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ERS7Info.h File Reference


Detailed Description

Defines RobotInfo namespace for ERS-210 models, gives some information about the robot's capabilities, such as joint counts, offsets, names and PID values.

Author:
ejt (Creator)
Author
ejt
Name
tekkotsu-2_2_1
Revision
1.20
State
Exp
Date
2004/10/19 07:37:09

Definition in file ERS7Info.h.

#include <math.h>
#include <Types.h>
#include "CommonInfo.h"

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Namespaces

namespace  ERS7Info

LED Bitmasks

Bitmasks for use when specifying combinations of LEDs (see LedEngine ) Note that left/right are robot's point of view

typedef unsigned int LEDBitMask_t
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t HeadColorLEDMask = 1<<(HeadColorLEDOffset-LEDOffset)
 mask corresponding to HeadColorLEDOffset
const LEDBitMask_t HeadWhiteLEDMask = 1<<(HeadWhiteLEDOffset-LEDOffset)
 mask corresponding to HeadWhiteLEDOffset
const LEDBitMask_t ModeRedLEDMask = 1<<(ModeRedLEDOffset-LEDOffset)
 mask corresponding to ModeRedLEDOffset
const LEDBitMask_t ModeGreenLEDMask = 1<<(ModeGreenLEDOffset-LEDOffset)
 mask corresponding to ModeGreenLEDOffset
const LEDBitMask_t ModeBlueLEDMask = 1<<(ModeBlueLEDOffset-LEDOffset)
 mask corresponding to ModeBlueLEDOffset
const LEDBitMask_t WirelessLEDMask = 1<<(WirelessLEDOffset-LEDOffset)
 mask corresponding to WirelessLEDOffset
const LEDBitMask_t FaceLEDPanelMask = 1<<(FaceLEDPanelOffset-LEDOffset)
 mask corresponding to FaceLEDPanelOffset, selects only the first of the panel - shift this to get the others
const LEDBitMask_t FrBackColorLEDMask = 1<<(FrBackColorLEDOffset-LEDOffset)
 mask corresponding to FrBackColorLEDOffset
const LEDBitMask_t FrBackWhiteLEDMask = 1<<(FrBackWhiteLEDOffset-LEDOffset)
 mask corresponding to FrBackWhiteLEDOffset
const LEDBitMask_t MdBackColorLEDMask = 1<<(MdBackColorLEDOffset-LEDOffset)
 mask corresponding to MdBackColorLEDOffset
const LEDBitMask_t MdBackWhiteLEDMask = 1<<(MdBackWhiteLEDOffset-LEDOffset)
 mask corresponding to MdBackWhiteLEDOffset
const LEDBitMask_t RrBackColorLEDMask = 1<<(RrBackColorLEDOffset-LEDOffset)
 mask corresponding to RrBackColorLEDOffset
const LEDBitMask_t RrBackWhiteLEDMask = 1<<(RrBackWhiteLEDOffset-LEDOffset)
 mask corresponding to RrBackWhiteLEDOffset
const LEDBitMask_t LEDABModeMask = 1<<(LEDABModeOffset-LEDOffset)
 mask corresponding to LEDABModeOffset
const LEDBitMask_t BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset)
 bottom left
const LEDBitMask_t BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset)
 bottom right
const LEDBitMask_t MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset)
 middle left
const LEDBitMask_t MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset)
 middle right
const LEDBitMask_t TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset)
 top left
const LEDBitMask_t TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset)
 top right
const LEDBitMask_t TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset)
 top bar
const LEDBitMask_t TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset)
 red tail light
const LEDBitMask_t TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset)
 blue tail light
const LEDBitMask_t FaceLEDMask = (FaceLEDPanelMask<<0)|(FaceLEDPanelMask<<1)|(FaceLEDPanelMask<<2)|(FaceLEDPanelMask<<3)|(FaceLEDPanelMask<<4)|(FaceLEDPanelMask<<5)|(FaceLEDPanelMask<<6)|(FaceLEDPanelMask<<7)|(FaceLEDPanelMask<<8)|(FaceLEDPanelMask<<9)|(FaceLEDPanelMask<<10)|(FaceLEDPanelMask<<11)|(FaceLEDPanelMask<<12)|(FaceLEDPanelMask<<13)
 LEDs for the face panel.
const LEDBitMask_t HeadLEDMask = FaceLEDMask|HeadColorLEDMask|HeadWhiteLEDMask|ModeRedLEDMask|ModeGreenLEDMask|ModeBlueLEDMask|WirelessLEDMask
 LEDs for face (all but back lights).
const LEDBitMask_t BackLEDMask = FrBackColorLEDMask|FrBackWhiteLEDMask|MdBackColorLEDMask|MdBackWhiteLEDMask|RrBackColorLEDMask|RrBackWhiteLEDMask
 LEDS on the back.
const LEDBitMask_t TailLEDMask = 0
 LEDs on tail (ERS-7 has none).
const LEDBitMask_t AllLEDMask = ~0
 selects all of the leds

Output Offsets

Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file

enum  LegOffset_t { LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg, RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg }
 The offsets of the individual legs. More...
const unsigned PIDJointOffset = 0
 The beginning of the PID Joints.
const unsigned LegOffset = PIDJointOffset
 the offset of the beginning of the leg joints
const unsigned HeadOffset = LegOffset+NumLegJoints
 the offset of the beginning of the head joints
const unsigned TailOffset = HeadOffset+NumHeadJoints
 the offset of the beginning of the tail joints
const unsigned MouthOffset = TailOffset+NumTailJoints
 the offset of the beginning of the mouth joint
const unsigned LEDOffset = PIDJointOffset + NumPIDJoints
 the offset of LEDs in WorldState::outputs and MotionCommand functions
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. Nor will they be flicked back
const unsigned BaseFrameOffset = NumOutputs
 Use with kinematics to refer to base reference frame.
const unsigned PawFrameOffset = BaseFrameOffset+1
 Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw).
const unsigned CameraFrameOffset = PawFrameOffset+NumLegs
 Use with kinematics to refer to camera reference frame.
const unsigned NearIRFrameOffset = CameraFrameOffset+1
 Use with kinematics to refer to short-range infrared (distance) sensor reference frame.
const unsigned FarIRFrameOffset = NearIRFrameOffset+1
 Use with kinematics to refer to long-range infrared (distance) sensor reference frame.
const unsigned ChestIRFrameOffset = FarIRFrameOffset+1
 Use with kinematics to refer to chest-mounted infrared (distance) sensor reference frame.

Input Offsets

The order in which inputs should be stored

enum  ButtonOffset_t {
  LFrPawOffset = LFrLegOrder, RFrPawOffset = RFrLegOrder, LBkPawOffset = LBkLegOrder, RBkPawOffset = RBkLegOrder,
  ChinButOffset = 4, HeadButOffset, HeadFrButOffset = HeadButOffset, FrontBackButOffset,
  MiddleBackButOffset, RearBackButOffset, WirelessSwOffset
}
 holds offsets to different buttons in WorldState::buttons[] More...
enum  SensorOffset_t {
  NearIRDistOffset = 0, FarIRDistOffset, ChestIRDistOffset, BAccelOffset,
  LAccelOffset, DAccelOffset, PowerRemainOffset, PowerThermoOffset,
  PowerCapacityOffset, PowerVoltageOffset, PowerCurrentOffset
}
 holds offset to different sensor values in WorldState::sensors[] More...
const char *const ButtonNames [NumButtons]
 Provides a string name for each button.

Output Types Information

const unsigned JointsPerLeg = 3
 The number of joints per leg.
const unsigned NumLegs = 4
 The number of legs.
const unsigned NumLegJoints = JointsPerLeg*NumLegs
 the TOTAL number of joints on ALL legs
const unsigned NumHeadJoints = 3
 The number of joints in the neck.
const unsigned NumTailJoints = 2
 The number of joints assigned to the tail.
const unsigned NumMouthJoints = 1
 the number of joints that control the mouth
const unsigned NumEarJoints = 2
 The number of joints which control the ears (NOT per ear, is total).
const unsigned NumButtons = 2+4+3+1
 the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t
const unsigned NumSensors = 3+3+5
 3 IR (distance), 3 accel (force), 5 from power, see ERS7Info::SensorOffset_t
const unsigned NumLEDs = 27
 The number of LEDs which can be controlled.
const unsigned NumPIDJoints = 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 + NumLegs + 1 + 3
 for the base, paws (NumLegs), camera, and IR sensors (3) reference frames
const bool IsFastOutput [NumOutputs]
 true for joints which can be updated every 32 ms (all but the ears)
const bool IsRealERS7 [NumOutputs]
 we need this so you can tell programmatically which joints are "real" and which are "fake" in a compatability mode

CPC IDs

values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - DOESN'T correspond to ERS7Info::PrimitiveName

const int CPCJointMouth = 0
 Mouth.
const int CPCSwitchChin = 1
 Chin sensor.
const int CPCJointNeckNod = 2
 Neck tilt2.
const int CPCSensorHead = 3
 Head sensor.
const int CPCSensorNearPSD = 4
 Head distance sensor(near).
const int CPCSensorFarPSD = 5
 Head distance sensor(far).
const int CPCJointNeckPan = 6
 Neck pan.
const int CPCJointNeckTilt = 7
 Neck tilt1.
const int CPCSwitchLFPaw = 8
 Left fore leg paw sensor.
const int CPCJointLFKnee = 9
 Left fore legJ3.
const int CPCJointLFElevator = 10
 Left fore legJ2.
const int CPCJointLFRotator = 11
 Left fore legJ1.
const int CPCSwitchLHPaw = 12
 Left hind leg paw sensor.
const int CPCJointLHKnee = 13
 Left hind legJ3.
const int CPCJointLHElevator = 14
 Left hind legJ2.
const int CPCJointLHRotator = 15
 Left hind legJ1.
const int CPCSwitchRFPaw = 16
 Right fore leg paw sensor.
const int CPCJointRFKnee = 17
 Right fore legJ3.
const int CPCJointRFElevator = 18
 Right fore legJ2.
const int CPCJointRFRotator = 19
 Right fore legJ1.
const int CPCSwitchRHPaw = 20
 Right hind leg paw sensor.
const int CPCJointRHKnee = 21
 Right hind legJ3.
const int CPCJointRHElevator = 22
 Right hind legJ2.
const int CPCJointRHRotator = 23
 Right hind legJ1.
const int CPCJointTailTilt = 24
 Tail tilt.
const int CPCJointTailPan = 25
 Tail pan.
const int CPCSensorAccelFB = 26
 Acceleration sensor(front-back).
const int CPCSensorAccelLR = 27
 Acceleration sensor(right-left).
const int CPCSensorAccelUD = 28
 Acceleration sensor(up-down).
const int CPCSensorChestPSD = 29
 Chest distance sensor.
const int CPCSwitchWireless = 30
 Wireless LAN switch.
const int CPCSensorBackRear = 31
 Back sensor(rear).
const int CPCSensorBackMiddle = 32
 Back sensor(middle).
const int CPCSensorBackFront = 33
 Back sensor(front).

Defines

#define RAD(deg)   (((deg) * M_PI ) / 180.0)
 Just a little macro for converting degrees to radians.
#define __RI_RAD_FLAG
 a flag so we undef these after we're done - do you have a cleaner solution?

Enumerations

enum  LEDOffset_t {
  HeadColorLEDOffset = LEDOffset, HeadWhiteLEDOffset, ModeRedLEDOffset, ModeGreenLEDOffset,
  ModeBlueLEDOffset, WirelessLEDOffset, FaceLEDPanelOffset, FrBackColorLEDOffset = FaceLEDPanelOffset+14,
  FrBackWhiteLEDOffset, MdBackColorLEDOffset, MdBackWhiteLEDOffset, RrBackColorLEDOffset,
  RrBackWhiteLEDOffset, LEDABModeOffset, BotLLEDOffset = FaceLEDPanelOffset+0, BotRLEDOffset = FaceLEDPanelOffset+1,
  MidLLEDOffset = FaceLEDPanelOffset+2, MidRLEDOffset = FaceLEDPanelOffset+3, TopLLEDOffset = FaceLEDPanelOffset+6, TopRLEDOffset = FaceLEDPanelOffset+7,
  TopBrLEDOffset = HeadColorLEDOffset, TlRedLEDOffset = RrBackColorLEDOffset, TlBluLEDOffset = FrBackColorLEDOffset
}
 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. More...
enum  MinMaxRange_t { MinRange, MaxRange }
 Defines the indexes to use to access the min and max entries of ERS7Info::outputRanges and ERS7Info::mechanicalLimits. More...

Variables

const unsigned int FrameTime = 8
 time between frames in the motion system (milliseconds)
const unsigned int NumFrames = 4
 the number of frames per buffer (don't forget also double buffered)
const unsigned int SlowFrameTime = 8
 time between frames for the ears (ERS-7 doesn't seem to have any "slow" joints; this only applied for the ears on the ERS-210)
const unsigned int NumSlowFrames = 4
 the number of frames per buffer being sent to ears (double buffered as well)
const unsigned int SoundBufferTime = 32
 the number of milliseconds per sound buffer... I'm not sure if this can be changed
const unsigned outputNameLen = 9
 The length of the strings used for each of the outputs in outputNames (doesn't include null term).
const char *const outputNames [NumOutputs]
 A name of uniform length for referring to joints - handy for posture files, etc.
const char *const PrimitiveName [NumOutputs]
 the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others)
const char *const SpeakerLocator = "PRM:/s1-Speaker:S1"
 use to open speaker connection with the system
const char *const CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1"
 use to open camera connection with the system
const float DefaultPIDs [NumPIDJoints][3]
 This table holds the default PID values for each joint. see PIDMC.
const unsigned char DefaultPIDShifts [3] = {0x0E, 0x02-1, 0x0F-3}
 These will control the shift values given to the system. see PIDMC.
const float MaxOutputSpeed [NumOutputs]
 These values are Sony's recommended maximum joint velocities, in rad/ms.
const double outputRanges [NumOutputs][2]
 This table holds the software limits of each of the outputs.
const double mechanicalLimits [NumOutputs][2]
 This table holds the mechanical limits of each of the outputs.


Define Documentation

#define __RI_RAD_FLAG
 

a flag so we undef these after we're done - do you have a cleaner solution?

Definition at line 422 of file ERS7Info.h.

#define RAD deg   )     (((deg) * M_PI ) / 180.0)
 

Just a little macro for converting degrees to radians.

Definition at line 420 of file ERS7Info.h.


Typedef Documentation

typedef unsigned int ERS7Info::LEDBitMask_t
 

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

Definition at line 130 of file ERS7Info.h.

Referenced by LedEngine::ccycle(), LedEngine::cflash(), LedEngine::cset(), LedEngine::cycle(), LedEngine::displayNumber(), LedEngine::flash(), LedEngine::invert(), LedEngine::set(), LedEngine::setColumn(), LedMC::setWeights(), and LedEngine::updateLEDs().


Enumeration Type Documentation

enum 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 PowerSourceID::PauseSID.

See also:
WorldState::buttons

ButtonSourceID_t

Enumeration values:
LFrPawOffset 
RFrPawOffset 
LBkPawOffset 
RBkPawOffset 
ChinButOffset 
HeadButOffset 
HeadFrButOffset 
FrontBackButOffset 
MiddleBackButOffset 
RearBackButOffset 
WirelessSwOffset 

Definition at line 182 of file ERS7Info.h.

enum LEDOffset_t
 

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.

Enumeration values:
HeadColorLEDOffset 
HeadWhiteLEDOffset 
ModeRedLEDOffset 
ModeGreenLEDOffset 
ModeBlueLEDOffset 
WirelessLEDOffset 
FaceLEDPanelOffset  the first LED in the panel - add to this to get the other 13 (14 total)
FrBackColorLEDOffset 
FrBackWhiteLEDOffset 
MdBackColorLEDOffset 
MdBackWhiteLEDOffset 
RrBackColorLEDOffset 
RrBackWhiteLEDOffset 
LEDABModeOffset 
BotLLEDOffset  aliases for backward compatability (use mode A); bottom left
BotRLEDOffset  bottom right
MidLLEDOffset  middle left
MidRLEDOffset  middle right
TopLLEDOffset  top left
TopRLEDOffset  top right
TopBrLEDOffset  top bar
TlRedLEDOffset  red tail light
TlBluLEDOffset  blue tail light

Definition at line 100 of file ERS7Info.h.

enum LegOffset_t
 

The offsets of the individual legs.

Enumeration values:
LFrLegOffset  beginning of left front leg
RFrLegOffset  beginning of right front leg
LBkLegOffset  beginning of left back leg
RBkLegOffset  beginning of right back leg

Definition at line 90 of file ERS7Info.h.

enum MinMaxRange_t
 

Defines the indexes to use to access the min and max entries of ERS7Info::outputRanges and ERS7Info::mechanicalLimits.

Enumeration values:
MinRange 
MaxRange 

Definition at line 426 of file ERS7Info.h.

enum SensorOffset_t
 

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

See also:
WorldState::sensors[]
Enumeration values:
NearIRDistOffset  in millimeters, ranges from 50 to 500
FarIRDistOffset  in millimeters, ranges from 200 to 1500
ChestIRDistOffset  in millimeters, ranges from 100 to 900
BAccelOffset  backward acceleration, in $m/s^2$, negative if sitting on butt (positive for faceplant)
LAccelOffset  acceleration to the robot's left, in $m/s^2$, negative if lying on robot's left side
DAccelOffset  downward acceleration, in $m/s^2$, negative if standing up... be careful about the signs on all of these...
PowerRemainOffset  percentage, 0-1
PowerThermoOffset  degrees Celcius
PowerCapacityOffset  milli-amp hours
PowerVoltageOffset  volts
PowerCurrentOffset  milli-amp negative values (maybe positive while charging?)

Definition at line 203 of file ERS7Info.h.


Variable Documentation

const LEDBitMask_t ERS7Info::AllLEDMask = ~0
 

selects all of the leds

Definition at line 161 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::BackLEDMask = FrBackColorLEDMask|FrBackWhiteLEDMask|MdBackColorLEDMask|MdBackWhiteLEDMask|RrBackColorLEDMask|RrBackWhiteLEDMask
 

LEDS on the back.

Definition at line 159 of file ERS7Info.h.

const unsigned ERS7Info::BaseFrameOffset = NumOutputs
 

Use with kinematics to refer to base reference frame.

Definition at line 81 of file ERS7Info.h.

const unsigned ERS7Info::BinJointOffset = LEDOffset + NumLEDs
 

The beginning of the binary joints.

Definition at line 78 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset)
 

bottom left

Definition at line 147 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset)
 

bottom right

Definition at line 148 of file ERS7Info.h.

const char* const ERS7Info::ButtonNames[NumButtons]
 

Initial value:

 {
    "LFrPaw","RFrPaw","LBkPaw","ChinBut","HeadBut","FrontBackBut","MiddleBackBut","RearBackBut","WirelessSw"
  }
Provides a string name for each button.

Definition at line 197 of file ERS7Info.h.

const unsigned ERS7Info::CameraFrameOffset = PawFrameOffset+NumLegs
 

Use with kinematics to refer to camera reference frame.

Definition at line 83 of file ERS7Info.h.

const char* const ERS7Info::CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1"
 

use to open camera connection with the system

Definition at line 351 of file ERS7Info.h.

const unsigned ERS7Info::ChestIRFrameOffset = FarIRFrameOffset+1
 

Use with kinematics to refer to chest-mounted infrared (distance) sensor reference frame.

Definition at line 86 of file ERS7Info.h.

const int ERS7Info::CPCJointLFElevator = 10 [static]
 

Left fore legJ2.

Definition at line 487 of file ERS7Info.h.

const int ERS7Info::CPCJointLFKnee = 9 [static]
 

Left fore legJ3.

Definition at line 486 of file ERS7Info.h.

const int ERS7Info::CPCJointLFRotator = 11 [static]
 

Left fore legJ1.

Definition at line 488 of file ERS7Info.h.

const int ERS7Info::CPCJointLHElevator = 14 [static]
 

Left hind legJ2.

Definition at line 491 of file ERS7Info.h.

const int ERS7Info::CPCJointLHKnee = 13 [static]
 

Left hind legJ3.

Definition at line 490 of file ERS7Info.h.

const int ERS7Info::CPCJointLHRotator = 15 [static]
 

Left hind legJ1.

Definition at line 492 of file ERS7Info.h.

const int ERS7Info::CPCJointMouth = 0 [static]
 

Mouth.

Definition at line 477 of file ERS7Info.h.

const int ERS7Info::CPCJointNeckNod = 2 [static]
 

Neck tilt2.

Definition at line 479 of file ERS7Info.h.

const int ERS7Info::CPCJointNeckPan = 6 [static]
 

Neck pan.

Definition at line 483 of file ERS7Info.h.

const int ERS7Info::CPCJointNeckTilt = 7 [static]
 

Neck tilt1.

Definition at line 484 of file ERS7Info.h.

const int ERS7Info::CPCJointRFElevator = 18 [static]
 

Right fore legJ2.

Definition at line 495 of file ERS7Info.h.

const int ERS7Info::CPCJointRFKnee = 17 [static]
 

Right fore legJ3.

Definition at line 494 of file ERS7Info.h.

const int ERS7Info::CPCJointRFRotator = 19 [static]
 

Right fore legJ1.

Definition at line 496 of file ERS7Info.h.

const int ERS7Info::CPCJointRHElevator = 22 [static]
 

Right hind legJ2.

Definition at line 499 of file ERS7Info.h.

const int ERS7Info::CPCJointRHKnee = 21 [static]
 

Right hind legJ3.

Definition at line 498 of file ERS7Info.h.

const int ERS7Info::CPCJointRHRotator = 23 [static]
 

Right hind legJ1.

Definition at line 500 of file ERS7Info.h.

const int ERS7Info::CPCJointTailPan = 25 [static]
 

Tail pan.

Definition at line 502 of file ERS7Info.h.

const int ERS7Info::CPCJointTailTilt = 24 [static]
 

Tail tilt.

Definition at line 501 of file ERS7Info.h.

const int ERS7Info::CPCSensorAccelFB = 26 [static]
 

Acceleration sensor(front-back).

Definition at line 503 of file ERS7Info.h.

const int ERS7Info::CPCSensorAccelLR = 27 [static]
 

Acceleration sensor(right-left).

Definition at line 504 of file ERS7Info.h.

const int ERS7Info::CPCSensorAccelUD = 28 [static]
 

Acceleration sensor(up-down).

Definition at line 505 of file ERS7Info.h.

const int ERS7Info::CPCSensorBackFront = 33 [static]
 

Back sensor(front).

Definition at line 510 of file ERS7Info.h.

const int ERS7Info::CPCSensorBackMiddle = 32 [static]
 

Back sensor(middle).

Definition at line 509 of file ERS7Info.h.

const int ERS7Info::CPCSensorBackRear = 31 [static]
 

Back sensor(rear).

Definition at line 508 of file ERS7Info.h.

const int ERS7Info::CPCSensorChestPSD = 29 [static]
 

Chest distance sensor.

Definition at line 506 of file ERS7Info.h.

const int ERS7Info::CPCSensorFarPSD = 5 [static]
 

Head distance sensor(far).

Definition at line 482 of file ERS7Info.h.

const int ERS7Info::CPCSensorHead = 3 [static]
 

Head sensor.

Definition at line 480 of file ERS7Info.h.

const int ERS7Info::CPCSensorNearPSD = 4 [static]
 

Head distance sensor(near).

Definition at line 481 of file ERS7Info.h.

const int ERS7Info::CPCSwitchChin = 1 [static]
 

Chin sensor.

Definition at line 478 of file ERS7Info.h.

const int ERS7Info::CPCSwitchLFPaw = 8 [static]
 

Left fore leg paw sensor.

Definition at line 485 of file ERS7Info.h.

const int ERS7Info::CPCSwitchLHPaw = 12 [static]
 

Left hind leg paw sensor.

Definition at line 489 of file ERS7Info.h.

const int ERS7Info::CPCSwitchRFPaw = 16 [static]
 

Right fore leg paw sensor.

Definition at line 493 of file ERS7Info.h.

const int ERS7Info::CPCSwitchRHPaw = 20 [static]
 

Right hind leg paw sensor.

Definition at line 497 of file ERS7Info.h.

const int ERS7Info::CPCSwitchWireless = 30 [static]
 

Wireless LAN switch.

Definition at line 507 of file ERS7Info.h.

const float ERS7Info::DefaultPIDs[NumPIDJoints][3]
 

Initial value:

    {
      { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
      { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
      { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
      { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
      { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
      { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
      { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
      { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
      { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
      { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
      { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
      { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },

      { 0x0A/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x02/(double)(1<<(16-0xF)) },
      { 0x08/(double)(1<<(16-0xE)), 0x02/(double)(1<<(16-0x2)), 0x04/(double)(1<<(16-0xF)) },
      { 0x08/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x02/(double)(1<<(16-0xF)) }, 

      { 0x0A/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x04/(double)(1<<(16-0xF)) },
      { 0x0A/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x04/(double)(1<<(16-0xF)) },

      { 0x08/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x04/(double)(1<<(16-0xF)) }
    }
This table holds the default PID values for each joint. see PIDMC.

Definition at line 354 of file ERS7Info.h.

const unsigned char ERS7Info::DefaultPIDShifts[3] = {0x0E, 0x02-1, 0x0F-3}
 

These will control the shift values given to the system. see PIDMC.

These are modified from the default values to give better range of values to the gains

Definition at line 381 of file ERS7Info.h.

const unsigned ERS7Info::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

Definition at line 79 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::FaceLEDMask = (FaceLEDPanelMask<<0)|(FaceLEDPanelMask<<1)|(FaceLEDPanelMask<<2)|(FaceLEDPanelMask<<3)|(FaceLEDPanelMask<<4)|(FaceLEDPanelMask<<5)|(FaceLEDPanelMask<<6)|(FaceLEDPanelMask<<7)|(FaceLEDPanelMask<<8)|(FaceLEDPanelMask<<9)|(FaceLEDPanelMask<<10)|(FaceLEDPanelMask<<11)|(FaceLEDPanelMask<<12)|(FaceLEDPanelMask<<13)
 

LEDs for the face panel.

Definition at line 157 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::FaceLEDPanelMask = 1<<(FaceLEDPanelOffset-LEDOffset)
 

mask corresponding to FaceLEDPanelOffset, selects only the first of the panel - shift this to get the others

Definition at line 138 of file ERS7Info.h.

const unsigned ERS7Info::FarIRFrameOffset = NearIRFrameOffset+1
 

Use with kinematics to refer to long-range infrared (distance) sensor reference frame.

Definition at line 85 of file ERS7Info.h.

const unsigned int ERS7Info::FrameTime = 8
 

time between frames in the motion system (milliseconds)

Definition at line 23 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::FrBackColorLEDMask = 1<<(FrBackColorLEDOffset-LEDOffset)
 

mask corresponding to FrBackColorLEDOffset

Definition at line 139 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::FrBackWhiteLEDMask = 1<<(FrBackWhiteLEDOffset-LEDOffset)
 

mask corresponding to FrBackWhiteLEDOffset

Definition at line 140 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::HeadColorLEDMask = 1<<(HeadColorLEDOffset-LEDOffset)
 

mask corresponding to HeadColorLEDOffset

Definition at line 132 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::HeadLEDMask = FaceLEDMask|HeadColorLEDMask|HeadWhiteLEDMask|ModeRedLEDMask|ModeGreenLEDMask|ModeBlueLEDMask|WirelessLEDMask
 

LEDs for face (all but back lights).

Definition at line 158 of file ERS7Info.h.

const unsigned ERS7Info::HeadOffset = LegOffset+NumLegJoints
 

the offset of the beginning of the head joints

Definition at line 72 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::HeadWhiteLEDMask = 1<<(HeadWhiteLEDOffset-LEDOffset)
 

mask corresponding to HeadWhiteLEDOffset

Definition at line 133 of file ERS7Info.h.

const bool ERS7Info::IsFastOutput[NumOutputs]
 

Initial value:

 {
    true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true, 
    true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true, 
    true,true 
  }
true for joints which can be updated every 32 ms (all but the ears)

Definition at line 49 of file ERS7Info.h.

const bool ERS7Info::IsRealERS7[NumOutputs]
 

Initial value:

 { 
    true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true, 
    true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false, 
    true,true 
  }
we need this so you can tell programmatically which joints are "real" and which are "fake" in a compatability mode

Definition at line 55 of file ERS7Info.h.

const unsigned ERS7Info::JointsPerLeg = 3
 

The number of joints per leg.

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

Definition at line 32 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::LEDABModeMask = 1<<(LEDABModeOffset-LEDOffset)
 

mask corresponding to LEDABModeOffset

Definition at line 145 of file ERS7Info.h.

const unsigned ERS7Info::LEDOffset = PIDJointOffset + NumPIDJoints
 

the offset of LEDs in WorldState::outputs and MotionCommand functions

Definition at line 76 of file ERS7Info.h.

const unsigned ERS7Info::LegOffset = PIDJointOffset
 

the offset of the beginning of the leg joints

Definition at line 71 of file ERS7Info.h.

const float ERS7Info::MaxOutputSpeed[NumOutputs]
 

Initial value:

 {
    4.86510529e-3, 
    5.27962099e-3,
    5.27962099e-3,
    4.86510529e-3,
    5.27962099e-3,
    5.27962099e-3,
    4.86510529e-3,
    5.27962099e-3,
    5.27962099e-3,
    4.86510529e-3,
    5.27962099e-3,
    5.27962099e-3,
  
    3.18522588e-3, 
    1.00574598e-2,
    5.78140315e-3,
  
    1.51625479e-2, 
    1.51625479e-2,
  
    1.01447263e-2, 
    
    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 
    
    0,0                
  }
These values are Sony's 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 is (as of v1.6) the only included MotionCommand to actually use these values.

These values were obtained from the administrators of the Sony OPEN-R BBS

Definition at line 390 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::MdBackColorLEDMask = 1<<(MdBackColorLEDOffset-LEDOffset)
 

mask corresponding to MdBackColorLEDOffset

Definition at line 141 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::MdBackWhiteLEDMask = 1<<(MdBackWhiteLEDOffset-LEDOffset)
 

mask corresponding to MdBackWhiteLEDOffset

Definition at line 142 of file ERS7Info.h.

const double ERS7Info::mechanicalLimits[NumOutputs][2]
 

Initial value:

    {
      { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, 
      { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, 
      { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, 
      { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, 

      { RAD(-75),RAD(0) },{ RAD(-88),RAD(88) },{ RAD(-15),RAD(45) }, 
        
      { RAD(5),RAD(60) },{ RAD(-45),RAD(45) }, 

      { RAD(-55),RAD(-3) }, 

      {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},{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},{0,1} 
    }
This table holds the mechanical limits of each of the outputs.

Todo:
same as outputLimits right now, don't know actual values yet

Definition at line 451 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset)
 

middle left

Definition at line 149 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset)
 

middle right

Definition at line 150 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::ModeBlueLEDMask = 1<<(ModeBlueLEDOffset-LEDOffset)
 

mask corresponding to ModeBlueLEDOffset

Definition at line 136 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::ModeGreenLEDMask = 1<<(ModeGreenLEDOffset-LEDOffset)
 

mask corresponding to ModeGreenLEDOffset

Definition at line 135 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::ModeRedLEDMask = 1<<(ModeRedLEDOffset-LEDOffset)
 

mask corresponding to ModeRedLEDOffset

Definition at line 134 of file ERS7Info.h.

const unsigned ERS7Info::MouthOffset = TailOffset+NumTailJoints
 

the offset of the beginning of the mouth joint

Definition at line 74 of file ERS7Info.h.

const unsigned ERS7Info::NearIRFrameOffset = CameraFrameOffset+1
 

Use with kinematics to refer to short-range infrared (distance) sensor reference frame.

Definition at line 84 of file ERS7Info.h.

Referenced by WallTestBehavior::processEvent().

const unsigned ERS7Info::NumBinJoints = NumEarJoints
 

The number of binary joints - just the ears.

Definition at line 44 of file ERS7Info.h.

const unsigned ERS7Info::NumButtons = 2+4+3+1
 

the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t

Definition at line 39 of file ERS7Info.h.

const unsigned ERS7Info::NumEarJoints = 2
 

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

Definition at line 38 of file ERS7Info.h.

const unsigned int ERS7Info::NumFrames = 4
 

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

Definition at line 24 of file ERS7Info.h.

const unsigned ERS7Info::NumHeadJoints = 3
 

The number of joints in the neck.

Definition at line 35 of file ERS7Info.h.

const unsigned ERS7Info::NumLEDs = 27
 

The number of LEDs which can be controlled.

Definition at line 41 of file ERS7Info.h.

const unsigned ERS7Info::NumLegJoints = JointsPerLeg*NumLegs
 

the TOTAL number of joints on ALL legs

Definition at line 34 of file ERS7Info.h.

const unsigned ERS7Info::NumLegs = 4
 

The number of legs.

Definition at line 33 of file ERS7Info.h.

const unsigned ERS7Info::NumMouthJoints = 1
 

the number of joints that control the mouth

Definition at line 37 of file ERS7Info.h.

const unsigned ERS7Info::NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs
 

the total number of outputs

Definition at line 45 of file ERS7Info.h.

const unsigned ERS7Info::NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints
 

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

Definition at line 43 of file ERS7Info.h.

const unsigned ERS7Info::NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 3
 

for the base, paws (NumLegs), camera, and IR sensors (3) reference frames

Definition at line 46 of file ERS7Info.h.

const unsigned ERS7Info::NumSensors = 3+3+5
 

3 IR (distance), 3 accel (force), 5 from power, see ERS7Info::SensorOffset_t

Definition at line 40 of file ERS7Info.h.

const unsigned int ERS7Info::NumSlowFrames = 4
 

the number of frames per buffer being sent to ears (double buffered as well)

Definition at line 26 of file ERS7Info.h.

const unsigned ERS7Info::NumTailJoints = 2
 

The number of joints assigned to the tail.

Definition at line 36 of file ERS7Info.h.

const unsigned ERS7Info::outputNameLen = 9
 

The length of the strings used for each of the outputs in outputNames (doesn't include null term).

Definition at line 221 of file ERS7Info.h.

const char* const ERS7Info::outputNames[NumOutputs]
 

A name of uniform length for referring to joints - handy for posture files, etc.

Definition at line 223 of file ERS7Info.h.

const double ERS7Info::outputRanges[NumOutputs][2]
 

Initial value:

    {
      { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, 
      { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, 
      { RAD(-130),RAD(115) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, 
      { RAD(-130),RAD(115) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, 

      { RAD(-75),RAD(0) },{ RAD(-88),RAD(88) },{ RAD(-15),RAD(45) }, 
        
      { RAD(5),RAD(60) },{ RAD(-45),RAD(45) }, 

      { RAD(-55),RAD(-3) }, 

      {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},{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},{0,1} 
    }
This table holds the software limits of each of the outputs.

Definition at line 429 of file ERS7Info.h.

const unsigned ERS7Info::PawFrameOffset = BaseFrameOffset+1
 

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

Definition at line 82 of file ERS7Info.h.

const unsigned ERS7Info::PIDJointOffset = 0
 

The beginning of the PID Joints.

Definition at line 70 of file ERS7Info.h.

const char* const ERS7Info::PrimitiveName[NumOutputs]
 

Initial value:

 {
    "PRM:/r2/c1-Joint2:21",       
    "PRM:/r2/c1/c2-Joint2:22",    
    "PRM:/r2/c1/c2/c3-Joint2:23", 
    "PRM:/r4/c1-Joint2:41",       
    "PRM:/r4/c1/c2-Joint2:42",    
    "PRM:/r4/c1/c2/c3-Joint2:43", 
        
    "PRM:/r3/c1-Joint2:31",       
    "PRM:/r3/c1/c2-Joint2:32",    
    "PRM:/r3/c1/c2/c3-Joint2:33", 
    "PRM:/r5/c1-Joint2:51",       
    "PRM:/r5/c1/c2-Joint2:52",    
    "PRM:/r5/c1/c2/c3-Joint2:53", 
      
    "PRM:/r1/c1-Joint2:11",       
    "PRM:/r1/c1/c2-Joint2:12",    
    "PRM:/r1/c1/c2/c3-Joint2:13", 
        
    "PRM:/r6/c1-Joint2:61",       
    "PRM:/r6/c2-Joint2:62",       
        
    "PRM:/r1/c1/c2/c3/c4-Joint2:14", 
        
    "PRM:/r1/c1/c2/c3/l1-LED2:l1", 
    "PRM:/r1/c1/c2/c3/l2-LED2:l2", 
    "PRM:/r1/c1/c2/c3/l3-LED2:l3", 
    "PRM:/r1/c1/c2/c3/l4-LED2:l4", 
    "PRM:/r1/c1/c2/c3/l5-LED2:l5", 
    "PRM:/r1/c1/c2/c3/l6-LED2:l6", 
    
    "PRM:/r1/c1/c2/c3/la-LED3:la", 
    "PRM:/r1/c1/c2/c3/lb-LED3:lb",    
    "PRM:/r1/c1/c2/c3/lc-LED3:lc", 
    "PRM:/r1/c1/c2/c3/ld-LED3:ld", 
    "PRM:/r1/c1/c2/c3/le-LED3:le",    
    "PRM:/r1/c1/c2/c3/lf-LED3:lf", 
    "PRM:/r1/c1/c2/c3/lg-LED3:lg", 
    "PRM:/r1/c1/c2/c3/lh-LED3:lh", 
    "PRM:/r1/c1/c2/c3/li-LED3:li", 
    "PRM:/r1/c1/c2/c3/lj-LED3:lj", 
    "PRM:/r1/c1/c2/c3/lk-LED3:lk", 
    "PRM:/r1/c1/c2/c3/ll-LED3:ll", 
    "PRM:/r1/c1/c2/c3/lm-LED3:lm", 
    "PRM:/r1/c1/c2/c3/ln-LED3:ln", 

    "PRM:/lu-LED3:lu", 
    "PRM:/lv-LED3:lv", 
    "PRM:/lw-LED3:lw", 
    "PRM:/lx-LED3:lx", 
    "PRM:/ly-LED3:ly", 
    "PRM:/lz-LED3:lz", 
    "",  
      
    "PRM:/r1/c1/c2/c3/e5-Joint4:15", 
    "PRM:/r1/c1/c2/c3/e6-Joint4:16" 
  }
the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others)

Warning:
IMPORTANT!!!! DO NOT CHANGE THE ORDER OF ITEMS IN THIS TABLE!!!
The offset consts defined in this file correspond to this table and will make life easier if you feel the need to reorder things, but they aren't used perfect everywhere
In particular, assumptions are made that the pid joints will be in slots 0-numPIDJoints and that the fast outputs (ie NOT ears) will be in slots 0-NumFastOutputs
There may be other assumptions not noted here!!!
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

Definition at line 289 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::RrBackColorLEDMask = 1<<(RrBackColorLEDOffset-LEDOffset)
 

mask corresponding to RrBackColorLEDOffset

Definition at line 143 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::RrBackWhiteLEDMask = 1<<(RrBackWhiteLEDOffset-LEDOffset)
 

mask corresponding to RrBackWhiteLEDOffset

Definition at line 144 of file ERS7Info.h.

const unsigned int ERS7Info::SlowFrameTime = 8
 

time between frames for the ears (ERS-7 doesn't seem to have any "slow" joints; this only applied for the ears on the ERS-210)

Definition at line 25 of file ERS7Info.h.

const unsigned int ERS7Info::SoundBufferTime = 32
 

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

Definition at line 27 of file ERS7Info.h.

const char* const ERS7Info::SpeakerLocator = "PRM:/s1-Speaker:S1"
 

use to open speaker connection with the system

Definition at line 348 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::TailLEDMask = 0
 

LEDs on tail (ERS-7 has none).

Definition at line 160 of file ERS7Info.h.

const unsigned ERS7Info::TailOffset = HeadOffset+NumHeadJoints
 

the offset of the beginning of the tail joints

Definition at line 73 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset)
 

blue tail light

Definition at line 155 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset)
 

red tail light

Definition at line 154 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset)
 

top bar

Definition at line 153 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset)
 

top left

Definition at line 151 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset)
 

top right

Definition at line 152 of file ERS7Info.h.

const LEDBitMask_t ERS7Info::WirelessLEDMask = 1<<(WirelessLEDOffset-LEDOffset)
 

mask corresponding to WirelessLEDOffset

Definition at line 137 of file ERS7Info.h.


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