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ERS220Info Namespace Reference


Detailed Description

Contains information about the ERS-220 Robot, such as number of joints, PID defaults, timing information, etc.


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 FaceFrontLeftLEDMask = 1<<(FaceFrontLeftLEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t FaceFrontRightLEDMask = 1<<(FaceFrontRightLEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t FaceCenterLeftLEDMask = 1<<(FaceCenterLeftLEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t FaceCenterRightLEDMask = 1<<(FaceCenterRightLEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t FaceBackLeftLEDMask = 1<<(FaceBackLeftLEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t FaceBackRightLEDMask = 1<<(FaceBackRightLEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t ModeLEDMask = 1<<(ModeLEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t BackLeft1LEDMask = 1<<(BackLeft1LEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t BackLeft2LEDMask = 1<<(BackLeft2LEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t BackLeft3LEDMask = 1<<(BackLeft3LEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t BackRight3LEDMask = 1<<(BackRight3LEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t BackRight2LEDMask = 1<<(BackRight2LEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t BackRight1LEDMask = 1<<(BackRight1LEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t TailLeftLEDMask = 1<<(TailLeftLEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t TailCenterLEDMask = 1<<(TailCenterLEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t TailRightLEDMask = 1<<(TailRightLEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t FaceFrontBLEDMask = 1<<(FaceFrontBLEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t FaceFrontALEDMask = 1<<(FaceFrontALEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t FaceFrontCLEDMask = 1<<(FaceFrontCLEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t RetractableHeadLEDMask = 1<<(RetractableHeadLEDOffset-LEDOffset)
 So you can be clear when you're refering to a LED bitmask.
const LEDBitMask_t BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset)
 bottom left (red - sad)
const LEDBitMask_t BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset)
 bottom right (red - sad)
const LEDBitMask_t MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset)
 middle left (green - happy)
const LEDBitMask_t MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset)
 middle right (green - happy)
const LEDBitMask_t TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset)
 top left (red - angry)
const LEDBitMask_t TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset)
 top right (red - angry)
const LEDBitMask_t TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset)
 top bar (green)
const LEDBitMask_t TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset)
 red tail light
const LEDBitMask_t TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset)
 blue tail light
const LEDBitMask_t FaceLEDMask
 LEDs for face.
const LEDBitMask_t HeadLEDMask
 LEDs on head (face plus retractable light).
const LEDBitMask_t BackLEDMask
 LEDs on back.
const LEDBitMask_t TailLEDMask
 LEDs for tail.
const LEDBitMask_t AllLEDMask = ~0
 selects all of the leds

Output Offsets

Corresponds to entries in ERS220Info::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 LEDOffset = PIDJointOffset + NumPIDJoints
 the offset of LEDs in WorldState::outputs and MotionCommand functions
const unsigned BinJointOffset = NumOutputs
 The beginning of the binary joints.
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 IRFrameOffset = CameraFrameOffset+1
 Use with kinematics to refer to 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, BackButOffset, HeadFrButOffset, HeadBkButOffset,
  TailLeftButOffset, TailCenterButOffset, TailRightButOffset
}
 holds offsets to different buttons in WorldState::buttons[] More...
enum  SensorOffset_t {
  IRDistOffset = 0, BAccelOffset, LAccelOffset, DAccelOffset,
  ThermoOffset, 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 = 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 = 11
 the number of buttons that are available, see ERS220Info::ButtonOffset_t
const unsigned NumSensors = 1+3+1+5
 1 dist, 3 accel, 1 thermo, 5 from power, see ERS220Info::SensorOffset_t
const unsigned NumLEDs = 20
 The number of LEDs which can be controlled.
const unsigned NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints
 The number of joints which use PID motion - everything.
const unsigned NumBinJoints = NumEarJoints
 The number of binary joints - just the ears (which the 220 doesn't have).
const unsigned NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs
 the total number of outputs
const unsigned NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 1
 for the base, paw, camera, and IR sensor reference frames
const bool IsFastOutput [NumOutputs]
 true for joints which can be updated every 32 ms (all but the ears on a 210)
const bool IsRealERS220 [NumOutputs]
 true for joints which can be updated every 32 ms (all but the ears on a 210)

CPC IDs

values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - DOESN'T correspond to ERS220Info::PrimitiveName

const int CPCJointNeckTilt = 0
const int CPCJointNeckPan = 1
const int CPCJointNeckRoll = 2
const int CPCSensorPSD = 3
const int CPCSensorHeadBackPressure = 4
const int CPCSensorHeadFrontPressure = 5
const int CPCSensorChinSwitch = 6
const int CPCJointLFRotator = 7
const int CPCJointLFElevator = 8
const int CPCJointLFKnee = 9
const int CPCSensorLFPaw = 10
const int CPCJointLHRotator = 11
const int CPCJointLHElevator = 12
const int CPCJointLHKnee = 13
const int CPCSensorLHPaw = 14
const int CPCJointRFRotator = 15
const int CPCJointRFElevator = 16
const int CPCJointRFKnee = 17
const int CPCSensorRFPaw = 18
const int CPCJointRHRotator = 19
const int CPCJointRHElevator = 20
const int CPCJointRHKnee = 21
const int CPCSensorRHPaw = 22
const int CPCSensorThermoSensor = 23
const int CPCSensorBackSwitch = 24
const int CPCSensorTailLeftSwitch = 25
const int CPCSensorTailCenterSwitch = 26
const int CPCSensorTailRightSwitch = 27
const int CPCSensorAccelFB = 28
const int CPCSensorAccelLR = 29
const int CPCSensorAccelUD = 30

Enumerations

enum  LEDOffset_t {
  FaceFrontLeftLEDOffset = LEDOffset, FaceFrontRightLEDOffset, FaceCenterLeftLEDOffset, FaceCenterRightLEDOffset,
  FaceBackLeftLEDOffset, FaceBackRightLEDOffset, ModeLEDOffset, BackLeft1LEDOffset,
  BackLeft2LEDOffset, BackLeft3LEDOffset, BackRight3LEDOffset, BackRight2LEDOffset,
  BackRight1LEDOffset, TailLeftLEDOffset, TailCenterLEDOffset, TailRightLEDOffset,
  FaceFrontBLEDOffset, FaceFrontALEDOffset, FaceFrontCLEDOffset, RetractableHeadLEDOffset,
  BotLLEDOffset = FaceFrontLeftLEDOffset, BotRLEDOffset = FaceFrontRightLEDOffset, MidLLEDOffset = FaceCenterLeftLEDOffset, MidRLEDOffset = FaceCenterRightLEDOffset,
  TopLLEDOffset = FaceBackLeftLEDOffset, TopRLEDOffset = FaceBackRightLEDOffset, TopBrLEDOffset = ModeLEDOffset, TlBluLEDOffset = TailLeftLEDOffset,
  TlRedLEDOffset = TailRightLEDOffset
}
 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 ERSInfo::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 = 128
 time between frames for the ears (which move slower for some reason, don't want to mix with other outputs) (milliseconds)
const unsigned int NumSlowFrames = 1
 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:/r1/c1/c2/c3/s1-Speaker:S1"
 use to open speaker connectio 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, 0x0F}
 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.


Typedef Documentation

typedef unsigned int ERS220Info::LEDBitMask_t
 

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

Definition at line 165 of file ERS220Info.h.


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 
BackButOffset 
HeadFrButOffset  for the "antenna" - this is <.2 if pushed back all the way
HeadBkButOffset  for the "antenna" - this is >.98 if pulled forward, <.2 if pushed back partly
TailLeftButOffset 
TailCenterButOffset 
TailRightButOffset 

Definition at line 248 of file ERS220Info.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:
FaceFrontLeftLEDOffset  head face side light (front left - blue)
FaceFrontRightLEDOffset  head face side light (front right - blue)
FaceCenterLeftLEDOffset  head face side light (center left - blue)
FaceCenterRightLEDOffset  head face side light (center right - blue)
FaceBackLeftLEDOffset  head face side light (back left - red)
FaceBackRightLEDOffset  head face side light (back right - red)
ModeLEDOffset  mode indicator (back of the head - orange)
BackLeft1LEDOffset  back multi-indicator (left #1 - blue)
BackLeft2LEDOffset  back multi-indicator (left #2 - blue)
BackLeft3LEDOffset  back multi-indicator (left #3 - blue)
BackRight3LEDOffset  back multi-indicator (right #3 - blue)
BackRight2LEDOffset  back multi-indicator (right #2 - blue)
BackRight1LEDOffset  back multi-indicator (right #1 - blue)
TailLeftLEDOffset  tail light (left - blue)
TailCenterLEDOffset  tail light (center - red)
TailRightLEDOffset  tail light (right - blue)
FaceFrontBLEDOffset  face front light B (blue)
FaceFrontALEDOffset  face front light A (blue)
FaceFrontCLEDOffset  face front light C (red)
RetractableHeadLEDOffset  retractable head light
BotLLEDOffset  bottom left (red - sad) (ERS-210)
BotRLEDOffset  bottom right (red - sad) (ERS-210)
MidLLEDOffset  middle left (green - happy) (ERS-210)
MidRLEDOffset  middle right (green - happy) (ERS-210)
TopLLEDOffset  top left (red - angry) (ERS-210)
TopRLEDOffset  top right (red - angry) (ERS-210)
TopBrLEDOffset  top bar (green) (ERS-210)
TlBluLEDOffset  blue tail light (ERS-210)
TlRedLEDOffset  red tail light (ERS-210)

Definition at line 129 of file ERS220Info.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 119 of file ERS220Info.h.

enum MinMaxRange_t
 

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

Enumeration values:
MinRange 
MaxRange 

Definition at line 485 of file ERS220Info.h.

enum SensorOffset_t
 

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

See also:
WorldState::sensors[]
Enumeration values:
IRDistOffset  in millimeters
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...
ThermoOffset  in degrees Celcius
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 269 of file ERS220Info.h.


Variable Documentation

const LEDBitMask_t ERS220Info::AllLEDMask = ~0
 

selects all of the leds

Definition at line 227 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BackLEDMask
 

Initial value:

LEDs on back.

Definition at line 215 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BackLeft1LEDMask = 1<<(BackLeft1LEDOffset-LEDOffset)
 

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

Definition at line 173 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BackLeft2LEDMask = 1<<(BackLeft2LEDOffset-LEDOffset)
 

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

Definition at line 174 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BackLeft3LEDMask = 1<<(BackLeft3LEDOffset-LEDOffset)
 

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

Definition at line 175 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BackRight1LEDMask = 1<<(BackRight1LEDOffset-LEDOffset)
 

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

Definition at line 178 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BackRight2LEDMask = 1<<(BackRight2LEDOffset-LEDOffset)
 

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

Definition at line 177 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BackRight3LEDMask = 1<<(BackRight3LEDOffset-LEDOffset)
 

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

Definition at line 176 of file ERS220Info.h.

const unsigned ERS220Info::BaseFrameOffset = NumOutputs
 

Use with kinematics to refer to base reference frame.

Definition at line 113 of file ERS220Info.h.

const unsigned ERS220Info::BinJointOffset = NumOutputs
 

The beginning of the binary joints.

Definition at line 111 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset)
 

bottom left (red - sad)

Definition at line 188 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset)
 

bottom right (red - sad)

Definition at line 189 of file ERS220Info.h.

const char* const ERS220Info::ButtonNames[NumButtons]
 

Initial value:

 {
    "LFrPaw","RFrPaw","LBkPaw","ChinBut","BackBut","HeadFrBut","HeadBkBut","TailLeftBut","TailCenterBut","TailRightBut"
  }
Provides a string name for each button.

Definition at line 263 of file ERS220Info.h.

const unsigned ERS220Info::CameraFrameOffset = PawFrameOffset+NumLegs
 

Use with kinematics to refer to camera reference frame.

Definition at line 115 of file ERS220Info.h.

const char* const ERS220Info::CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1"
 

use to open camera connection with the system

Definition at line 388 of file ERS220Info.h.

const int ERS220Info::CPCJointLFElevator = 8 [static]
 

Definition at line 544 of file ERS220Info.h.

const int ERS220Info::CPCJointLFKnee = 9 [static]
 

Definition at line 545 of file ERS220Info.h.

const int ERS220Info::CPCJointLFRotator = 7 [static]
 

Definition at line 543 of file ERS220Info.h.

const int ERS220Info::CPCJointLHElevator = 12 [static]
 

Definition at line 548 of file ERS220Info.h.

const int ERS220Info::CPCJointLHKnee = 13 [static]
 

Definition at line 549 of file ERS220Info.h.

const int ERS220Info::CPCJointLHRotator = 11 [static]
 

Definition at line 547 of file ERS220Info.h.

const int ERS220Info::CPCJointNeckPan = 1 [static]
 

Definition at line 537 of file ERS220Info.h.

const int ERS220Info::CPCJointNeckRoll = 2 [static]
 

Definition at line 538 of file ERS220Info.h.

const int ERS220Info::CPCJointNeckTilt = 0 [static]
 

Definition at line 536 of file ERS220Info.h.

const int ERS220Info::CPCJointRFElevator = 16 [static]
 

Definition at line 552 of file ERS220Info.h.

const int ERS220Info::CPCJointRFKnee = 17 [static]
 

Definition at line 553 of file ERS220Info.h.

const int ERS220Info::CPCJointRFRotator = 15 [static]
 

Definition at line 551 of file ERS220Info.h.

const int ERS220Info::CPCJointRHElevator = 20 [static]
 

Definition at line 556 of file ERS220Info.h.

const int ERS220Info::CPCJointRHKnee = 21 [static]
 

Definition at line 557 of file ERS220Info.h.

const int ERS220Info::CPCJointRHRotator = 19 [static]
 

Definition at line 555 of file ERS220Info.h.

const int ERS220Info::CPCSensorAccelFB = 28 [static]
 

Definition at line 564 of file ERS220Info.h.

const int ERS220Info::CPCSensorAccelLR = 29 [static]
 

Definition at line 565 of file ERS220Info.h.

const int ERS220Info::CPCSensorAccelUD = 30 [static]
 

Definition at line 566 of file ERS220Info.h.

const int ERS220Info::CPCSensorBackSwitch = 24 [static]
 

Definition at line 560 of file ERS220Info.h.

const int ERS220Info::CPCSensorChinSwitch = 6 [static]
 

Definition at line 542 of file ERS220Info.h.

const int ERS220Info::CPCSensorHeadBackPressure = 4 [static]
 

Definition at line 540 of file ERS220Info.h.

const int ERS220Info::CPCSensorHeadFrontPressure = 5 [static]
 

Definition at line 541 of file ERS220Info.h.

const int ERS220Info::CPCSensorLFPaw = 10 [static]
 

Definition at line 546 of file ERS220Info.h.

const int ERS220Info::CPCSensorLHPaw = 14 [static]
 

Definition at line 550 of file ERS220Info.h.

const int ERS220Info::CPCSensorPSD = 3 [static]
 

Definition at line 539 of file ERS220Info.h.

const int ERS220Info::CPCSensorRFPaw = 18 [static]
 

Definition at line 554 of file ERS220Info.h.

const int ERS220Info::CPCSensorRHPaw = 22 [static]
 

Definition at line 558 of file ERS220Info.h.

const int ERS220Info::CPCSensorTailCenterSwitch = 26 [static]
 

Definition at line 562 of file ERS220Info.h.

const int ERS220Info::CPCSensorTailLeftSwitch = 25 [static]
 

Definition at line 561 of file ERS220Info.h.

const int ERS220Info::CPCSensorTailRightSwitch = 27 [static]
 

Definition at line 563 of file ERS220Info.h.

const int ERS220Info::CPCSensorThermoSensor = 23 [static]
 

Definition at line 559 of file ERS220Info.h.

const float ERS220Info::DefaultPIDs[NumPIDJoints][3]
 

Initial value:

    {
      { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
      { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
      { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
      { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
      { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
      { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
      { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
      { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
      { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
      { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
      { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
      { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },

      { 0x0A/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0C/(double)(1<<(16-0xF)) },
      { 0x0D/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0B/(double)(1<<(16-0xF)) },
      { 0x0A/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0C/(double)(1<<(16-0xF)) }





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

Definition at line 416 of file ERS220Info.h.

const unsigned char ERS220Info::DefaultPIDShifts[3] = {0x0E, 0x02, 0x0F}
 

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

Definition at line 442 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceBackLeftLEDMask = 1<<(FaceBackLeftLEDOffset-LEDOffset)
 

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

Definition at line 170 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceBackRightLEDMask = 1<<(FaceBackRightLEDOffset-LEDOffset)
 

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

Definition at line 171 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceCenterLeftLEDMask = 1<<(FaceCenterLeftLEDOffset-LEDOffset)
 

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

Definition at line 168 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceCenterRightLEDMask = 1<<(FaceCenterRightLEDOffset-LEDOffset)
 

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

Definition at line 169 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceFrontALEDMask = 1<<(FaceFrontALEDOffset-LEDOffset)
 

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

Definition at line 183 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceFrontBLEDMask = 1<<(FaceFrontBLEDOffset-LEDOffset)
 

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

Definition at line 182 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceFrontCLEDMask = 1<<(FaceFrontCLEDOffset-LEDOffset)
 

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

Definition at line 184 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceFrontLeftLEDMask = 1<<(FaceFrontLeftLEDOffset-LEDOffset)
 

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

Definition at line 166 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceFrontRightLEDMask = 1<<(FaceFrontRightLEDOffset-LEDOffset)
 

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

Definition at line 167 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceLEDMask
 

Initial value:

LEDs for face.

Definition at line 199 of file ERS220Info.h.

const unsigned int ERS220Info::FrameTime = 8
 

time between frames in the motion system (milliseconds)

Definition at line 33 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::HeadLEDMask
 

Initial value:

LEDs on head (face plus retractable light).

Definition at line 211 of file ERS220Info.h.

const unsigned ERS220Info::HeadOffset = LegOffset+NumLegJoints
 

the offset of the beginning of the head joints

Definition at line 107 of file ERS220Info.h.

const unsigned ERS220Info::IRFrameOffset = CameraFrameOffset+1
 

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

Definition at line 116 of file ERS220Info.h.

const bool ERS220Info::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 for joints which can be updated every 32 ms (all but the ears on a 210)

Definition at line 58 of file ERS220Info.h.

const bool ERS220Info::IsRealERS220[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 for joints which can be updated every 32 ms (all but the ears on a 210)

Definition at line 78 of file ERS220Info.h.

const unsigned ERS220Info::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 42 of file ERS220Info.h.

const unsigned ERS220Info::LEDOffset = PIDJointOffset + NumPIDJoints
 

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

Definition at line 109 of file ERS220Info.h.

const unsigned ERS220Info::LegOffset = PIDJointOffset
 

the offset of the beginning of the leg joints

Definition at line 106 of file ERS220Info.h.

const float ERS220Info::MaxOutputSpeed[NumOutputs]
 

Initial value:

 {
    2.8143434e-03,     
    2.4980025e-03,
    2.8361600e-03,
    2.8143434e-03,
    2.4980025e-03,
    2.8361600e-03,
    2.8143434e-03,
    2.4980025e-03,
    2.8361600e-03,
    2.8143434e-03,
    2.4980025e-03,
    2.8361600e-03,
  
    2.1053034e-03,     
    3.0106930e-03,
    3.0106930e-03,
  
    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.

Definition at line 449 of file ERS220Info.h.

const double ERS220Info::mechanicalLimits[NumOutputs][2]
 

Initial value:

    {
      { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, 
      { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, 
      { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, 
      { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, 

      { RAD(-91.5),RAD(46) },{ RAD(-92.6),RAD(92.6) },{ RAD(-32),RAD(32) }, 
        
      {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.

Definition at line 508 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset)
 

middle left (green - happy)

Definition at line 190 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset)
 

middle right (green - happy)

Definition at line 191 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::ModeLEDMask = 1<<(ModeLEDOffset-LEDOffset)
 

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

Definition at line 172 of file ERS220Info.h.

const unsigned ERS220Info::NumBinJoints = NumEarJoints
 

The number of binary joints - just the ears (which the 220 doesn't have).

Definition at line 54 of file ERS220Info.h.

const unsigned ERS220Info::NumButtons = 11
 

the number of buttons that are available, see ERS220Info::ButtonOffset_t

Definition at line 49 of file ERS220Info.h.

const unsigned ERS220Info::NumEarJoints = 0
 

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

Definition at line 48 of file ERS220Info.h.

const unsigned int ERS220Info::NumFrames = 4
 

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

Definition at line 34 of file ERS220Info.h.

const unsigned ERS220Info::NumHeadJoints = 3
 

The number of joints in the neck.

Definition at line 45 of file ERS220Info.h.

const unsigned ERS220Info::NumLEDs = 20
 

The number of LEDs which can be controlled.

Definition at line 51 of file ERS220Info.h.

const unsigned ERS220Info::NumLegJoints = JointsPerLeg*NumLegs
 

the TOTAL number of joints on ALL legs

Definition at line 44 of file ERS220Info.h.

const unsigned ERS220Info::NumLegs = 4
 

The number of legs.

Definition at line 43 of file ERS220Info.h.

const unsigned ERS220Info::NumMouthJoints = 0
 

the number of joints that control the mouth

Definition at line 47 of file ERS220Info.h.

const unsigned ERS220Info::NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs
 

the total number of outputs

Definition at line 55 of file ERS220Info.h.

const unsigned ERS220Info::NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints
 

The number of joints which use PID motion - everything.

Definition at line 53 of file ERS220Info.h.

const unsigned ERS220Info::NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 1
 

for the base, paw, camera, and IR sensor reference frames

Definition at line 56 of file ERS220Info.h.

const unsigned ERS220Info::NumSensors = 1+3+1+5
 

1 dist, 3 accel, 1 thermo, 5 from power, see ERS220Info::SensorOffset_t

Definition at line 50 of file ERS220Info.h.

const unsigned int ERS220Info::NumSlowFrames = 1
 

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

Definition at line 36 of file ERS220Info.h.

const unsigned ERS220Info::NumTailJoints = 0
 

The number of joints assigned to the tail.

Definition at line 46 of file ERS220Info.h.

const unsigned ERS220Info::outputNameLen = 9
 

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

Definition at line 286 of file ERS220Info.h.

const char* const ERS220Info::outputNames[NumOutputs]
 

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

Definition at line 288 of file ERS220Info.h.

const double ERS220Info::outputRanges[NumOutputs][2]
 

Initial value:

    {
      { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, 
      { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, 
      { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, 
      { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, 

      { RAD(-88.5),RAD(43) },{ RAD(-89.6),RAD(89.6) },{ RAD(-29),RAD(29) }, 
        
      {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 488 of file ERS220Info.h.

const unsigned ERS220Info::PawFrameOffset = BaseFrameOffset+1
 

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

Definition at line 114 of file ERS220Info.h.

const unsigned ERS220Info::PIDJointOffset = 0
 

The beginning of the PID Joints.

Definition at line 105 of file ERS220Info.h.

const char* const ERS220Info::PrimitiveName[NumOutputs]
 

Initial value:

 {
    "PRM:/r2/c1-Joint2:j1",       
    "PRM:/r2/c1/c2-Joint2:j2",    
    "PRM:/r2/c1/c2/c3-Joint2:j3", 
    "PRM:/r4/c1-Joint2:j1",       
    "PRM:/r4/c1/c2-Joint2:j2",    
    "PRM:/r4/c1/c2/c3-Joint2:j3", 
    
    "PRM:/r3/c1-Joint2:j1",       
    "PRM:/r3/c1/c2-Joint2:j2",    
    "PRM:/r3/c1/c2/c3-Joint2:j3", 
    "PRM:/r5/c1-Joint2:j1",       
    "PRM:/r5/c1/c2-Joint2:j2",    
    "PRM:/r5/c1/c2/c3-Joint2:j3", 

    "PRM:/r1/c1-Joint2:j1",       
    "PRM:/r1/c1/c2-Joint2:j2",    
    "PRM:/r1/c1/c2/c3-Joint2:j3", 
        
    "PRM:/r1/c1/c2/c3/l1-LED2:l1", 
    "PRM:/r1/c1/c2/c3/l4-LED2:l4", 
    "PRM:/r1/c1/c2/c3/l2-LED2:l2", 
    "PRM:/r1/c1/c2/c3/l5-LED2:l5", 
    "PRM:/r1/c1/c2/c3/l3-LED2:l3", 
    "PRM:/r1/c1/c2/c3/l6-LED2:l6", 
    "PRM:/r1/c1/c2/c3/l7-LED2:l7", 
    
    "PRM:/r6/l1-LED2:l1", 
    "PRM:/r6/l2-LED2:l2", 
    "PRM:/r6/l3-LED2:l3", 
    "PRM:/r6/l4-LED2:l4", 
    "PRM:/r6/l5-LED2:l5", 
    "PRM:/r6/l6-LED2:l6", 
 
    "PRM:/r6/l9-LED2:l9", 
    "PRM:/r6/l7-LED2:l7", 
    "PRM:/r6/l8-LED2:l8", 
 
    "PRM:/r1/c1/c2/c3/l8-LED2:l8", 
    "PRM:/r1/c1/c2/c3/l9-LED2:l9", 
    "PRM:/r1/c1/c2/c3/la-LED2:la", 
    "PRM:/r1/c1/c2/c3/lb-LED2:lb", 
  }
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 340 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::RetractableHeadLEDMask = 1<<(RetractableHeadLEDOffset-LEDOffset)
 

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

Definition at line 185 of file ERS220Info.h.

const unsigned int ERS220Info::SlowFrameTime = 128
 

time between frames for the ears (which move slower for some reason, don't want to mix with other outputs) (milliseconds)

Definition at line 35 of file ERS220Info.h.

const unsigned int ERS220Info::SoundBufferTime = 32
 

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

Definition at line 37 of file ERS220Info.h.

const char* const ERS220Info::SpeakerLocator = "PRM:/r1/c1/c2/c3/s1-Speaker:S1"
 

use to open speaker connectio with the system

Definition at line 385 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TailCenterLEDMask = 1<<(TailCenterLEDOffset-LEDOffset)
 

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

Definition at line 180 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TailLEDMask
 

Initial value:

LEDs for tail.

Definition at line 223 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TailLeftLEDMask = 1<<(TailLeftLEDOffset-LEDOffset)
 

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

Definition at line 179 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TailRightLEDMask = 1<<(TailRightLEDOffset-LEDOffset)
 

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

Definition at line 181 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset)
 

blue tail light

Definition at line 196 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset)
 

red tail light

Definition at line 195 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset)
 

top bar (green)

Definition at line 194 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset)
 

top left (red - angry)

Definition at line 192 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset)
 

top right (red - angry)

Definition at line 193 of file ERS220Info.h.


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