HandEyeZInfo Namespace Reference

Declares configuration of the modified HandEye planar arm robot, such as number of joints, LEDs, etc. More...

Classes
class	HandEyeZCapabilities
	provides polymorphic robot capability detection/mapping More...
Variables
const char *const	TargetName = "HandEyeZ"
	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 HandEyeZCapabilities	capabilities
	allocation declared in RobotInfo.cc
const float	DefaultPIDs [NumPIDJoints][5]
	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/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
const unsigned	NumWheels = 0
	The number of joints per leg.
const unsigned	FingerJointsPerArm = 2
	The number of joints per leg.
const unsigned	JointsPerArm = 5
	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 = 0
	The number of joints per leg.
const unsigned	NumLegs = 0
	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 = 2
	the number of sensors available
const unsigned	NumFacePanelLEDs = 0
	The number of face panel LEDs.
const unsigned	NumLEDs = 7
	The number of LEDs which can be controlled (one per dynamixel servo).
const unsigned	NumPIDJoints = NumWheels + NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints
	The number of joints per leg.
const unsigned	NumOutputs = NumWheels + NumPIDJoints + NumLEDs
	servo pins
const unsigned	NumReferenceFrames = NumOutputs + 1 + NumArms + 1
	for the base, gripper (* NumArms), and camera reference frames
Output Offsets
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
enum	ArmOffset_t {   ArmShoulderOffset = ArmOffset, ArmElbowOffset, WristOffset, WristYawOffset = WristOffset,   LeftGripperOffset, RightGripperOffset }
	These are 'absolute' offsets for the arm joints. More...
enum	TPROffset_t { PanOffset = 0, TiltOffset }
	The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). 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 {   ArmShoulderLEDOffset = LEDOffset, ArmElbowLEDOffset, ArmWristLEDOffset, ArmLeftGripperLEDOffset,   ArmRightGripperLEDOffset, NeckPanLEDOffset, NeckTiltLEDOffset }
	The offsets of the individual LEDs. 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	ArmOffset = PIDJointOffset
	beginning of arm joints, don't add anything, just use ArmOffset_t entries directly
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	GripperFrameOffset = BaseFrameOffset+1
	Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw).
const unsigned	CameraFrameOffset = GripperFrameOffset+NumArms
	Use with kinematics to refer to camera reference frame.
const LEDBitMask_t	ArmShoulderLEDMask = 1 << (ArmShoulderLEDOffset-LEDOffset)
	Mask corresponding to ArmShoulderLEDOffset.
const LEDBitMask_t	ArmElbowLEDMask = 1 << (ArmElbowLEDOffset-LEDOffset)
	Mask corresponding to ArmElbowLEDOffset.
const LEDBitMask_t	ArmWristLEDMask = 1 << (ArmWristLEDOffset-LEDOffset)
	Mask corresponding to ArmWristLEDOffset.
const LEDBitMask_t	ArmLeftGripperLEDMask = 1 << (ArmLeftGripperLEDOffset-LEDOffset)
	Mask corresponding to ArmLeftGripperLEDOffset.
const LEDBitMask_t	ArmRightGripperLEDMask = 1 << (ArmRightGripperLEDOffset-LEDOffset)
	Mask corresponding to ArmRightGripperLEDOffset.
const LEDBitMask_t	NeckPanLEDMask = 1 << (NeckPanLEDOffset-LEDOffset)
	Mask corresponding to NeckPanLEDOffset.
const LEDBitMask_t	NeckTiltLEDMask = 1 << (NeckTiltLEDOffset-LEDOffset)
	Mask corresponding to NeckTiltLEDOffset.
const LEDBitMask_t	FaceLEDMask = 0
	LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
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 { 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.

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Detailed Description

Declares configuration of the modified HandEye planar arm robot, such as number of joints, LEDs, etc.

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Typedef Documentation

typedef unsigned int HandEyeZInfo::LEDBitMask_t

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

Definition at line 121 of file HandEyeZInfo.h.

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Enumeration Type Documentation

enum HandEyeZInfo::ArmOffset_t

These are 'absolute' offsets for the arm joints.

Enumerator:

ArmShoulderOffset
ArmElbowOffset
WristOffset
WristYawOffset
LeftGripperOffset
RightGripperOffset

Definition at line 86 of file HandEyeZInfo.h.

enum HandEyeZInfo::ButtonOffset_t

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

Should be a straight mapping to the ButtonSourceIDs

See also:

WorldState::buttons

ButtonSourceID_t

Enumerator:

GreenButOffset
RedButOffset
YellowButOffset

Definition at line 157 of file HandEyeZInfo.h.

enum HandEyeZInfo::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 104 of file HandEyeZInfo.h.

enum HandEyeZInfo::LEDOffset_t

The offsets of the individual LEDs.

Enumerator:

ArmShoulderLEDOffset	Small led on the shoulder servo.
ArmElbowLEDOffset	Small LED on the elbow servo.
ArmWristLEDOffset	Small LED on the wrist servo.
ArmLeftGripperLEDOffset	Small LED on the left gripper.
ArmRightGripperLEDOffset	Small LED on the right gripper.
NeckPanLEDOffset	Small LED on the neck pan servo.
NeckTiltLEDOffset	Small LED on the neck tilt servo.

Definition at line 111 of file HandEyeZInfo.h.

enum HandEyeZInfo::SensorOffset_t

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

See also:

WorldState::sensors[]

Enumerator:

PowerThermoOffset	degrees Celcius
PowerVoltageOffset	volts

Definition at line 164 of file HandEyeZInfo.h.

enum HandEyeZInfo::TPROffset_t

The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).

Enumerator:

PanOffset	pan/heading (horizontal)
TiltOffset	tilt/elevation (vertical)

Definition at line 98 of file HandEyeZInfo.h.

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Variable Documentation

const fmat::Column<3> HandEyeZInfo::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 139 of file HandEyeZInfo.h.

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

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

Definition at line 142 of file HandEyeZInfo.h.

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

selects all of the leds

Definition at line 134 of file HandEyeZInfo.h.

const LEDBitMask_t HandEyeZInfo::ArmElbowLEDMask = 1 << (ArmElbowLEDOffset-LEDOffset)

Mask corresponding to ArmElbowLEDOffset.

Definition at line 123 of file HandEyeZInfo.h.

const LEDBitMask_t HandEyeZInfo::ArmLeftGripperLEDMask = 1 << (ArmLeftGripperLEDOffset-LEDOffset)

Mask corresponding to ArmLeftGripperLEDOffset.

Definition at line 125 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::ArmOffset = PIDJointOffset

beginning of arm joints, don't add anything, just use ArmOffset_t entries directly

Definition at line 75 of file HandEyeZInfo.h.

const LEDBitMask_t HandEyeZInfo::ArmRightGripperLEDMask = 1 << (ArmRightGripperLEDOffset-LEDOffset)

Mask corresponding to ArmRightGripperLEDOffset.

Definition at line 126 of file HandEyeZInfo.h.

const LEDBitMask_t HandEyeZInfo::ArmShoulderLEDMask = 1 << (ArmShoulderLEDOffset-LEDOffset)

Mask corresponding to ArmShoulderLEDOffset.

Definition at line 122 of file HandEyeZInfo.h.

const LEDBitMask_t HandEyeZInfo::ArmWristLEDMask = 1 << (ArmWristLEDOffset-LEDOffset)

Mask corresponding to ArmWristLEDOffset.

Definition at line 124 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 81 of file HandEyeZInfo.h.

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

Provides a string name for each button.

Definition at line 160 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::CameraFrameOffset = GripperFrameOffset+NumArms

Use with kinematics to refer to camera reference frame.

Definition at line 83 of file HandEyeZInfo.h.

const HandEyeZCapabilities HandEyeZInfo::capabilities

allocation declared in RobotInfo.cc

Definition at line 134 of file RobotInfo.cc.

const float HandEyeZInfo::DefaultPIDs[NumPIDJoints][5]

Initial value:

 {
    {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 215 of file HandEyeZInfo.h.

const LEDBitMask_t HandEyeZInfo::FaceLEDMask = 0

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

Definition at line 131 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::FingerJointsPerArm = 2

The number of joints per leg.

Definition at line 38 of file HandEyeZInfo.h.

const unsigned int HandEyeZInfo::FrameTime = 32

time between frames in the motion system (milliseconds)

Definition at line 31 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::GripperFrameOffset = BaseFrameOffset+1

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

Definition at line 82 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::HeadOffset = ArmOffset+NumArmJoints

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

Definition at line 77 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::JointsPerArm = 5

The number of joints per leg.

Definition at line 39 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::JointsPerLeg = 0

The number of joints per leg.

Definition at line 43 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::LEDOffset = PIDJointOffset + NumPIDJoints

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

Definition at line 79 of file HandEyeZInfo.h.

const float HandEyeZInfo::MaxOutputSpeed[NumOutputs]

Initial value:

 {
    
    0.8f, 0.8f, 0.8f, 0.8f, 0.8f, 0.8f, 0.8f,
    
    0,0,0,0,0,0,0,
  }

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 226 of file HandEyeZInfo.h.

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

Initial value:

 {
    
    {RAD(-120),RAD(120)}, {RAD(-120),RAD(120)}, {RAD(-120),RAD(120)}, {-0.5f, 0.5f} ,{-0.5f, 0.5f}, 
    {RAD(-150),RAD(150)}, {RAD(-92),RAD(75)},
    
    
    {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).

Definition at line 252 of file HandEyeZInfo.h.

const LEDBitMask_t HandEyeZInfo::NeckPanLEDMask = 1 << (NeckPanLEDOffset-LEDOffset)

Mask corresponding to NeckPanLEDOffset.

Definition at line 127 of file HandEyeZInfo.h.

const LEDBitMask_t HandEyeZInfo::NeckTiltLEDMask = 1 << (NeckTiltLEDOffset-LEDOffset)

Mask corresponding to NeckTiltLEDOffset.

Definition at line 128 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::NumArmJoints = JointsPerArm*NumArms

The number of joints per leg.

Definition at line 41 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::NumArms = 1

The number of joints per leg.

Definition at line 40 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::NumButtons = 3

the number of buttons that are available

Definition at line 50 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::NumEarJoints = 0

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

Definition at line 49 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::NumFacePanelLEDs = 0

The number of face panel LEDs.

Definition at line 52 of file HandEyeZInfo.h.

const unsigned int HandEyeZInfo::NumFrames = 1

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

Definition at line 32 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::NumHeadJoints = 2

The number of joints in the pantilt.

Definition at line 46 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::NumLEDs = 7

The number of LEDs which can be controlled (one per dynamixel servo).

Definition at line 55 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::NumLegJoints = JointsPerLeg*NumLegs

the TOTAL number of joints on ALL legs

Definition at line 45 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::NumLegs = 0

The number of legs.

Definition at line 44 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::NumMouthJoints = 0

the number of joints that control the mouth

Definition at line 48 of file HandEyeZInfo.h.

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

servo pins

the total number of outputs

Definition at line 58 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::NumPIDJoints = NumWheels + NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints

The number of joints per leg.

Definition at line 56 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::NumReferenceFrames = NumOutputs + 1 + NumArms + 1

for the base, gripper (* NumArms), and camera reference frames

Definition at line 59 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::NumSensors = 2

the number of sensors available

Definition at line 51 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::NumTailJoints = 0

The number of joints assigned to the tail.

Definition at line 47 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::NumWheels = 0

The number of joints per leg.

Definition at line 36 of file HandEyeZInfo.h.

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

Initial value:

 {
    "ARM:shldr","ARM:elbow","ARM:wristYaw", "Arm:LeftGripper", "ArmRightGripper",
    "NECK:pan", "NECK:tilt",

    "LED:ARM:shldr",
    "LED:ARM:elbow",
    "LED:ARM:wrist",
    "LED ARM:lgrip",
    "LED ARM:rgrip",
    "LED:NECK:pan",
    "LED:NECK:tilt",
    
    
    
    "BaseFrame",
    "GripperFrame",
    "CameraFrame",
    NULL
  }

Names for each of the outputs.

Definition at line 178 of file HandEyeZInfo.h.

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

Initial value:

 {
    
    {RAD(-130),RAD(130)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {-0.5f,0.5f}, {-0.5f,0.5f}, 
    {RAD(-63),RAD(63)}, {RAD(-95),RAD(68)},

    
    {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 241 of file HandEyeZInfo.h.

const unsigned HandEyeZInfo::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 73 of file HandEyeZInfo.h.

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

Initial value:

 {
    "PowerThermo","PowerVoltage", NULL
  }

Provides a string name for each sensor.

Definition at line 170 of file HandEyeZInfo.h.

const unsigned int HandEyeZInfo::SoundBufferTime = 32

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

Definition at line 33 of file HandEyeZInfo.h.

const char *const HandEyeZInfo::TargetName = "HandEyeZ"

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

Definition at line 133 of file RobotInfo.cc.