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ERS2xxInfo.h

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00001 //-*-c++-*-
00002 
00003 // Mad props to Daishi MORI, the 220 master chief, for porting to the 220 ;)
00004 
00005 #ifndef INCLUDED_ERS2xxInfo_h
00006 #define INCLUDED_ERS2xxInfo_h
00007 
00008 #include <math.h>
00009 #ifndef PLATFORM_APERIOS
00010 typedef unsigned short word; //!< otherwise defined in Types.h
00011 #else
00012 #include <Types.h>
00013 #endif
00014 
00015 #include "CommonInfo.h"
00016 using namespace RobotInfo;
00017 
00018 //! Contains information about the ERS-2xx series of robot, such as number of joints, PID defaults, timing information, etc.
00019 /*! This is a compatability mode, which allows dual-booting
00020  *  of the same memory stick on both models without needing
00021  *  to recompile, at the expense of (a little) runtime speed. */
00022 namespace ERS2xxInfo {
00023 
00024   // *******************************
00025   //       ROBOT CONFIGURATION
00026   // *******************************
00027 
00028 
00029   const unsigned int FrameTime=8;        //!< time between frames in the motion system (milliseconds)
00030   const unsigned int NumFrames=4;        //!< the number of frames per buffer (don't forget also double buffered)
00031   const unsigned int SlowFrameTime=128;  //!< time between frames for the ears (which move slower for some reason, don't want to mix with other outputs) (milliseconds)
00032   const unsigned int NumSlowFrames=1;    //!< the number of frames per buffer being sent to ears (double buffered as well)
00033   const unsigned int SoundBufferTime=32; //!< the number of milliseconds per sound buffer... I'm not sure if this can be changed
00034   
00035   //!Corresponds to entries in ERS2xxInfo::PrimitiveName, defined at the end of this file, these are the primary grouping
00036   /*!Right now all binary joints are slow, but perhaps this won't always be the case... hence the IsFast/Slow bitmasks to select which type, in order to be more general */
00037   //!@name Output Types Information
00038   const unsigned JointsPerLeg   =  3; //!< The number of joints per leg
00039   const unsigned NumLegs        =  4; //!< The number of legs
00040   const unsigned NumLegJoints   =  JointsPerLeg*NumLegs; //!< the TOTAL number of joints on ALL legs
00041   const unsigned NumHeadJoints  =  3; //!< The number of joints in the neck
00042   const unsigned NumTailJoints  =  2; //!< The number of joints assigned to the tail
00043   const unsigned NumMouthJoints =  1; //!< the number of joints that control the mouth
00044   const unsigned NumEarJoints   =  2; //!< The number of joints which control the ears (NOT per ear, is total)
00045   const unsigned NumButtons     =  11; //!< the number of buttons that are available, see ERS2xxInfo::ButtonOffset_t
00046   const unsigned NumSensors     =  1+3+1+5;  //!< 1 dist, 3 accel, 1 thermo, 5 from power, see ERS2xxInfo::SensorOffset_t
00047   const unsigned NumLEDs        =  22; //!< The number of LEDs which can be controlled
00048   
00049   const unsigned NumPIDJoints   = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints; //!< The number of joints which use PID motion - everything except ears
00050   const unsigned NumBinJoints   = NumEarJoints; //!< The number of binary joints - just the ears
00051   const unsigned NumOutputs     = NumPIDJoints + NumBinJoints + NumLEDs; //!< the total number of outputs
00052   const unsigned NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 1; //!< for the base, paw, camera, and IR sensor reference frames
00053 
00054   const bool IsFastOutput[NumOutputs] = {
00055     // for PID joints
00056     true, true, true, //legs
00057     true, true, true,
00058     true, true, true,
00059     true, true, true,
00060     true, true, true, //head
00061     true, true,       //tail
00062     true,             //mouth
00063     // for LEDs
00064     true, true, true,           // face left side LEDs x3
00065     true, true, true,           // face right side LEDs x3
00066     true,                       // head mode LED x1
00067     true, true, true,           // back left multi LEDs x3
00068     true, true, true,           // back right multi LEDs x3
00069     true, true, true,           // tail LEDs x3
00070     true, true, true,           // face front LEDs x3
00071     true,                       // retractable head light x1
00072     true, true,                 // tail red/blue from 210
00073     // for binary joints
00074     false, false
00075   }; //!< true for joints which can be updated every 32 ms (all but the ears on a 210)
00076 
00077   //! we need this so you can tell programmatically which joints are "real" and which are "fake" in compatability mode
00078   const bool IsRealERS210[NumOutputs] = {
00079     // for PID joints
00080     true, true, true, //legs
00081     true, true, true,
00082     true, true, true,
00083     true, true, true,
00084     true, true, true, //head
00085     true, true,       //tail
00086     true,             //mouth
00087     // for LEDs
00088     true, true, true,           // face left side LEDs x3
00089     true, true, true,           // face right side LEDs x3
00090     true,                       // head mode LED x1
00091     false, false, false,        // back left multi LEDs x3
00092     false, false, false,        // back right multi LEDs x3
00093     false, false, false,        // tail LEDs x3
00094     false, false, false,        // face front LEDs x3
00095     false,                      // retractable head light x1
00096     true, true,                 // tail red/blue from 210
00097     // for binary joints
00098     true, true
00099   }; //!< true for joints which can be updated every 32 ms (all but the ears on a 210)
00100 
00101   //! we need this so you can tell programmatically which joints are "real" and which are "fake" in compatability mode
00102   const bool IsRealERS220[NumOutputs] = {
00103     // for PID joints
00104     true, true, true, //legs
00105     true, true, true,
00106     true, true, true,
00107     true, true, true,
00108     true, true, true, //head
00109     false, false,     //tail
00110     false,            //mouth
00111     // for LEDs
00112     true, true, true,           // face left side LEDs x3
00113     true, true, true,           // face right side LEDs x3
00114     true,                       // head mode LED x1
00115     true, true, true,           // back left multi LEDs x3
00116     true, true, true,           // back right multi LEDs x3
00117     true, true, true,           // tail LEDs x3
00118     true, true, true,           // face front LEDs x3
00119     true,                       // retractable head light x1
00120     false, false,               // tail red/blue from 210
00121     // for binary joints
00122     false, false
00123   }; //!< true for joints which can be updated every 32 ms (all but the ears on a 210)
00124 
00125 
00126   // *******************************
00127   //         OUTPUT OFFSETS
00128   // *******************************
00129 
00130 
00131   //!Corresponds to entries in ERS2xxInfo::PrimitiveName, defined at the end of this file
00132   //!@name Output Offsets
00133   const unsigned PIDJointOffset = 0; //!< The beginning of the PID Joints
00134   const unsigned LegOffset   = PIDJointOffset;           //!< the offset of the beginning of the leg joints
00135   const unsigned HeadOffset  = LegOffset+NumLegJoints;   //!< the offset of the beginning of the head joints
00136   const unsigned TailOffset  = HeadOffset+NumHeadJoints; //!< the offset of the beginning of the tail joints
00137   const unsigned MouthOffset = TailOffset+NumTailJoints; //!< the offset of the beginning of the mouth joint
00138 
00139   const unsigned LEDOffset   = PIDJointOffset + NumPIDJoints; //!< the offset of LEDs in WorldState::outputs and MotionCommand functions
00140 
00141   const unsigned BinJointOffset = LEDOffset+NumLEDs; //!< The beginning of the binary joints
00142   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.  Nor will they be flicked back
00143 
00144   const unsigned BaseFrameOffset   = NumOutputs; //!< Use with kinematics to refer to base reference frame
00145   const unsigned PawFrameOffset    = BaseFrameOffset+1; //!< Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw)
00146   const unsigned CameraFrameOffset = PawFrameOffset+NumLegs; //!< Use with kinematics to refer to camera reference frame
00147   const unsigned IRFrameOffset = CameraFrameOffset+1; //!< Use with kinematics to refer to infrared (distance) sensor reference frame
00148 
00149   //! The offsets of the individual legs
00150   enum LegOffset_t {
00151     LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, //!< beginning of left front leg
00152     RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, //!< beginning of right front leg
00153     LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg, //!< beginning of left back leg
00154     RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg  //!< beginning of right back leg
00155   };
00156   
00157   //@}
00158   
00159   //! The offsets of the individual LEDs on the head and tail.  Note that left/right are robot's point of view.  See also LEDBitMask_t
00160   enum LEDOffset_t {
00161     FaceFrontLeftLEDOffset = LEDOffset, //!< head face side light (front left - blue) (ERS-220)
00162     FaceFrontRightLEDOffset,    //!< head face side light (front right - blue) (ERS-220)
00163     FaceCenterLeftLEDOffset,    //!< head face side light (center left - blue) (ERS-220)
00164     FaceCenterRightLEDOffset,   //!< head face side light (center right - blue) (ERS-220)
00165     FaceBackLeftLEDOffset,      //!< head face side light (back left - red) (ERS-220)
00166     FaceBackRightLEDOffset,     //!< head face side light (back right - red) (ERS-220)
00167     ModeLEDOffset,              //!< mode indicator (back of the head - orange) (ERS-220)
00168     BackLeft1LEDOffset,         //!< back multi-indicator (left #1 - blue) (ERS-220)
00169     BackLeft2LEDOffset,         //!< back multi-indicator (left #2 - blue) (ERS-220)
00170     BackLeft3LEDOffset,         //!< back multi-indicator (left #3 - blue) (ERS-220)
00171     BackRight3LEDOffset,        //!< back multi-indicator (right #3 - blue) (ERS-220)
00172     BackRight2LEDOffset,        //!< back multi-indicator (right #2 - blue) (ERS-220)
00173     BackRight1LEDOffset,        //!< back multi-indicator (right #1 - blue) (ERS-220)
00174     TailLeftLEDOffset,          //!< tail light (left - blue) (ERS-220)
00175     TailCenterLEDOffset,        //!< tail light (center - red) (ERS-220)
00176     TailRightLEDOffset,         //!< tail light (right - blue) (ERS-220)
00177     FaceFrontBLEDOffset,        //!< face front light B (blue) (ERS-220)
00178     FaceFrontALEDOffset,        //!< face front light A (blue) (ERS-220)
00179     FaceFrontCLEDOffset,        //!< face front light C (red) (ERS-220)
00180     RetractableHeadLEDOffset,   //!< retractable head light (ERS-220)
00181  
00182     TlBluLEDOffset,             //!< blue tail light (ERS-210)
00183     TlRedLEDOffset,             //!< red tail light (ERS-210)
00184 
00185     // aliases for backward compatibility
00186     BotLLEDOffset = FaceFrontLeftLEDOffset,   //!< bottom left (red - sad) (ERS-210)
00187     BotRLEDOffset = FaceFrontRightLEDOffset,  //!< bottom right (red - sad) (ERS-210)
00188     MidLLEDOffset = FaceCenterLeftLEDOffset,  //!< middle left (green - happy) (ERS-210)
00189     MidRLEDOffset = FaceCenterRightLEDOffset, //!< middle right (green - happy) (ERS-210)
00190     TopLLEDOffset = FaceBackLeftLEDOffset,    //!< top left (red - angry) (ERS-210)
00191     TopRLEDOffset = FaceBackRightLEDOffset,   //!< top right (red - angry) (ERS-210)
00192     TopBrLEDOffset = ModeLEDOffset,           //!< top bar (green) (ERS-210)
00193   };
00194   
00195   //! Bitmasks for use when specifying combinations of LEDs (see LEDEngine ) Note that left/right are robot's point of view
00196   //!@name LED Bitmasks
00197   typedef unsigned int LEDBitMask_t; //!< So you can be clear when you're refering to a LED bitmask
00198   const LEDBitMask_t FaceFrontLeftLEDMask   = 1<<(FaceFrontLeftLEDOffset-LEDOffset);
00199   const LEDBitMask_t FaceFrontRightLEDMask  = 1<<(FaceFrontRightLEDOffset-LEDOffset);
00200   const LEDBitMask_t FaceCenterLeftLEDMask  = 1<<(FaceCenterLeftLEDOffset-LEDOffset);
00201   const LEDBitMask_t FaceCenterRightLEDMask = 1<<(FaceCenterRightLEDOffset-LEDOffset);
00202   const LEDBitMask_t FaceBackLeftLEDMask    = 1<<(FaceBackLeftLEDOffset-LEDOffset);
00203   const LEDBitMask_t FaceBackRightLEDMask   = 1<<(FaceBackRightLEDOffset-LEDOffset);
00204   const LEDBitMask_t ModeLEDMask            = 1<<(ModeLEDOffset-LEDOffset);
00205   const LEDBitMask_t BackLeft1LEDMask       = 1<<(BackLeft1LEDOffset-LEDOffset);
00206   const LEDBitMask_t BackLeft2LEDMask       = 1<<(BackLeft2LEDOffset-LEDOffset);
00207   const LEDBitMask_t BackLeft3LEDMask       = 1<<(BackLeft3LEDOffset-LEDOffset);
00208   const LEDBitMask_t BackRight3LEDMask      = 1<<(BackRight3LEDOffset-LEDOffset);
00209   const LEDBitMask_t BackRight2LEDMask      = 1<<(BackRight2LEDOffset-LEDOffset);
00210   const LEDBitMask_t BackRight1LEDMask      = 1<<(BackRight1LEDOffset-LEDOffset);
00211   const LEDBitMask_t TailLeftLEDMask        = 1<<(TailLeftLEDOffset-LEDOffset);
00212   const LEDBitMask_t TailCenterLEDMask      = 1<<(TailCenterLEDOffset-LEDOffset);
00213   const LEDBitMask_t TailRightLEDMask       = 1<<(TailRightLEDOffset-LEDOffset);
00214   const LEDBitMask_t FaceFrontBLEDMask      = 1<<(FaceFrontBLEDOffset-LEDOffset);
00215   const LEDBitMask_t FaceFrontALEDMask      = 1<<(FaceFrontALEDOffset-LEDOffset);
00216   const LEDBitMask_t FaceFrontCLEDMask      = 1<<(FaceFrontCLEDOffset-LEDOffset);
00217   const LEDBitMask_t RetractableHeadLEDMask = 1<<(RetractableHeadLEDOffset-LEDOffset);
00218   
00219   const LEDBitMask_t TlRedLEDMask= 1<<(TlRedLEDOffset-LEDOffset); //!< red tail light
00220   const LEDBitMask_t TlBluLEDMask= 1<<(TlBluLEDOffset-LEDOffset); //!< blue tail light
00221 
00222   // aliases for backward compatibility
00223   const LEDBitMask_t BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset); //!< bottom left (red - sad)
00224   const LEDBitMask_t BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset); //!< bottom right (red - sad)
00225   const LEDBitMask_t MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset); //!< middle left (green - happy)
00226   const LEDBitMask_t MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset); //!< middle right (green - happy)
00227   const LEDBitMask_t TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset); //!< top left (red - angry)
00228   const LEDBitMask_t TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset); //!< top right (red - angry)
00229   const LEDBitMask_t TopBrLEDMask= 1<<(TopBrLEDOffset-LEDOffset); //!< top bar (green)
00230 
00231   const LEDBitMask_t FaceLEDMask
00232   = FaceFrontLeftLEDMask
00233   | FaceFrontRightLEDMask
00234   | FaceCenterLeftLEDMask
00235   | FaceCenterRightLEDMask
00236   | FaceBackLeftLEDMask
00237   | FaceBackRightLEDMask
00238   | FaceFrontALEDMask
00239   | FaceFrontBLEDMask
00240   | FaceFrontCLEDMask
00241   | ModeLEDMask;              //!< LEDs for face
00242  
00243   const LEDBitMask_t HeadLEDMask
00244   = FaceLEDMask
00245   | RetractableHeadLEDMask;   //!< LEDs on head (face plus retractable light)
00246  
00247   const LEDBitMask_t BackLEDMask
00248   = BackLeft1LEDMask
00249   | BackLeft2LEDMask
00250   | BackLeft3LEDMask
00251   | BackRight1LEDMask
00252   | BackRight2LEDMask
00253   | BackRight3LEDMask; //!< LEDs on back
00254  
00255   const LEDBitMask_t TailLEDMask
00256   = TailLeftLEDMask
00257   | TailCenterLEDMask
00258   | TailRightLEDMask
00259   | TlRedLEDMask
00260   | TlBluLEDMask;  //!< LEDs for tail
00261  
00262   const LEDBitMask_t AllLEDMask  = ~0; //!< selects all of the leds
00263   //@}
00264 
00265 
00266   // *******************************
00267   //          INPUT OFFSETS
00268   // *******************************
00269 
00270 
00271   //! The order in which inputs should be stored
00272   //!@name Input Offsets
00273 
00274   //! holds offsets to different buttons in WorldState::buttons[]
00275   /*! Should be a straight mapping to the ButtonSourceIDs
00276    *
00277    *  Note that the chest (power) button is not a normal button.  It kills
00278    *  power to the motors at a hardware level, and isn't sensed in the
00279    *  normal way.  If you want to know when it is pressed (and you are
00280    *  about to shut down) see PowerSourceID::PauseSID.
00281    *
00282    *  @see WorldState::buttons @see ButtonSourceID_t */
00283   enum ButtonOffset_t {
00284     LFrPawOffset = LFrLegOrder,
00285     RFrPawOffset = RFrLegOrder,
00286     LBkPawOffset = LBkLegOrder,
00287     RBkPawOffset = RBkLegOrder,
00288     ChinButOffset= 4,
00289     BackButOffset,
00290     HeadFrButOffset, //!< see ERS210Info::HeadFrButOffset, ERS220Info::HeadFrButOffset
00291     HeadBkButOffset, //!< see ERS210Info::HeadBkButOffset, ERS220Info::HeadBkButOffset
00292     TailLeftButOffset,
00293     TailCenterButOffset,
00294     TailRightButOffset,
00295   };
00296 
00297   //! holds offset to different sensor values in WorldState::sensors[]
00298   /*! @see WorldState::sensors[] */
00299   enum SensorOffset_t {
00300     IRDistOffset = 0,  //!< in millimeters
00301     BAccelOffset, //!< backward acceleration, in @f$m/s^2@f$, negative if sitting on butt (positive for faceplant)
00302     LAccelOffset, //!< acceleration to the robot's left, in @f$m/s^2@f$, negative if lying on robot's left side
00303     DAccelOffset, //!< downward acceleration, in @f$m/s^2@f$, negative if standing up... be careful about the signs on all of these...
00304     ThermoOffset, //!< in degrees Celcius
00305     PowerRemainOffset, //!< percentage, 0-1
00306     PowerThermoOffset, //!<  degrees Celcius
00307     PowerCapacityOffset, //!< milli-amp hours
00308     PowerVoltageOffset, //!< volts
00309     PowerCurrentOffset //!< milli-amp negative values (maybe positive while charging?)
00310   };
00311 
00312   //@}
00313 
00314 
00315   //! The length of the strings used for each of the outputs in outputNames (doesn't include null term)
00316   const unsigned outputNameLen = 9;
00317   //! A name of uniform length for referring to joints - handy for posture files, etc.
00318   const char* const outputNames[NumOutputs] = {
00319     "LFr:rotor",
00320     "LFr:elvtr",
00321     "LFr:knee~",
00322     "RFr:rotor",
00323     "RFr:elvtr",
00324     "RFr:knee~",
00325     "LBk:rotor",
00326     "LBk:elvtr",
00327     "LBk:knee~",
00328     "RBk:rotor",
00329     "RBk:elvtr",
00330     "RBk:knee~",
00331     
00332     "NECK:tilt",
00333     "NECK:pan~",
00334     "NECK:roll",
00335     
00336     "TAIL:tilt",
00337     "TAIL:pan~",
00338     
00339     "MOUTH~~~~",
00340     
00341     "LED:botL~",
00342     "LED:botR~",
00343     "LED:midL~",
00344     "LED:midR~",
00345     "LED:topL~",
00346     "LED:topR~",
00347     "LED:topBr",
00348     
00349     "LED:bkL1~",                // "LED:tlBlu" of ERS-210
00350     "LED:bkL2~",                // "LED:tlRed" of ERS-210
00351     "LED:bkL3~",
00352     "LED:bkR3~",
00353     "LED:bkR2~",
00354     "LED:bkR1~",
00355     "LED:tailL",
00356     "LED:tailC",
00357     "LED:tailR",
00358     "LED:faceB",
00359     "LED:faceA",
00360     "LED:faceC",
00361     "LED:light",                 // retractable head light
00362     
00363     "LED:tlRed",
00364     "LED:tlBlu",
00365     
00366     "EAR:left~",
00367     "EAR:right"
00368   };
00369   
00370 
00371   //! the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others)
00372   /*!@showinitializer 
00373    * @warning IMPORTANT!!!!  DO NOT CHANGE THE ORDER OF ITEMS IN THIS TABLE!!!\n
00374    *
00375    * The offset consts defined in this file correspond to this table and will make life easier
00376    * if you feel the need to reorder things, but they aren't used perfect @e everywhere \n
00377    * In particular, assumptions are made that the pid joints will be in slots 0-numPIDJoints
00378    * and that the fast outputs (ie NOT ears) will be in slots 0-NumFastOutputs\n
00379    * There may be other assumptions not noted here!!!
00380    * @note These entries DON'T correspond to the CPC index numbers defined in WorldState (this only lists joints, and in a different order defined by OPEN-R, that one has sensors as well*/
00381   const char* const PrimitiveName [NumOutputs] = {
00382     "PRM:/r2/c1-Joint2:j1",       //!< the left front leg   the rotator
00383     "PRM:/r2/c1/c2-Joint2:j2",    //!< the left front leg   the elevator 
00384     "PRM:/r2/c1/c2/c3-Joint2:j3", //!< the left front leg   the knee 
00385     "PRM:/r4/c1-Joint2:j1",       //!< the right front leg   the rotator
00386     "PRM:/r4/c1/c2-Joint2:j2",    //!< the right front leg    the elevator 
00387     "PRM:/r4/c1/c2/c3-Joint2:j3", //!< the right front leg   the knee 
00388     
00389     "PRM:/r3/c1-Joint2:j1",       //!< the left hind leg   the rotator
00390     "PRM:/r3/c1/c2-Joint2:j2",    //!< the left hind leg   the elevator 
00391     "PRM:/r3/c1/c2/c3-Joint2:j3", //!< the left hind leg   the knee
00392     "PRM:/r5/c1-Joint2:j1",       //!< the right hind leg   the rotator
00393     "PRM:/r5/c1/c2-Joint2:j2",    //!< the right hind leg   the elevator 
00394     "PRM:/r5/c1/c2/c3-Joint2:j3", //!< the right hind leg   the knee 
00395 
00396     "PRM:/r1/c1-Joint2:j1",       //!< the neck  tilt (12)
00397     "PRM:/r1/c1/c2-Joint2:j2",    //!< the neck   pan 
00398     "PRM:/r1/c1/c2/c3-Joint2:j3", //!< the neck   roll 
00399         
00400     "PRM:/r6/c2-Joint2:j2",       //!< the tail tilt (15)       // *** NOTE ***
00401     "PRM:/r6/c1-Joint2:j1",       //!< the tail pan             // CHANGE_ET 12/16/01 matches neck order
00402     
00403     "PRM:/r1/c1/c2/c3/c4-Joint2:j4", //!< the mouth (17)
00404     
00405     "PRM:/r1/c1/c2/c3/l1-LED2:l1", //!< lower  left  LED (18)
00406     "PRM:/r1/c1/c2/c3/l4-LED2:l4", //!< lower  right LED
00407     "PRM:/r1/c1/c2/c3/l2-LED2:l2", //!< middle left  LED
00408     "PRM:/r1/c1/c2/c3/l5-LED2:l5", //!< middle right LED
00409     "PRM:/r1/c1/c2/c3/l3-LED2:l3", //!< upper  left  LED
00410     "PRM:/r1/c1/c2/c3/l6-LED2:l6", //!< upper  right LED
00411     "PRM:/r1/c1/c2/c3/l7-LED2:l7", //!< top          LED
00412     
00413     "PRM:/r6/l1-LED2:l1", //!< back 1st left LED (corresponds to tail blue LED of ERS-210) (25)
00414     "PRM:/r6/l2-LED2:l2", //!< back 2nd left LED (corresponds to tail red  LED of ERS-210)
00415     "PRM:/r6/l3-LED2:l3", //!< back 3rd left LED
00416     "PRM:/r6/l4-LED2:l4", //!< back 3rd right LED
00417     "PRM:/r6/l5-LED2:l5", //!< back 2nd right LED
00418     "PRM:/r6/l6-LED2:l6", //!< back 1st right LED
00419  
00420     "PRM:/r6/l9-LED2:l9", //!< tail left LED   (31)
00421     "PRM:/r6/l7-LED2:l7", //!< tail center LED
00422     "PRM:/r6/l8-LED2:l8", //!< tail right LED
00423  
00424     "PRM:/r1/c1/c2/c3/l8-LED2:l8", //!< face front LED B
00425     "PRM:/r1/c1/c2/c3/l9-LED2:l9", //!< face front LED A
00426     "PRM:/r1/c1/c2/c3/la-LED2:la", //!< face front LED C
00427     "PRM:/r1/c1/c2/c3/lb-LED2:lb", //!< retractable head light
00428 
00429     "PRM:/r6/l2-LED2:l2", //!< tail red LED (corresponds to back 2nd left LED of ERS-220)  (38)
00430     "PRM:/r6/l1-LED2:l1", //!< tail blue LED  (corresponds to back 1st left LED of ERS-220)
00431 
00432     "PRM:/r1/c1/c2/c3/e1-Joint3:j5", //!< left ear (40)
00433     "PRM:/r1/c1/c2/c3/e2-Joint3:j6" //!< right ear
00434   };
00435 
00436   //! use to open speaker connectio with the system
00437   const char* const SpeakerLocator="PRM:/r1/c1/c2/c3/s1-Speaker:S1";
00438 
00439   //! use to open camera connection with the system
00440   const char* const CameraLocator="PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1";
00441 
00442   //Old PID table:
00443   /*const word Pid[NumPIDJoints][6] = {
00444     { 0x16, 0x04, 0x08, 0x0E, 0x02, 0x0F },
00445     { 0x14, 0x04, 0x06, 0x0E, 0x02, 0x0F },
00446     { 0x23, 0x04, 0x05, 0x0E, 0x02, 0x0F },
00447     { 0x16, 0x04, 0x08, 0x0E, 0x02, 0x0F },
00448     { 0x14, 0x04, 0x06, 0x0E, 0x02, 0x0F },
00449     { 0x23, 0x04, 0x05, 0x0E, 0x02, 0x0F },
00450     { 0x16, 0x04, 0x08, 0x0E, 0x02, 0x0F },
00451     { 0x14, 0x04, 0x06, 0x0E, 0x02, 0x0F },
00452     { 0x23, 0x04, 0x05, 0x0E, 0x02, 0x0F },
00453     { 0x16, 0x04, 0x08, 0x0E, 0x02, 0x0F },
00454     { 0x14, 0x04, 0x06, 0x0E, 0x02, 0x0F },
00455     { 0x23, 0x04, 0x05, 0x0E, 0x02, 0x0F },
00456     
00457     { 0x0A, 0x08, 0x0C, 0x0E, 0x02, 0x0F },
00458     { 0x0D, 0x08, 0x0B, 0x0E, 0x02, 0x0F },
00459     { 0x10, 0x08, 0x0C, 0x0E, 0x02, 0x0F }, // P was 0x0C, updated as seen on https://www.openr.org/page1_2001/gain.html 8/13/2002
00460     
00461     { 0x0A, 0x00, 0x18, 0x0E, 0x02, 0x0F },
00462     { 0x07, 0x00, 0x11, 0x0E, 0x02, 0x0F },
00463     
00464     { 0x0E, 0x08, 0x10, 0x0E, 0x02, 0x0F }, //  { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
00465   };*/
00466       
00467   //! This table holds the default PID values for each joint.  see PIDMC
00468   const float DefaultPIDs[NumPIDJoints][3] =
00469     {
00470       { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
00471       { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
00472       { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
00473       { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
00474       { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
00475       { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
00476       { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
00477       { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
00478       { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
00479       { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
00480       { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
00481       { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
00482 
00483       { 0x0A/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0C/(double)(1<<(16-0xF)) },
00484       { 0x0D/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0B/(double)(1<<(16-0xF)) },
00485       { 0x0A/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0C/(double)(1<<(16-0xF)) },
00486 
00487       { 0x0A/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x18/(double)(1<<(16-0xF)) },
00488       { 0x07/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x11/(double)(1<<(16-0xF)) },
00489 
00490       { 0x0E/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x10/(double)(1<<(16-0xF)) }
00491     };
00492   
00493   //! These will control the shift values given to the system.  see PIDMC
00494   const unsigned char DefaultPIDShifts[3] = {0x0E, 0x02, 0x0F};
00495     
00496   //!These values are Sony's recommended maximum joint velocities, in rad/ms
00497   /*! a value <= 0 means infinite speed (e.g. LEDs)
00498    *  
00499    *  These limits are <b>not</b> enforced by the framework.  They are simply available for you to use as you see fit.
00500    *  HeadPointerMC is (as of v1.6) the only included MotionCommand to actually use these values. */
00501   const float MaxOutputSpeed[NumOutputs] = {
00502     2.8143434e-03,     //Legs LR,FB,REK
00503     2.4980025e-03,
00504     2.8361600e-03,
00505     2.8143434e-03,
00506     2.4980025e-03,
00507     2.8361600e-03,
00508     2.8143434e-03,
00509     2.4980025e-03,
00510     2.8361600e-03,
00511     2.8143434e-03,
00512     2.4980025e-03,
00513     2.8361600e-03,
00514   
00515     2.1053034e-03,     //Head TPR
00516     3.0106930e-03,
00517     3.0106930e-03,
00518   
00519     4.4724062e-03,     //Tail
00520     4.4724062e-03,
00521   
00522     4.3742314e-03,     //Mouth
00523     
00524     0,0,0,//LEDs
00525     0,0,0,
00526     0,
00527     0,0,0, 
00528     0,0,0, 
00529     0,0,0, 
00530     0,0,0, 
00531     0,
00532     0,0,
00533 
00534     0,0                //Ears
00535   };
00536 
00537 #ifndef RAD
00538   //!Just a little macro for converting degrees to radians
00539 #define RAD(deg) (((deg) * M_PI ) / 180.0)
00540   //!a flag so we undef these after we're done - do you have a cleaner solution?
00541 #define __RI_RAD_FLAG
00542 #endif
00543 
00544   //! Defines the indexes to use to access the min and max entries of ERS2xxInfo::outputRanges and ERS2xxInfo::mechanicalLimits
00545   enum MinMaxRange_t { MinRange,MaxRange };
00546 
00547   //! This table holds the software limits of each of the outputs
00548   const double outputRanges[NumOutputs][2] =
00549     {
00550       { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, //left front REK
00551       { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, //right front REK
00552       { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, //left back REK
00553       { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, //right back REK
00554 
00555       { RAD(-82),RAD(43) },{ RAD(-89.6),RAD(89.6) },{ RAD(-29),RAD(29) }, //neck TPR
00556         
00557       { RAD(-22),RAD(22) },{ RAD(-22),RAD(22) }, // tail tp
00558 
00559       { RAD(-47),RAD(-3) }, //mouth
00560 
00561       {0,1},{0,1},{0,1},        // face left side LEDs x3
00562       {0,1},{0,1},{0,1},        // face right side LEDs x3
00563       {0,1},                    // head mode LED x1
00564       {0,1},{0,1},{0,1},        // back left multi LEDs x3
00565       {0,1},{0,1},{0,1},        // back right multi LEDs x3
00566       {0,1},{0,1},{0,1},        // tail LEDs x3
00567       {0,1},{0,1},{0,1},        // face front LEDs x3
00568       {0,1},                    // retractable head light x1
00569       {0,1},{0,1},              // 210 red/blue tail light
00570 
00571       {0,1},{0,1} //ears
00572     };
00573 
00574   //! This table holds the mechanical limits of each of the outputs
00575   const double mechanicalLimits[NumOutputs][2] =
00576     {
00577       { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, //left front jsk
00578       { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, //right front jsk
00579       { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, //left back jsk
00580       { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, //right back jsk
00581 
00582       { RAD(-85),RAD(46) },{ RAD(-92.6),RAD(92.6) },{ RAD(-32),RAD(32) }, //neck tpr
00583         
00584       { RAD(-25),RAD(25) },{ RAD(-25),RAD(25) }, // tail tp
00585 
00586       { RAD(-50),RAD(0) }, //mouth
00587         
00588       {0,1},{0,1},{0,1},        // face left side LEDs x3
00589       {0,1},{0,1},{0,1},        // face right side LEDs x3
00590       {0,1},                    // head mode LED x1
00591       {0,1},{0,1},{0,1},        // back left multi LEDs x3
00592       {0,1},{0,1},{0,1},        // back right multi LEDs x3
00593       {0,1},{0,1},{0,1},        // tail LEDs x3
00594       {0,1},{0,1},{0,1},        // face front LEDs x3
00595       {0,1},                     // retractable head light x1
00596       {0,1},{0,1},              // 210 red/blue tail light
00597 
00598       {0,1},{0,1} //ears
00599     };
00600 
00601 #ifdef __RI_RAD_FLAG
00602 #undef RAD
00603 #undef __RI_RAD_FLAG
00604 #endif
00605 
00606 }
00607 
00608 /*! @file
00609  * @brief Defines RobotInfo namespace for ERS-2xx series of robots, such as joint counts, offsets, names and PID values
00610  * @author Daishi MORI (Creator)
00611  *
00612  * $Author: ejt $
00613  * $Name: tekkotsu-2_2_1 $
00614  * $Revision: 1.13 $
00615  * $State: Exp $
00616  * $Date: 2004/08/31 19:48:41 $
00617  */
00618 
00619 #endif

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