Regis1Info Namespace Reference

Declares configuration of the Regis robot prototype, such as number of joints, LEDs, etc. More...

Classes
class	Regis1Capabilities
	provides polymorphic robot capability detection/mapping More...
Variables
const char *const	TargetName = "Regis1"
	the name of the model, to be used for logging and remote GUIs
const unsigned int	FrameTime = 15
	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
Output Types Information

const unsigned	NumWheels = 2
	Left and Right Wheels.
const unsigned	JointsPerArm = 6
	Base, Shoulder, Elbow, Wrist (Yaw, Roll), Gripper.
const unsigned	NumArms = 1
	Left and Right Wheels.
const unsigned	NumArmJoints = JointsPerArm*NumArms
	Left and Right Wheels.
const unsigned	JointsPerLeg = 0
	Left and Right Wheels.
const unsigned	NumLegs = 0
	Left and Right Wheels.
const unsigned	NumLegJoints = JointsPerLeg*NumLegs
	Left and Right Wheels.
const unsigned	NumHeadJoints = 4
	Left and Right Wheels.
const unsigned	NumTailJoints = 0
	Left and Right Wheels.
const unsigned	NumMouthJoints = 0
	Left and Right Wheels.
const unsigned	NumEarJoints = 0
	Left and Right Wheels.
const unsigned	NumButtons = 0
	Left and Right Wheels.
const unsigned	NumSensors = 0
	Left and Right Wheels.
const unsigned	NumLEDs = 0
	Left and Right Wheels.
const unsigned	NumFacePanelLEDs = 0
	Left and Right Wheels.
const unsigned	NumPIDJoints = NumWheels+NumArmJoints+NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints
	The number of joints which use PID motion - everything except ears.
const unsigned	NumBinJoints = NumEarJoints
	The number of binary joints - just the ears.
const unsigned	NumOutputs = NumPIDJoints + NumBinJoints + 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	WheelOffset_t { LWheelOffset = WheelOffset, RWheelOffset }
	Just a little macro for converting degrees to radians. More...
enum	HeadOffset_t { HeadBaseOffset = HeadOffset, HeadPanOffset = HeadBaseOffset, HeadShoulderOffset, HeadElbowOffset, HeadTiltOffset = HeadElbowOffset, HeadWristOffset, HeadNodOffset = HeadWristOffset }
	these are all 'absolute' offsets -- no need to add to HeadOffset More...
enum	TPROffset_t { PanOffset = HeadBaseOffset - HeadOffset, TiltOffset = HeadElbowOffset - HeadOffset, NodOffset = HeadWristOffset - HeadOffset }
	these are the traditional sub-offsets, relative to HeadOffset More...
enum	ArmOffset_t { ArmBaseOffset = ArmOffset, ArmShoulderOffset, ArmElbowOffset, ArmWristOffset, ArmWristRotateOffset, ArmGripperOffset }
	Just a little macro for converting degrees to radians. More...
enum	ArmJoint { ArmBase, ArmShoulder, ArmElbow, ArmWrist, ArmWristRotate, ArmGripper }
	Just a little macro for converting degrees to radians. More...
enum	ButtonOffset_t
	Just a little macro for converting degrees to radians. More...
enum	SensorOffset_t
	Just a little macro for converting degrees to radians. More...
const unsigned	PIDJointOffset = 0
	The beginning of the PID Joints.
const unsigned	WheelOffset = PIDJointOffset
	beginning of wheel velocities, don't need to add anything, just use WheelOffset_t entries directly
const unsigned	ArmOffset = WheelOffset+NumWheels
	beginning of arm joints, don't add anything, just use ArmOffset_t entries directly
const unsigned	HeadOffset = ArmOffset+NumArmJoints
	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	BinJointOffset = LEDOffset + NumLEDs
	The beginning of the binary joints.
const unsigned	EarOffset = BinJointOffset
	the offset of the beginning of the ear joints - note that ears aren't sensed. They can be flicked by the environment and you won't know.
const unsigned	BaseFrameOffset = NumOutputs
	Use with kinematics to refer to base reference frame.
const unsigned	GripperFrameOffset = BaseFrameOffset+1
	Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw).
const unsigned	CameraFrameOffset = GripperFrameOffset+NumArms
	Use with kinematics to refer to camera reference frame.
const char *const	buttonNames [NumButtons+1] = { NULL }
	Just a little macro for converting degrees to radians.
const char *const	sensorNames [NumSensors+1] = { NULL }
	Just a little macro for converting degrees to radians.
const char *const	outputNames [NumReferenceFrames+1]
	Names for each of the outputs.
const Regis1Capabilities	capabilities
	allocation declared in RobotInfo.cc
const float	DefaultPIDs [NumPIDJoints][3]
	Just a little macro for converting degrees to radians.
const float	MaxOutputSpeed [NumOutputs]
	haven't determined safe speeds for regis yet
const float	outputRanges [NumOutputs][2]
	the range that can be reached by the joint controller (i.e. the domain of the output commands)
const float	mechanicalLimits [NumOutputs][2]
	the range that can be reached by external interaction (i.e. the domain of the output feedback)

Detailed Description

Declares configuration of the Regis robot prototype, such as number of joints, LEDs, etc.

Enumeration Type Documentation

enum Regis1Info::ArmJoint

Just a little macro for converting degrees to radians.

Enumerator:

ArmBase
ArmShoulder
ArmElbow
ArmWrist
ArmWristRotate
ArmGripper

Definition at line 111 of file Regis1Info.h.

enum Regis1Info::ArmOffset_t

Just a little macro for converting degrees to radians.

Enumerator:

ArmBaseOffset
ArmShoulderOffset
ArmElbowOffset
ArmWristOffset
ArmWristRotateOffset
ArmGripperOffset

Definition at line 102 of file Regis1Info.h.

enum Regis1Info::ButtonOffset_t

Just a little macro for converting degrees to radians.

Definition at line 120 of file Regis1Info.h.

enum Regis1Info::HeadOffset_t

these are all 'absolute' offsets -- no need to add to HeadOffset

Enumerator:

HeadBaseOffset
HeadPanOffset
HeadShoulderOffset
HeadElbowOffset
HeadTiltOffset
HeadWristOffset
HeadNodOffset

Definition at line 85 of file Regis1Info.h.

enum Regis1Info::SensorOffset_t

Just a little macro for converting degrees to radians.

Definition at line 124 of file Regis1Info.h.

enum Regis1Info::TPROffset_t

these are the traditional sub-offsets, relative to HeadOffset

Enumerator:

PanOffset	pan/heading (horizontal)
TiltOffset	tilt/elevation (vertical)
NodOffset	replicated tilt (could be left undefined instead...)

Definition at line 96 of file Regis1Info.h.

enum Regis1Info::WheelOffset_t

Just a little macro for converting degrees to radians.

Enumerator:

LWheelOffset
RWheelOffset

Definition at line 79 of file Regis1Info.h.

Variable Documentation

const unsigned Regis1Info::ArmOffset = WheelOffset+NumWheels

beginning of arm joints, don't add anything, just use ArmOffset_t entries directly

Definition at line 68 of file Regis1Info.h.

const unsigned Regis1Info::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 75 of file Regis1Info.h.

const unsigned Regis1Info::BinJointOffset = LEDOffset + NumLEDs

The beginning of the binary joints.

Definition at line 72 of file Regis1Info.h.

const char* const Regis1Info::buttonNames[NumButtons+1] = { NULL }

Just a little macro for converting degrees to radians.

Definition at line 122 of file Regis1Info.h.

const unsigned Regis1Info::CameraFrameOffset = GripperFrameOffset+NumArms

Use with kinematics to refer to camera reference frame.

Definition at line 77 of file Regis1Info.h.

const Regis1Capabilities Regis1Info::capabilities

allocation declared in RobotInfo.cc

Definition at line 45 of file RobotInfo.cc.

const float Regis1Info::DefaultPIDs[NumPIDJoints][3]

Initial value:

 {
    {1,0,0},
    {1,0,0},
    {1,0,0},{1,0,0},{1,0,0},{1,0,0},{1,0,0},{1,0,0},
    {1,0,0},{1,0,0},{1,0,0},{1,0,0}
  }

Just a little macro for converting degrees to radians.

Definition at line 154 of file Regis1Info.h.

const unsigned Regis1Info::EarOffset = BinJointOffset

the offset of the beginning of the ear joints - note that ears aren't sensed. They can be flicked by the environment and you won't know.

Definition at line 73 of file Regis1Info.h.

const unsigned int Regis1Info::FrameTime = 15

time between frames in the motion system (milliseconds)

Definition at line 27 of file Regis1Info.h.

const unsigned Regis1Info::GripperFrameOffset = BaseFrameOffset+1

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

Definition at line 76 of file Regis1Info.h.

const unsigned Regis1Info::HeadOffset = ArmOffset+NumArmJoints

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

Definition at line 69 of file Regis1Info.h.

const unsigned Regis1Info::JointsPerArm = 6

Base, Shoulder, Elbow, Wrist (Yaw, Roll), Gripper.

Definition at line 34 of file Regis1Info.h.

const unsigned Regis1Info::JointsPerLeg = 0

Left and Right Wheels.

Definition at line 38 of file Regis1Info.h.

const unsigned Regis1Info::LEDOffset = PIDJointOffset + NumPIDJoints

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

Definition at line 71 of file Regis1Info.h.

const float Regis1Info::MaxOutputSpeed[NumOutputs]

Initial value:

 {
    1.f,
    1.f,
    1.f, 1.f, 1.f, 1.f, 1.f, 1.f,
    1.f, 1.f, 1.f, 1.f
  }

haven't determined safe speeds for regis yet

Definition at line 162 of file Regis1Info.h.

const float Regis1Info::mechanicalLimits[NumOutputs][2]

Initial value:

 {
      { -1 , 1 },
      { -1 , 1 },
      { RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) }, 
      { RAD(-100),RAD(100) },{ RAD(-10),RAD(190) },{ RAD(-140),RAD(60) },{ RAD(-150),RAD(50) }
  }

the range that can be reached by external interaction (i.e. the domain of the output feedback)

This is probably identical to outputRanges, but may differ if the outputs have some built-in safety margin...

Definition at line 186 of file Regis1Info.h.

const unsigned Regis1Info::NumArmJoints = JointsPerArm*NumArms

Left and Right Wheels.

Definition at line 36 of file Regis1Info.h.

const unsigned Regis1Info::NumArms = 1

Left and Right Wheels.

Definition at line 35 of file Regis1Info.h.

const unsigned Regis1Info::NumBinJoints = NumEarJoints

The number of binary joints - just the ears.

Definition at line 51 of file Regis1Info.h.

const unsigned Regis1Info::NumButtons = 0

Left and Right Wheels.

Definition at line 45 of file Regis1Info.h.

const unsigned Regis1Info::NumEarJoints = 0

Left and Right Wheels.

Definition at line 44 of file Regis1Info.h.

const unsigned Regis1Info::NumFacePanelLEDs = 0

Left and Right Wheels.

Definition at line 48 of file Regis1Info.h.

const unsigned int Regis1Info::NumFrames = 1

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

Definition at line 28 of file Regis1Info.h.

const unsigned Regis1Info::NumHeadJoints = 4

Left and Right Wheels.

Definition at line 41 of file Regis1Info.h.

const unsigned Regis1Info::NumLEDs = 0

Left and Right Wheels.

Definition at line 47 of file Regis1Info.h.

const unsigned Regis1Info::NumLegJoints = JointsPerLeg*NumLegs

Left and Right Wheels.

Definition at line 40 of file Regis1Info.h.

const unsigned Regis1Info::NumLegs = 0

Left and Right Wheels.

Definition at line 39 of file Regis1Info.h.

const unsigned Regis1Info::NumMouthJoints = 0

Left and Right Wheels.

Definition at line 43 of file Regis1Info.h.

const unsigned Regis1Info::NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs

the total number of outputs

Definition at line 52 of file Regis1Info.h.

const unsigned Regis1Info::NumPIDJoints = NumWheels+NumArmJoints+NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints

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

Definition at line 50 of file Regis1Info.h.

const unsigned Regis1Info::NumReferenceFrames = NumOutputs + 1 + NumArms + 1

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

Definition at line 53 of file Regis1Info.h.

const unsigned Regis1Info::NumSensors = 0

Left and Right Wheels.

Definition at line 46 of file Regis1Info.h.

const unsigned Regis1Info::NumTailJoints = 0

Left and Right Wheels.

Definition at line 42 of file Regis1Info.h.

const unsigned Regis1Info::NumWheels = 2

Left and Right Wheels.

Definition at line 32 of file Regis1Info.h.

const char* const Regis1Info::outputNames[NumReferenceFrames+1]

Initial value:

 {
    "WHEEL:L",
    "WHEEL:R",
    "ARM:base","ARM:shldr","ARM:elbow","ARM:wrist","ARM:wristRot","ARM:gripper",
    "GNk:Pan","GNk:Shldr","GNk:Elbow","GNk:Pitch",
    "BaseFrame","GripperFrame","CameraFrame",
    NULL
  }

Names for each of the outputs.

Definition at line 129 of file Regis1Info.h.

const float Regis1Info::outputRanges[NumOutputs][2]

Initial value:

 {
      { -1 , 1 },
      { -1 , 1 },
      { RAD(-90),RAD(90) },{ RAD(-94.45f),RAD(94.45f) },{ RAD(-94.45f),RAD(94.45f) },{ RAD(-94.45f),RAD(94.45f) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) }, 
      { RAD(-100),RAD(100) },{ RAD(-190),RAD(10) },{ RAD(-60),RAD(140) },{ RAD(-50),RAD(150) }
  }