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HandEyeInfo Namespace ReferenceDeclares configuration of the HandEye planar arm robot, such as number of joints, LEDs, etc. More...
Detailed DescriptionDeclares configuration of the HandEye planar arm robot, such as number of joints, LEDs, etc. Typedef Documentation
So you can be clear when you're refering to a LED bitmask. Definition at line 118 of file HandEyeInfo.h. Enumeration Type DocumentationThese are 'absolute' offsets for the arm joints. Definition at line 86 of file HandEyeInfo.h. holds offsets to different buttons in WorldState::buttons[] Should be a straight mapping to the ButtonSourceIDs
Definition at line 152 of file HandEyeInfo.h. These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do. Definition at line 103 of file HandEyeInfo.h. The offsets of the individual LEDs.
Definition at line 110 of file HandEyeInfo.h. holds offset to different sensor values in WorldState::sensors[]
Definition at line 159 of file HandEyeInfo.h. The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). Definition at line 97 of file HandEyeInfo.h. Variable Documentation
Offset needed so that the centroid of the robot is correct relative to the bounding box. Definition at line 134 of file HandEyeInfo.h.
Half of the length, width, and height of the robot. Definition at line 137 of file HandEyeInfo.h.
selects all of the leds Definition at line 129 of file HandEyeInfo.h.
Mask corresponding to ArmElbowLEDOffset. Definition at line 121 of file HandEyeInfo.h.
beginning of arm joints, don't add anything, just use ArmOffset_t entries directly Definition at line 75 of file HandEyeInfo.h.
Mask corresponding to ArmShoulderLEDOffset. Definition at line 120 of file HandEyeInfo.h.
Mask corresponding to ArmWristLEDOffset. Definition at line 122 of file HandEyeInfo.h.
Use with kinematics to refer to base reference frame. Definition at line 81 of file HandEyeInfo.h.
Provides a string name for each button. Definition at line 155 of file HandEyeInfo.h.
Use with kinematics to refer to camera reference frame. Definition at line 83 of file HandEyeInfo.h. allocation declared in RobotInfo.cc Definition at line 128 of file RobotInfo.cc.
Initial value:
{ {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 208 of file HandEyeInfo.h. LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries). Definition at line 127 of file HandEyeInfo.h.
The number of joints per leg. Definition at line 38 of file HandEyeInfo.h.
time between frames in the motion system (milliseconds) Definition at line 31 of file HandEyeInfo.h.
Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw). Definition at line 82 of file HandEyeInfo.h.
the offset of the beginning of the head joints, add TPROffset_t to get specific joint Definition at line 77 of file HandEyeInfo.h.
The number of joints per leg. Definition at line 39 of file HandEyeInfo.h.
The number of joints per leg. Definition at line 43 of file HandEyeInfo.h.
the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets Definition at line 79 of file HandEyeInfo.h.
Initial value:
{ 0.8f, 0.8f, 0.8f, 0.8f, 0.8f, 0,0,0,0,0, } These values are our 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) Definition at line 219 of file HandEyeInfo.h.
Initial value:
{ {RAD(-130),RAD(130)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-63),RAD(63)}, {RAD(-95),RAD(68)}, {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). Definition at line 245 of file HandEyeInfo.h.
Mask corresponding to NeckPanLEDOffset. Definition at line 123 of file HandEyeInfo.h.
Mask corresponding to NeckTiltLEDOffset. Definition at line 124 of file HandEyeInfo.h.
The number of joints per leg. Definition at line 41 of file HandEyeInfo.h.
The number of joints per leg. Definition at line 40 of file HandEyeInfo.h.
the number of buttons that are available Definition at line 50 of file HandEyeInfo.h.
The number of joints which control the ears (NOT per ear, is total). Definition at line 49 of file HandEyeInfo.h.
The number of face panel LEDs. Definition at line 52 of file HandEyeInfo.h.
the number of frames per buffer (don't forget also double buffered) Definition at line 32 of file HandEyeInfo.h.
The number of joints in the pantilt. Definition at line 46 of file HandEyeInfo.h.
The number of LEDs which can be controlled (one per dynamixel servo). Definition at line 55 of file HandEyeInfo.h.
the TOTAL number of joints on ALL legs Definition at line 45 of file HandEyeInfo.h.
The number of legs. Definition at line 44 of file HandEyeInfo.h.
the number of joints that control the mouth Definition at line 48 of file HandEyeInfo.h.
The number of joints per leg. Definition at line 56 of file HandEyeInfo.h.
for the base, gripper (* NumArms), and camera reference frames Definition at line 59 of file HandEyeInfo.h.
the number of sensors available Definition at line 51 of file HandEyeInfo.h.
The number of joints assigned to the tail. Definition at line 47 of file HandEyeInfo.h.
The number of joints per leg. Definition at line 36 of file HandEyeInfo.h.
Initial value:
{ "ARM:shldr","ARM:elbow","ARM:wrist", "NECK:pan", "NECK:tilt", "LED:ARM:shldr", "LED:ARM:elbow", "LED:ARM:wrist", "LED:NECK:pan", "LED:NECK:tilt", "BaseFrame", "GripperFrame", "CameraFrame", NULL } Names for each of the outputs. Definition at line 173 of file HandEyeInfo.h.
Initial value:
{ {RAD(-130),RAD(130)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-63),RAD(63)}, {RAD(-95),RAD(68)}, {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 234 of file HandEyeInfo.h.
The beginning of the PID Joints. Definition at line 73 of file HandEyeInfo.h.
Initial value:
{ "PowerThermo","PowerVoltage", NULL } Provides a string name for each sensor. Definition at line 165 of file HandEyeInfo.h.
the number of milliseconds per sound buffer... I'm not sure if this can be changed Definition at line 33 of file HandEyeInfo.h.
the name of the model, to be used for logging and remote GUIs Definition at line 127 of file RobotInfo.cc. |
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