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ERS7Info Namespace Reference

Contains information about the ERS-7 Robot, such as number of joints, PID defaults, timing information, etc. More...

Classes

class  ERS7Capabilities
 provides polymorphic robot capability detection/mapping More...

Variables

const char *const TargetName = "ERS-7"
 the name of the model, to be used for logging and remote GUIs
const unsigned int FrameTime = 8
 time between frames in the motion system (milliseconds)
const unsigned int NumFrames = 4
 the number of frames per buffer (don't forget also double buffered)
const unsigned int SlowFrameTime = 8
 time between frames for the ears (ERS-7 doesn't seem to have any "slow" joints; this only applied for the ears on the ERS-210)
const unsigned int NumSlowFrames = 4
 the number of frames per buffer being sent to ears (double buffered as well)
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 ERS7Capabilities capabilities
 allocation declared in RobotInfo.cc
const char *const PrimitiveName [NumOutputs]
 the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others)
const char *const SpeakerLocator = "PRM:/s1-Speaker:S1"
 use to open speaker connection with the system
const char *const CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1"
 use to open camera connection with the system
const float DefaultPIDs [NumPIDJoints][3]
 This table holds the default PID values for each joint. see PIDMC.
const unsigned char DefaultPIDShifts [3] = {0x0E, 0x02-1, 0x0F-3}
 These will control the shift values given to the system. see PIDMC.
const float MaxOutputSpeed [NumOutputs]
 These values are Sony's 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).
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

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

const unsigned NumWheels = 0
 no wheels, just legs
const unsigned JointsPerArm = 0
 no arms, just legs
const unsigned NumArms = 0
 no arms, just legs
const unsigned NumArmJoints = JointsPerArm*NumArms
 no wheels, just legs
const unsigned JointsPerLeg = 3
 The number of joints per leg.
const unsigned NumLegs = 4
 The number of legs.
const unsigned NumLegJoints = JointsPerLeg*NumLegs
 the TOTAL number of joints on ALL legs
const unsigned NumHeadJoints = 3
 The number of joints in the neck.
const unsigned NumTailJoints = 2
 The number of joints assigned to the tail.
const unsigned NumMouthJoints = 1
 the number of joints that control the mouth
const unsigned NumEarJoints = 2
 The number of joints which control the ears (NOT per ear, is total).
const unsigned NumButtons = 2+4+3+1
 the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t
const unsigned NumSensors = 3+3+5
 3 IR (distance), 3 accel (force), 5 from power, see ERS7Info::SensorOffset_t
const unsigned NumLEDs = 27
 The number of LEDs which can be controlled.
const unsigned NumFacePanelLEDs = 14
 The number of face panel LEDs.
const unsigned NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints
 The number of joints which use PID motion - everything except ears.
const unsigned NumBinJoints = NumEarJoints
 The number of binary joints - just the ears.
const unsigned NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs
 the total number of outputs
const unsigned NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 3
 for the base, paws (NumLegs), camera, and IR sensors (3) reference frames
const float CameraHorizFOV = 56.9f/180*static_cast<float>(M_PI)
 horizontal field of view (radians)
const float CameraVertFOV = 45.2f/180*static_cast<float>(M_PI)
 vertical field of view (radians)
const float CameraFOV = CameraHorizFOV
 should be set to maximum of CameraHorizFOV or CameraVertFOV
const unsigned int CameraResolutionX = 208
 the number of pixels available in the 'full' layer
const unsigned int CameraResolutionY = 160
 the number of pixels available in the 'full' layer
const char CameraModelName [] = "ERS-7-Camera"
 specifies a name of the camera to load calibration parameters into RobotInfo::CameraHomography
const float BallOfFootRadius = 23.433f/2
 radius of the ball of the foot
const bool IsFastOutput [NumOutputs]
 true for joints which can be updated every 32 ms (all joints on ERS-7)
CPC IDs

Values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - values don't correspond to order of ERS7Info::PrimitiveName

const int CPCJointMouth = 0
 Mouth.
const int CPCSwitchChin = 1
 Chin sensor.
const int CPCJointNeckNod = 2
 Neck tilt2.
const int CPCSensorHead = 3
 Head sensor.
const int CPCSensorNearPSD = 4
 Head distance sensor(near).
const int CPCSensorFarPSD = 5
 Head distance sensor(far).
const int CPCJointNeckPan = 6
 Neck pan.
const int CPCJointNeckTilt = 7
 Neck tilt1.
const int CPCSwitchLFPaw = 8
 Left fore leg paw sensor.
const int CPCJointLFKnee = 9
 Left fore legJ3.
const int CPCJointLFElevator = 10
 Left fore legJ2.
const int CPCJointLFRotator = 11
 Left fore legJ1.
const int CPCSwitchLHPaw = 12
 Left hind leg paw sensor.
const int CPCJointLHKnee = 13
 Left hind legJ3.
const int CPCJointLHElevator = 14
 Left hind legJ2.
const int CPCJointLHRotator = 15
 Left hind legJ1.
const int CPCSwitchRFPaw = 16
 Right fore leg paw sensor.
const int CPCJointRFKnee = 17
 Right fore legJ3.
const int CPCJointRFElevator = 18
 Right fore legJ2.
const int CPCJointRFRotator = 19
 Right fore legJ1.
const int CPCSwitchRHPaw = 20
 Right hind leg paw sensor.
const int CPCJointRHKnee = 21
 Right hind legJ3.
const int CPCJointRHElevator = 22
 Right hind legJ2.
const int CPCJointRHRotator = 23
 Right hind legJ1.
const int CPCJointTailTilt = 24
 Tail tilt.
const int CPCJointTailPan = 25
 Tail pan.
const int CPCSensorAccelFB = 26
 Acceleration sensor(front-back).
const int CPCSensorAccelLR = 27
 Acceleration sensor(right-left).
const int CPCSensorAccelUD = 28
 Acceleration sensor(up-down).
const int CPCSensorChestPSD = 29
 Chest distance sensor.
const int CPCSwitchWireless = 30
 Wireless LAN switch.
const int CPCSensorBackRear = 31
 Back sensor(rear).
const int CPCSensorBackMiddle = 32
 Back sensor(middle).
const int CPCSensorBackFront = 33
 Back sensor(front).

Output Offsets

Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file



enum  LegOrder_t { LFrLegOrder = 0, RFrLegOrder, LBkLegOrder, RBkLegOrder }
 

the ordering of legs

More...
enum  REKOffset_t { RotatorOffset = 0, ElevatorOffset, KneeOffset }
 

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).

More...
enum  TPROffset_t { TiltOffset = 0, PanOffset, RollOffset, NodOffset = RollOffset }
 

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).

More...
enum  LegOffset_t { LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg, RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg }
 

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

More...
enum  LEDOffset_t {
  HeadColorLEDOffset = LEDOffset, HeadWhiteLEDOffset, ModeRedLEDOffset, ModeGreenLEDOffset,
  ModeBlueLEDOffset, WirelessLEDOffset, FaceLEDPanelOffset, FrBackColorLEDOffset = FaceLEDPanelOffset+NumFacePanelLEDs,
  FrBackWhiteLEDOffset, MdBackColorLEDOffset, MdBackWhiteLEDOffset, RrBackColorLEDOffset,
  RrBackWhiteLEDOffset, LEDABModeOffset, BotLLEDOffset = FaceLEDPanelOffset+1, BotRLEDOffset = FaceLEDPanelOffset+0,
  MidLLEDOffset = FaceLEDPanelOffset+3, MidRLEDOffset = FaceLEDPanelOffset+2, TopLLEDOffset = FaceLEDPanelOffset+7, TopRLEDOffset = FaceLEDPanelOffset+6,
  TopBrLEDOffset = HeadColorLEDOffset, TlRedLEDOffset = RrBackColorLEDOffset, TlBluLEDOffset = FrBackColorLEDOffset
}
 

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.

More...
const unsigned PIDJointOffset = 0
 The beginning of the PID Joints.
const unsigned LegOffset = PIDJointOffset
 the offset of the beginning of the leg joints, NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t
const unsigned HeadOffset = LegOffset+NumLegJoints
 the offset of the beginning of the head joints, add TPROffset_t to get specific joint
const unsigned TailOffset = HeadOffset+NumHeadJoints
 the offset of the beginning of the tail joints, add TPROffset_t to get specific joint (except RollOffset not available)
const unsigned MouthOffset = TailOffset+NumTailJoints
 the offset of the beginning of the mouth joint, is 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 BinJointOffset = LEDOffset + NumLEDs
 The beginning of the binary joints.
const unsigned 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 BaseFrameOffset = NumOutputs
 Use with kinematics to refer to base reference frame.
const unsigned FootFrameOffset = BaseFrameOffset+1
 Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw).
const unsigned PawFrameOffset = FootFrameOffset
 Aibo-era alias for FootFrameOffset.
const unsigned CameraFrameOffset = FootFrameOffset+NumLegs
 Use with kinematics to refer to camera reference frame.
const unsigned NearIRFrameOffset = CameraFrameOffset+1
 Use with kinematics to refer to short-range infrared (distance) sensor reference frame.
const unsigned IRFrameOffset = NearIRFrameOffset
 alias for the near IR sensor
const unsigned FarIRFrameOffset = NearIRFrameOffset+1
 Use with kinematics to refer to long-range infrared (distance) sensor reference frame.
const unsigned ChestIRFrameOffset = FarIRFrameOffset+1
 Use with kinematics to refer to chest-mounted infrared (distance) sensor reference frame.

Input Offsets

The order in which inputs should be stored



enum  ButtonOffset_t {
  LFrPawOffset = LFrLegOrder, RFrPawOffset = RFrLegOrder, LBkPawOffset = LBkLegOrder, RBkPawOffset = RBkLegOrder,
  ChinButOffset = 4, HeadButOffset, HeadFrButOffset = HeadButOffset, FrontBackButOffset,
  MiddleBackButOffset, BackButOffset = MiddleBackButOffset, RearBackButOffset, WirelessSwOffset
}
 

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

More...
enum  SensorOffset_t {
  NearIRDistOffset = 0, IRDistOffset = NearIRDistOffset, FarIRDistOffset, ChestIRDistOffset,
  BAccelOffset, LAccelOffset, DAccelOffset, PowerRemainOffset,
  PowerThermoOffset, PowerCapacityOffset, PowerVoltageOffset, PowerCurrentOffset
}
 

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

More...
const char *const buttonNames [NumButtons]
 Provides a string name for each button.
const char *const sensorNames [NumSensors]
 Provides a string name for each sensor.

LED Bitmasks

Bitmasks for use when specifying combinations of LEDs (see LedEngine ) Note that left/right are robot's point of view



typedef unsigned int LEDBitMask_t
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t HeadColorLEDMask = 1<<(HeadColorLEDOffset-LEDOffset)
 mask corresponding to HeadColorLEDOffset
const LEDBitMask_t HeadWhiteLEDMask = 1<<(HeadWhiteLEDOffset-LEDOffset)
 mask corresponding to HeadWhiteLEDOffset
const LEDBitMask_t ModeRedLEDMask = 1<<(ModeRedLEDOffset-LEDOffset)
 mask corresponding to ModeRedLEDOffset
const LEDBitMask_t ModeGreenLEDMask = 1<<(ModeGreenLEDOffset-LEDOffset)
 mask corresponding to ModeGreenLEDOffset
const LEDBitMask_t ModeBlueLEDMask = 1<<(ModeBlueLEDOffset-LEDOffset)
 mask corresponding to ModeBlueLEDOffset
const LEDBitMask_t WirelessLEDMask = 1<<(WirelessLEDOffset-LEDOffset)
 mask corresponding to WirelessLEDOffset
const LEDBitMask_t FaceLEDPanelMask = 1<<(FaceLEDPanelOffset-LEDOffset)
 mask corresponding to FaceLEDPanelOffset, selects only the first of the panel - shift this to get the others
const LEDBitMask_t FrBackColorLEDMask = 1<<(FrBackColorLEDOffset-LEDOffset)
 mask corresponding to FrBackColorLEDOffset
const LEDBitMask_t FrBackWhiteLEDMask = 1<<(FrBackWhiteLEDOffset-LEDOffset)
 mask corresponding to FrBackWhiteLEDOffset
const LEDBitMask_t MdBackColorLEDMask = 1<<(MdBackColorLEDOffset-LEDOffset)
 mask corresponding to MdBackColorLEDOffset
const LEDBitMask_t MdBackWhiteLEDMask = 1<<(MdBackWhiteLEDOffset-LEDOffset)
 mask corresponding to MdBackWhiteLEDOffset
const LEDBitMask_t RrBackColorLEDMask = 1<<(RrBackColorLEDOffset-LEDOffset)
 mask corresponding to RrBackColorLEDOffset
const LEDBitMask_t RrBackWhiteLEDMask = 1<<(RrBackWhiteLEDOffset-LEDOffset)
 mask corresponding to RrBackWhiteLEDOffset
const LEDBitMask_t LEDABModeMask = 1<<(LEDABModeOffset-LEDOffset)
 mask corresponding to LEDABModeOffset
const LEDBitMask_t BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset)
 bottom left
const LEDBitMask_t BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset)
 bottom right
const LEDBitMask_t MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset)
 middle left
const LEDBitMask_t MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset)
 middle right
const LEDBitMask_t TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset)
 top left
const LEDBitMask_t TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset)
 top right
const LEDBitMask_t TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset)
 top bar
const LEDBitMask_t TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset)
 red tail light
const LEDBitMask_t TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset)
 blue tail light
const LEDBitMask_t FaceLEDMask
 LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
const LEDBitMask_t HeadLEDMask
 LEDs for face (all but back lights).
const LEDBitMask_t BackLEDMask
 LEDS on the back.
const LEDBitMask_t TailLEDMask = 0
 LEDs on tail (ERS-7 has none).
const LEDBitMask_t AllLEDMask = (LEDBitMask_t)~0
 selects all of the leds

Detailed Description

Contains information about the ERS-7 Robot, such as number of joints, PID defaults, timing information, etc.

You may be particularly interested in the "Output Offsets" section, which, along with the offsets of the common RobotInfo namespace, allows you to reference any specific joint or LED on the robot.

The "Input Offsets" section gives the index order of the buttons (ButtonOffset_t) and sensors (SensorOffset_t), as well as string names for each for easier debugging (buttonNames, sensorNames)

"Output Types" section provides "meta-information" regarding the capabilities of the robot, such as the number of head joints, or the number of LEDs, etc.

For more information on your robot's specifications, see also DefaultPIDs, MaxOutputSpeed, outputRanges, and mechanicalLimits.

"Outputs" (i.e. Joints, LEDs) are often refered to by index ("offset") value within an array. These values are formed by specifying a section offset, plus a specific offset. Sections are typically general across robot models, whereas the specifics are model-dependent (but can be aliased to provide compatability).

For most joints, the positive direction is "up", and the 0 position yields a forward looking, fully extended standing posture.

It happens that these joints can also be grouped by the type of joint, so there are additionally a few other offsets that can be used in order to loop across a group of joints:

  • PIDJointOffset - NumPIDJoints items, servos using PID control
  • LegOffset - NumLegJoints items, a subset of PID servos corresponding to the leg joints
  • LEDOffset - NumLEDs items
  • BinJointOffset - NumBinJoints items, solenoids, such as the ears (if any) which flip between two positions
  • NumOutputs - total number of outputs available

LEDs are often handled in groups to display patterns. Some functions take an LEDBitMask_t parameter, which allows you to specify a set of several LEDs in a single parameter. For any given LED offset fooLEDOffset, the corresponding bitmask constant is fooLEDMask. Alternatively, you could calculate the bitmask of fooLEDOffset by 1<<(fooLEDOffset-LEDOffset).

See also:
ERS-7 Quick Reference Sheet

Typedef Documentation

typedef unsigned int ERS7Info::LEDBitMask_t

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

Definition at line 213 of file ERS7Info.h.

Enumeration Type Documentation

enum ERS7Info::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:
LFrPawOffset 
RFrPawOffset 
LBkPawOffset 
RBkPawOffset 
ChinButOffset 
HeadButOffset 
HeadFrButOffset 
FrontBackButOffset 
MiddleBackButOffset 
BackButOffset 
RearBackButOffset 
WirelessSwOffset 

Definition at line 288 of file ERS7Info.h.

enum ERS7Info::LEDOffset_t

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.

Enumerator:
HeadColorLEDOffset 

the orange LED immediately above the head button (copositioned with HeadWhiteLEDOffset)

HeadWhiteLEDOffset 

the LED immediately above the head button (copositioned with HeadColorLEDOffset)

ModeRedLEDOffset 

controls both of the red LEDs above the ears (copositioned with ModeGreenLEDOffset and ModeBlueLEDOffset)

ModeGreenLEDOffset 

controls both of the green LEDs above the ears (copositioned with ModeRedLEDOffset and ModeBlueLEDOffset)

ModeBlueLEDOffset 

controls both of the blue LEDs above the ears (copositioned with ModeRedLEDOffset and ModeGreenLEDOffset)

WirelessLEDOffset 

controls the small rectangular blue LED on the back of the head

FaceLEDPanelOffset 

the first LED in the panel - add 0 up to (not including) NumFacePanelLEDs to this to access specific face panel LEDs, see LedEngine for diagram of placement

FrBackColorLEDOffset 

blue/purple LED on back, closest to head (copositioned with FrBackWhiteLEDOffset)

FrBackWhiteLEDOffset 

white LED on back, closest to head (copositioned with FrBackColorLEDOffset)

MdBackColorLEDOffset 

orange LED on back, in between FrBackColorLEDOffset and RrBackColorLEDOffset (copositioned with MdBackWhiteLEDOffset)

MdBackWhiteLEDOffset 

white LED on back, in between FrBackWhiteLEDOffset and RrBackWhiteLEDOffset (copositioned with MdBackColorLEDOffset)

RrBackColorLEDOffset 

red LED on back, farthest from head (copositioned with RrBackWhiteLEDOffset)

RrBackWhiteLEDOffset 

white LED on back, farthest from head (copositioned with RrBackColorLEDOffset)

LEDABModeOffset 
BotLLEDOffset 

aliases for backward compatability with ERS-210 (use mode A); bottom left of face panel

BotRLEDOffset 

aliases for backward compatability with ERS-210 (use mode A); bottom right of face panel

MidLLEDOffset 

aliases for backward compatability with ERS-210 (use mode A); middle left of face panel

MidRLEDOffset 

aliases for backward compatability with ERS-210 (use mode A); middle right of face panel

TopLLEDOffset 

aliases for backward compatability with ERS-210 (use mode A); top left of face panel

TopRLEDOffset 

aliases for backward compatability with ERS-210(use mode A); top right of face panel

TopBrLEDOffset 

aliases for backward compatability with ERS-210 (use mode A); top bar (HeadColorLEDOffset)

TlRedLEDOffset 

aliases for backward compatability with ERS-210; red tail light (RrBackColorLEDOffset)

TlBluLEDOffset 

aliases for backward compatability with ERS-210; blue tail light (FrBackColorLEDOffset)

Definition at line 182 of file ERS7Info.h.

enum ERS7Info::LegOffset_t

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

Enumerator:
LFrLegOffset 

beginning of left front leg's joints

RFrLegOffset 

beginning of right front leg's joints

LBkLegOffset 

beginning of left back leg's joints

RBkLegOffset 

beginning of right back leg's joints

Definition at line 173 of file ERS7Info.h.

enum ERS7Info::LegOrder_t

the ordering of legs

Enumerator:
LFrLegOrder 

left front leg

RFrLegOrder 

right front leg

LBkLegOrder 

left back leg

RBkLegOrder 

right back leg

Definition at line 149 of file ERS7Info.h.

enum ERS7Info::REKOffset_t

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).

Enumerator:
RotatorOffset 

moves leg forward or backward along body

ElevatorOffset 

moves leg toward or away from body

KneeOffset 

moves knee

Definition at line 157 of file ERS7Info.h.

enum ERS7Info::SensorOffset_t

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

See also:
WorldState::sensors[]
Enumerator:
NearIRDistOffset 

in millimeters, ranges from 50 to 500

IRDistOffset 

alias for ERS-2xx's solitary range finder

FarIRDistOffset 

in millimeters, ranges from 200 to 1500

ChestIRDistOffset 

in millimeters, ranges from 100 to 900

BAccelOffset 

backward acceleration, in $m/s^2$, negative if sitting on butt (positive for faceplant)

LAccelOffset 

acceleration to the robot's left, in $m/s^2$, negative if lying on robot's left side

DAccelOffset 

downward acceleration, in $m/s^2$, negative if standing up... be careful about the signs on all of these...

PowerRemainOffset 

percentage, 0-1

PowerThermoOffset 

degrees Celcius

PowerCapacityOffset 

milli-amp hours

PowerVoltageOffset 

volts

PowerCurrentOffset 

milli-amp negative values (maybe positive while charging?)

Definition at line 313 of file ERS7Info.h.

enum ERS7Info::TPROffset_t

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).

Enumerator:
TiltOffset 

tilt/elevation (vertical)

PanOffset 

pan/heading (horizontal)

RollOffset 

roll (rotational)

NodOffset 

nod (second tilt)

Definition at line 164 of file ERS7Info.h.

Variable Documentation

const fmat::Column<3> ERS7Info::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 265 of file ERS7Info.h.

const fmat::Column<3> ERS7Info::AgentBoundingBoxHalfDims = fmat::pack(304.8/2, 304.8/2, 0)

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

Definition at line 268 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::AllLEDMask = (LEDBitMask_t)~0

selects all of the leds

Definition at line 260 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::BackLEDMask
Initial value:
 FrBackColorLEDMask | FrBackWhiteLEDMask
  | MdBackColorLEDMask | MdBackWhiteLEDMask
  | RrBackColorLEDMask | RrBackWhiteLEDMask

LEDS on the back.

Definition at line 252 of file ERS7Info.h.

const float ERS7Info::BallOfFootRadius = 23.433f/2

radius of the ball of the foot

Definition at line 107 of file ERS7Info.h.

const unsigned ERS7Info::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 139 of file ERS7Info.h.

const unsigned ERS7Info::BinJointOffset = LEDOffset + NumLEDs

The beginning of the binary joints.

Definition at line 136 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset)

bottom left

Definition at line 230 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset)

bottom right

Definition at line 231 of file ERS7Info.h.

const char* const ERS7Info::buttonNames[NumButtons]
Initial value:
 {
    "LFrPaw","RFrPaw","LBkPaw","RBkPaw",
    "ChinBut","HeadBut",
    "FrontBackBut","MiddleBackBut","RearBackBut",
    "WirelessSw"
  }

Provides a string name for each button.

Definition at line 304 of file ERS7Info.h.

const float ERS7Info::CameraFOV = CameraHorizFOV

should be set to maximum of CameraHorizFOV or CameraVertFOV

Definition at line 102 of file ERS7Info.h.

const unsigned ERS7Info::CameraFrameOffset = FootFrameOffset+NumLegs

Use with kinematics to refer to camera reference frame.

Definition at line 142 of file ERS7Info.h.

const float ERS7Info::CameraHorizFOV = 56.9f/180*static_cast<float>(M_PI)

horizontal field of view (radians)

Definition at line 100 of file ERS7Info.h.

const char* const ERS7Info::CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1"

use to open camera connection with the system

Definition at line 481 of file ERS7Info.h.

const char ERS7Info::CameraModelName = "ERS-7-Camera"

specifies a name of the camera to load calibration parameters into RobotInfo::CameraHomography

Definition at line 33 of file RobotInfo.cc.

const unsigned int ERS7Info::CameraResolutionX = 208

the number of pixels available in the 'full' layer

Definition at line 103 of file ERS7Info.h.

const unsigned int ERS7Info::CameraResolutionY = 160

the number of pixels available in the 'full' layer

Definition at line 104 of file ERS7Info.h.

const float ERS7Info::CameraVertFOV = 45.2f/180*static_cast<float>(M_PI)

vertical field of view (radians)

Definition at line 101 of file ERS7Info.h.

const ERS7Capabilities ERS7Info::capabilities

allocation declared in RobotInfo.cc

Definition at line 32 of file RobotInfo.cc.

const unsigned ERS7Info::ChestIRFrameOffset = FarIRFrameOffset+1

Use with kinematics to refer to chest-mounted infrared (distance) sensor reference frame.

Definition at line 146 of file ERS7Info.h.

const int ERS7Info::CPCJointLFElevator = 10

Left fore legJ2.

Definition at line 618 of file ERS7Info.h.

const int ERS7Info::CPCJointLFKnee = 9

Left fore legJ3.

Definition at line 617 of file ERS7Info.h.

const int ERS7Info::CPCJointLFRotator = 11

Left fore legJ1.

Definition at line 619 of file ERS7Info.h.

const int ERS7Info::CPCJointLHElevator = 14

Left hind legJ2.

Definition at line 622 of file ERS7Info.h.

const int ERS7Info::CPCJointLHKnee = 13

Left hind legJ3.

Definition at line 621 of file ERS7Info.h.

const int ERS7Info::CPCJointLHRotator = 15

Left hind legJ1.

Definition at line 623 of file ERS7Info.h.

const int ERS7Info::CPCJointMouth = 0

Mouth.

Definition at line 608 of file ERS7Info.h.

const int ERS7Info::CPCJointNeckNod = 2

Neck tilt2.

Definition at line 610 of file ERS7Info.h.

const int ERS7Info::CPCJointNeckPan = 6

Neck pan.

Definition at line 614 of file ERS7Info.h.

const int ERS7Info::CPCJointNeckTilt = 7

Neck tilt1.

Definition at line 615 of file ERS7Info.h.

const int ERS7Info::CPCJointRFElevator = 18

Right fore legJ2.

Definition at line 626 of file ERS7Info.h.

const int ERS7Info::CPCJointRFKnee = 17

Right fore legJ3.

Definition at line 625 of file ERS7Info.h.

const int ERS7Info::CPCJointRFRotator = 19

Right fore legJ1.

Definition at line 627 of file ERS7Info.h.

const int ERS7Info::CPCJointRHElevator = 22

Right hind legJ2.

Definition at line 630 of file ERS7Info.h.

const int ERS7Info::CPCJointRHKnee = 21

Right hind legJ3.

Definition at line 629 of file ERS7Info.h.

const int ERS7Info::CPCJointRHRotator = 23

Right hind legJ1.

Definition at line 631 of file ERS7Info.h.

const int ERS7Info::CPCJointTailPan = 25

Tail pan.

Definition at line 633 of file ERS7Info.h.

const int ERS7Info::CPCJointTailTilt = 24

Tail tilt.

Definition at line 632 of file ERS7Info.h.

const int ERS7Info::CPCSensorAccelFB = 26

Acceleration sensor(front-back).

Definition at line 634 of file ERS7Info.h.

const int ERS7Info::CPCSensorAccelLR = 27

Acceleration sensor(right-left).

Definition at line 635 of file ERS7Info.h.

const int ERS7Info::CPCSensorAccelUD = 28

Acceleration sensor(up-down).

Definition at line 636 of file ERS7Info.h.

const int ERS7Info::CPCSensorBackFront = 33

Back sensor(front).

Definition at line 641 of file ERS7Info.h.

const int ERS7Info::CPCSensorBackMiddle = 32

Back sensor(middle).

Definition at line 640 of file ERS7Info.h.

const int ERS7Info::CPCSensorBackRear = 31

Back sensor(rear).

Definition at line 639 of file ERS7Info.h.

const int ERS7Info::CPCSensorChestPSD = 29

Chest distance sensor.

Definition at line 637 of file ERS7Info.h.

const int ERS7Info::CPCSensorFarPSD = 5

Head distance sensor(far).

Definition at line 613 of file ERS7Info.h.

const int ERS7Info::CPCSensorHead = 3

Head sensor.

Definition at line 611 of file ERS7Info.h.

const int ERS7Info::CPCSensorNearPSD = 4

Head distance sensor(near).

Definition at line 612 of file ERS7Info.h.

const int ERS7Info::CPCSwitchChin = 1

Chin sensor.

Definition at line 609 of file ERS7Info.h.

const int ERS7Info::CPCSwitchLFPaw = 8

Left fore leg paw sensor.

Definition at line 616 of file ERS7Info.h.

const int ERS7Info::CPCSwitchLHPaw = 12

Left hind leg paw sensor.

Definition at line 620 of file ERS7Info.h.

const int ERS7Info::CPCSwitchRFPaw = 16

Right fore leg paw sensor.

Definition at line 624 of file ERS7Info.h.

const int ERS7Info::CPCSwitchRHPaw = 20

Right hind leg paw sensor.

Definition at line 628 of file ERS7Info.h.

const int ERS7Info::CPCSwitchWireless = 30

Wireless LAN switch.

Definition at line 638 of file ERS7Info.h.

const float ERS7Info::DefaultPIDs[NumPIDJoints][3]
Initial value:
    {
      { 0x1C/(float)(1<<(16-0xE)), 0x08/(float)(1<<(16-0x2)), 0x01/(float)(1<<(16-0xF)) },
      { 0x14/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x01/(float)(1<<(16-0xF)) },
      { 0x1C/(float)(1<<(16-0xE)), 0x08/(float)(1<<(16-0x2)), 0x01/(float)(1<<(16-0xF)) },
      { 0x1C/(float)(1<<(16-0xE)), 0x08/(float)(1<<(16-0x2)), 0x01/(float)(1<<(16-0xF)) },
      { 0x14/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x01/(float)(1<<(16-0xF)) },
      { 0x1C/(float)(1<<(16-0xE)), 0x08/(float)(1<<(16-0x2)), 0x01/(float)(1<<(16-0xF)) },
      { 0x1C/(float)(1<<(16-0xE)), 0x08/(float)(1<<(16-0x2)), 0x01/(float)(1<<(16-0xF)) },
      { 0x14/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x01/(float)(1<<(16-0xF)) },
      { 0x1C/(float)(1<<(16-0xE)), 0x08/(float)(1<<(16-0x2)), 0x01/(float)(1<<(16-0xF)) },
      { 0x1C/(float)(1<<(16-0xE)), 0x08/(float)(1<<(16-0x2)), 0x01/(float)(1<<(16-0xF)) },
      { 0x14/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x01/(float)(1<<(16-0xF)) },
      { 0x1C/(float)(1<<(16-0xE)), 0x08/(float)(1<<(16-0x2)), 0x01/(float)(1<<(16-0xF)) },

      { 0x0A/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x02/(float)(1<<(16-0xF)) },
      { 0x08/(float)(1<<(16-0xE)), 0x02/(float)(1<<(16-0x2)), 0x04/(float)(1<<(16-0xF)) },
      { 0x08/(float)(1<<(16-0xE)), 0x08/(float)(1<<(16-0x2)), 0x02/(float)(1<<(16-0xF)) }, 

      { 0x0A/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x04/(float)(1<<(16-0xF)) },
      { 0x0A/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x04/(float)(1<<(16-0xF)) },

      { 0x08/(float)(1<<(16-0xE)), 0x00/(float)(1<<(16-0x2)), 0x04/(float)(1<<(16-0xF)) }
    }

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

Definition at line 484 of file ERS7Info.h.

const unsigned char ERS7Info::DefaultPIDShifts[3] = {0x0E, 0x02-1, 0x0F-3}

These will control the shift values given to the system. see PIDMC.

These are modified from the default values to give better range of values to the gains

Definition at line 511 of file ERS7Info.h.

const unsigned ERS7Info::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.

Definition at line 137 of file ERS7Info.h.

Referenced by BatteryMonitorBehavior::setFlipper().

const LEDBitMask_t ERS7Info::FaceLEDMask

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

Definition at line 242 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::FaceLEDPanelMask = 1<<(FaceLEDPanelOffset-LEDOffset)

mask corresponding to FaceLEDPanelOffset, selects only the first of the panel - shift this to get the others

Definition at line 221 of file ERS7Info.h.

const unsigned ERS7Info::FarIRFrameOffset = NearIRFrameOffset+1

Use with kinematics to refer to long-range infrared (distance) sensor reference frame.

Definition at line 145 of file ERS7Info.h.

const unsigned ERS7Info::FootFrameOffset = BaseFrameOffset+1

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

Definition at line 140 of file ERS7Info.h.

const unsigned int ERS7Info::FrameTime = 8

time between frames in the motion system (milliseconds)

Definition at line 68 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::FrBackColorLEDMask = 1<<(FrBackColorLEDOffset-LEDOffset)

mask corresponding to FrBackColorLEDOffset

Definition at line 222 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::FrBackWhiteLEDMask = 1<<(FrBackWhiteLEDOffset-LEDOffset)

mask corresponding to FrBackWhiteLEDOffset

Definition at line 223 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::HeadColorLEDMask = 1<<(HeadColorLEDOffset-LEDOffset)

mask corresponding to HeadColorLEDOffset

Definition at line 215 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::HeadLEDMask
Initial value:
 FaceLEDMask | HeadColorLEDMask | HeadWhiteLEDMask
  | ModeRedLEDMask | ModeGreenLEDMask | ModeBlueLEDMask
  | WirelessLEDMask

LEDs for face (all but back lights).

Definition at line 246 of file ERS7Info.h.

const unsigned ERS7Info::HeadOffset = LegOffset+NumLegJoints

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

Definition at line 130 of file ERS7Info.h.

Referenced by PostureMC::defaultMaxSpeed(), HeadPointerMC::defaultMaxSpeed(), HeadController::runCommand(), and HeadPointerMC::setJoints().

const LEDBitMask_t ERS7Info::HeadWhiteLEDMask = 1<<(HeadWhiteLEDOffset-LEDOffset)

mask corresponding to HeadWhiteLEDOffset

Definition at line 216 of file ERS7Info.h.

const unsigned ERS7Info::IRFrameOffset = NearIRFrameOffset

alias for the near IR sensor

Definition at line 144 of file ERS7Info.h.

Referenced by ERS7Info::ERS7Capabilities::ERS7Capabilities().

const bool ERS7Info::IsFastOutput[NumOutputs]

true for joints which can be updated every 32 ms (all joints on ERS-7)

Definition at line 111 of file ERS7Info.h.

const unsigned ERS7Info::JointsPerArm = 0

no arms, just legs

Definition at line 79 of file ERS7Info.h.

const unsigned ERS7Info::JointsPerLeg = 3

The number of joints per leg.

Definition at line 83 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::LEDABModeMask = 1<<(LEDABModeOffset-LEDOffset)

mask corresponding to LEDABModeOffset

Definition at line 228 of file ERS7Info.h.

const unsigned ERS7Info::LEDOffset = PIDJointOffset + NumPIDJoints

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

Definition at line 134 of file ERS7Info.h.

const unsigned ERS7Info::LegOffset = PIDJointOffset

the offset of the beginning of the leg joints, NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t

Definition at line 129 of file ERS7Info.h.

const float ERS7Info::MaxOutputSpeed[NumOutputs]
Initial value:
 {
    4.86510529f, 
    5.27962099f,
    5.27962099f,
    4.86510529f,
    5.27962099f,
    5.27962099f,
    4.86510529f,
    5.27962099f,
    5.27962099f,
    4.86510529f,
    5.27962099f,
    5.27962099f,
  
    3.18522588f, 
    10.0574598f,
    5.78140315f,
  
    15.1625479f, 
    15.1625479f,
  
    10.1447263f, 
    
    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 
    
    0,0                
  }

These values are Sony's recommended maximum joint velocities, in rad/ms.

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 520 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::MdBackColorLEDMask = 1<<(MdBackColorLEDOffset-LEDOffset)

mask corresponding to MdBackColorLEDOffset

Definition at line 224 of file ERS7Info.h.

Referenced by EmergencyStopMC::EmergencyStopMC().

const LEDBitMask_t ERS7Info::MdBackWhiteLEDMask = 1<<(MdBackWhiteLEDOffset-LEDOffset)

mask corresponding to MdBackWhiteLEDOffset

Definition at line 225 of file ERS7Info.h.

const float ERS7Info::mechanicalLimits[NumOutputs][2]
Initial value:
    {
      { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, 
      { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, 
      { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, 
      { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, 

      { RAD(-75),RAD(0) },{ RAD(-88),RAD(88) },{ RAD(-15),RAD(45) }, 
        
      { RAD(5),RAD(60) },{ RAD(-45),RAD(45) }, 

      { RAD(-55),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},{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 579 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset)

middle left

Definition at line 232 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset)

middle right

Definition at line 233 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::ModeBlueLEDMask = 1<<(ModeBlueLEDOffset-LEDOffset)

mask corresponding to ModeBlueLEDOffset

Definition at line 219 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::ModeGreenLEDMask = 1<<(ModeGreenLEDOffset-LEDOffset)

mask corresponding to ModeGreenLEDOffset

Definition at line 218 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::ModeRedLEDMask = 1<<(ModeRedLEDOffset-LEDOffset)

mask corresponding to ModeRedLEDOffset

Definition at line 217 of file ERS7Info.h.

const unsigned ERS7Info::MouthOffset = TailOffset+NumTailJoints

the offset of the beginning of the mouth joint, is specific joint

Definition at line 132 of file ERS7Info.h.

const unsigned ERS7Info::NearIRFrameOffset = CameraFrameOffset+1

Use with kinematics to refer to short-range infrared (distance) sensor reference frame.

Definition at line 143 of file ERS7Info.h.

const unsigned ERS7Info::NumArmJoints = JointsPerArm*NumArms

no wheels, just legs

Definition at line 81 of file ERS7Info.h.

const unsigned ERS7Info::NumArms = 0

no arms, just legs

Definition at line 80 of file ERS7Info.h.

const unsigned ERS7Info::NumBinJoints = NumEarJoints

The number of binary joints - just the ears.

Definition at line 96 of file ERS7Info.h.

const unsigned ERS7Info::NumButtons = 2+4+3+1

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

Definition at line 90 of file ERS7Info.h.

const unsigned ERS7Info::NumEarJoints = 2

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

Definition at line 89 of file ERS7Info.h.

Referenced by BatteryMonitorBehavior::setFlipper().

const unsigned ERS7Info::NumFacePanelLEDs = 14

The number of face panel LEDs.

Definition at line 93 of file ERS7Info.h.

const unsigned int ERS7Info::NumFrames = 4

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

Definition at line 69 of file ERS7Info.h.

const unsigned ERS7Info::NumHeadJoints = 3

The number of joints in the neck.

Definition at line 86 of file ERS7Info.h.

const unsigned ERS7Info::NumLEDs = 27

The number of LEDs which can be controlled.

Definition at line 92 of file ERS7Info.h.

const unsigned ERS7Info::NumLegJoints = JointsPerLeg*NumLegs

the TOTAL number of joints on ALL legs

Definition at line 85 of file ERS7Info.h.

const unsigned ERS7Info::NumLegs = 4

The number of legs.

Definition at line 84 of file ERS7Info.h.

const unsigned ERS7Info::NumMouthJoints = 1

the number of joints that control the mouth

Definition at line 88 of file ERS7Info.h.

const unsigned ERS7Info::NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs

the total number of outputs

Definition at line 97 of file ERS7Info.h.

const unsigned ERS7Info::NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints

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

Definition at line 95 of file ERS7Info.h.

const unsigned ERS7Info::NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 3

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

Definition at line 98 of file ERS7Info.h.

const unsigned ERS7Info::NumSensors = 3+3+5

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

Definition at line 91 of file ERS7Info.h.

const unsigned int ERS7Info::NumSlowFrames = 4

the number of frames per buffer being sent to ears (double buffered as well)

Definition at line 71 of file ERS7Info.h.

const unsigned ERS7Info::NumTailJoints = 2

The number of joints assigned to the tail.

Definition at line 87 of file ERS7Info.h.

const unsigned ERS7Info::NumWheels = 0

no wheels, just legs

Definition at line 77 of file ERS7Info.h.

const char* const ERS7Info::outputNames[NumReferenceFrames+1]

Names for each of the outputs.

Definition at line 339 of file ERS7Info.h.

Referenced by PostureMC::defaultMaxSpeed(), HeadPointerMC::defaultMaxSpeed(), HeadController::runCommand(), BatteryMonitorBehavior::setFlipper(), and HeadPointerMC::setJoints().

const float ERS7Info::outputRanges[NumOutputs][2]
Initial value:
    {
      { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, 
      { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, 
      { RAD(-130),RAD(115) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, 
      { RAD(-130),RAD(115) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, 

      { RAD(-75),RAD(0) },{ RAD(-88),RAD(88) },{ RAD(-15),RAD(45) }, 
        
      { RAD(5),RAD(60) },{ RAD(-45),RAD(45) }, 

      { RAD(-55),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},{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 556 of file ERS7Info.h.

const unsigned ERS7Info::PawFrameOffset = FootFrameOffset

Aibo-era alias for FootFrameOffset.

Definition at line 141 of file ERS7Info.h.

const unsigned ERS7Info::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 128 of file ERS7Info.h.

const char* const ERS7Info::PrimitiveName[NumOutputs]
Initial value:
 {
    "PRM:/r2/c1-Joint2:21",       
    "PRM:/r2/c1/c2-Joint2:22",    
    "PRM:/r2/c1/c2/c3-Joint2:23", 
    "PRM:/r4/c1-Joint2:41",       
    "PRM:/r4/c1/c2-Joint2:42",    
    "PRM:/r4/c1/c2/c3-Joint2:43", 
        
    "PRM:/r3/c1-Joint2:31",       
    "PRM:/r3/c1/c2-Joint2:32",    
    "PRM:/r3/c1/c2/c3-Joint2:33", 
    "PRM:/r5/c1-Joint2:51",       
    "PRM:/r5/c1/c2-Joint2:52",    
    "PRM:/r5/c1/c2/c3-Joint2:53", 
      
    "PRM:/r1/c1-Joint2:11",       
    "PRM:/r1/c1/c2-Joint2:12",    
    "PRM:/r1/c1/c2/c3-Joint2:13", 
        
    "PRM:/r6/c1-Joint2:61",       
    "PRM:/r6/c2-Joint2:62",       
        
    "PRM:/r1/c1/c2/c3/c4-Joint2:14", 
        
    "PRM:/r1/c1/c2/c3/l1-LED2:l1", 
    "PRM:/r1/c1/c2/c3/l2-LED2:l2", 
    "PRM:/r1/c1/c2/c3/l3-LED2:l3", 
    "PRM:/r1/c1/c2/c3/l4-LED2:l4", 
    "PRM:/r1/c1/c2/c3/l5-LED2:l5", 
    "PRM:/r1/c1/c2/c3/l6-LED2:l6", 
    
    "PRM:/r1/c1/c2/c3/la-LED3:la", 
    "PRM:/r1/c1/c2/c3/lb-LED3:lb",    
    "PRM:/r1/c1/c2/c3/lc-LED3:lc", 
    "PRM:/r1/c1/c2/c3/ld-LED3:ld", 
    "PRM:/r1/c1/c2/c3/le-LED3:le",    
    "PRM:/r1/c1/c2/c3/lf-LED3:lf", 
    "PRM:/r1/c1/c2/c3/lg-LED3:lg", 
    "PRM:/r1/c1/c2/c3/lh-LED3:lh", 
    "PRM:/r1/c1/c2/c3/li-LED3:li", 
    "PRM:/r1/c1/c2/c3/lj-LED3:lj", 
    "PRM:/r1/c1/c2/c3/lk-LED3:lk", 
    "PRM:/r1/c1/c2/c3/ll-LED3:ll", 
    "PRM:/r1/c1/c2/c3/lm-LED3:lm", 
    "PRM:/r1/c1/c2/c3/ln-LED3:ln", 

    "PRM:/lu-LED3:lu", 
    "PRM:/lv-LED3:lv", 
    "PRM:/lw-LED3:lw", 
    "PRM:/lx-LED3:lx", 
    "PRM:/ly-LED3:ly", 
    "PRM:/lz-LED3:lz", 
    "",  
      
    "PRM:/r1/c1/c2/c3/e5-Joint4:15", 
    "PRM:/r1/c1/c2/c3/e6-Joint4:16" 
  }

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 can't be arbitrarily reordered...
In particular, assumptions are made that the pid joints will be in slots 0-numPIDJoints and that the fast outputs (ie NOT ears) will be in slots 0-NumFastOutputs
There may be other assumptions not noted here!!!

Note:
These entries DON'T correspond to the CPC index numbers (this only lists joints for identifying joints to Aperios, CPCs are for identifying sensors from Aperios

Definition at line 419 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::RrBackColorLEDMask = 1<<(RrBackColorLEDOffset-LEDOffset)

mask corresponding to RrBackColorLEDOffset

Definition at line 226 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::RrBackWhiteLEDMask = 1<<(RrBackWhiteLEDOffset-LEDOffset)

mask corresponding to RrBackWhiteLEDOffset

Definition at line 227 of file ERS7Info.h.

const char* const ERS7Info::sensorNames[NumSensors]
Initial value:
 {
    "NearIRDist","FarIRDist","ChestIRDist",
    "BAccel","LAccel","DAccel",
    "PowerRemain","PowerThermo","PowerCapacity","PowerVoltage","PowerCurrent"
  }

Provides a string name for each sensor.

Definition at line 329 of file ERS7Info.h.

const unsigned int ERS7Info::SlowFrameTime = 8

time between frames for the ears (ERS-7 doesn't seem to have any "slow" joints; this only applied for the ears on the ERS-210)

Definition at line 70 of file ERS7Info.h.

const unsigned int ERS7Info::SoundBufferTime = 32

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

Definition at line 72 of file ERS7Info.h.

const char* const ERS7Info::SpeakerLocator = "PRM:/s1-Speaker:S1"

use to open speaker connection with the system

Definition at line 478 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::TailLEDMask = 0

LEDs on tail (ERS-7 has none).

Definition at line 257 of file ERS7Info.h.

const unsigned ERS7Info::TailOffset = HeadOffset+NumHeadJoints

the offset of the beginning of the tail joints, add TPROffset_t to get specific joint (except RollOffset not available)

Definition at line 131 of file ERS7Info.h.

Referenced by TailWagMC::updateOutputs().

const char *const ERS7Info::TargetName = "ERS-7"

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

Definition at line 31 of file RobotInfo.cc.

Referenced by LedEngine::displayNumber(), VisualTargetCloseTrans::doEvent(), Controller::init(), BatteryMonitorBehavior::setFlipper(), LedEngine::setOneOfTwo(), FlashIPAddrBehavior::setupSequence(), and TailWagMC::updateOutputs().

const LEDBitMask_t ERS7Info::TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset)

blue tail light

Definition at line 238 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset)

red tail light

Definition at line 237 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset)

top bar

Definition at line 236 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset)

top left

Definition at line 234 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset)

top right

Definition at line 235 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::WirelessLEDMask = 1<<(WirelessLEDOffset-LEDOffset)

mask corresponding to WirelessLEDOffset

Definition at line 220 of file ERS7Info.h.


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