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KHR2Info Namespace ReferenceContains information about an KHR2 humanoid robot, such as number of joints, LEDs, etc. More...
Detailed DescriptionContains information about an KHR2 humanoid robot, such as number of joints, LEDs, etc. Enumeration Type Documentationthe ordering of arms Definition at line 114 of file KHR2Info.h. the ordering of arms Definition at line 123 of file KHR2Info.h.
the ordering of arms Definition at line 87 of file KHR2Info.h. 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.
Definition at line 160 of file KHR2Info.h. the ordering of arms Definition at line 140 of file KHR2Info.h. the ordering of arms Definition at line 129 of file KHR2Info.h.
the ordering of legs Definition at line 94 of file KHR2Info.h. the ordering of arms Definition at line 100 of file KHR2Info.h. holds offset to different sensor values in WorldState::sensors[]
Definition at line 167 of file KHR2Info.h. Function Documentation
Variable Documentation
0 - the offset of the beginning of the arm joints Definition at line 77 of file KHR2Info.h.
radius of the ball of the foot Definition at line 64 of file KHR2Info.h.
17 - Use with kinematics to refer to base reference frame Definition at line 81 of file KHR2Info.h.
Provides a string name for each button. Definition at line 163 of file KHR2Info.h.
18 Definition at line 82 of file KHR2Info.h.
allocation declared in RobotInfo.cc Definition at line 37 of file DynamicInfo.cc.
Initial value:
{ {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0} } this table holds the default PID values for each joint; see PIDMC Definition at line 243 of file KHR2Info.h.
The number of joints per leg. Definition at line 37 of file KHR2Info.h.
21 Definition at line 84 of file KHR2Info.h.
time between frames in the motion system (milliseconds) Definition at line 30 of file KHR2Info.h.
19 Definition at line 83 of file KHR2Info.h.
16 - the offset of the beginning of the head joint Definition at line 79 of file KHR2Info.h.
The number of joints per leg. Definition at line 38 of file KHR2Info.h.
The number of joints per leg. Definition at line 42 of file KHR2Info.h.
17 - the offset of LEDs Definition at line 80 of file KHR2Info.h.
6 - the offset of the beginning of the leg joints Definition at line 78 of file KHR2Info.h.
Initial value:
{ 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f } 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) These values were obtained from the administrators of the Sony OPEN-R BBS haven't determined safe speeds for KHR2 yet Definition at line 259 of file KHR2Info.h.
Initial value:
{ {RAD(0), RAD(180)}, {RAD(0), RAD(180)}, {RAD(-90), RAD(90)}, {RAD(0), RAD(180)}, {RAD(0), RAD(180)}, {RAD(-90), RAD(90)}, {RAD(-10), RAD(90)}, {RAD(-90), RAD(90)}, {RAD(-90), RAD(20)}, {RAD(-90), RAD(90)}, {RAD(-70), RAD(20)}, {RAD(-10), RAD(90)}, {RAD(-90), RAD(90)}, {RAD(-90), RAD(20)}, {RAD(-90), RAD(90)}, {RAD(-70), RAD(20)}, {RAD(-90), RAD(90)} } the range that can be reached by external interaction (i.e. the domain of the output feedback); this is probably identical to outputRanges, but may differ if the output have some built-in safety margin... Definition at line 301 of file KHR2Info.h.
The number of joints per leg. Definition at line 40 of file KHR2Info.h.
The number of joints per leg. Definition at line 39 of file KHR2Info.h.
the number of buttons that are available Definition at line 49 of file KHR2Info.h.
The number of joints which control the ears (NOT per ear, is total). Definition at line 48 of file KHR2Info.h.
The number of face panel LEDs. Definition at line 54 of file KHR2Info.h.
The number of joints per leg. Definition at line 52 of file KHR2Info.h.
the number of frames per buffer (don't forget also double buffered) Definition at line 31 of file KHR2Info.h.
The number of joints in the pantilt 1. Definition at line 45 of file KHR2Info.h.
The number of joints per leg. Definition at line 51 of file KHR2Info.h.
The number of joints per leg. Definition at line 56 of file KHR2Info.h.
the TOTAL number of joints on ALL legs 10 Definition at line 44 of file KHR2Info.h.
The number of legs. Definition at line 43 of file KHR2Info.h.
the number of joints that control the mouth Definition at line 47 of file KHR2Info.h.
the total number of outputs 17 Definition at line 59 of file KHR2Info.h.
servo pins 15 Definition at line 57 of file KHR2Info.h.
for the feet (NumLegs), arms, base, and camera 23 Definition at line 60 of file KHR2Info.h.
The number of joints per leg. Definition at line 53 of file KHR2Info.h.
The number of joints assigned to the tail. Definition at line 46 of file KHR2Info.h.
The number of joints per leg. Definition at line 35 of file KHR2Info.h.
Initial value:
{ "LArm:Rotate", "LArm:Elevator", "LArm:Elbow", "RArm:Rotate", "RArm:Elevator", "RArm:Elbow", "LLeg:Abduce", "LLeg:Flex", "LLeg:Knee", "LLeg:AnkleFlex", "LLeg:AnkleLateral", "RLeg:Abduce", "RLeg:Flex", "RLeg:Knee", "RLeg:AnkleFlex", "RLeg:AnkleLateral", "NECK:Pan", "BaseFrame", "CAMERA:Eye", "LArm:Wrist", "RArm:Wrist", "LLeg:Sole", "RLeg:Sole", NULL } names for each of the outputs Definition at line 209 of file KHR2Info.h.
Initial value:
{ {RAD(0), RAD(180)}, {RAD(0), RAD(180)}, {RAD(-90), RAD(90)}, {RAD(0), RAD(180)}, {RAD(0), RAD(180)}, {RAD(-90), RAD(90)}, {RAD(-10), RAD(90)}, {RAD(-90), RAD(90)}, {RAD(-90), RAD(20)}, {RAD(-90), RAD(90)}, {RAD(-70), RAD(20)}, {RAD(-10), RAD(90)}, {RAD(-90), RAD(90)}, {RAD(-90), RAD(20)}, {RAD(-90), RAD(90)}, {RAD(-70), RAD(20)}, {RAD(-90), RAD(90)} } 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 275 of file KHR2Info.h.
The beginning of the PID Joints. Definition at line 75 of file KHR2Info.h.
Initial value:
{ "LStress", "RStress", "LLToe", "LRToe", "LLSole", "LRSole", "LLBack", "LRBack", "RLToe", "RRToe", "RLSole", "RRSole", "RLBack", "RRBack", "BAccel", "LAccel", "DAccel" } provides a string name for each sensor Definition at line 194 of file KHR2Info.h.
The number of joints per leg. Definition at line 50 of file KHR2Info.h.
the number of milliseconds per sound buffer... I'm not sure if this can be changed Definition at line 32 of file KHR2Info.h.
the name of the model, to be used for logging and remote GUIs Definition at line 158 of file RobotInfo.cc. |
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