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ERS210Info Namespace Reference


Detailed Description

Contains information about the ERS-210 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 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 = BotLLEDMask|BotRLEDMask|MidLLEDMask|MidRLEDMask|TopLLEDMask|TopRLEDMask|TopBrLEDMask
 LEDs for face (all but tail).
const LEDBitMask_t HeadLEDMask = BotLLEDMask|BotRLEDMask|MidLLEDMask|MidRLEDMask|TopLLEDMask|TopRLEDMask|TopBrLEDMask
 LEDs for face (all but tail).
const LEDBitMask_t BackLEDMask = 0
 210 has no back LEDs
const LEDBitMask_t TailLEDMask = TlRedLEDMask|TlBluLEDMask
 LEDs on tail.
const LEDBitMask_t AllLEDMask = ~0
 selects all of the leds

Output Offsets

Corresponds to entries in ERS210Info::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 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
}
 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 = 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 = 8
 the number of buttons that are available, see ERS210Info::ButtonOffset_t
const unsigned NumSensors = 1+3+1+5
 1 dist, 3 accel, 1 thermo, 5 from power, see ERS210Info::SensorOffset_t
const unsigned NumLEDs = 9
 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 + 1
 for the base, paw, camera, and IR sensor reference frames
const bool IsFastOutput [NumOutputs] = { 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,false }
const bool IsRealERS210 [NumOutputs] = { 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 }
 we need this so you can tell programmatically which joints are "real" and which are "fake" in ERS-2xx target mode

CPC IDs

values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - DOESN'T correspond to ERS210Info::PrimitiveName

const int CPCJointNeckTilt = 0
const int CPCJointNeckPan = 1
const int CPCJointNeckRoll = 2
const int CPCSensorHeadBackPressure = 3
const int CPCSensorHeadFrontPressure = 4
const int CPCSensorPSD = 5
const int CPCJointMouth = 6
const int CPCSensorChinSwitch = 7
const int CPCJointLFRotator = 8
const int CPCJointLFElevator = 9
const int CPCJointLFKnee = 10
const int CPCSensorLFPaw = 11
const int CPCJointLHRotator = 12
const int CPCJointLHElevator = 13
const int CPCJointLHKnee = 14
const int CPCSensorLHPaw = 15
const int CPCJointRFRotator = 16
const int CPCJointRFElevator = 17
const int CPCJointRFKnee = 18
const int CPCSensorRFPaw = 19
const int CPCJointRHRotator = 20
const int CPCJointRHElevator = 21
const int CPCJointRHKnee = 22
const int CPCSensorRHPaw = 23
const int CPCJointTailPan = 24
const int CPCJointTailTilt = 25
const int CPCSensorThermoSensor = 26
const int CPCSensorBackSwitch = 27
const int CPCSensorAccelFB = 28
 Front-back; see RobotInfo::BAccelOffset.
const int CPCSensorAccelLR = 29
 Left-right; see RobotInfo::LAccelOffset.
const int CPCSensorAccelUD = 30
 Up-down; see RobotInfo::DAccelOffset.

Enumerations

enum  LEDOffset_t {
  BotLLEDOffset = LEDOffset, BotRLEDOffset, MidLLEDOffset, MidRLEDOffset,
  TopLLEDOffset, TopRLEDOffset, TopBrLEDOffset, TlRedLEDOffset,
  TlBluLEDOffset, FaceFrontLeftLEDOffset = BotLLEDOffset, FaceFrontRightLEDOffset = BotRLEDOffset, FaceCenterLeftLEDOffset = MidLLEDOffset,
  FaceCenterRightLEDOffset = MidRLEDOffset, FaceBackLeftLEDOffset = TopLLEDOffset, FaceBackRightLEDOffset = TopRLEDOffset, ModeLEDOffset = TopBrLEDOffset,
  TailRightLEDOffset = TlRedLEDOffset, TailLeftLEDOffset = TlBluLEDOffset
}
 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 ERS210Info::outputRanges and ERS210Info::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 ERS210Info::LEDBitMask_t
 

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

Definition at line 121 of file ERS210Info.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  not in reliable pressure units, but 1.0 is fairly stiff pressure, 0 is none
HeadBkButOffset  not in reliable pressure units, but 1.0 is fairly stiff pressure, 0 is none

Definition at line 157 of file ERS210Info.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:
BotLLEDOffset  bottom left (red - sad)
BotRLEDOffset  bottom right (red - sad)
MidLLEDOffset  middle left (green - happy)
MidRLEDOffset  middle right (green - happy)
TopLLEDOffset  top left (red - angry)
TopRLEDOffset  top right (red - angry)
TopBrLEDOffset  top bar (green)
TlRedLEDOffset  red tail light
TlBluLEDOffset  blue tail light
FaceFrontLeftLEDOffset  alias for 220 cross-compatibility
FaceFrontRightLEDOffset  alias for 220 cross-compatibility
FaceCenterLeftLEDOffset  alias for 220 cross-compatibility
FaceCenterRightLEDOffset  alias for 220 cross-compatibility
FaceBackLeftLEDOffset  alias for 220 cross-compatibility
FaceBackRightLEDOffset  alias for 220 cross-compatibility
ModeLEDOffset  alias for 220 cross-compatibility
TailRightLEDOffset  alias for 220 cross-compatibility
TailLeftLEDOffset  alias for 220 cross-compatibility

Definition at line 96 of file ERS210Info.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 86 of file ERS210Info.h.

enum MinMaxRange_t
 

Defines the indexes to use to access the min and max entries of ERS210Info::outputRanges and ERS210Info::mechanicalLimits.

Enumeration values:
MinRange 
MaxRange 

Definition at line 383 of file ERS210Info.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 175 of file ERS210Info.h.


Variable Documentation

const LEDBitMask_t ERS210Info::AllLEDMask = ~0
 

selects all of the leds

Definition at line 136 of file ERS210Info.h.

const LEDBitMask_t ERS210Info::BackLEDMask = 0
 

210 has no back LEDs

Definition at line 134 of file ERS210Info.h.

const unsigned ERS210Info::BaseFrameOffset = NumOutputs
 

Use with kinematics to refer to base reference frame.

Definition at line 80 of file ERS210Info.h.

const unsigned ERS210Info::BinJointOffset = LEDOffset + NumLEDs
 

The beginning of the binary joints.

Definition at line 77 of file ERS210Info.h.

const LEDBitMask_t ERS210Info::BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset)
 

bottom left (red - sad)

Definition at line 122 of file ERS210Info.h.

const LEDBitMask_t ERS210Info::BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset)
 

bottom right (red - sad)

Definition at line 123 of file ERS210Info.h.

const char* const ERS210Info::ButtonNames[NumButtons]
 

Initial value:

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

Definition at line 169 of file ERS210Info.h.

const unsigned ERS210Info::CameraFrameOffset = PawFrameOffset+NumLegs
 

Use with kinematics to refer to camera reference frame.

Definition at line 82 of file ERS210Info.h.

const char* const ERS210Info::CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1"
 

use to open camera connection with the system

Definition at line 286 of file ERS210Info.h.

const int ERS210Info::CPCJointLFElevator = 9 [static]
 

Definition at line 441 of file ERS210Info.h.

const int ERS210Info::CPCJointLFKnee = 10 [static]
 

Definition at line 442 of file ERS210Info.h.

const int ERS210Info::CPCJointLFRotator = 8 [static]
 

Definition at line 440 of file ERS210Info.h.

const int ERS210Info::CPCJointLHElevator = 13 [static]
 

Definition at line 445 of file ERS210Info.h.

const int ERS210Info::CPCJointLHKnee = 14 [static]
 

Definition at line 446 of file ERS210Info.h.

const int ERS210Info::CPCJointLHRotator = 12 [static]
 

Definition at line 444 of file ERS210Info.h.

const int ERS210Info::CPCJointMouth = 6 [static]
 

Definition at line 438 of file ERS210Info.h.

const int ERS210Info::CPCJointNeckPan = 1 [static]
 

Definition at line 433 of file ERS210Info.h.

const int ERS210Info::CPCJointNeckRoll = 2 [static]
 

Definition at line 434 of file ERS210Info.h.

const int ERS210Info::CPCJointNeckTilt = 0 [static]
 

Definition at line 432 of file ERS210Info.h.

const int ERS210Info::CPCJointRFElevator = 17 [static]
 

Definition at line 449 of file ERS210Info.h.

const int ERS210Info::CPCJointRFKnee = 18 [static]
 

Definition at line 450 of file ERS210Info.h.

const int ERS210Info::CPCJointRFRotator = 16 [static]
 

Definition at line 448 of file ERS210Info.h.

const int ERS210Info::CPCJointRHElevator = 21 [static]
 

Definition at line 453 of file ERS210Info.h.

const int ERS210Info::CPCJointRHKnee = 22 [static]
 

Definition at line 454 of file ERS210Info.h.

const int ERS210Info::CPCJointRHRotator = 20 [static]
 

Definition at line 452 of file ERS210Info.h.

const int ERS210Info::CPCJointTailPan = 24 [static]
 

Definition at line 456 of file ERS210Info.h.

const int ERS210Info::CPCJointTailTilt = 25 [static]
 

Definition at line 457 of file ERS210Info.h.

const int ERS210Info::CPCSensorAccelFB = 28 [static]
 

Front-back; see RobotInfo::BAccelOffset.

Definition at line 460 of file ERS210Info.h.

const int ERS210Info::CPCSensorAccelLR = 29 [static]
 

Left-right; see RobotInfo::LAccelOffset.

Definition at line 461 of file ERS210Info.h.

const int ERS210Info::CPCSensorAccelUD = 30 [static]
 

Up-down; see RobotInfo::DAccelOffset.

Definition at line 462 of file ERS210Info.h.

const int ERS210Info::CPCSensorBackSwitch = 27 [static]
 

Definition at line 459 of file ERS210Info.h.

const int ERS210Info::CPCSensorChinSwitch = 7 [static]
 

Definition at line 439 of file ERS210Info.h.

const int ERS210Info::CPCSensorHeadBackPressure = 3 [static]
 

Definition at line 435 of file ERS210Info.h.

const int ERS210Info::CPCSensorHeadFrontPressure = 4 [static]
 

Definition at line 436 of file ERS210Info.h.

const int ERS210Info::CPCSensorLFPaw = 11 [static]
 

Definition at line 443 of file ERS210Info.h.

const int ERS210Info::CPCSensorLHPaw = 15 [static]
 

Definition at line 447 of file ERS210Info.h.

const int ERS210Info::CPCSensorPSD = 5 [static]
 

Definition at line 437 of file ERS210Info.h.

const int ERS210Info::CPCSensorRFPaw = 19 [static]
 

Definition at line 451 of file ERS210Info.h.

const int ERS210Info::CPCSensorRHPaw = 23 [static]
 

Definition at line 455 of file ERS210Info.h.

const int ERS210Info::CPCSensorThermoSensor = 26 [static]
 

Definition at line 458 of file ERS210Info.h.

const float ERS210Info::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)) },

      { 0x0A/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x18/(double)(1<<(16-0xF)) },
      { 0x07/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x11/(double)(1<<(16-0xF)) },

      { 0x0E/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x10/(double)(1<<(16-0xF)) }
    }
This table holds the default PID values for each joint. see PIDMC.

Definition at line 314 of file ERS210Info.h.

const unsigned char ERS210Info::DefaultPIDShifts[3] = {0x0E, 0x02, 0x0F}
 

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

Definition at line 340 of file ERS210Info.h.

const unsigned ERS210Info::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 78 of file ERS210Info.h.

const LEDBitMask_t ERS210Info::FaceLEDMask = BotLLEDMask|BotRLEDMask|MidLLEDMask|MidRLEDMask|TopLLEDMask|TopRLEDMask|TopBrLEDMask
 

LEDs for face (all but tail).

Definition at line 132 of file ERS210Info.h.

const unsigned int ERS210Info::FrameTime = 8
 

time between frames in the motion system (milliseconds)

Definition at line 30 of file ERS210Info.h.

const LEDBitMask_t ERS210Info::HeadLEDMask = BotLLEDMask|BotRLEDMask|MidLLEDMask|MidRLEDMask|TopLLEDMask|TopRLEDMask|TopBrLEDMask
 

LEDs for face (all but tail).

Definition at line 133 of file ERS210Info.h.

const unsigned ERS210Info::HeadOffset = LegOffset+NumLegJoints
 

the offset of the beginning of the head joints

Definition at line 71 of file ERS210Info.h.

const unsigned ERS210Info::IRFrameOffset = CameraFrameOffset+1
 

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

Definition at line 83 of file ERS210Info.h.

const bool ERS210Info::IsFastOutput[NumOutputs] = { 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,false }
 

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

Definition at line 55 of file ERS210Info.h.

const bool ERS210Info::IsRealERS210[NumOutputs] = { 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 }
 

we need this so you can tell programmatically which joints are "real" and which are "fake" in ERS-2xx target mode

Definition at line 57 of file ERS210Info.h.

const unsigned ERS210Info::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 39 of file ERS210Info.h.

const unsigned ERS210Info::LEDOffset = PIDJointOffset + NumPIDJoints
 

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

Definition at line 75 of file ERS210Info.h.

const unsigned ERS210Info::LegOffset = PIDJointOffset
 

the offset of the beginning of the leg joints

Definition at line 70 of file ERS210Info.h.

const float ERS210Info::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,
  
    4.4724062e-03,     
    4.4724062e-03,
  
    4.3742314e-03,     
    
    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 347 of file ERS210Info.h.

const double ERS210Info::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(-85),RAD(46) },{ RAD(-92.6),RAD(92.6) },{ RAD(-32),RAD(32) }, 
        
      { RAD(-25),RAD(25) },{ RAD(-25),RAD(25) }, 

      { RAD(-50),RAD(0) }, 

      {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 405 of file ERS210Info.h.

const LEDBitMask_t ERS210Info::MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset)
 

middle left (green - happy)

Definition at line 124 of file ERS210Info.h.

const LEDBitMask_t ERS210Info::MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset)
 

middle right (green - happy)

Definition at line 125 of file ERS210Info.h.

const unsigned ERS210Info::MouthOffset = TailOffset+NumTailJoints
 

the offset of the beginning of the mouth joint

Definition at line 73 of file ERS210Info.h.

const unsigned ERS210Info::NumBinJoints = NumEarJoints
 

The number of binary joints - just the ears.

Definition at line 51 of file ERS210Info.h.

const unsigned ERS210Info::NumButtons = 8
 

the number of buttons that are available, see ERS210Info::ButtonOffset_t

Definition at line 46 of file ERS210Info.h.

const unsigned ERS210Info::NumEarJoints = 2
 

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

Definition at line 45 of file ERS210Info.h.

const unsigned int ERS210Info::NumFrames = 4
 

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

Definition at line 31 of file ERS210Info.h.

const unsigned ERS210Info::NumHeadJoints = 3
 

The number of joints in the neck.

Definition at line 42 of file ERS210Info.h.

const unsigned ERS210Info::NumLEDs = 9
 

The number of LEDs which can be controlled.

Definition at line 48 of file ERS210Info.h.

const unsigned ERS210Info::NumLegJoints = JointsPerLeg*NumLegs
 

the TOTAL number of joints on ALL legs

Definition at line 41 of file ERS210Info.h.

const unsigned ERS210Info::NumLegs = 4
 

The number of legs.

Definition at line 40 of file ERS210Info.h.

const unsigned ERS210Info::NumMouthJoints = 1
 

the number of joints that control the mouth

Definition at line 44 of file ERS210Info.h.

const unsigned ERS210Info::NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs
 

the total number of outputs

Definition at line 52 of file ERS210Info.h.

const unsigned ERS210Info::NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints
 

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

Definition at line 50 of file ERS210Info.h.

const unsigned ERS210Info::NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 1
 

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

Definition at line 53 of file ERS210Info.h.

const unsigned ERS210Info::NumSensors = 1+3+1+5
 

1 dist, 3 accel, 1 thermo, 5 from power, see ERS210Info::SensorOffset_t

Definition at line 47 of file ERS210Info.h.

const unsigned int ERS210Info::NumSlowFrames = 1
 

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

Definition at line 33 of file ERS210Info.h.

const unsigned ERS210Info::NumTailJoints = 2
 

The number of joints assigned to the tail.

Definition at line 43 of file ERS210Info.h.

const unsigned ERS210Info::outputNameLen = 9
 

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

Definition at line 192 of file ERS210Info.h.

const char* const ERS210Info::outputNames[NumOutputs]
 

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

Definition at line 194 of file ERS210Info.h.

const double ERS210Info::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(-82),RAD(43) },{ RAD(-89.6),RAD(89.6) },{ RAD(-29),RAD(29) }, 
        
      { RAD(-22),RAD(22) },{ RAD(-22),RAD(22) }, 

      { RAD(-47),RAD(-3) }, 

      {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 386 of file ERS210Info.h.

const unsigned ERS210Info::PawFrameOffset = BaseFrameOffset+1
 

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

Definition at line 81 of file ERS210Info.h.

const unsigned ERS210Info::PIDJointOffset = 0
 

The beginning of the PID Joints.

Definition at line 69 of file ERS210Info.h.

const char* const ERS210Info::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:/r6/c2-Joint2:j2",       
    "PRM:/r6/c1-Joint2:j1",       
    
    "PRM:/r1/c1/c2/c3/c4-Joint2:j4", 
    
    "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/l2-LED2:l2", 
    "PRM:/r6/l1-LED2:l1", 
    
    "PRM:/r1/c1/c2/c3/e1-Joint3:j5", 
    "PRM:/r1/c1/c2/c3/e2-Joint3:j6" 
  }
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 243 of file ERS210Info.h.

const unsigned int ERS210Info::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 32 of file ERS210Info.h.

const unsigned int ERS210Info::SoundBufferTime = 32
 

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

Definition at line 34 of file ERS210Info.h.

const char* const ERS210Info::SpeakerLocator = "PRM:/r1/c1/c2/c3/s1-Speaker:S1"
 

use to open speaker connectio with the system

Definition at line 283 of file ERS210Info.h.

const LEDBitMask_t ERS210Info::TailLEDMask = TlRedLEDMask|TlBluLEDMask
 

LEDs on tail.

Definition at line 135 of file ERS210Info.h.

const unsigned ERS210Info::TailOffset = HeadOffset+NumHeadJoints
 

the offset of the beginning of the tail joints

Definition at line 72 of file ERS210Info.h.

const LEDBitMask_t ERS210Info::TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset)
 

blue tail light

Definition at line 130 of file ERS210Info.h.

const LEDBitMask_t ERS210Info::TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset)
 

red tail light

Definition at line 129 of file ERS210Info.h.

const LEDBitMask_t ERS210Info::TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset)
 

top bar (green)

Definition at line 128 of file ERS210Info.h.

const LEDBitMask_t ERS210Info::TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset)
 

top left (red - angry)

Definition at line 126 of file ERS210Info.h.

const LEDBitMask_t ERS210Info::TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset)
 

top right (red - angry)

Definition at line 127 of file ERS210Info.h.


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