PanTiltInfo Namespace Reference

Declares configuration of a pan/tilt camera “robot”, such as number of joints, LEDs, etc. More...

Functions
const Capabilities	capabilities (TargetName, NumReferenceFrames, outputNames, NumButtons, buttonNames, NumSensors, sensorNames, PIDJointOffset, NumPIDJoints, LEDOffset, NumLEDs, NumOutputs)
Variables
const char *const	TargetName = "PanTilt"
	the name of the model, to be used for logging and remote GUIs
const unsigned int	FrameTime = 40
	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 char *const	outputNames [NumReferenceFrames+1]
	Names for each of the outputs.
const Capabilities	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 = 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 = 0
	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	NumLEDs = 0
	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 + 1
	for the base and camera reference frames
Output Offsets
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
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...
const unsigned	PIDJointOffset = 0
	The beginning of the PID Joints.
const unsigned	HeadOffset = PIDJointOffset
	The beginning of the head joints.
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	CameraFrameOffset = BaseFrameOffset+1
	Use with kinematics to refer to camera reference frame.
Input Offsets
The order in which inputs should be stored
enum	ButtonOffset_t
	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] = { NULL }
	Provides a string name for each button.
const char *const	sensorNames [NumSensors+1] = { NULL }
	Provides a string name for each sensor.

Detailed Description

Declares configuration of a pan/tilt camera “robot”, such as number of joints, LEDs, etc.

Enumeration Type Documentation

enum PanTiltInfo::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

Definition at line 106 of file PanTiltInfo.h.

enum PanTiltInfo::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 80 of file PanTiltInfo.h.

enum PanTiltInfo::SensorOffset_t

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

See also:: WorldState::sensors[]

Definition at line 113 of file PanTiltInfo.h.

enum PanTiltInfo::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 74 of file PanTiltInfo.h.

Function Documentation

const Capabilities PanTiltInfo::capabilities	(	TargetName	,
		NumReferenceFrames	,
		outputNames	,
		NumButtons	,
		buttonNames	,
		NumSensors	,
		sensorNames	,
		PIDJointOffset	,
		NumPIDJoints	,
		LEDOffset	,
		NumLEDs	,
		NumOutputs
	)

Variable Documentation

const unsigned PanTiltInfo::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 70 of file PanTiltInfo.h.

const char* const PanTiltInfo::buttonNames[NumButtons+1] = { NULL }

Provides a string name for each button.

Definition at line 109 of file PanTiltInfo.h.

const unsigned PanTiltInfo::CameraFrameOffset = BaseFrameOffset+1

Use with kinematics to refer to camera reference frame.

Definition at line 71 of file PanTiltInfo.h.

const Capabilities PanTiltInfo::capabilities(TargetName, NumReferenceFrames, outputNames, NumButtons, buttonNames, NumSensors, sensorNames, PIDJointOffset, NumPIDJoints, LEDOffset, NumLEDs, NumOutputs)

allocation declared in RobotInfo.cc

Definition at line 37 of file DynamicInfo.cc.

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

Initial value:

 {
    {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 136 of file PanTiltInfo.h.

const unsigned int PanTiltInfo::FrameTime = 40

time between frames in the motion system (milliseconds)

Definition at line 26 of file PanTiltInfo.h.

const unsigned PanTiltInfo::HeadOffset = PIDJointOffset

The beginning of the head joints.

Definition at line 66 of file PanTiltInfo.h.

const unsigned PanTiltInfo::JointsPerArm = 0

The number of joints per leg.

Definition at line 33 of file PanTiltInfo.h.

const unsigned PanTiltInfo::JointsPerLeg = 0

The number of joints per leg.

Definition at line 37 of file PanTiltInfo.h.

const unsigned PanTiltInfo::LEDOffset = PIDJointOffset + NumPIDJoints

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

Definition at line 68 of file PanTiltInfo.h.

const float PanTiltInfo::MaxOutputSpeed[NumOutputs]

Initial value:

 {
    
    0.8f,0.8f,
  }

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 146 of file PanTiltInfo.h.

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

Initial value:

 {
    
    {RAD(-150),RAD(150)}, {RAD(-92),RAD(75)},
  }

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 165 of file PanTiltInfo.h.

const unsigned PanTiltInfo::NumArmJoints = JointsPerArm*NumArms

The number of joints per leg.

Definition at line 35 of file PanTiltInfo.h.

const unsigned PanTiltInfo::NumArms = 0

The number of joints per leg.

Definition at line 34 of file PanTiltInfo.h.

const unsigned PanTiltInfo::NumButtons = 0

the number of buttons that are available

Definition at line 44 of file PanTiltInfo.h.

const unsigned PanTiltInfo::NumEarJoints = 0

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

Definition at line 43 of file PanTiltInfo.h.

const unsigned PanTiltInfo::NumFacePanelLEDs = 0

The number of face panel LEDs.

Definition at line 46 of file PanTiltInfo.h.

const unsigned int PanTiltInfo::NumFrames = 1

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

Definition at line 27 of file PanTiltInfo.h.

const unsigned PanTiltInfo::NumHeadJoints = 2

The number of joints in the pantilt.

Definition at line 40 of file PanTiltInfo.h.

const unsigned PanTiltInfo::NumLEDs = 0

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

Definition at line 48 of file PanTiltInfo.h.

const unsigned PanTiltInfo::NumLegJoints = JointsPerLeg*NumLegs

the TOTAL number of joints on ALL legs

Definition at line 39 of file PanTiltInfo.h.

const unsigned PanTiltInfo::NumLegs = 0

The number of legs.

Definition at line 38 of file PanTiltInfo.h.

const unsigned PanTiltInfo::NumMouthJoints = 0

the number of joints that control the mouth

Definition at line 42 of file PanTiltInfo.h.

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

servo pins

the total number of outputs

Definition at line 51 of file PanTiltInfo.h.

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

The number of joints per leg.

Definition at line 49 of file PanTiltInfo.h.

const unsigned PanTiltInfo::NumReferenceFrames = NumOutputs + 1 + 1

for the base and camera reference frames

Definition at line 52 of file PanTiltInfo.h.

const unsigned PanTiltInfo::NumSensors = 0

the number of sensors available

Definition at line 45 of file PanTiltInfo.h.

const unsigned PanTiltInfo::NumTailJoints = 0

The number of joints assigned to the tail.

Definition at line 41 of file PanTiltInfo.h.

const unsigned PanTiltInfo::NumWheels = 0

The number of joints per leg.

Definition at line 31 of file PanTiltInfo.h.

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

Initial value:

 {
    "NECK:pan",
    "NECK:tilt",
    "BaseFrame",
    "CameraFrame",
    NULL
  }

Names for each of the outputs.

Definition at line 122 of file PanTiltInfo.h.

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

Initial value:

 {
    
    {RAD(-150),RAD(150)}, {RAD(-92),RAD(75)},
  }

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 159 of file PanTiltInfo.h.

const unsigned PanTiltInfo::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 65 of file PanTiltInfo.h.

const char* const PanTiltInfo::sensorNames[NumSensors+1] = { NULL }

Provides a string name for each sensor.

Definition at line 116 of file PanTiltInfo.h.

const unsigned int PanTiltInfo::SoundBufferTime = 32

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

Definition at line 28 of file PanTiltInfo.h.

const char *const PanTiltInfo::TargetName = "PanTilt"

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

Definition at line 121 of file RobotInfo.cc.

PanTiltInfo Namespace Reference

Functions

Variables

Output Offsets

Input Offsets

Detailed Description

Enumeration Type Documentation

Function Documentation

Variable Documentation