MantisLegInfo Namespace Reference

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

Classes
class	MantisLegCapabilities
	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 = "MantisLeg"
	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 MantisLegCapabilities	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).
Output Types Information
const unsigned	NumWheels = 0
	The number of joints per leg.
const unsigned	JointsPerArm = 0
	The number of joints per leg.
const unsigned	NumArms = 0
	The number of joints per leg.
const unsigned	NumArmJoints = JointsPerArm*NumArms
	The number of joints per leg.
const unsigned	JointsPerLeg = 4
	The number of joints per leg.
const unsigned	NumLegs = 1
	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 = 11
	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 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	LegOrder_t { MdLegOrder = 0 }
	the ordering of legs More...
enum	SEKOffset_t { SweepOffset = 0, ElevatorOffset, RotorOffset, KneeOffset }
	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	LegOffset_t { MdLegOffset = LegOffset+MdLegOrder*JointsPerLeg }
	The offsets of the individual legs, add REKOffset_t value to access specific joint. 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	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 = 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...
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

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

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Typedef Documentation

typedef unsigned int MantisLegInfo::LEDBitMask_t

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

Definition at line 124 of file MantisLegInfo.h.

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Enumeration Type Documentation

enum MantisLegInfo::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 169 of file MantisLegInfo.h.

enum MantisLegInfo::LEDOffset_t

The offsets of the individual LEDs.

Enumerator:

PowerRedLEDOffset
PowerGreenLEDOffset
PlayLEDOffset
AdvanceLEDOffset

Definition at line 111 of file MantisLegInfo.h.

enum MantisLegInfo::LegOffset_t

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

Enumerator:

MdLegOffset

beginning of right front leg's joints

Definition at line 105 of file MantisLegInfo.h.

enum MantisLegInfo::LegOrder_t

the ordering of legs

Enumerator:

MdLegOrder

middle leg

Definition at line 83 of file MantisLegInfo.h.

enum MantisLegInfo::SEKOffset_t

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

Enumerator:

SweepOffset	moves leg forward or backward along body
ElevatorOffset	moves leg toward or away from body
RotorOffset	rotates leg
KneeOffset	moves knee

Definition at line 88 of file MantisLegInfo.h.

enum MantisLegInfo::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 176 of file MantisLegInfo.h.

enum MantisLegInfo::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 234 of file MantisLegInfo.h.

enum MantisLegInfo::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 96 of file MantisLegInfo.h.

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Variable Documentation

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

mask corresponding to RedLEDOffset

Definition at line 134 of file MantisLegInfo.h.

const fmat::Column<3> MantisLegInfo::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 144 of file MantisLegInfo.h.

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

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

Definition at line 147 of file MantisLegInfo.h.

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

selects all of the leds

Definition at line 139 of file MantisLegInfo.h.

const float MantisLegInfo::BallOfFootRadius = 0

radius of the ball of the foot

Definition at line 58 of file MantisLegInfo.h.

const unsigned MantisLegInfo::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 71 of file MantisLegInfo.h.

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

the ordering of legs

Definition at line 126 of file MantisLegInfo.h.

const LEDOffset_t MantisLegInfo::BlueLEDOffset = AdvanceLEDOffset

the ordering of legs

Definition at line 120 of file MantisLegInfo.h.

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

Provides a string name for each button.

Definition at line 172 of file MantisLegInfo.h.

const unsigned MantisLegInfo::CameraFrameOffset = GripperFrameOffset+NumArms

Use with kinematics to refer to camera reference frame.

Definition at line 74 of file MantisLegInfo.h.

const MantisLegCapabilities MantisLegInfo::capabilities

allocation declared in RobotInfo.cc

Definition at line 171 of file RobotInfo.cc.

const unsigned MantisLegInfo::CenterIRFrameOffset = LeftIRFrameOffset+1

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

Definition at line 77 of file MantisLegInfo.h.

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

Initial value:

 {
    {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 243 of file MantisLegInfo.h.

const LEDBitMask_t MantisLegInfo::FaceLEDMask = 0

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

Definition at line 137 of file MantisLegInfo.h.

const unsigned MantisLegInfo::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 MantisLegInfo.h.

const unsigned int MantisLegInfo::FrameTime = 32

time between frames in the motion system (milliseconds)

Definition at line 27 of file MantisLegInfo.h.

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

mask corresponding to GreenLEDOffset

Definition at line 127 of file MantisLegInfo.h.

const LEDOffset_t MantisLegInfo::GreenLEDOffset = PlayLEDOffset

the ordering of legs

Definition at line 121 of file MantisLegInfo.h.

const unsigned MantisLegInfo::GripperFrameOffset = FootFrameOffset+NumLegs

Use with kinematics to refer to gripper reference frame.

Definition at line 73 of file MantisLegInfo.h.

const unsigned MantisLegInfo::IRFrameOffset = CenterIRFrameOffset

alias for CenterIRFrameOffset

Definition at line 78 of file MantisLegInfo.h.

Referenced by MantisLegInfo::MantisLegCapabilities::MantisLegCapabilities().

const unsigned MantisLegInfo::JointsPerArm = 0

The number of joints per leg.

Definition at line 34 of file MantisLegInfo.h.

const unsigned MantisLegInfo::JointsPerLeg = 4

The number of joints per leg.

Definition at line 38 of file MantisLegInfo.h.

const unsigned MantisLegInfo::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 MantisLegInfo.h.

const unsigned MantisLegInfo::LeftIRFrameOffset = CameraFrameOffset+1

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

Definition at line 76 of file MantisLegInfo.h.

const unsigned MantisLegInfo::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 69 of file MantisLegInfo.h.

const float MantisLegInfo::MaxOutputSpeed[NumOutputs]

Initial value:

 {
    
    0.4f, 0.4f, 0.4f, 0.4f, 
    
    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 255 of file MantisLegInfo.h.

const float MantisLegInfo::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 284 of file MantisLegInfo.h.

const unsigned MantisLegInfo::NumArmJoints = JointsPerArm*NumArms

The number of joints per leg.

Definition at line 36 of file MantisLegInfo.h.

const unsigned MantisLegInfo::NumArms = 0

The number of joints per leg.

Definition at line 35 of file MantisLegInfo.h.

const unsigned MantisLegInfo::NumButtons = 3

the number of buttons that are available

Definition at line 46 of file MantisLegInfo.h.

const unsigned MantisLegInfo::NumEarJoints = 0

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

Definition at line 45 of file MantisLegInfo.h.

const unsigned MantisLegInfo::NumFacePanelLEDs = 0

The number of face panel LEDs.

Definition at line 48 of file MantisLegInfo.h.

const unsigned int MantisLegInfo::NumFrames = 1

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

Definition at line 28 of file MantisLegInfo.h.

const unsigned MantisLegInfo::NumHeadJoints = 0

The number of joints in the pantilt.

Definition at line 42 of file MantisLegInfo.h.

const unsigned MantisLegInfo::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 51 of file MantisLegInfo.h.

const unsigned MantisLegInfo::NumLegJoints = JointsPerLeg*NumLegs

the TOTAL number of joints on ALL legs

Definition at line 40 of file MantisLegInfo.h.

const unsigned MantisLegInfo::NumLegs = 1

The number of legs.

Definition at line 39 of file MantisLegInfo.h.

const unsigned MantisLegInfo::NumMouthJoints = 0

the number of joints that control the mouth

Definition at line 44 of file MantisLegInfo.h.

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

the total number of outputs

Definition at line 53 of file MantisLegInfo.h.

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

servo pins

Definition at line 50 of file MantisLegInfo.h.

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

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

Definition at line 54 of file MantisLegInfo.h.

const unsigned MantisLegInfo::NumSensors = 11

the number of sensors available

Definition at line 47 of file MantisLegInfo.h.

const unsigned MantisLegInfo::NumTailJoints = 0

The number of joints assigned to the tail.

Definition at line 43 of file MantisLegInfo.h.

const unsigned MantisLegInfo::NumWheels = 0

The number of joints per leg.

Definition at line 32 of file MantisLegInfo.h.

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

Initial value:

 {
    
    "sweep","elevator","rotor","knee",
    
        
    "LED:sweep","LED:elevator",
    "LED:rotor","LED:knee",
        
        
        "BaseFrame", "FootFrame",
      
    NULL
  }

Names for each of the outputs.

Definition at line 203 of file MantisLegInfo.h.

const float MantisLegInfo::outputRanges[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 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 270 of file MantisLegInfo.h.

const unsigned MantisLegInfo::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 68 of file MantisLegInfo.h.

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

mask corresponding to YellowLEDOffset

Definition at line 133 of file MantisLegInfo.h.

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

mask corresponding to GreenLEDOffset

Definition at line 132 of file MantisLegInfo.h.

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

mask corresponding to BlueLEDOffset

Definition at line 131 of file MantisLegInfo.h.

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

mask corresponding to RedLEDOffset

Definition at line 129 of file MantisLegInfo.h.

const LEDOffset_t MantisLegInfo::RedLEDOffset = PowerRedLEDOffset

the ordering of legs

Definition at line 119 of file MantisLegInfo.h.

const unsigned MantisLegInfo::RightIRFrameOffset = CenterIRFrameOffset+1

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

Definition at line 79 of file MantisLegInfo.h.

const char* const MantisLegInfo::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 192 of file MantisLegInfo.h.

const unsigned int MantisLegInfo::SoundBufferTime = 32

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

Definition at line 29 of file MantisLegInfo.h.

const char *const MantisLegInfo::TargetName = "MantisLeg"

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

Definition at line 170 of file RobotInfo.cc.

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

mask corresponding to YellowLEDOffset

Definition at line 128 of file MantisLegInfo.h.

const LEDOffset_t MantisLegInfo::YellowLEDOffset = AdvanceLEDOffset

the ordering of legs

Definition at line 122 of file MantisLegInfo.h.