MantisInfo Namespace Reference

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

Classes
class	MantisCapabilities
	provides polymorphic robot capability detection/mapping More...
Variables
const char *const	TargetName = "Mantis"
	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.
Output Types Information
const unsigned	NumWheels = 0
	The number of joints per front leg.
const unsigned	FingerJointsPerArm = 0
	The number of joints per front leg.
const unsigned	JointsPerArm = 0
	The number of joints per front leg.
const unsigned	NumArms = 0
	The number of joints per front leg.
const unsigned	NumArmJoints = JointsPerArm*NumArms
	The number of joints per front leg.
const unsigned	JointsPerFrLeg = 7
	The number of joints per front leg.
const unsigned	JointsPerPosLeg = 4
	The number of joints per posterior leg (middle and the back legs).
const unsigned	NumFrLegs = 2
	The number of front legs.
const unsigned	NumGrippers = NumFrLegs
	The number of grippers.
const unsigned	NumPosLegs = 4
	The number of posterior legs.
const unsigned	NumLegs = NumFrLegs + NumPosLegs
	The number of legs.
const unsigned	NumFrLegJoints = JointsPerFrLeg*NumFrLegs
	the TOTAL number of joints in FRONT legs
const unsigned	NumPosLegJoints = JointsPerPosLeg*NumPosLegs
	the TOTAL number of joints in POSTERIOR legs
const unsigned	NumLegJoints = NumFrLegJoints + NumPosLegJoints
	the TOTAL number of joints on ALL legs
const unsigned	NumHeadJoints = 3
	The number of joints in the pantiltroll.
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 = 11
	the number of sensors available
const unsigned	NumFacePanelLEDs = 0
	The number of face panel LEDs.
const unsigned	NumPIDJoints = NumArmJoints + 1 + NumLegJoints + NumHeadJoints + NumTailJoints + NumMouthJoints
	servo pins (also includes the thorax joint)
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 + NumGrippers + 1 + 1
	for the feet, grippers, base and camera
const float	BallOfFootRadius = 0
	radius of the ball of the foot
const unsigned	FrontLegExtra = JointsPerFrLeg -1
	The number of extra joints in front legs.
Output Offsets
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
enum	LegOrder_t {   LFrLegOrder = 0, RFrLegOrder, LMdLegOrder, RMdLegOrder,   LBkLegOrder, RBkLegOrder }
	the ordering of legs More...
enum	FrLegOffset_t {   FrSweepOffset = 0, FrElevatorOffset, FrTwist1Offset, FrElbowOffset,   FrTwist2Offset, FrWristOffset, FrGripperOffset }
	The offsets within the Front Legs. Note that the ordering matches the actual physical ordering of joints on the appendage. More...
enum	PosLegOffset_t { PosSweepOffset = 0, PosRotorOffset, PosElevatorOffset, PosKneeOffset }
	The offsets within the Posterior Legs. Note that the ordering matches the actual physical ordering of joints on the appendage. More...
enum	TPROffset_t { PanOffset = 0, TiltOffset, RollOffset }
	The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head/wrist). More...
enum	LegOffset_t {   LFrLegOffset = LegOffset+LFrLegOrder*JointsPerFrLeg, RFrLegOffset = LegOffset+RFrLegOrder*JointsPerFrLeg, LMdLegOffset = LegOffset+LMdLegOrder*JointsPerPosLeg + FrontLegExtra, RMdLegOffset = LegOffset+RMdLegOrder*JointsPerPosLeg + FrontLegExtra,   LBkLegOffset = LegOffset+LBkLegOrder*JointsPerPosLeg + FrontLegExtra, RBkLegOffset = LegOffset+RBkLegOrder*JointsPerPosLeg + FrontLegExtra }
	The offsets of the individual legs, add REKOffset_t value to access specific joint. More...
enum	HeadOffset_t { HeadPanOffset = HeadOffset, HeadTiltOffset, HeadRollOffset }
	These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do. More...
enum	LEDOffset_t { PowerRedLEDOffset = LEDOffset, PowerGreenLEDOffset, PlayLEDOffset, AdvanceLEDOffset }
	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	LegOffset = 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	ThoraxJointOffset = LegOffset+NumLegJoints
	the offset of the beginning of the head joints, add TPROffset_t to get specific joint
const unsigned	HeadOffset = ThoraxJointOffset + 1
	the ordering of legs
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 + NumGrippers
	Use with kinematics to refer to camera reference frame.
const LEDOffset_t	RedLEDOffset = PowerRedLEDOffset
	the ordering of legs
const LEDOffset_t	BlueLEDOffset = AdvanceLEDOffset
	the ordering of legs
const LEDOffset_t	GreenLEDOffset = PlayLEDOffset
	the ordering of legs
const LEDOffset_t	YellowLEDOffset = AdvanceLEDOffset
	the ordering of legs
const LEDBitMask_t	BlueLEDMask = (1<<(AdvanceLEDOffset-LEDOffset)) | (1<<(PowerRedLEDOffset-LEDOffset))
	the ordering of legs
const LEDBitMask_t	GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset)
	mask corresponding to GreenLEDOffset
const LEDBitMask_t	YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset)
	mask corresponding to YellowLEDOffset
const LEDBitMask_t	RedLEDMask = 1<<(RedLEDOffset-LEDOffset)
	mask corresponding to RedLEDOffset
const LEDBitMask_t	PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset)
	mask corresponding to BlueLEDOffset
const LEDBitMask_t	PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset)
	mask corresponding to GreenLEDOffset
const LEDBitMask_t	PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset)
	mask corresponding to YellowLEDOffset
const LEDBitMask_t	AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset)
	mask corresponding to RedLEDOffset
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 {   LeftIRDistOffset, CenterIRDistOffset, IRDistOffset = CenterIRDistOffset, RightIRDistOffset,   LeftLuminosityOffset, CenterLuminosityOffset, RightLuminosityOffset, MicVolumeOffset,   MicSpikeCountOffset, PowerRemainOffset, PowerThermoOffset, PowerVoltageOffset }
	holds offset to different sensor values in WorldState::sensors[] More...
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...
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.
const char *const	outputNames [NumReferenceFrames+1]
	Names for each of the outputs.
const MantisCapabilities	capabilities
	allocation declared in RobotInfo.cc
const float	DefaultPIDs [NumPIDJoints][3]
	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).

---

Detailed Description

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

---

Typedef Documentation

typedef unsigned int MantisInfo::LEDBitMask_t

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

Definition at line 160 of file MantisInfo.h.

---

Enumeration Type Documentation

enum MantisInfo::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 205 of file MantisInfo.h.

enum MantisInfo::FrLegOffset_t

The offsets within the Front Legs. Note that the ordering matches the actual physical ordering of joints on the appendage.

Enumerator:

FrSweepOffset	moves leg forward or backward along body
FrElevatorOffset	moves leg toward or away from body
FrTwist1Offset	moves the first twist joint
FrElbowOffset	rotation of elbow joint
FrTwist2Offset
FrWristOffset	moves wrist
FrGripperOffset

Definition at line 101 of file MantisInfo.h.

enum MantisInfo::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)
HeadRollOffset

Definition at line 140 of file MantisInfo.h.

enum MantisInfo::LEDOffset_t

The offsets of the individual LEDs.

Enumerator:

PowerRedLEDOffset
PowerGreenLEDOffset
PlayLEDOffset
AdvanceLEDOffset

Definition at line 148 of file MantisInfo.h.

enum MantisInfo::LegOffset_t

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

Enumerator:

LFrLegOffset	beginning of left front arm's joints
RFrLegOffset	beginning of right front arm's joints
LMdLegOffset	beginning of left middle leg's joints
RMdLegOffset	beginning of right middle leg's joints
LBkLegOffset	beginning of left back leg's joints
RBkLegOffset	beginning of right back leg's joints

Definition at line 130 of file MantisInfo.h.

enum MantisInfo::LegOrder_t

the ordering of legs

Enumerator:

LFrLegOrder	left front leg
RFrLegOrder	right front leg
LMdLegOrder	left middle leg
RMdLegOrder	right middle leg
LBkLegOrder	left back leg
RBkLegOrder	right back leg

Definition at line 91 of file MantisInfo.h.

enum MantisInfo::PosLegOffset_t

The offsets within the Posterior Legs. Note that the ordering matches the actual physical ordering of joints on the appendage.

Enumerator:

PosSweepOffset	moves leg forward or backward along body
PosRotorOffset	rotates leg
PosElevatorOffset	moves leg toward or away from body
PosKneeOffset	moves knee

Definition at line 113 of file MantisInfo.h.

enum MantisInfo::SensorOffset_t

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

See also:

WorldState::sensors[]

Enumerator:

LeftIRDistOffset
CenterIRDistOffset
IRDistOffset
RightIRDistOffset
LeftLuminosityOffset
CenterLuminosityOffset
RightLuminosityOffset
MicVolumeOffset
MicSpikeCountOffset
PowerRemainOffset
PowerThermoOffset	estimate of power capacity as percentage, 0-1 degrees Celcius
PowerVoltageOffset	volts

Definition at line 212 of file MantisInfo.h.

enum MantisInfo::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 278 of file MantisInfo.h.

enum MantisInfo::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)
RollOffset	spin/twist final axis

Definition at line 121 of file MantisInfo.h.

---

Variable Documentation

const LEDBitMask_t MantisInfo::AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset)

mask corresponding to RedLEDOffset

Definition at line 170 of file MantisInfo.h.

const fmat::Column<3> MantisInfo::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 180 of file MantisInfo.h.

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

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

Definition at line 183 of file MantisInfo.h.

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

selects all of the leds

Definition at line 175 of file MantisInfo.h.

const float MantisInfo::BallOfFootRadius = 0

radius of the ball of the foot

Definition at line 68 of file MantisInfo.h.

const unsigned MantisInfo::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 85 of file MantisInfo.h.

const LEDBitMask_t MantisInfo::BlueLEDMask = (1<<(AdvanceLEDOffset-LEDOffset)) | (1<<(PowerRedLEDOffset-LEDOffset))

the ordering of legs

Definition at line 162 of file MantisInfo.h.

const LEDOffset_t MantisInfo::BlueLEDOffset = AdvanceLEDOffset

the ordering of legs

Definition at line 156 of file MantisInfo.h.

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

Provides a string name for each button.

Definition at line 208 of file MantisInfo.h.

const unsigned MantisInfo::CameraFrameOffset = GripperFrameOffset + NumGrippers

Use with kinematics to refer to camera reference frame.

Definition at line 88 of file MantisInfo.h.

const MantisCapabilities MantisInfo::capabilities

allocation declared in RobotInfo.cc

Definition at line 177 of file RobotInfo.cc.

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

Initial value:

 {
    {32,32,0},{32,32,0},{32,32,0},{32,32,0},{32,32,0},{32,32,0},{32,32,0},
    {32,32,0},{32,32,0},{32,32,0},{32,32,0},{32,32,0},{32,32,0},{32,32,0},
    {32,32,0},{32,32,0},{32,32,0},{32,32,0},
    {32,32,0},{32,32,0},{32,32,0},{32,32,0},
    {32,32,0},{32,32,0},{32,32,0},{32,32,0},
    {32,32,0},{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 287 of file MantisInfo.h.

const LEDBitMask_t MantisInfo::FaceLEDMask = 0

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

Definition at line 173 of file MantisInfo.h.

const unsigned MantisInfo::FingerJointsPerArm = 0

The number of joints per front leg.

Definition at line 37 of file MantisInfo.h.

const unsigned MantisInfo::FootFrameOffset = BaseFrameOffset + 1

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

Definition at line 86 of file MantisInfo.h.

const unsigned int MantisInfo::FrameTime = 32

time between frames in the motion system (milliseconds)

Definition at line 30 of file MantisInfo.h.

const unsigned MantisInfo::FrontLegExtra = JointsPerFrLeg -1

The number of extra joints in front legs.

Definition at line 69 of file MantisInfo.h.

const LEDBitMask_t MantisInfo::GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset)

mask corresponding to GreenLEDOffset

Definition at line 163 of file MantisInfo.h.

const LEDOffset_t MantisInfo::GreenLEDOffset = PlayLEDOffset

the ordering of legs

Definition at line 157 of file MantisInfo.h.

const unsigned MantisInfo::GripperFrameOffset = FootFrameOffset+NumLegs

Use with kinematics to refer to gripper reference frame.

Definition at line 87 of file MantisInfo.h.

const unsigned MantisInfo::HeadOffset = ThoraxJointOffset + 1

the ordering of legs

Definition at line 81 of file MantisInfo.h.

const unsigned MantisInfo::JointsPerArm = 0

The number of joints per front leg.

Definition at line 38 of file MantisInfo.h.

const unsigned MantisInfo::JointsPerFrLeg = 7

The number of joints per front leg.

Definition at line 42 of file MantisInfo.h.

Referenced by Grasper::MoveArm::advTime().

const unsigned MantisInfo::JointsPerPosLeg = 4

The number of joints per posterior leg (middle and the back legs).

Definition at line 43 of file MantisInfo.h.

const unsigned MantisInfo::LEDOffset = PIDJointOffset + NumPIDJoints

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

Definition at line 83 of file MantisInfo.h.

const unsigned MantisInfo::LegOffset = 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 79 of file MantisInfo.h.

const float MantisInfo::MaxOutputSpeed[NumOutputs]

Initial value:

 {
  
    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,
    0,0,0,0,
    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,
    0,0,0,0,
    0,0,0,0,
    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)

These values were obtained from the administrators of the Sony OPEN-R BBS

Definition at line 305 of file MantisInfo.h.

const float MantisInfo::mechanicalLimits[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)}, {RAD(-100),RAD(100)},
    {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)},
    {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)},{RAD(-100),RAD(100)},
    {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)},{RAD(-100),RAD(100)},
    {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)},{RAD(-100),RAD(100)},
    {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {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},{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 358 of file MantisInfo.h.

const unsigned MantisInfo::NumArmJoints = JointsPerArm*NumArms

The number of joints per front leg.

Definition at line 40 of file MantisInfo.h.

const unsigned MantisInfo::NumArms = 0

The number of joints per front leg.

Definition at line 39 of file MantisInfo.h.

const unsigned MantisInfo::NumButtons = 3

the number of buttons that are available

Definition at line 56 of file MantisInfo.h.

const unsigned MantisInfo::NumEarJoints = 0

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

Definition at line 55 of file MantisInfo.h.

const unsigned MantisInfo::NumFacePanelLEDs = 0

The number of face panel LEDs.

Definition at line 58 of file MantisInfo.h.

const unsigned int MantisInfo::NumFrames = 1

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

Definition at line 31 of file MantisInfo.h.

const unsigned MantisInfo::NumFrLegJoints = JointsPerFrLeg*NumFrLegs

the TOTAL number of joints in FRONT legs

Definition at line 48 of file MantisInfo.h.

const unsigned MantisInfo::NumFrLegs = 2

The number of front legs.

Definition at line 44 of file MantisInfo.h.

const unsigned MantisInfo::NumGrippers = NumFrLegs

The number of grippers.

Definition at line 45 of file MantisInfo.h.

const unsigned MantisInfo::NumHeadJoints = 3

The number of joints in the pantiltroll.

Definition at line 52 of file MantisInfo.h.

const unsigned MantisInfo::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 61 of file MantisInfo.h.

const unsigned MantisInfo::NumLegJoints = NumFrLegJoints + NumPosLegJoints

the TOTAL number of joints on ALL legs

Definition at line 50 of file MantisInfo.h.

const unsigned MantisInfo::NumLegs = NumFrLegs + NumPosLegs

The number of legs.

Definition at line 47 of file MantisInfo.h.

const unsigned MantisInfo::NumMouthJoints = 0

the number of joints that control the mouth

Definition at line 54 of file MantisInfo.h.

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

the total number of outputs

Definition at line 63 of file MantisInfo.h.

const unsigned MantisInfo::NumPIDJoints = NumArmJoints + 1 + NumLegJoints + NumHeadJoints + NumTailJoints + NumMouthJoints

servo pins (also includes the thorax joint)

Definition at line 60 of file MantisInfo.h.

const unsigned MantisInfo::NumPosLegJoints = JointsPerPosLeg*NumPosLegs

the TOTAL number of joints in POSTERIOR legs

Definition at line 49 of file MantisInfo.h.

const unsigned MantisInfo::NumPosLegs = 4

The number of posterior legs.

Definition at line 46 of file MantisInfo.h.

const unsigned MantisInfo::NumReferenceFrames = NumOutputs + NumLegs + NumArms + NumGrippers + 1 + 1

for the feet, grippers, base and camera

Definition at line 64 of file MantisInfo.h.

const unsigned MantisInfo::NumSensors = 11

the number of sensors available

Definition at line 57 of file MantisInfo.h.

const unsigned MantisInfo::NumTailJoints = 0

The number of joints assigned to the tail.

Definition at line 53 of file MantisInfo.h.

const unsigned MantisInfo::NumWheels = 0

The number of joints per front leg.

Definition at line 35 of file MantisInfo.h.

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

Initial value:

 { 
  
    "LFr:sweep","LFr:elvtr","LFr:twist1","LFr:elbow","LFr:twist2","LFr:wrist","LFr:Gripper",
    "RFr:sweep","RFr:elvtr","RFr:twist1","RFr:elbow","RFr:twist2","RFr:wrist","RFr:Gripper",
    "LMd:sweep","LMd:rotor","LMd:elvtr","LMd:knee",
    "RMd:sweep","RMd:rotor","RMd:elvtr","RMd:knee",
    "LBk:sweep","LBk:rotor","LBk:elvtr","LBk:knee",
    "RBk:sweep","RBk:rotor","RBk:elvtr","RBk:knee",
    "Thorax",
    "NECK:pan","NECK:tilt","NECK:roll",
    
  
    "LED:LFr:sweep","LED:LFr:elvtr","LED:LFr:twist1","LED:LFr:elbow","LED:LFr:twist2","LED:LFr:wrist","LED:LFr:Gripper",
    "LED:RFr:sweep","LED:RFr:elvtr","LED:RFr:twist1","LED:RFr:elbow","LED:RFr:twist2","LED:RFr:wrist","LED:RFr:Gripper",
    "LED:LMd:sweep","LED:LMd:rotor","LED:LMd:elvtr","LED:LMd:knee",
    "LED:RMd:sweep","LED:RMd:rotor","LED:RMd:elvtr","LED:RMd:knee",
    "LED:LBk:sweep","LED:LBk:rotor","LED:LBk:elvtr","LED:LBk:knee",
    "LED:RBk:sweep","LED:RBk:rotor","LED:RBk:elvtr","LED:RBk:knee",
    "LED:Thorax",
    "LED:NECK:pan","LED:NECK:tilt","LED:NECK:roll",
        
  
    "BaseFrame","LFrFootFrame","RFrFootFrame","LMdFootFrame","RMdFootFrame","LBkFootFrame","RBkFootFrame",
        "LFrGripperFrame", "RFrGripperFrame", "CameraFrame",    
    NULL
  }

Names for each of the outputs.

Definition at line 236 of file MantisInfo.h.

const float MantisInfo::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)}, {RAD(-100),RAD(100)},
    {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)},
    {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)},
    {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)},
    {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)},
    {RAD(-100),RAD(100)}, {RAD(-100),RAD(100)}, {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},{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 334 of file MantisInfo.h.

const unsigned MantisInfo::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 78 of file MantisInfo.h.

const LEDBitMask_t MantisInfo::PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset)

mask corresponding to YellowLEDOffset

Definition at line 169 of file MantisInfo.h.

const LEDBitMask_t MantisInfo::PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset)

mask corresponding to GreenLEDOffset

Definition at line 168 of file MantisInfo.h.

const LEDBitMask_t MantisInfo::PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset)

mask corresponding to BlueLEDOffset

Definition at line 167 of file MantisInfo.h.

const LEDBitMask_t MantisInfo::RedLEDMask = 1<<(RedLEDOffset-LEDOffset)

mask corresponding to RedLEDOffset

Definition at line 165 of file MantisInfo.h.

const LEDOffset_t MantisInfo::RedLEDOffset = PowerRedLEDOffset

the ordering of legs

Definition at line 155 of file MantisInfo.h.

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

Initial value:

 {
    "LeftIRDist", "CenterIRDist", "RightIRDist",
    "LeftLuminosity", "CenterLuminosity", "RightLuminosity",
    "MicVolume", "MicSpikeCount",
    "PowerRemain", "PowerThermo", "PowerVoltage", NULL
  }

Provides a string name for each sensor.

Definition at line 228 of file MantisInfo.h.

const unsigned int MantisInfo::SoundBufferTime = 32

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

Definition at line 32 of file MantisInfo.h.

const char *const MantisInfo::TargetName = "Mantis"

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

Definition at line 176 of file RobotInfo.cc.

const unsigned MantisInfo::ThoraxJointOffset = LegOffset+NumLegJoints

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

Definition at line 80 of file MantisInfo.h.

const LEDBitMask_t MantisInfo::YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset)

mask corresponding to YellowLEDOffset

Definition at line 164 of file MantisInfo.h.

const LEDOffset_t MantisInfo::YellowLEDOffset = AdvanceLEDOffset

the ordering of legs

Definition at line 158 of file MantisInfo.h.