QBotPlusInfo Namespace Reference

Declares configuration of the QwerkBot+, such as number of joints, LEDs, etc. More...

Classes
class	QBotPlusCapabilities
	provides polymorphic robot capability detection/mapping More...
Variables
const char *const	TargetName = "QBotPlus"
	the name of the model, to be used for logging and remote GUIs
const unsigned int	FrameTime = 25
	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 QBotPlusCapabilities	capabilities
	allocation declared in RobotInfo.cc
const float	DefaultPIDs [NumPIDJoints][3]
	This table holds the default PID values for each joint. see PIDMC.
const float	MaxOutputSpeed [NumOutputs]
	These values are our recommended maximum joint velocities, in rad/sec.
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 = 2
	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 movable joints in the neck.
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 = 8
	the number of buttons. 4 analog + 4 digital
const unsigned	NumSensors = 17
	the number of sensors available. (8 analog + 8 digital + 1 battery)
const unsigned	NumLEDs = 14
	The number of LEDs which can be controlled.
const unsigned	NumFacePanelLEDs = 0
	The number of face panel LEDs.
const unsigned	NumPIDJoints = NumWheels + NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints
	The number of joints which use PID motion - everything except ears.
const unsigned	NumOutputs = NumPIDJoints + NumLEDs
	the total number of outputs
const unsigned	NumReferenceFrames = NumOutputs + 1 + NumArms + 1
	for the base, gripper (* NumArms), 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, NodOffset = 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...
enum	WheelOffset_t { LWheelOffset = WheelOffset, RWheelOffset }
	'Absolute' offsets for each of the wheels More...
enum	LEDOffset_t
	The offsets of the individual LEDs -- except the qwerk board doesn't have any particularly symbolic LEDs, just use numeric values... More...
typedef unsigned int	LEDBitMask_t
const unsigned	PIDJointOffset = 0
	The beginning of the PID Joints.
const unsigned	WheelOffset = PIDJointOffset
	The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).
const unsigned	HeadOffset = WheelOffset+NumWheels
	the offset of the beginning of the head joints, add TPROffset_t to get specific joint
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.
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 { Button0, Button1, Button2, Button3, Button4, Button5, Button6, Button7 }
	holds offsets to different buttons in WorldState::buttons[] More...
enum	SensorOffset_t { AnalogInValues0, AnalogInValues1, AnalogInValues2, AnalogInValues3, AnalogInValues4, AnalogInValues5, AnalogInValues6, AnalogInValues7, DigitalInStates0, DigitalInStates1, DigitalInStates2, DigitalInStates3, DigitalInStates4, DigitalInStates5, DigitalInStates6, DigitalInStates7, BatteryVoltage }
	holds offset to different sensor values in WorldState::sensors[] More...
const char *const	buttonNames [NumButtons+1]
	Provides a string name for each button.
const char *const	sensorNames [NumSensors]
	Provides a string name for each sensor.

Detailed Description

Declares configuration of the QwerkBot+, such as number of joints, LEDs, etc.

Typedef Documentation

typedef unsigned int QBotPlusInfo::LEDBitMask_t

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

Definition at line 101 of file QBotPlusInfo.h.

Enumeration Type Documentation

enum QBotPlusInfo::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:

Button0
Button1
Button2
Button3
Button4
Button5
Button6
Button7

Definition at line 127 of file QBotPlusInfo.h.

enum QBotPlusInfo::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 86 of file QBotPlusInfo.h.

enum QBotPlusInfo::LEDOffset_t

The offsets of the individual LEDs -- except the qwerk board doesn't have any particularly symbolic LEDs, just use numeric values...

Definition at line 99 of file QBotPlusInfo.h.

enum QBotPlusInfo::SensorOffset_t

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

See also:: WorldState::sensors[]

Enumerator:

AnalogInValues0
AnalogInValues1
AnalogInValues2
AnalogInValues3
AnalogInValues4
AnalogInValues5
AnalogInValues6
AnalogInValues7
DigitalInStates0
DigitalInStates1
DigitalInStates2
DigitalInStates3
DigitalInStates4
DigitalInStates5
DigitalInStates6
DigitalInStates7
BatteryVoltage

Definition at line 138 of file QBotPlusInfo.h.

enum QBotPlusInfo::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)
NodOffset	replicated tilt (could be left undefined instead...)

Definition at line 79 of file QBotPlusInfo.h.

enum QBotPlusInfo::WheelOffset_t

'Absolute' offsets for each of the wheels

Enumerator:

LWheelOffset
RWheelOffset

Definition at line 92 of file QBotPlusInfo.h.

Variable Documentation

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

selects all of the leds

Definition at line 105 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 75 of file QBotPlusInfo.h.

const char* const QBotPlusInfo::buttonNames[NumButtons+1]

Initial value:

 
    { "Button0", "Button1", "Button2", "Button3", 
      "Button4", "Button5", "Button6", "Button7", 
      NULL }

Provides a string name for each button.

Definition at line 131 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::CameraFrameOffset = BaseFrameOffset + 1

Use with kinematics to refer to camera reference frame.

Definition at line 76 of file QBotPlusInfo.h.

const QBotPlusCapabilities QBotPlusInfo::capabilities

allocation declared in RobotInfo.cc

Definition at line 51 of file RobotInfo.cc.

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

Initial value:

 {
    {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 218 of file QBotPlusInfo.h.

const LEDBitMask_t QBotPlusInfo::FaceLEDMask = 0

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

Definition at line 103 of file QBotPlusInfo.h.

const unsigned int QBotPlusInfo::FrameTime = 25

time between frames in the motion system (milliseconds)

Definition at line 30 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::HeadOffset = WheelOffset+NumWheels

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

Definition at line 71 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::JointsPerArm = 0

The number of joints per leg.

Definition at line 37 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::JointsPerLeg = 0

The number of joints per leg.

Definition at line 41 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::LEDOffset = PIDJointOffset + NumPIDJoints

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

Definition at line 73 of file QBotPlusInfo.h.

const float QBotPlusInfo::MaxOutputSpeed[NumOutputs]

Initial value:

 {
    1.f, 
    1.f,
    6.28f, 
    3.14f,

    0,0,0,0,0,0,0,0,0,0 
  }

These values are our recommended maximum joint velocities, in rad/sec.

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 232 of file QBotPlusInfo.h.

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

Initial value:

    {
      { -1 , 1 },
      { -1 , 1 },
      { RAD(-90) , RAD(90) },
      { RAD(-90) , RAD(90) },

      
      {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 264 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::NumArmJoints = JointsPerArm*NumArms

The number of joints per leg.

Definition at line 39 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::NumArms = 0

The number of joints per leg.

Definition at line 38 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::NumButtons = 8

the number of buttons. 4 analog + 4 digital

Definition at line 48 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::NumEarJoints = 0

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

Definition at line 47 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::NumFacePanelLEDs = 0

The number of face panel LEDs.

Definition at line 51 of file QBotPlusInfo.h.

const unsigned int QBotPlusInfo::NumFrames = 1

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

Definition at line 31 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::NumHeadJoints = 2

The number of movable joints in the neck.

Definition at line 44 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::NumLEDs = 14

The number of LEDs which can be controlled.

Definition at line 50 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::NumLegJoints = JointsPerLeg*NumLegs

the TOTAL number of joints on ALL legs

Definition at line 43 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::NumLegs = 0

The number of legs.

Definition at line 42 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::NumMouthJoints = 0

the number of joints that control the mouth

Definition at line 46 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::NumOutputs = NumPIDJoints + NumLEDs

the total number of outputs

Definition at line 54 of file QBotPlusInfo.h.

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

The number of joints which use PID motion - everything except ears.

Definition at line 53 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::NumReferenceFrames = NumOutputs + 1 + NumArms + 1

for the base, gripper (* NumArms), and camera reference frames

Definition at line 55 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::NumSensors = 17

the number of sensors available. (8 analog + 8 digital + 1 battery)

Definition at line 49 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::NumTailJoints = 0

The number of joints assigned to the tail.

Definition at line 45 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::NumWheels = 2

The number of joints per leg.

Definition at line 35 of file QBotPlusInfo.h.

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

Initial value:

 {
    "WHEEL:L",
    "WHEEL:R",
    "NECK:pan",
    "NECK:tilt",
    "LED:00000",
    "LED:00001",
    "LED:00002",
    "LED:00003",
    "LED:00004",
    "LED:00005",
    "LED:00006",
    "LED:00007",
    "LED:00008",
    "LED:00009",
    "LED:00010", 
    "LED:00011",
    "LED:00012",
    "LED:00013",
    
    "BaseFrame",
    "CameraFrame",
    NULL
  }

Names for each of the outputs.

Definition at line 173 of file QBotPlusInfo.h.

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

Initial value:

    {
      { -1 , 1 },
      { -1 , 1 },
      { RAD(-90) , RAD(90) },
      { RAD(-90) , RAD(90) },

      
      {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 249 of file QBotPlusInfo.h.

const unsigned QBotPlusInfo::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 69 of file QBotPlusInfo.h.

const char* const QBotPlusInfo::sensorNames[NumSensors]

Initial value:

 { 
    "analogInValues0",
    "analogInValues1",
    "analogInValues2",
    "analogInValues3",
    "analogInValues4",
    "analogInValues5",
    "analogInValues6",
    "analogInValues7",
    "digitalInStates0",
    "digitalInStates1",
    "digitalInStates2",
    "digitalInStates3",
    "digitalInStates4",
    "digitalInStates5",
    "digitalInStates6",
    "digitalInStates7",
    "BatteryVoltage"
  }

Provides a string name for each sensor.

Definition at line 149 of file QBotPlusInfo.h.

const unsigned int QBotPlusInfo::SoundBufferTime = 32

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

Definition at line 32 of file QBotPlusInfo.h.

const char *const QBotPlusInfo::TargetName = "QBotPlus"

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

Definition at line 50 of file RobotInfo.cc.

const unsigned QBotPlusInfo::WheelOffset = PIDJointOffset

The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).

Definition at line 70 of file QBotPlusInfo.h.

QBotPlusInfo Namespace Reference

Classes

Variables

Output Offsets

Input Offsets

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Variable Documentation