QwerkInfo Namespace Reference

Declares configuration of the generic Qwerk target, 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 = "Qwerk"
	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 Capabilities	capabilities
	allocation declared in RobotInfo.cc
const float	DefaultPIDs [NumPIDJoints+1][3] = { {0,0,0} }
	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/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 = 4
	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 = 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 = 4
	the number of buttons that are available
const unsigned	NumSensors = 17
	the number of sensors available
const unsigned	NumLEDs = 10
	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 per leg.
const unsigned	NumOutputs = NumWheels + 16 + NumLEDs
	servo pins
const unsigned	NumReferenceFrames = NumOutputs + 1 + NumArms
	for the base, gripper (* NumArms)
Output Offsets
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
enum	WheelOffset_t { LWheelOffset = WheelOffset, RWheelOffset }
	The offsets of the individual LEDs -- except the qwerk board doesn't have any particularly symbolic LEDs, just use numeric values... 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 the individual LEDs -- except the qwerk board doesn't have any particularly symbolic LEDs, just use numeric values...
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 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 }
	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] = { "Button0", "Button1", "Button2", "Button3", NULL }
	Provides a string name for each button.
const char *const	sensorNames [NumSensors]
	Provides a string name for each sensor.

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Detailed Description

Declares configuration of the generic Qwerk target, such as number of joints, LEDs, etc.

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Typedef Documentation

typedef unsigned int QwerkInfo::LEDBitMask_t

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

Definition at line 82 of file QwerkInfo.h.

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Enumeration Type Documentation

enum QwerkInfo::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

Definition at line 108 of file QwerkInfo.h.

enum QwerkInfo::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 80 of file QwerkInfo.h.

enum QwerkInfo::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 115 of file QwerkInfo.h.

enum QwerkInfo::WheelOffset_t

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

Enumerator:

LWheelOffset
RWheelOffset

Definition at line 73 of file QwerkInfo.h.

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Function Documentation

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

---

Variable Documentation

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

selects all of the leds

Definition at line 86 of file QwerkInfo.h.

const unsigned QwerkInfo::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 71 of file QwerkInfo.h.

const char* const QwerkInfo::buttonNames[NumButtons+1] = { "Button0", "Button1", "Button2", "Button3", NULL }

Provides a string name for each button.

Definition at line 111 of file QwerkInfo.h.

const Capabilities QwerkInfo::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 QwerkInfo::DefaultPIDs[NumPIDJoints+1][3] = { {0,0,0} }

This table holds the default PID values for each joint. see PIDMC.

Definition at line 190 of file QwerkInfo.h.

const LEDBitMask_t QwerkInfo::FaceLEDMask = 0

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

Definition at line 84 of file QwerkInfo.h.

const unsigned int QwerkInfo::FrameTime = 25

time between frames in the motion system (milliseconds)

Definition at line 27 of file QwerkInfo.h.

const unsigned QwerkInfo::JointsPerArm = 0

The number of joints per leg.

Definition at line 34 of file QwerkInfo.h.

const unsigned QwerkInfo::JointsPerLeg = 0

The number of joints per leg.

Definition at line 38 of file QwerkInfo.h.

const unsigned QwerkInfo::LEDOffset = PIDJointOffset + NumPIDJoints

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

Definition at line 69 of file QwerkInfo.h.

const float QwerkInfo::MaxOutputSpeed[NumOutputs]

Initial value:

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

    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 199 of file QwerkInfo.h.

const float QwerkInfo::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}
    }

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 230 of file QwerkInfo.h.

const unsigned QwerkInfo::NumArmJoints = JointsPerArm*NumArms

The number of joints per leg.

Definition at line 36 of file QwerkInfo.h.

const unsigned QwerkInfo::NumArms = 0

The number of joints per leg.

Definition at line 35 of file QwerkInfo.h.

const unsigned QwerkInfo::NumButtons = 4

the number of buttons that are available

Definition at line 45 of file QwerkInfo.h.

const unsigned QwerkInfo::NumEarJoints = 0

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

Definition at line 44 of file QwerkInfo.h.

const unsigned QwerkInfo::NumFacePanelLEDs = 0

The number of face panel LEDs.

Definition at line 48 of file QwerkInfo.h.

const unsigned int QwerkInfo::NumFrames = 1

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

Definition at line 28 of file QwerkInfo.h.

const unsigned QwerkInfo::NumHeadJoints = 0

The number of joints in the pantilt.

Definition at line 41 of file QwerkInfo.h.

const unsigned QwerkInfo::NumLEDs = 10

The number of LEDs which can be controlled.

Definition at line 47 of file QwerkInfo.h.

const unsigned QwerkInfo::NumLegJoints = JointsPerLeg*NumLegs

the TOTAL number of joints on ALL legs

Definition at line 40 of file QwerkInfo.h.

const unsigned QwerkInfo::NumLegs = 0

The number of legs.

Definition at line 39 of file QwerkInfo.h.

const unsigned QwerkInfo::NumMouthJoints = 0

the number of joints that control the mouth

Definition at line 43 of file QwerkInfo.h.

const unsigned QwerkInfo::NumOutputs = NumWheels + 16 + NumLEDs

servo pins

the total number of outputs

Definition at line 51 of file QwerkInfo.h.

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

The number of joints per leg.

Definition at line 50 of file QwerkInfo.h.

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

for the base, gripper (* NumArms)

Definition at line 52 of file QwerkInfo.h.

const unsigned QwerkInfo::NumSensors = 17

the number of sensors available

Definition at line 46 of file QwerkInfo.h.

const unsigned QwerkInfo::NumTailJoints = 0

The number of joints assigned to the tail.

Definition at line 42 of file QwerkInfo.h.

const unsigned QwerkInfo::NumWheels = 4

The number of joints per leg.

Definition at line 32 of file QwerkInfo.h.

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

Names for each of the outputs.

Definition at line 150 of file QwerkInfo.h.

const float QwerkInfo::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}
    }

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 216 of file QwerkInfo.h.

const unsigned QwerkInfo::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 66 of file QwerkInfo.h.

const char* const QwerkInfo::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 126 of file QwerkInfo.h.

const unsigned int QwerkInfo::SoundBufferTime = 32

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

Definition at line 29 of file QwerkInfo.h.

const char *const QwerkInfo::TargetName = "Qwerk"

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

Definition at line 56 of file RobotInfo.cc.

const unsigned QwerkInfo::WheelOffset = PIDJointOffset

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

Definition at line 67 of file QwerkInfo.h.