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ERS210Info.h

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00001 //-*-c++-*-
00002 #ifndef INCLUDED_ERS210Info_h
00003 #define INCLUDED_ERS210Info_h
00004 
00005 #include <math.h>
00006 #ifndef PLATFORM_APERIOS
00007 typedef unsigned short word; //!< otherwise defined in Types.h
00008 #else
00009 #include <Types.h>
00010 #endif
00011 
00012 #include "CommonInfo.h"
00013 using namespace RobotInfo;
00014 
00015 #if TGT_ERS2xx
00016 #include "ERS2xxInfo.h"
00017 #endif
00018 
00019 //! Contains information about the ERS-210 Robot, such as number of joints, PID defaults, timing information, etc.
00020 namespace ERS210Info {
00021 
00022 #if TGT_ERS2xx
00023   using namespace ERS2xxInfo;
00024 #else
00025   // *******************************
00026   //       ROBOT CONFIGURATION
00027   // *******************************
00028 
00029 
00030   const unsigned int FrameTime=8;        //!< time between frames in the motion system (milliseconds)
00031   const unsigned int NumFrames=4;        //!< the number of frames per buffer (don't forget also double buffered)
00032   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)
00033   const unsigned int NumSlowFrames=1;    //!< the number of frames per buffer being sent to ears (double buffered as well)
00034   const unsigned int SoundBufferTime=32; //!< the number of milliseconds per sound buffer... I'm not sure if this can be changed
00035   
00036   //!Corresponds to entries in ERS210Info::PrimitiveName, defined at the end of this file, these are the primary grouping
00037   /*!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 */
00038   //!@name Output Types Information
00039   const unsigned JointsPerLeg   =  3; //!< The number of joints per leg
00040   const unsigned NumLegs        =  4; //!< The number of legs
00041   const unsigned NumLegJoints   =  JointsPerLeg*NumLegs; //!< the TOTAL number of joints on ALL legs
00042   const unsigned NumHeadJoints  =  3; //!< The number of joints in the neck
00043   const unsigned NumTailJoints  =  2; //!< The number of joints assigned to the tail
00044   const unsigned NumMouthJoints =  1; //!< the number of joints that control the mouth
00045   const unsigned NumEarJoints   =  2; //!< The number of joints which control the ears (NOT per ear, is total)
00046   const unsigned NumButtons     =  8; //!< the number of buttons that are available, see ERS210Info::ButtonOffset_t
00047   const unsigned NumSensors     =  1+3+1+5;  //!< 1 dist, 3 accel, 1 thermo, 5 from power, see ERS210Info::SensorOffset_t
00048   const unsigned NumLEDs        =  9; //!< The number of LEDs which can be controlled
00049   
00050   const unsigned NumPIDJoints   = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints; //!< The number of joints which use PID motion - everything except ears
00051   const unsigned NumBinJoints   = NumEarJoints; //!< The number of binary joints - just the ears
00052   const unsigned NumOutputs     = NumPIDJoints + NumBinJoints + NumLEDs; //!< the total number of outputs
00053   const unsigned NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 1; //!< for the base, paw, camera, and IR sensor reference frames
00054 
00055   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 }; //!< true for joints which can be updated every 32 ms (all but the ears)
00056   //! we need this so you can tell programmatically which joints are "real" and which are "fake" in ERS-2xx target mode
00057   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 };
00058   //@}
00059 
00060 
00061   // *******************************
00062   //         OUTPUT OFFSETS
00063   // *******************************
00064 
00065 
00066   //!Corresponds to entries in ERS210Info::PrimitiveName, defined at the end of this file
00067   //!@name Output Offsets
00068 
00069   const unsigned PIDJointOffset = 0; //!< The beginning of the PID Joints
00070   const unsigned LegOffset   = PIDJointOffset;           //!< the offset of the beginning of the leg joints
00071   const unsigned HeadOffset  = LegOffset+NumLegJoints;   //!< the offset of the beginning of the head joints
00072   const unsigned TailOffset  = HeadOffset+NumHeadJoints; //!< the offset of the beginning of the tail joints
00073   const unsigned MouthOffset = TailOffset+NumTailJoints; //!< the offset of the beginning of the mouth joint
00074 
00075   const unsigned LEDOffset   = PIDJointOffset + NumPIDJoints; //!< the offset of LEDs in WorldState::outputs and MotionCommand functions
00076 
00077   const unsigned BinJointOffset = LEDOffset + NumLEDs; //!< The beginning of the binary joints
00078   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
00079 
00080   const unsigned BaseFrameOffset   = NumOutputs; //!< Use with kinematics to refer to base reference frame
00081   const unsigned PawFrameOffset    = BaseFrameOffset+1; //!< Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw)
00082   const unsigned CameraFrameOffset = PawFrameOffset+NumLegs; //!< Use with kinematics to refer to camera reference frame
00083   const unsigned IRFrameOffset = CameraFrameOffset+1; //!< Use with kinematics to refer to infrared (distance) sensor reference frame
00084   
00085   //! The offsets of the individual legs
00086   enum LegOffset_t {
00087     LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, //!< beginning of left front leg
00088     RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, //!< beginning of right front leg
00089     LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg, //!< beginning of left back leg
00090     RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg  //!< beginning of right back leg
00091   };
00092   
00093   //@}
00094   
00095   //! 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
00096   enum LEDOffset_t {
00097     BotLLEDOffset = LEDOffset,//!< bottom left (red - sad)
00098     BotRLEDOffset, //!< bottom right (red - sad)
00099     MidLLEDOffset, //!< middle left (green - happy)
00100     MidRLEDOffset, //!< middle right (green - happy)
00101     TopLLEDOffset, //!< top left (red - angry)
00102     TopRLEDOffset, //!< top right (red - angry)
00103     TopBrLEDOffset,//!< top bar (green)
00104     TlRedLEDOffset,//!< red tail light
00105     TlBluLEDOffset, //!< blue tail light
00106  
00107     // alias for 220 cross-compatibility
00108     FaceFrontLeftLEDOffset = BotLLEDOffset,   //!< alias for 220 cross-compatibility
00109     FaceFrontRightLEDOffset = BotRLEDOffset,  //!< alias for 220 cross-compatibility
00110     FaceCenterLeftLEDOffset = MidLLEDOffset,  //!< alias for 220 cross-compatibility
00111     FaceCenterRightLEDOffset = MidRLEDOffset, //!< alias for 220 cross-compatibility
00112     FaceBackLeftLEDOffset = TopLLEDOffset,    //!< alias for 220 cross-compatibility
00113     FaceBackRightLEDOffset = TopRLEDOffset,   //!< alias for 220 cross-compatibility
00114     ModeLEDOffset = TopBrLEDOffset,           //!< alias for 220 cross-compatibility
00115     TailRightLEDOffset = TlRedLEDOffset,      //!< alias for 220 cross-compatibility
00116     TailLeftLEDOffset = TlBluLEDOffset        //!< alias for 220 cross-compatibility
00117   };
00118   
00119   //! Bitmasks for use when specifying combinations of LEDs (see LedEngine ) Note that left/right are robot's point of view
00120   //!@name LED Bitmasks
00121   typedef unsigned int LEDBitMask_t; //!< So you can be clear when you're refering to a LED bitmask
00122   const LEDBitMask_t BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset); //!< bottom left (red - sad)
00123   const LEDBitMask_t BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset); //!< bottom right (red - sad)
00124   const LEDBitMask_t MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset); //!< middle left (green - happy)
00125   const LEDBitMask_t MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset); //!< middle right (green - happy)
00126   const LEDBitMask_t TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset); //!< top left (red - angry)
00127   const LEDBitMask_t TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset); //!< top right (red - angry)
00128   const LEDBitMask_t TopBrLEDMask= 1<<(TopBrLEDOffset-LEDOffset); //!< top bar (green)
00129   const LEDBitMask_t TlRedLEDMask= 1<<(TlRedLEDOffset-LEDOffset); //!< red tail light
00130   const LEDBitMask_t TlBluLEDMask= 1<<(TlBluLEDOffset-LEDOffset); //!< blue tail light
00131 
00132   const LEDBitMask_t FaceLEDMask = BotLLEDMask|BotRLEDMask|MidLLEDMask|MidRLEDMask|TopLLEDMask|TopRLEDMask|TopBrLEDMask; //!< LEDs for face (all but tail)
00133   const LEDBitMask_t HeadLEDMask = BotLLEDMask|BotRLEDMask|MidLLEDMask|MidRLEDMask|TopLLEDMask|TopRLEDMask|TopBrLEDMask; //!< LEDs for face (all but tail)
00134   const LEDBitMask_t BackLEDMask = 0; //!< 210 has no back LEDs
00135   const LEDBitMask_t TailLEDMask = TlRedLEDMask|TlBluLEDMask; //!< LEDs on tail
00136   const LEDBitMask_t AllLEDMask  = ~0; //!< selects all of the leds
00137   //@}
00138 
00139 
00140   // *******************************
00141   //          INPUT OFFSETS
00142   // *******************************
00143 
00144 
00145   //! The order in which inputs should be stored
00146   //!@name Input Offsets
00147 
00148   //! holds offsets to different buttons in WorldState::buttons[]
00149   /*! Should be a straight mapping to the ButtonSourceIDs
00150    *
00151    *  Note that the chest (power) button is not a normal button.  It kills
00152    *  power to the motors at a hardware level, and isn't sensed in the
00153    *  normal way.  If you want to know when it is pressed (and you are
00154    *  about to shut down) see PowerSourceID::PauseSID.
00155    *
00156    *  @see WorldState::buttons @see ButtonSourceID_t */
00157   enum ButtonOffset_t {
00158     LFrPawOffset = LFrLegOrder,
00159     RFrPawOffset = RFrLegOrder,
00160     LBkPawOffset = LBkLegOrder,
00161     RBkPawOffset = RBkLegOrder,
00162     ChinButOffset= 4,
00163     BackButOffset,
00164     HeadFrButOffset, //!< not in reliable pressure units, but 1.0 is fairly stiff pressure, 0 is none
00165     HeadBkButOffset //!< not in reliable pressure units, but 1.0 is fairly stiff pressure, 0 is none
00166   };
00167   
00168   //! Provides a string name for each button
00169   const char* const ButtonNames[NumButtons] = {
00170     "LFrPaw","RFrPaw","LBkPaw","ChinBut","BackBut","HeadFrBut","HeadBkBut"
00171   };
00172 
00173   //! holds offset to different sensor values in WorldState::sensors[]
00174   /*! @see WorldState::sensors[] */
00175   enum SensorOffset_t {
00176     IRDistOffset = 0,  //!< in millimeters
00177     BAccelOffset, //!< backward acceleration, in @f$m/s^2@f$, negative if sitting on butt (positive for faceplant)
00178     LAccelOffset, //!< acceleration to the robot's left, in @f$m/s^2@f$, negative if lying on robot's left side
00179     DAccelOffset, //!< downward acceleration, in @f$m/s^2@f$, negative if standing up... be careful about the signs on all of these...
00180     ThermoOffset, //!< in degrees Celcius
00181     PowerRemainOffset, //!< percentage, 0-1
00182     PowerThermoOffset, //!<  degrees Celcius
00183     PowerCapacityOffset, //!< milli-amp hours
00184     PowerVoltageOffset, //!< volts
00185     PowerCurrentOffset //!< milli-amp negative values (maybe positive while charging?)
00186   };
00187 
00188   //@}
00189 
00190 
00191   //! The length of the strings used for each of the outputs in outputNames (doesn't include null term)
00192   const unsigned outputNameLen = 9;
00193   //! A name of uniform length for referring to joints - handy for posture files, etc.
00194   const char* const outputNames[NumOutputs] = {
00195     "LFr:rotor",
00196     "LFr:elvtr",
00197     "LFr:knee~",
00198     "RFr:rotor",
00199     "RFr:elvtr",
00200     "RFr:knee~",
00201     "LBk:rotor",
00202     "LBk:elvtr",
00203     "LBk:knee~",
00204     "RBk:rotor",
00205     "RBk:elvtr",
00206     "RBk:knee~",
00207     
00208     "NECK:tilt",
00209     "NECK:pan~",
00210     "NECK:roll",
00211     
00212     "TAIL:tilt",
00213     "TAIL:pan~",
00214     
00215     "MOUTH~~~~",
00216     
00217     "LED:botL~",
00218     "LED:botR~",
00219     "LED:midL~",
00220     "LED:midR~",
00221     "LED:topL~",
00222     "LED:topR~",
00223     "LED:topBr",
00224     
00225     "LED:tlRed",
00226     "LED:tlBlu",
00227     
00228     "EAR:left~",
00229     "EAR:right"
00230   };
00231   
00232 
00233   //! the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others)
00234   /*!@showinitializer 
00235    * @warning IMPORTANT!!!!  DO NOT CHANGE THE ORDER OF ITEMS IN THIS TABLE!!!\n
00236    *
00237    * The offset consts defined in this file correspond to this table and will make life easier
00238    * if you feel the need to reorder things, but they aren't used perfect @e everywhere \n
00239    * In particular, assumptions are made that the pid joints will be in slots 0-numPIDJoints
00240    * and that the fast outputs (ie NOT ears) will be in slots 0-NumFastOutputs\n
00241    * There may be other assumptions not noted here!!!
00242    * @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*/
00243   const char* const PrimitiveName [NumOutputs] = {
00244     "PRM:/r2/c1-Joint2:j1",       //!< the left front leg   the rotator
00245     "PRM:/r2/c1/c2-Joint2:j2",    //!< the left front leg   the elevator 
00246     "PRM:/r2/c1/c2/c3-Joint2:j3", //!< the left front leg   the knee 
00247     "PRM:/r4/c1-Joint2:j1",       //!< the right front leg   the rotator
00248     "PRM:/r4/c1/c2-Joint2:j2",    //!< the right front leg    the elevator 
00249     "PRM:/r4/c1/c2/c3-Joint2:j3", //!< the right front leg   the knee 
00250     
00251     "PRM:/r3/c1-Joint2:j1",       //!< the left hind leg   the rotator
00252     "PRM:/r3/c1/c2-Joint2:j2",    //!< the left hind leg   the elevator 
00253     "PRM:/r3/c1/c2/c3-Joint2:j3", //!< the left hind leg   the knee
00254     "PRM:/r5/c1-Joint2:j1",       //!< the right hind leg   the rotator
00255     "PRM:/r5/c1/c2-Joint2:j2",    //!< the right hind leg   the elevator 
00256     "PRM:/r5/c1/c2/c3-Joint2:j3", //!< the right hind leg   the knee 
00257 
00258     "PRM:/r1/c1-Joint2:j1",       //!< the neck  tilt (12)
00259     "PRM:/r1/c1/c2-Joint2:j2",    //!< the neck   pan 
00260     "PRM:/r1/c1/c2/c3-Joint2:j3", //!< the neck   roll 
00261     
00262     "PRM:/r6/c2-Joint2:j2",       //!< the tail tilt (15)       // *** NOTE ***
00263     "PRM:/r6/c1-Joint2:j1",       //!< the tail pan             // CHANGE_ET 12/16/01 matches neck order
00264     
00265     "PRM:/r1/c1/c2/c3/c4-Joint2:j4", //!< the mouth (17)
00266     
00267     "PRM:/r1/c1/c2/c3/l1-LED2:l1", //!< lower  left  LED (18)
00268     "PRM:/r1/c1/c2/c3/l4-LED2:l4", //!< lower  right LED
00269     "PRM:/r1/c1/c2/c3/l2-LED2:l2", //!< middle left  LED
00270     "PRM:/r1/c1/c2/c3/l5-LED2:l5", //!< middle right LED
00271     "PRM:/r1/c1/c2/c3/l3-LED2:l3", //!< upper  left  LED
00272     "PRM:/r1/c1/c2/c3/l6-LED2:l6", //!< upper  right LED
00273     "PRM:/r1/c1/c2/c3/l7-LED2:l7", //!< top          LED
00274     
00275     "PRM:/r6/l2-LED2:l2", //!< tail red  LED
00276     "PRM:/r6/l1-LED2:l1", //!< tail blue LED
00277     
00278     "PRM:/r1/c1/c2/c3/e1-Joint3:j5", //!< left ear (27)
00279     "PRM:/r1/c1/c2/c3/e2-Joint3:j6" //!< right ear
00280   };
00281 
00282   //! use to open speaker connectio with the system
00283   const char* const SpeakerLocator="PRM:/r1/c1/c2/c3/s1-Speaker:S1";
00284 
00285   //! use to open camera connection with the system
00286   const char* const CameraLocator="PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1";
00287 
00288   //Old PID table:
00289   /*const word Pid[NumPIDJoints][6] = {
00290     { 0x16, 0x04, 0x08, 0x0E, 0x02, 0x0F },
00291     { 0x14, 0x04, 0x06, 0x0E, 0x02, 0x0F },
00292     { 0x23, 0x04, 0x05, 0x0E, 0x02, 0x0F },
00293     { 0x16, 0x04, 0x08, 0x0E, 0x02, 0x0F },
00294     { 0x14, 0x04, 0x06, 0x0E, 0x02, 0x0F },
00295     { 0x23, 0x04, 0x05, 0x0E, 0x02, 0x0F },
00296     { 0x16, 0x04, 0x08, 0x0E, 0x02, 0x0F },
00297     { 0x14, 0x04, 0x06, 0x0E, 0x02, 0x0F },
00298     { 0x23, 0x04, 0x05, 0x0E, 0x02, 0x0F },
00299     { 0x16, 0x04, 0x08, 0x0E, 0x02, 0x0F },
00300     { 0x14, 0x04, 0x06, 0x0E, 0x02, 0x0F },
00301     { 0x23, 0x04, 0x05, 0x0E, 0x02, 0x0F },
00302     
00303     { 0x0A, 0x08, 0x0C, 0x0E, 0x02, 0x0F },
00304     { 0x0D, 0x08, 0x0B, 0x0E, 0x02, 0x0F },
00305     { 0x10, 0x08, 0x0C, 0x0E, 0x02, 0x0F }, // P was 0x0C, updated as seen on https://www.openr.org/page1_2001/gain.html 8/13/2002
00306     
00307     { 0x0A, 0x00, 0x18, 0x0E, 0x02, 0x0F },
00308     { 0x07, 0x00, 0x11, 0x0E, 0x02, 0x0F },
00309     
00310     { 0x0E, 0x08, 0x10, 0x0E, 0x02, 0x0F }, //  { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
00311   };*/
00312 
00313   //! This table holds the default PID values for each joint.  see PIDMC
00314   const float DefaultPIDs[NumPIDJoints][3] =
00315     {
00316       { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
00317       { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
00318       { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
00319       { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
00320       { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
00321       { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
00322       { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
00323       { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
00324       { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
00325       { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
00326       { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
00327       { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
00328 
00329       { 0x0A/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0C/(double)(1<<(16-0xF)) },
00330       { 0x0D/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0B/(double)(1<<(16-0xF)) },
00331       { 0x0A/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0C/(double)(1<<(16-0xF)) },
00332 
00333       { 0x0A/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x18/(double)(1<<(16-0xF)) },
00334       { 0x07/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x11/(double)(1<<(16-0xF)) },
00335 
00336       { 0x0E/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x10/(double)(1<<(16-0xF)) }
00337     };
00338 
00339   //! These will control the shift values given to the system.  see PIDMC
00340   const unsigned char DefaultPIDShifts[3] = {0x0E, 0x02, 0x0F};
00341     
00342   //!These values are Sony's recommended maximum joint velocities, in rad/ms
00343   /*! a value <= 0 means infinite speed (e.g. LEDs) 
00344    *  
00345    *  These limits are <b>not</b> enforced by the framework.  They are simply available for you to use as you see fit.
00346    *  HeadPointerMC is (as of v1.6) the only included MotionCommand to actually use these values. */
00347   const float MaxOutputSpeed[NumOutputs] = {
00348     2.8143434e-03,     //Legs LR,FB,REK
00349     2.4980025e-03,
00350     2.8361600e-03,
00351     2.8143434e-03,
00352     2.4980025e-03,
00353     2.8361600e-03,
00354     2.8143434e-03,
00355     2.4980025e-03,
00356     2.8361600e-03,
00357     2.8143434e-03,
00358     2.4980025e-03,
00359     2.8361600e-03,
00360   
00361     2.1053034e-03,     //Head TPR
00362     3.0106930e-03,
00363     3.0106930e-03,
00364   
00365     4.4724062e-03,     //Tail
00366     4.4724062e-03,
00367   
00368     4.3742314e-03,     //Mouth
00369     
00370     0,0,0,0,0,0,0,0,0, //LEDs
00371     
00372     0,0                //Ears
00373   };
00374 
00375   #ifndef RAD
00376     //!Just a little macro for converting degrees to radians
00377   #define RAD(deg) (((deg) * M_PI ) / 180.0)
00378     //!a flag so we undef these after we're done - do you have a cleaner solution?
00379   #define __RI_RAD_FLAG
00380   #endif
00381   
00382   //! Defines the indexes to use to access the min and max entries of ERS210Info::outputRanges and ERS210Info::mechanicalLimits
00383   enum MinMaxRange_t { MinRange,MaxRange };
00384 
00385   //! This table holds the software limits of each of the outputs
00386   const double outputRanges[NumOutputs][2] =
00387     {
00388       { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, //left front REK
00389       { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, //right front REK
00390       { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, //left back REK
00391       { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, //right back REK
00392 
00393       { RAD(-82),RAD(43) },{ RAD(-89.6),RAD(89.6) },{ RAD(-29),RAD(29) }, //neck TPR
00394         
00395       { RAD(-22),RAD(22) },{ RAD(-22),RAD(22) }, // tail tp
00396 
00397       { RAD(-47),RAD(-3) }, //mouth
00398 
00399       {0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1}, //LEDs
00400     
00401       {0,1},{0,1} //ears
00402     };
00403 
00404   //! This table holds the mechanical limits of each of the outputs
00405   const double mechanicalLimits[NumOutputs][2] =
00406     {
00407       { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, //left front jsk
00408       { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, //right front jsk
00409       { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, //left back jsk
00410       { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, //right back jsk
00411 
00412       { RAD(-85),RAD(46) },{ RAD(-92.6),RAD(92.6) },{ RAD(-32),RAD(32) }, //neck tpr
00413         
00414       { RAD(-25),RAD(25) },{ RAD(-25),RAD(25) }, // tail tp
00415 
00416       { RAD(-50),RAD(0) }, //mouth
00417 
00418       {0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1}, //LEDs
00419     
00420       {0,1},{0,1} //ears
00421     };
00422 
00423 #ifdef __RI_RAD_FLAG
00424 #undef RAD
00425 #undef __RI_RAD_FLAG
00426 #endif
00427 
00428 #endif //TGT_ERS2xx check
00429 
00430   /*! @name CPC IDs
00431    * values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - DOESN'T correspond to ERS210Info::PrimitiveName */
00432   static const int CPCJointNeckTilt           =  0; // Head
00433   static const int CPCJointNeckPan            =  1;
00434   static const int CPCJointNeckRoll           =  2;
00435   static const int CPCSensorHeadBackPressure  =  3;
00436   static const int CPCSensorHeadFrontPressure =  4;
00437   static const int CPCSensorPSD               =  5;
00438   static const int CPCJointMouth              =  6;
00439   static const int CPCSensorChinSwitch        =  7;
00440   static const int CPCJointLFRotator          =  8; // Left front leg
00441   static const int CPCJointLFElevator         =  9;
00442   static const int CPCJointLFKnee             = 10;
00443   static const int CPCSensorLFPaw             = 11;
00444   static const int CPCJointLHRotator          = 12; // Left hind leg
00445   static const int CPCJointLHElevator         = 13;
00446   static const int CPCJointLHKnee             = 14;
00447   static const int CPCSensorLHPaw             = 15;
00448   static const int CPCJointRFRotator          = 16; // Right front leg
00449   static const int CPCJointRFElevator         = 17;
00450   static const int CPCJointRFKnee             = 18;
00451   static const int CPCSensorRFPaw             = 19;
00452   static const int CPCJointRHRotator          = 20; // Right hind leg
00453   static const int CPCJointRHElevator         = 21;
00454   static const int CPCJointRHKnee             = 22;
00455   static const int CPCSensorRHPaw             = 23;
00456   static const int CPCJointTailPan            = 24; // Tail
00457   static const int CPCJointTailTilt           = 25;
00458   static const int CPCSensorThermoSensor      = 26;
00459   static const int CPCSensorBackSwitch        = 27;
00460   static const int CPCSensorAccelFB           = 28; //!< Front-back; see RobotInfo::BAccelOffset 
00461   static const int CPCSensorAccelLR           = 29; //!< Left-right; see RobotInfo::LAccelOffset 
00462   static const int CPCSensorAccelUD           = 30; //!< Up-down; see RobotInfo::DAccelOffset 
00463   //@}
00464 
00465 }
00466   
00467 /*! @file
00468  * @brief Defines RobotInfo namespace for ERS-210 models, gives some information about the robot's capabilities, such as joint counts, offsets, names and PID values
00469  * @author ejt (Creator)
00470  *
00471  * $Author: ejt $
00472  * $Name: tekkotsu-2_2_2 $
00473  * $Revision: 1.18 $
00474  * $State: Exp $
00475  * $Date: 2004/09/16 18:35:12 $
00476  */
00477 
00478 #endif

Tekkotsu v2.2.2
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