MantisArmInfo Namespace Reference

Contains information about an Mantis Arm robot, such as number of joints, LEDs, etc. More...

Classes
class	MantisArmCapabilities
	provides polymorphic robot capability detection/mapping More...
Enumerations
enum	ServoParam_t { DYNAMIXEL_SLOPE = 0, DYNAMIXEL_PUNCH, DYNAMIXEL_MARGIN }
	offsets into DefaultPIDs, since Dynamixel servos don't actually use PID control, but a different set of parameters More...
Variables
const char *const	TargetName = "MantisArm"
	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(400,70,350)
	Offset needed so that the centroid of the robot is correct related to the bounding box.
const fmat::Column< 3 >	AgentBoundingBoxHalfDims = fmat::pack(100,100,100)
	Half of the length, width, and height of the robot.
const char *const	outputNames [NumReferenceFrames+1]
	Names for each of the outputs.
const MantisArmCapabilities	capabilities
	allocation declared in RobotInfo.cc
const float	DefaultPIDs [NumPIDJoints][3]
	Dynamixel MX servos use PID control.
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	JointsPerArm = 6
	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 = 0
	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 = 0
	the number of sensors available
const unsigned	NumFacePanelLEDs = 0
	The number of face panel LEDs.
const unsigned	NumPIDJoints = NumArmJoints + NumLegJoints + NumHeadJoints + NumTailJoints + NumMouthJoints
	servo pins
const unsigned	NumLEDs = NumPIDJoints
	There's an LED on every dynamixel, but can't see most of them, so save some computational resources and only expose the visible ones.
const unsigned	NumOutputs = NumWheels + NumPIDJoints + NumLEDs
	the total number of outputs
const unsigned	NumReferenceFrames = NumOutputs + NumLegs + NumArms + 1
	for the base, feet, gripper, camera, and IR distance rangefinder
const unsigned	FingerJointsPerArm = 0
	The number of joints per leg.
const float	BallOfFootRadius = 0
	radius of the ball of the foot
Output Offsets
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
enum	ArmOrder_t { MdArmOrder = 0 }
	the ordering of arms More...
enum	SEKOffset_t { SweepOffset = 0, ElevatorOffset, Twist1Offset, ElbowOffset, Twist2Offset, WristOffset }
	The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage. More...
enum	TPROffset_t { PanOffset = 0, TiltOffset, NodOffset = TiltOffset, RollOffset }
	The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head/wrist). More...
enum	ArmOffset_t { MdArmOffset = ArmOffset+MdArmOrder*JointsPerArm }
	The offsets of the individual legs, add REKOffset_t value to access specific joint. More...
enum	LEDOffset_t { ElevatorLEDOffset = LEDOffset, ShoulderLEDOffset, Twist1LEDOffset, ElbowLEDOffset, Twist2LEDOffset, WristLEDOffset }
	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
	the offset of the beginning of the regular leg joints (after the 1 rotator joint for the right front leg): NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t
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	FootFrameOffset = BaseFrameOffset+1
	Use with kinematics to refer to feet reference frames (add appropriate LegOrder_t to specify which paw).
const unsigned	GripperFrameOffset = FootFrameOffset+NumLegs
	Use with kinematics to refer to gripper reference frame.
const unsigned	CameraFrameOffset = GripperFrameOffset+NumArms
	Use with kinematics to refer to camera reference frame.
const unsigned	LeftIRFrameOffset = CameraFrameOffset+1
	Use with kinematics to refer to left IR distance rangefinder reference frame.
const unsigned	CenterIRFrameOffset = LeftIRFrameOffset+1
	Use with kinematics to refer to center IR distance rangefinder reference frame.
const unsigned	IRFrameOffset = CenterIRFrameOffset
	alias for CenterIRFrameOffset
const unsigned	RightIRFrameOffset = CenterIRFrameOffset+1
	Use with kinematics to refer to right IR distance rangefinder reference frame.
const LEDOffset_t	RedLEDOffset = ElevatorLEDOffset
	the ordering of arms
const LEDOffset_t	YellowLEDOffset = ShoulderLEDOffset
	the ordering of arms
const LEDOffset_t	GreenLEDOffset = ElbowLEDOffset
	the ordering of arms
const LEDOffset_t	BlueLEDOffset = WristLEDOffset
	the ordering of arms
const LEDBitMask_t	RedLEDMask = 1<<(ElevatorLEDOffset-LEDOffset)
	mask corresponding to RedLEDOffset
const LEDBitMask_t	YellowLEDMask = 1<<(ShoulderLEDOffset-LEDOffset)
	mask corresponding to YellowLEDOffset
const LEDBitMask_t	GreenLEDMask = 1<<(ElbowLEDOffset-LEDOffset)
	mask corresponding to GreenLEDOffset
const LEDBitMask_t	BlueLEDMask = (1<<(WristLEDOffset-LEDOffset))
	mask corresponding to BlueLEDOffset
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
	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.

Detailed Description

Contains information about an Mantis Arm robot, such as number of joints, LEDs, etc.

Typedef Documentation

typedef unsigned int MantisArmInfo::LEDBitMask_t

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

Definition at line 128 of file MantisArmInfo.h.

Enumeration Type Documentation

enum MantisArmInfo::ArmOffset_t

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

Enumerator:

MdArmOffset

beginning of right front leg's joints

Definition at line 107 of file MantisArmInfo.h.

enum MantisArmInfo::ArmOrder_t

the ordering of arms

Enumerator:

MdArmOrder

middle leg

Definition at line 83 of file MantisArmInfo.h.

enum MantisArmInfo::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:

GreenButOffset
RedButOffset
YellowButOffset

Definition at line 168 of file MantisArmInfo.h.

enum MantisArmInfo::LEDOffset_t

The offsets of the individual LEDs.

Enumerator:

ElevatorLEDOffset
ShoulderLEDOffset
Twist1LEDOffset
ElbowLEDOffset
Twist2LEDOffset
WristLEDOffset

Definition at line 113 of file MantisArmInfo.h.

enum MantisArmInfo::SEKOffset_t

The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage.

Enumerator:

SweepOffset
ElevatorOffset
Twist1Offset
ElbowOffset
Twist2Offset
WristOffset

Definition at line 88 of file MantisArmInfo.h.

enum MantisArmInfo::SensorOffset_t

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

See also:: WorldState::sensors[]

Definition at line 175 of file MantisArmInfo.h.

enum MantisArmInfo::ServoParam_t

offsets into DefaultPIDs, since Dynamixel servos don't actually use PID control, but a different set of parameters

Enumerator:

DYNAMIXEL_SLOPE	compliance slope, the proportional control (P in PID)
DYNAMIXEL_PUNCH	punch, a constant added to the slope once error exceeds compliance margin
DYNAMIXEL_MARGIN	compliance margin, the amount of error to tolerate before triggering a torque response

Definition at line 215 of file MantisArmInfo.h.

enum MantisArmInfo::TPROffset_t

The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head/wrist).

Enumerator:

PanOffset	pan/yaw/heading (horizontal)
TiltOffset	tilt/pitch/elevation (vertical)
NodOffset	replicated tilt (could be left undefined instead...)
RollOffset	spin/twist final axis

Definition at line 98 of file MantisArmInfo.h.

Variable Documentation

const fmat::Column<3> MantisArmInfo::AgentBoundingBoxBaseFrameOffset = fmat::pack(400,70,350)

Offset needed so that the centroid of the robot is correct related to the bounding box.

Definition at line 143 of file MantisArmInfo.h.

const fmat::Column<3> MantisArmInfo::AgentBoundingBoxHalfDims = fmat::pack(100,100,100)

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

Definition at line 146 of file MantisArmInfo.h.

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

selects all of the leds

Definition at line 138 of file MantisArmInfo.h.

const unsigned MantisArmInfo::ArmOffset = PIDJointOffset

the offset of the beginning of the regular leg joints (after the 1 rotator joint for the right front leg): NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t

Definition at line 69 of file MantisArmInfo.h.

const float MantisArmInfo::BallOfFootRadius = 0

radius of the ball of the foot

Definition at line 58 of file MantisArmInfo.h.

const unsigned MantisArmInfo::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 71 of file MantisArmInfo.h.

const LEDBitMask_t MantisArmInfo::BlueLEDMask = (1<<(WristLEDOffset-LEDOffset))

mask corresponding to BlueLEDOffset

Definition at line 133 of file MantisArmInfo.h.

const LEDOffset_t MantisArmInfo::BlueLEDOffset = WristLEDOffset

the ordering of arms

Definition at line 126 of file MantisArmInfo.h.

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

Provides a string name for each button.

Definition at line 171 of file MantisArmInfo.h.

const unsigned MantisArmInfo::CameraFrameOffset = GripperFrameOffset+NumArms

Use with kinematics to refer to camera reference frame.

Definition at line 74 of file MantisArmInfo.h.

const MantisArmCapabilities MantisArmInfo::capabilities

allocation declared in RobotInfo.cc

Definition at line 165 of file RobotInfo.cc.

const unsigned MantisArmInfo::CenterIRFrameOffset = LeftIRFrameOffset+1

Use with kinematics to refer to center IR distance rangefinder reference frame.

Definition at line 77 of file MantisArmInfo.h.

const float MantisArmInfo::DefaultPIDs[NumPIDJoints][3]

Initial value:

 {
    {10,32,0},
    {10,32,0},
    {10,32,0},
    {10,32,0},
    {10,32,0},
    {10,32,0}
  }

Dynamixel MX servos use PID control.

Definition at line 222 of file MantisArmInfo.h.

const LEDBitMask_t MantisArmInfo::FaceLEDMask = 0

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

Definition at line 136 of file MantisArmInfo.h.

const unsigned MantisArmInfo::FingerJointsPerArm = 0

The number of joints per leg.

Definition at line 54 of file MantisArmInfo.h.

const unsigned MantisArmInfo::FootFrameOffset = BaseFrameOffset+1

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

Definition at line 72 of file MantisArmInfo.h.

const unsigned int MantisArmInfo::FrameTime = 32

time between frames in the motion system (milliseconds)

Definition at line 25 of file MantisArmInfo.h.

const LEDBitMask_t MantisArmInfo::GreenLEDMask = 1<<(ElbowLEDOffset-LEDOffset)

mask corresponding to GreenLEDOffset

Definition at line 132 of file MantisArmInfo.h.

const LEDOffset_t MantisArmInfo::GreenLEDOffset = ElbowLEDOffset

the ordering of arms

Definition at line 125 of file MantisArmInfo.h.

const unsigned MantisArmInfo::GripperFrameOffset = FootFrameOffset+NumLegs

Use with kinematics to refer to gripper reference frame.

Definition at line 73 of file MantisArmInfo.h.

const unsigned MantisArmInfo::IRFrameOffset = CenterIRFrameOffset

alias for CenterIRFrameOffset

Definition at line 78 of file MantisArmInfo.h.

const unsigned MantisArmInfo::JointsPerArm = 6

The number of joints per leg.

Definition at line 32 of file MantisArmInfo.h.

const unsigned MantisArmInfo::JointsPerLeg = 0

The number of joints per leg.

Definition at line 36 of file MantisArmInfo.h.

const unsigned MantisArmInfo::LEDOffset = PIDJointOffset + NumPIDJoints

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

Definition at line 70 of file MantisArmInfo.h.

const unsigned MantisArmInfo::LeftIRFrameOffset = CameraFrameOffset+1

Use with kinematics to refer to left IR distance rangefinder reference frame.

Definition at line 76 of file MantisArmInfo.h.

const float MantisArmInfo::MaxOutputSpeed[NumOutputs]

Initial value:

 {
    
    1.f, 1.f, 1.f, 1.f, 1.f, 1.f,
    
    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)

Definition at line 233 of file MantisArmInfo.h.

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

Initial value:

 {
    
    {RAD(-100),RAD(100)}, 
        {RAD(-100),RAD(100)},
    {RAD(-100),RAD(100)},
        {RAD(-100),RAD(100)},
    
    {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 265 of file MantisArmInfo.h.

const unsigned MantisArmInfo::NumArmJoints = JointsPerArm*NumArms

The number of joints per leg.

Definition at line 34 of file MantisArmInfo.h.

const unsigned MantisArmInfo::NumArms = 1

The number of joints per leg.

Definition at line 33 of file MantisArmInfo.h.

const unsigned MantisArmInfo::NumButtons = 3

the number of buttons that are available

Definition at line 44 of file MantisArmInfo.h.

const unsigned MantisArmInfo::NumEarJoints = 0

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

Definition at line 43 of file MantisArmInfo.h.

const unsigned MantisArmInfo::NumFacePanelLEDs = 0

The number of face panel LEDs.

Definition at line 46 of file MantisArmInfo.h.

const unsigned int MantisArmInfo::NumFrames = 1

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

Definition at line 26 of file MantisArmInfo.h.

const unsigned MantisArmInfo::NumHeadJoints = 0

The number of joints in the pantilt.

Definition at line 40 of file MantisArmInfo.h.

const unsigned MantisArmInfo::NumLEDs = NumPIDJoints

There's an LED on every dynamixel, but can't see most of them, so save some computational resources and only expose the visible ones.

Definition at line 49 of file MantisArmInfo.h.

const unsigned MantisArmInfo::NumLegJoints = JointsPerLeg*NumLegs

the TOTAL number of joints on ALL legs

Definition at line 38 of file MantisArmInfo.h.

const unsigned MantisArmInfo::NumLegs = 0

The number of legs.

Definition at line 37 of file MantisArmInfo.h.

const unsigned MantisArmInfo::NumMouthJoints = 0

the number of joints that control the mouth

Definition at line 42 of file MantisArmInfo.h.

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

the total number of outputs

Definition at line 51 of file MantisArmInfo.h.

const unsigned MantisArmInfo::NumPIDJoints = NumArmJoints + NumLegJoints + NumHeadJoints + NumTailJoints + NumMouthJoints

servo pins

Definition at line 48 of file MantisArmInfo.h.

const unsigned MantisArmInfo::NumReferenceFrames = NumOutputs + NumLegs + NumArms + 1

for the base, feet, gripper, camera, and IR distance rangefinder

Definition at line 52 of file MantisArmInfo.h.

const unsigned MantisArmInfo::NumSensors = 0

the number of sensors available

Definition at line 45 of file MantisArmInfo.h.

const unsigned MantisArmInfo::NumTailJoints = 0

The number of joints assigned to the tail.

Definition at line 41 of file MantisArmInfo.h.

const unsigned MantisArmInfo::NumWheels = 0

The number of joints per leg.

Definition at line 30 of file MantisArmInfo.h.

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

Initial value:

 {
    
    "elevator", "shoulder", "twist1", "elbow", "twist2", "wrist",
    
        
    "LED:elevator", "LED:shoulder", "LED:twist1", "LED:elbow", "LED:twist2", "LED:wrist",
        
        
        "BaseFrame", "FingerFrame",
      
    NULL
  }

Names for each of the outputs.

Definition at line 186 of file MantisArmInfo.h.

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

Initial value:

 {
    
    {RAD(-100),RAD(100)}, 
    {RAD(-100),RAD(100)},
    {RAD(-100),RAD(100)},
    {RAD(-100),RAD(100)},
    {RAD(-100),RAD(100)},
    {RAD(-100),RAD(100)},   
    
    
    {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 248 of file MantisArmInfo.h.

const unsigned MantisArmInfo::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 68 of file MantisArmInfo.h.

const LEDBitMask_t MantisArmInfo::RedLEDMask = 1<<(ElevatorLEDOffset-LEDOffset)

mask corresponding to RedLEDOffset

Definition at line 130 of file MantisArmInfo.h.

const LEDOffset_t MantisArmInfo::RedLEDOffset = ElevatorLEDOffset

the ordering of arms

Definition at line 123 of file MantisArmInfo.h.

const unsigned MantisArmInfo::RightIRFrameOffset = CenterIRFrameOffset+1

Use with kinematics to refer to right IR distance rangefinder reference frame.