line 20 of file ERS2xxInfo.h.
The number of joints in the neck. Definition at line 37 of file ERS2xxInfo.h.
The number of LEDs which can be controlled. Definition at line 43 of file ERS2xxInfo.h.
the TOTAL number of joints on ALL legs Definition at line 36 of file ERS2xxInfo.h.
The number of legs. Definition at line 35 of file ERS2xxInfo.h.
the number of joints that control the mouth Definition at line 39 of file ERS2xxInfo.h.
the total number of outputs Definition at line 47 of file ERS2xxInfo.h.
The number of joints which use PID motion - everything except ears. Definition at line 45 of file ERS2xxInfo.h.
for the base, paw, camera, and IR sensor reference frames Definition at line 48 of file ERS2xxInfo.h.
1 dist, 3 accel, 1 thermo, 5 from power, see ERS2xxInfo::SensorOffset_t Definition at line 42 of file ERS2xxInfo.h.
the number of frames per buffer being sent to ears (double buffered as well) Definition at line 22 of file ERS2xxInfo.h.
The number of joints assigned to the tail. Definition at line 38 of file ERS2xxInfo.h.
no wheels, just legs Definition at line 28 of file ERS2xxInfo.h.
Names for each of the outputs. Definition at line 320 of file ERS2xxInfo.h.
Initial value:
{ { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, { RAD(-82),RAD(43) },{ RAD(-89.6f),RAD(89.6f) },{ RAD(-29),RAD(29) }, { RAD(-22),RAD(22) },{ RAD(-22),RAD(22) }, { RAD(-47),RAD(-3) }, {0,1},{0,1},{0,1}, {0,1},{0,1},{0,1}, {0,1}, {0,1},{0,1},{0,1}, {0,1},{0,1},{0,1}, {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. Definition at line 599 of file ERS2xxInfo.h.
Aibo-era alias for FootFrameOffset. Definition at line 101 of file ERS2xxInfo.h.
The beginning of the PID Joints. Definition at line 88 of file ERS2xxInfo.h.
Initial value:
{ "PRM:/r2/c1-Joint2:j1", "PRM:/r2/c1/c2-Joint2:j2", "PRM:/r2/c1/c2/c3-Joint2:j3", "PRM:/r4/c1-Joint2:j1", "PRM:/r4/c1/c2-Joint2:j2", "PRM:/r4/c1/c2/c3-Joint2:j3", "PRM:/r3/c1-Joint2:j1", "PRM:/r3/c1/c2-Joint2:j2", "PRM:/r3/c1/c2/c3-Joint2:j3", "PRM:/r5/c1-Joint2:j1", "PRM:/r5/c1/c2-Joint2:j2", "PRM:/r5/c1/c2/c3-Joint2:j3", "PRM:/r1/c1-Joint2:j1", "PRM:/r1/c1/c2-Joint2:j2", "PRM:/r1/c1/c2/c3-Joint2:j3", "PRM:/r6/c2-Joint2:j2", "PRM:/r6/c1-Joint2:j1", "PRM:/r1/c1/c2/c3/c4-Joint2:j4", "PRM:/r1/c1/c2/c3/l1-LED2:l1", "PRM:/r1/c1/c2/c3/l4-LED2:l4", "PRM:/r1/c1/c2/c3/l2-LED2:l2", "PRM:/r1/c1/c2/c3/l5-LED2:l5", "PRM:/r1/c1/c2/c3/l3-LED2:l3", "PRM:/r1/c1/c2/c3/l6-LED2:l6", "PRM:/r1/c1/c2/c3/l7-LED2:l7", "PRM:/r6/l1-LED2:l1", "PRM:/r6/l2-LED2:l2", "PRM:/r6/l3-LED2:l3", "PRM:/r6/l4-LED2:l4", "PRM:/r6/l5-LED2:l5", "PRM:/r6/l6-LED2:l6", "PRM:/r6/l9-LED2:l9", "PRM:/r6/l7-LED2:l7", "PRM:/r6/l8-LED2:l8", "PRM:/r1/c1/c2/c3/l8-LED2:l8", "PRM:/r1/c1/c2/c3/l9-LED2:l9", "PRM:/r1/c1/c2/c3/la-LED2:la", "PRM:/r1/c1/c2/c3/lb-LED2:lb", "PRM:/r6/l2-LED2:l2", "PRM:/r6/l1-LED2:l1", "PRM:/r1/c1/c2/c3/e1-Joint3:j5", "PRM:/r1/c1/c2/c3/e2-Joint3:j6" } the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others)
The offset consts defined in this file correspond to this table and will make life easier if you feel the need to reorder things, but they aren't used perfect everywhere
Definition at line 435 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 196 of file ERS2xxInfo.h.
Initial value:
{ "IRDist", "BAccel","LAccel","DAccel", "Thermo", "PowerRemain","PowerThermo","PowerCapacity","PowerVoltage","PowerCurrent" } Provides a string name for each sensor. Definition at line 309 of file ERS2xxInfo.h.
time between frames for the ears (which move slower for some reason, don't want to mix with other outputs) (milliseconds) Definition at line 21 of file ERS2xxInfo.h.
the number of milliseconds per sound buffer... I'm not sure if this can be changed Definition at line 23 of file ERS2xxInfo.h.
use to open speaker connectio with the system Definition at line 491 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 191 of file ERS2xxInfo.h.
Initial value:
LEDs for tail. Definition at line 238 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 190 of file ERS2xxInfo.h.
the offset of the beginning of the tail joints Definition at line 91 of file ERS2xxInfo.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 192 of file ERS2xxInfo.h.
the name of the model, to be used for logging and remote GUIs Definition at line 25 of file RobotInfo.cc. Referenced by Controller::init().
blue tail light Definition at line 199 of file ERS2xxInfo.h.
red tail light Definition at line 198 of file ERS2xxInfo.h.
top bar (green) Definition at line 208 of file ERS2xxInfo.h.
top left (red - angry) Definition at line 206 of file ERS2xxInfo.h.
top right (red - angry) Definition at line 207 of file ERS2xxInfo.h. |
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