TentacleInfo Namespace Reference

Declares configuration of the tentacle planar arm, such as number of joints, LEDs, etc. More...

Variables
const char *const	TargetName = "Tentacle"
	the name of the model, to be used for logging and remote GUIs
const Capabilities	capabilities (TargetName, NumReferenceFrames, outputNames, NumButtons, buttonNames, NumSensors, sensorNames, PIDJointOffset, NumPIDJoints, LEDOffset, NumLEDs, NumOutputs)
	allocation declared in RobotInfo.cc
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 char *const	outputNames [NumReferenceFrames]
	Names for each of the outputs.
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/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 = 0
	The number of joints per leg.
const unsigned	JointsPerArm = 8
	The number of joints per leg.
const unsigned	NumArms = 1
	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	NumPIDJoints = NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints
	The number of joints per leg.
const unsigned	NumLEDs = NumPIDJoints
	servo pins
const unsigned	NumOutputs = NumWheels + 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 }
	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	LEDOffset_t
	The offsets of the individual LEDs -- except we don't have any idea what to 'name' the servos in a reconfigurable kit, so this is empty (just add numeric offsets). More...
typedef unsigned int	LEDBitMask_t
const unsigned	PIDJointOffset = 0
	The beginning of the PID Joints.
const unsigned	ArmOffset = PIDJointOffset
	the offset of the beginning of the arm joints
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	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+1
	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 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
	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 the tentacle planar arm, such as number of joints, LEDs, etc.

Typedef Documentation

typedef unsigned int TentacleInfo::LEDBitMask_t

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

Definition at line 97 of file TentacleInfo.h.

Enumeration Type Documentation

enum TentacleInfo::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 123 of file TentacleInfo.h.

enum TentacleInfo::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 88 of file TentacleInfo.h.

enum TentacleInfo::LEDOffset_t

The offsets of the individual LEDs -- except we don't have any idea what to 'name' the servos in a reconfigurable kit, so this is empty (just add numeric offsets).

Definition at line 95 of file TentacleInfo.h.

enum TentacleInfo::SensorOffset_t

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

See also:: WorldState::sensors[]

Definition at line 130 of file TentacleInfo.h.

enum TentacleInfo::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 82 of file TentacleInfo.h.

Variable Documentation

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

selects all of the leds

Definition at line 101 of file TentacleInfo.h.

const unsigned TentacleInfo::ArmOffset = PIDJointOffset

the offset of the beginning of the arm joints

Definition at line 70 of file TentacleInfo.h.

const unsigned TentacleInfo::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 76 of file TentacleInfo.h.

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

Provides a string name for each button.

Definition at line 126 of file TentacleInfo.h.

const unsigned TentacleInfo::CameraFrameOffset = GripperFrameOffset+1

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 78 of file TentacleInfo.h.

const Capabilities TentacleInfo::capabilities

allocation declared in RobotInfo.cc

Definition at line 146 of file TentacleInfo.h.

Referenced by TorqueCalibrate::TakeMeasurementControl::activate(), PostureMC::defaultMaxSpeed(), HeadPointerMC::defaultMaxSpeed(), CameraBehavior::doStart(), EmergencyStopMC::EmergencyStopMC(), EmergencyStopMC::freezeJoints(), plist::OutputSelector::get(), PostureEngine::loadBuffer(), PostureEngine::loadLine(), plist::OutputSelector::loadXML(), ArmMC::moveOffsetToPoint(), ArmMC::moveOffsetToPointWithOrientation(), plist::OutputSelector::operator=(), HeadController::runCommand(), RunSequenceControl< SequenceSize >::selectedFile(), LoadPostureControl::selectedFile(), plist::OutputSelector::set(), BatteryMonitorBehavior::setFlipper(), HeadPointerMC::setJoints(), plist::OutputSelector::setRange(), Grasper::CloseTheGripper::setup(), Grasper::OpenTheGripper::setup(), Controller::takeLine(), EmergencyStopMC::trigger(), TailWagMC::updateOutputs(), and XWalkMC::updateOutputsWalking().

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

Initial value:

 {
    {32,32,0}, {32,32,0}, {32,32,0}, {32,32,0},
    {32,32,0}, {32,32,0}, {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 151 of file TentacleInfo.h.

const LEDBitMask_t TentacleInfo::FaceLEDMask = 0

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

Definition at line 99 of file TentacleInfo.h.

const unsigned int TentacleInfo::FrameTime = 32

time between frames in the motion system (milliseconds)

Definition at line 29 of file TentacleInfo.h.

const unsigned TentacleInfo::GripperFrameOffset = BaseFrameOffset+1

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

Definition at line 77 of file TentacleInfo.h.

const unsigned TentacleInfo::HeadOffset = ArmOffset + NumArmJoints

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

Definition at line 72 of file TentacleInfo.h.

const unsigned TentacleInfo::JointsPerArm = 8

The number of joints per leg.

Definition at line 36 of file TentacleInfo.h.

const unsigned TentacleInfo::JointsPerLeg = 0

The number of joints per leg.

Definition at line 40 of file TentacleInfo.h.

const unsigned TentacleInfo::LEDOffset = PIDJointOffset + NumPIDJoints

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

Definition at line 74 of file TentacleInfo.h.

const float TentacleInfo::MaxOutputSpeed[NumOutputs]

Initial value:

 {
    
    0.4f, 0.4f, 0.4f, 0.4f, 0.4f, 0.4f, 0.4f, 0.4f, 0.4f, 0.4f,
    
    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 163 of file TentacleInfo.h.

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

Initial value:

 {
    
    {-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(90),RAD(90)}, {-RAD(90),RAD(90)},
    {-RAD(150),RAD(150)},{-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 192 of file TentacleInfo.h.

const unsigned TentacleInfo::NumArmJoints = JointsPerArm*NumArms

The number of joints per leg.

Definition at line 38 of file TentacleInfo.h.

const unsigned TentacleInfo::NumArms = 1

The number of joints per leg.

Definition at line 37 of file TentacleInfo.h.

const unsigned TentacleInfo::NumButtons = 0

the number of buttons that are available

Definition at line 47 of file TentacleInfo.h.

const unsigned TentacleInfo::NumEarJoints = 0

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

Definition at line 46 of file TentacleInfo.h.

const unsigned TentacleInfo::NumFacePanelLEDs = 0

The number of face panel LEDs.

Definition at line 49 of file TentacleInfo.h.

const unsigned int TentacleInfo::NumFrames = 1

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

Definition at line 30 of file TentacleInfo.h.

const unsigned TentacleInfo::NumHeadJoints = 2

The number of joints in the pantilt.

Definition at line 43 of file TentacleInfo.h.

const unsigned TentacleInfo::NumLEDs = NumPIDJoints

servo pins

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

Definition at line 52 of file TentacleInfo.h.

const unsigned TentacleInfo::NumLegJoints = JointsPerLeg*NumLegs

the TOTAL number of joints on ALL legs

Definition at line 42 of file TentacleInfo.h.

const unsigned TentacleInfo::NumLegs = 0

The number of legs.

Definition at line 41 of file TentacleInfo.h.

const unsigned TentacleInfo::NumMouthJoints = 0

the number of joints that control the mouth

Definition at line 45 of file TentacleInfo.h.

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

the total number of outputs

Definition at line 54 of file TentacleInfo.h.

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

The number of joints per leg.

Definition at line 51 of file TentacleInfo.h.

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

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

Definition at line 55 of file TentacleInfo.h.

const unsigned TentacleInfo::NumSensors = 0

the number of sensors available

Definition at line 48 of file TentacleInfo.h.

const unsigned TentacleInfo::NumTailJoints = 0

The number of joints assigned to the tail.

Definition at line 44 of file TentacleInfo.h.

const unsigned TentacleInfo::NumWheels = 0

The number of joints per leg.

Definition at line 34 of file TentacleInfo.h.

const char* const TentacleInfo::outputNames[NumReferenceFrames]

Initial value:

 {
    "ARM:0", "ARM:1", "ARM:2", "ARM:3", "ARM:4", "ARM:5", "ARM:6", "ARM:7", "NECK:pan", "NECK:tilt",
    "LED:0", "LED:1", "LED:2", "LED:3", "LED:4", "LED:5", "LED:6", "LED:7", "LED:pan", "LED:tilt", 
    "BaseFrame", "GripperFrame", "CameraFrame"
  }

Names for each of the outputs.

Definition at line 139 of file TentacleInfo.h.

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

Initial value:

 {
    
    {-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(90),RAD(90)}, {-RAD(90),RAD(90)},
    {-RAD(150),RAD(150)}, {-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 178 of file TentacleInfo.h.

const unsigned TentacleInfo::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 69 of file TentacleInfo.h.

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

Provides a string name for each sensor.

Definition at line 133 of file TentacleInfo.h.

const unsigned int TentacleInfo::SoundBufferTime = 32

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

Definition at line 31 of file TentacleInfo.h.

const char *const TentacleInfo::TargetName = "Tentacle"

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