ERS7Info Namespace Reference
Detailed Description
Contains information about the ERS-7 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 | HeadColorLEDMask = 1<<(HeadColorLEDOffset-LEDOffset) |
| mask corresponding to HeadColorLEDOffset
|
const LEDBitMask_t | HeadWhiteLEDMask = 1<<(HeadWhiteLEDOffset-LEDOffset) |
| mask corresponding to HeadWhiteLEDOffset
|
const LEDBitMask_t | ModeRedLEDMask = 1<<(ModeRedLEDOffset-LEDOffset) |
| mask corresponding to ModeRedLEDOffset
|
const LEDBitMask_t | ModeGreenLEDMask = 1<<(ModeGreenLEDOffset-LEDOffset) |
| mask corresponding to ModeGreenLEDOffset
|
const LEDBitMask_t | ModeBlueLEDMask = 1<<(ModeBlueLEDOffset-LEDOffset) |
| mask corresponding to ModeBlueLEDOffset
|
const LEDBitMask_t | WirelessLEDMask = 1<<(WirelessLEDOffset-LEDOffset) |
| mask corresponding to WirelessLEDOffset
|
const LEDBitMask_t | FaceLEDPanelMask = 1<<(FaceLEDPanelOffset-LEDOffset) |
| mask corresponding to FaceLEDPanelOffset, selects only the first of the panel - shift this to get the others
|
const LEDBitMask_t | FrBackColorLEDMask = 1<<(FrBackColorLEDOffset-LEDOffset) |
| mask corresponding to FrBackColorLEDOffset
|
const LEDBitMask_t | FrBackWhiteLEDMask = 1<<(FrBackWhiteLEDOffset-LEDOffset) |
| mask corresponding to FrBackWhiteLEDOffset
|
const LEDBitMask_t | MdBackColorLEDMask = 1<<(MdBackColorLEDOffset-LEDOffset) |
| mask corresponding to MdBackColorLEDOffset
|
const LEDBitMask_t | MdBackWhiteLEDMask = 1<<(MdBackWhiteLEDOffset-LEDOffset) |
| mask corresponding to MdBackWhiteLEDOffset
|
const LEDBitMask_t | RrBackColorLEDMask = 1<<(RrBackColorLEDOffset-LEDOffset) |
| mask corresponding to RrBackColorLEDOffset
|
const LEDBitMask_t | RrBackWhiteLEDMask = 1<<(RrBackWhiteLEDOffset-LEDOffset) |
| mask corresponding to RrBackWhiteLEDOffset
|
const LEDBitMask_t | LEDABModeMask = 1<<(LEDABModeOffset-LEDOffset) |
| mask corresponding to LEDABModeOffset
|
const LEDBitMask_t | BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset) |
| bottom left
|
const LEDBitMask_t | BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset) |
| bottom right
|
const LEDBitMask_t | MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset) |
| middle left
|
const LEDBitMask_t | MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset) |
| middle right
|
const LEDBitMask_t | TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset) |
| top left
|
const LEDBitMask_t | TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset) |
| top right
|
const LEDBitMask_t | TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset) |
| top bar
|
const LEDBitMask_t | TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset) |
| red tail light
|
const LEDBitMask_t | TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset) |
| blue tail light
|
const LEDBitMask_t | FaceLEDMask = (FaceLEDPanelMask<<0) | (FaceLEDPanelMask<<1) | (FaceLEDPanelMask<<2) | (FaceLEDPanelMask<<3) | (FaceLEDPanelMask<<4) | (FaceLEDPanelMask<<5) | (FaceLEDPanelMask<<6) | (FaceLEDPanelMask<<7) | (FaceLEDPanelMask<<8) | (FaceLEDPanelMask<<9) | (FaceLEDPanelMask<<10) | (FaceLEDPanelMask<<11) | (FaceLEDPanelMask<<12) | (FaceLEDPanelMask<<13) |
| LEDs for the face panel.
|
const LEDBitMask_t | HeadLEDMask = FaceLEDMask | HeadColorLEDMask | HeadWhiteLEDMask | ModeRedLEDMask | ModeGreenLEDMask | ModeBlueLEDMask | WirelessLEDMask |
| LEDs for face (all but back lights).
|
const LEDBitMask_t | BackLEDMask = FrBackColorLEDMask | FrBackWhiteLEDMask | MdBackColorLEDMask | MdBackWhiteLEDMask | RrBackColorLEDMask | RrBackWhiteLEDMask |
| LEDS on the back.
|
const LEDBitMask_t | TailLEDMask = 0 |
| LEDs on tail (ERS-7 has none).
|
const LEDBitMask_t | AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds
|
Output Offsets |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
|
enum | LegOffset_t { LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg,
RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg,
LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg,
RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg
} |
| The offsets of the individual legs. More...
|
const unsigned | PIDJointOffset = 0 |
| The beginning of the PID Joints.
|
const unsigned | LegOffset = PIDJointOffset |
| the offset of the beginning of the leg joints
|
const unsigned | HeadOffset = LegOffset+NumLegJoints |
| the offset of the beginning of the head joints
|
const unsigned | TailOffset = HeadOffset+NumHeadJoints |
| the offset of the beginning of the tail joints
|
const unsigned | MouthOffset = TailOffset+NumTailJoints |
| the offset of the beginning of the mouth joint
|
const unsigned | LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions
|
const unsigned | BinJointOffset = LEDOffset + NumLEDs |
| The beginning of the binary joints.
|
const unsigned | EarOffset = BinJointOffset |
| the offset of the beginning of the ear joints - note that ears aren't sensed. They can be flicked by the environment and you won't know. Nor will they be flicked back
|
const unsigned | BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame.
|
const unsigned | PawFrameOffset = BaseFrameOffset+1 |
| Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw).
|
const unsigned | CameraFrameOffset = PawFrameOffset+NumLegs |
| Use with kinematics to refer to camera reference frame.
|
const unsigned | NearIRFrameOffset = CameraFrameOffset+1 |
| Use with kinematics to refer to short-range infrared (distance) sensor reference frame.
|
const unsigned | FarIRFrameOffset = NearIRFrameOffset+1 |
| Use with kinematics to refer to long-range infrared (distance) sensor reference frame.
|
const unsigned | ChestIRFrameOffset = FarIRFrameOffset+1 |
| Use with kinematics to refer to chest-mounted infrared (distance) sensor reference frame.
|
Input Offsets |
The order in which inputs should be stored
|
enum | ButtonOffset_t {
LFrPawOffset = LFrLegOrder,
RFrPawOffset = RFrLegOrder,
LBkPawOffset = LBkLegOrder,
RBkPawOffset = RBkLegOrder,
ChinButOffset = 4,
HeadButOffset,
HeadFrButOffset = HeadButOffset,
FrontBackButOffset,
MiddleBackButOffset,
BackButOffset = MiddleBackButOffset,
RearBackButOffset,
WirelessSwOffset
} |
| holds offsets to different buttons in WorldState::buttons[] More...
|
enum | SensorOffset_t {
NearIRDistOffset = 0,
FarIRDistOffset,
ChestIRDistOffset,
BAccelOffset,
LAccelOffset,
DAccelOffset,
PowerRemainOffset,
PowerThermoOffset,
PowerCapacityOffset,
PowerVoltageOffset,
PowerCurrentOffset
} |
| holds offset to different sensor values in WorldState::sensors[] More...
|
const char *const | buttonNames [NumButtons] |
| Provides a string name for each button.
|
const char *const | sensorNames [NumSensors] |
| Provides a string name for each sensor.
|
Output Types Information |
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
|
const unsigned | JointsPerLeg = 3 |
| The number of joints per leg.
|
const unsigned | NumLegs = 4 |
| The number of legs.
|
const unsigned | NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs
|
const unsigned | NumHeadJoints = 3 |
| The number of joints in the neck.
|
const unsigned | NumTailJoints = 2 |
| The number of joints assigned to the tail.
|
const unsigned | NumMouthJoints = 1 |
| the number of joints that control the mouth
|
const unsigned | NumEarJoints = 2 |
| The number of joints which control the ears (NOT per ear, is total).
|
const unsigned | NumButtons = 2+4+3+1 |
| the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t
|
const unsigned | NumSensors = 3+3+5 |
| 3 IR (distance), 3 accel (force), 5 from power, see ERS7Info::SensorOffset_t
|
const unsigned | NumLEDs = 27 |
| The number of LEDs which can be controlled.
|
const unsigned | NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints |
| The number of joints which use PID motion - everything except ears.
|
const unsigned | NumBinJoints = NumEarJoints |
| The number of binary joints - just the ears.
|
const unsigned | NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs |
| the total number of outputs
|
const unsigned | NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 3 |
| for the base, paws (NumLegs), camera, and IR sensors (3) reference frames
|
const float | CameraHorizFOV = 56.9/180*M_PI |
| horizontal field of view (radians)
|
const float | CameraVertFOV = 45.2/180*M_PI |
| vertical field of view (radians)
|
const float | CameraFOV = CameraHorizFOV |
| should be set to maximum of CameraHorizFOV or CameraVertFOV
|
const unsigned int | CameraResolutionX = 208 |
| the number of pixels available in the 'full' layer
|
const unsigned int | CameraResolutionY = 160 |
| the number of pixels available in the 'full' layer
|
const bool | IsFastOutput [NumOutputs] |
| true for joints which can be updated every 32 ms (all ers-7 joints)
|
const bool | IsRealERS7 [NumOutputs] |
| we need this so you can tell programmatically which joints are "real" and which are "fake" in a compatability mode
|
CPC IDs |
values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - DOESN'T correspond to ERS7Info::PrimitiveName
|
static const int | CPCJointMouth = 0 |
| Mouth.
|
static const int | CPCSwitchChin = 1 |
| Chin sensor.
|
static const int | CPCJointNeckNod = 2 |
| Neck tilt2.
|
static const int | CPCSensorHead = 3 |
| Head sensor.
|
static const int | CPCSensorNearPSD = 4 |
| Head distance sensor(near).
|
static const int | CPCSensorFarPSD = 5 |
| Head distance sensor(far).
|
static const int | CPCJointNeckPan = 6 |
| Neck pan.
|
static const int | CPCJointNeckTilt = 7 |
| Neck tilt1.
|
static const int | CPCSwitchLFPaw = 8 |
| Left fore leg paw sensor.
|
static const int | CPCJointLFKnee = 9 |
| Left fore legJ3.
|
static const int | CPCJointLFElevator = 10 |
| Left fore legJ2.
|
static const int | CPCJointLFRotator = 11 |
| Left fore legJ1.
|
static const int | CPCSwitchLHPaw = 12 |
| Left hind leg paw sensor.
|
static const int | CPCJointLHKnee = 13 |
| Left hind legJ3.
|
static const int | CPCJointLHElevator = 14 |
| Left hind legJ2.
|
static const int | CPCJointLHRotator = 15 |
| Left hind legJ1.
|
static const int | CPCSwitchRFPaw = 16 |
| Right fore leg paw sensor.
|
static const int | CPCJointRFKnee = 17 |
| Right fore legJ3.
|
static const int | CPCJointRFElevator = 18 |
| Right fore legJ2.
|
static const int | CPCJointRFRotator = 19 |
| Right fore legJ1.
|
static const int | CPCSwitchRHPaw = 20 |
| Right hind leg paw sensor.
|
static const int | CPCJointRHKnee = 21 |
| Right hind legJ3.
|
static const int | CPCJointRHElevator = 22 |
| Right hind legJ2.
|
static const int | CPCJointRHRotator = 23 |
| Right hind legJ1.
|
static const int | CPCJointTailTilt = 24 |
| Tail tilt.
|
static const int | CPCJointTailPan = 25 |
| Tail pan.
|
static const int | CPCSensorAccelFB = 26 |
| Acceleration sensor(front-back).
|
static const int | CPCSensorAccelLR = 27 |
| Acceleration sensor(right-left).
|
static const int | CPCSensorAccelUD = 28 |
| Acceleration sensor(up-down).
|
static const int | CPCSensorChestPSD = 29 |
| Chest distance sensor.
|
static const int | CPCSwitchWireless = 30 |
| Wireless LAN switch.
|
static const int | CPCSensorBackRear = 31 |
| Back sensor(rear).
|
static const int | CPCSensorBackMiddle = 32 |
| Back sensor(middle).
|
static const int | CPCSensorBackFront = 33 |
| Back sensor(front).
|
Enumerations |
enum | LEDOffset_t {
HeadColorLEDOffset = LEDOffset,
HeadWhiteLEDOffset,
ModeRedLEDOffset,
ModeGreenLEDOffset,
ModeBlueLEDOffset,
WirelessLEDOffset,
FaceLEDPanelOffset,
FrBackColorLEDOffset = FaceLEDPanelOffset+14,
FrBackWhiteLEDOffset,
MdBackColorLEDOffset,
MdBackWhiteLEDOffset,
RrBackColorLEDOffset,
RrBackWhiteLEDOffset,
LEDABModeOffset,
BotLLEDOffset = FaceLEDPanelOffset+0,
BotRLEDOffset = FaceLEDPanelOffset+1,
MidLLEDOffset = FaceLEDPanelOffset+2,
MidRLEDOffset = FaceLEDPanelOffset+3,
TopLLEDOffset = FaceLEDPanelOffset+6,
TopRLEDOffset = FaceLEDPanelOffset+7,
TopBrLEDOffset = HeadColorLEDOffset,
TlRedLEDOffset = RrBackColorLEDOffset,
TlBluLEDOffset = FrBackColorLEDOffset
} |
| The offsets of the individual LEDs on the head and tail. Note that left/right are robot's point of view. See also LEDBitMask_t. More...
|
enum | MinMaxRange_t { MinRange,
MaxRange
} |
| Defines the indexes to use to access the min and max entries of ERS7Info::outputRanges and ERS7Info::mechanicalLimits. More...
|
Variables |
const unsigned int | FrameTime = 8 |
| time between frames in the motion system (milliseconds)
|
const unsigned int | NumFrames = 4 |
| the number of frames per buffer (don't forget also double buffered)
|
const unsigned int | SlowFrameTime = 8 |
| time between frames for the ears (ERS-7 doesn't seem to have any "slow" joints; this only applied for the ears on the ERS-210)
|
const unsigned int | NumSlowFrames = 4 |
| the number of frames per buffer being sent to ears (double buffered as well)
|
const unsigned int | SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed
|
const unsigned | outputNameLen = 9 |
| The length of the strings used for each of the outputs in outputNames (doesn't include null term).
|
const char *const | outputNames [NumOutputs] |
| A name of uniform length for referring to joints - handy for posture files, etc.
|
const char *const | PrimitiveName [NumOutputs] |
| the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others)
|
const char *const | SpeakerLocator = "PRM:/s1-Speaker:S1" |
| use to open speaker connection with the system
|
const char *const | CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1" |
| use to open camera connection with the system
|
const float | DefaultPIDs [NumPIDJoints][3] |
| This table holds the default PID values for each joint. see PIDMC.
|
const unsigned char | DefaultPIDShifts [3] = {0x0E, 0x02-1, 0x0F-3} |
| These will control the shift values given to the system. see PIDMC.
|
const float | MaxOutputSpeed [NumOutputs] |
| These values are Sony's recommended maximum joint velocities, in rad/ms.
|
const double | outputRanges [NumOutputs][2] |
| This table holds the software limits of each of the outputs.
|
const double | mechanicalLimits [NumOutputs][2] |
| This table holds the mechanical limits of each of the outputs.
|
Typedef Documentation
|
So you can be clear when you're refering to a LED bitmask.
Definition at line 136 of file ERS7Info.h. |
Enumeration Type Documentation
|
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
- Enumerator:
-
LFrPawOffset |
|
RFrPawOffset |
|
LBkPawOffset |
|
RBkPawOffset |
|
ChinButOffset |
|
HeadButOffset |
|
HeadFrButOffset |
|
FrontBackButOffset |
|
MiddleBackButOffset |
|
BackButOffset |
|
RearBackButOffset |
|
WirelessSwOffset |
|
Definition at line 188 of file ERS7Info.h. |
|
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.
- Enumerator:
-
HeadColorLEDOffset |
|
HeadWhiteLEDOffset |
|
ModeRedLEDOffset |
|
ModeGreenLEDOffset |
|
ModeBlueLEDOffset |
|
WirelessLEDOffset |
|
FaceLEDPanelOffset |
the first LED in the panel - add to this to get the other 13 (14 total) |
FrBackColorLEDOffset |
|
FrBackWhiteLEDOffset |
|
MdBackColorLEDOffset |
|
MdBackWhiteLEDOffset |
|
RrBackColorLEDOffset |
|
RrBackWhiteLEDOffset |
|
LEDABModeOffset |
|
BotLLEDOffset |
aliases for backward compatability (use mode A); bottom left |
BotRLEDOffset |
bottom right |
MidLLEDOffset |
middle left |
MidRLEDOffset |
middle right |
TopLLEDOffset |
top left |
TopRLEDOffset |
top right |
TopBrLEDOffset |
top bar |
TlRedLEDOffset |
red tail light |
TlBluLEDOffset |
blue tail light |
Definition at line 106 of file ERS7Info.h. |
|
The offsets of the individual legs.
- Enumerator:
-
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 96 of file ERS7Info.h. |
|
holds offset to different sensor values in WorldState::sensors[]
- See also:
- WorldState::sensors[]
- Enumerator:
-
NearIRDistOffset |
in millimeters, ranges from 50 to 500 |
FarIRDistOffset |
in millimeters, ranges from 200 to 1500 |
ChestIRDistOffset |
in millimeters, ranges from 100 to 900 |
BAccelOffset |
backward acceleration, in , negative if sitting on butt (positive for faceplant) |
LAccelOffset |
acceleration to the robot's left, in , negative if lying on robot's left side |
DAccelOffset |
downward acceleration, in , negative if standing up... be careful about the signs on all of these... |
PowerRemainOffset |
percentage, 0-1 |
PowerThermoOffset |
degrees Celcius |
PowerCapacityOffset |
milli-amp hours |
PowerVoltageOffset |
volts |
PowerCurrentOffset |
milli-amp negative values (maybe positive while charging?) |
Definition at line 213 of file ERS7Info.h. |
Variable Documentation
|
selects all of the leds
Definition at line 167 of file ERS7Info.h. |
|
Use with kinematics to refer to base reference frame.
Definition at line 87 of file ERS7Info.h. |
|
The beginning of the binary joints.
Definition at line 84 of file ERS7Info.h. |
|
Initial value: {
"LFrPaw","RFrPaw","LBkPaw","RBkPaw",
"ChinBut","HeadBut",
"FrontBackBut","MiddleBackBut","RearBackBut",
"WirelessSw"
}
Provides a string name for each button.
Definition at line 204 of file ERS7Info.h. |
|
Use with kinematics to refer to camera reference frame.
Definition at line 89 of file ERS7Info.h. |
|
horizontal field of view (radians)
Definition at line 48 of file ERS7Info.h. |
|
use to open camera connection with the system
Definition at line 368 of file ERS7Info.h. |
|
the number of pixels available in the 'full' layer
Definition at line 51 of file ERS7Info.h. |
|
the number of pixels available in the 'full' layer
Definition at line 52 of file ERS7Info.h. |
|
vertical field of view (radians)
Definition at line 49 of file ERS7Info.h. |
|
Use with kinematics to refer to chest-mounted infrared (distance) sensor reference frame.
Definition at line 92 of file ERS7Info.h. |
|
Initial value:
{
{ 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
{ 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
{ 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
{ 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
{ 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
{ 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
{ 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
{ 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
{ 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
{ 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
{ 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
{ 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) },
{ 0x0A/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x02/(double)(1<<(16-0xF)) },
{ 0x08/(double)(1<<(16-0xE)), 0x02/(double)(1<<(16-0x2)), 0x04/(double)(1<<(16-0xF)) },
{ 0x08/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x02/(double)(1<<(16-0xF)) },
{ 0x0A/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x04/(double)(1<<(16-0xF)) },
{ 0x0A/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x04/(double)(1<<(16-0xF)) },
{ 0x08/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x04/(double)(1<<(16-0xF)) }
}
This table holds the default PID values for each joint. see PIDMC.
Definition at line 371 of file ERS7Info.h. |
|
These will control the shift values given to the system. see PIDMC.
These are modified from the default values to give better range of values to the gains
Definition at line 398 of file ERS7Info.h. |
|
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 85 of file ERS7Info.h.
Referenced by BatteryMonitorBehavior::setFlipper(). |
|
LEDs for the face panel.
Definition at line 163 of file ERS7Info.h. |
|
mask corresponding to FaceLEDPanelOffset, selects only the first of the panel - shift this to get the others
Definition at line 144 of file ERS7Info.h. |
|
time between frames in the motion system (milliseconds)
Definition at line 23 of file ERS7Info.h. |
|
mask corresponding to FrBackColorLEDOffset
Definition at line 145 of file ERS7Info.h. |
|
mask corresponding to FrBackWhiteLEDOffset
Definition at line 146 of file ERS7Info.h. |
|
mask corresponding to HeadColorLEDOffset
Definition at line 138 of file ERS7Info.h. |
|
LEDs for face (all but back lights).
Definition at line 164 of file ERS7Info.h. |
|
mask corresponding to HeadWhiteLEDOffset
Definition at line 139 of file ERS7Info.h. |
|
Initial value: {
true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,
true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,
true,true
}
true for joints which can be updated every 32 ms (all ers-7 joints)
Definition at line 55 of file ERS7Info.h. |
|
Initial value: {
true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,
true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,
true,true
}
we need this so you can tell programmatically which joints are "real" and which are "fake" in a compatability mode
Definition at line 61 of file ERS7Info.h.
Referenced by MotionManager::updateWorldState(). |
|
The number of joints per leg.
Definition at line 32 of file ERS7Info.h. |
|
mask corresponding to LEDABModeOffset
Definition at line 151 of file ERS7Info.h. |
|
the offset of the beginning of the leg joints
Definition at line 77 of file ERS7Info.h. |
|
Initial value: {
4.86510529e-3,
5.27962099e-3,
5.27962099e-3,
4.86510529e-3,
5.27962099e-3,
5.27962099e-3,
4.86510529e-3,
5.27962099e-3,
5.27962099e-3,
4.86510529e-3,
5.27962099e-3,
5.27962099e-3,
3.18522588e-3,
1.00574598e-2,
5.78140315e-3,
1.51625479e-2,
1.51625479e-2,
1.01447263e-2,
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
0,0
}
These values are Sony's recommended maximum joint velocities, in rad/ms.
a value <= 0 means infinite speed (e.g. LEDs)
These limits are not enforced by the framework. They are simply available for you to use as you see fit. HeadPointerMC and PostureMC are primary examples of included classes which do respect these values (although they can be overridden)
These values were obtained from the administrators of the Sony OPEN-R BBS
Definition at line 407 of file ERS7Info.h. |
|
mask corresponding to MdBackColorLEDOffset
Definition at line 147 of file ERS7Info.h. |
|
mask corresponding to MdBackWhiteLEDOffset
Definition at line 148 of file ERS7Info.h. |
|
Initial value:
{
{ RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) },
{ RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) },
{ RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) },
{ RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) },
{ RAD(-75),RAD(0) },{ RAD(-88),RAD(88) },{ RAD(-15),RAD(45) },
{ RAD(5),RAD(60) },{ RAD(-45),RAD(45) },
{ RAD(-55),RAD(-3) },
{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},
{0,1},{0,1}
}
This table holds the mechanical limits of each of the outputs.
- Todo:
- same as outputLimits right now, don't know actual values yet
Definition at line 468 of file ERS7Info.h. |
|
mask corresponding to ModeBlueLEDOffset
Definition at line 142 of file ERS7Info.h. |
|
mask corresponding to ModeGreenLEDOffset
Definition at line 141 of file ERS7Info.h. |
|
mask corresponding to ModeRedLEDOffset
Definition at line 140 of file ERS7Info.h. |
|
The number of binary joints - just the ears.
Definition at line 44 of file ERS7Info.h. |
|
the number of frames per buffer (don't forget also double buffered)
Definition at line 24 of file ERS7Info.h. |
|
The number of joints in the neck.
Definition at line 35 of file ERS7Info.h. |
|
The number of LEDs which can be controlled.
Definition at line 41 of file ERS7Info.h. |
|
the TOTAL number of joints on ALL legs
Definition at line 34 of file ERS7Info.h. |
|
The number of legs.
Definition at line 33 of file ERS7Info.h. |
|
the number of joints that control the mouth
Definition at line 37 of file ERS7Info.h. |
|
the total number of outputs
Definition at line 45 of file ERS7Info.h. |
|
The number of joints which use PID motion - everything except ears.
Definition at line 43 of file ERS7Info.h. |
|
for the base, paws (NumLegs), camera, and IR sensors (3) reference frames
Definition at line 46 of file ERS7Info.h. |
|
the number of frames per buffer being sent to ears (double buffered as well)
Definition at line 26 of file ERS7Info.h. |
|
The number of joints assigned to the tail.
Definition at line 36 of file ERS7Info.h. |
|
The length of the strings used for each of the outputs in outputNames (doesn't include null term).
Definition at line 238 of file ERS7Info.h. |
|
A name of uniform length for referring to joints - handy for posture files, etc.
Definition at line 240 of file ERS7Info.h. |
|
Initial value:
{
{ RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) },
{ RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) },
{ RAD(-130),RAD(115) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) },
{ RAD(-130),RAD(115) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) },
{ RAD(-75),RAD(0) },{ RAD(-88),RAD(88) },{ RAD(-15),RAD(45) },
{ RAD(5),RAD(60) },{ RAD(-45),RAD(45) },
{ RAD(-55),RAD(-3) },
{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},
{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},
{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},
{0,1},
{0,1},{0,1}
}
This table holds the software limits of each of the outputs.
Definition at line 446 of file ERS7Info.h. |
|
Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw).
Definition at line 88 of file ERS7Info.h. |
|
The beginning of the PID Joints.
Definition at line 76 of file ERS7Info.h. |
|
Initial value: {
"PRM:/r2/c1-Joint2:21",
"PRM:/r2/c1/c2-Joint2:22",
"PRM:/r2/c1/c2/c3-Joint2:23",
"PRM:/r4/c1-Joint2:41",
"PRM:/r4/c1/c2-Joint2:42",
"PRM:/r4/c1/c2/c3-Joint2:43",
"PRM:/r3/c1-Joint2:31",
"PRM:/r3/c1/c2-Joint2:32",
"PRM:/r3/c1/c2/c3-Joint2:33",
"PRM:/r5/c1-Joint2:51",
"PRM:/r5/c1/c2-Joint2:52",
"PRM:/r5/c1/c2/c3-Joint2:53",
"PRM:/r1/c1-Joint2:11",
"PRM:/r1/c1/c2-Joint2:12",
"PRM:/r1/c1/c2/c3-Joint2:13",
"PRM:/r6/c1-Joint2:61",
"PRM:/r6/c2-Joint2:62",
"PRM:/r1/c1/c2/c3/c4-Joint2:14",
"PRM:/r1/c1/c2/c3/l1-LED2:l1",
"PRM:/r1/c1/c2/c3/l2-LED2:l2",
"PRM:/r1/c1/c2/c3/l3-LED2:l3",
"PRM:/r1/c1/c2/c3/l4-LED2:l4",
"PRM:/r1/c1/c2/c3/l5-LED2:l5",
"PRM:/r1/c1/c2/c3/l6-LED2:l6",
"PRM:/r1/c1/c2/c3/la-LED3:la",
"PRM:/r1/c1/c2/c3/lb-LED3:lb",
"PRM:/r1/c1/c2/c3/lc-LED3:lc",
"PRM:/r1/c1/c2/c3/ld-LED3:ld",
"PRM:/r1/c1/c2/c3/le-LED3:le",
"PRM:/r1/c1/c2/c3/lf-LED3:lf",
"PRM:/r1/c1/c2/c3/lg-LED3:lg",
"PRM:/r1/c1/c2/c3/lh-LED3:lh",
"PRM:/r1/c1/c2/c3/li-LED3:li",
"PRM:/r1/c1/c2/c3/lj-LED3:lj",
"PRM:/r1/c1/c2/c3/lk-LED3:lk",
"PRM:/r1/c1/c2/c3/ll-LED3:ll",
"PRM:/r1/c1/c2/c3/lm-LED3:lm",
"PRM:/r1/c1/c2/c3/ln-LED3:ln",
"PRM:/lu-LED3:lu",
"PRM:/lv-LED3:lv",
"PRM:/lw-LED3:lw",
"PRM:/lx-LED3:lx",
"PRM:/ly-LED3:ly",
"PRM:/lz-LED3:lz",
"",
"PRM:/r1/c1/c2/c3/e5-Joint4:15",
"PRM:/r1/c1/c2/c3/e6-Joint4:16"
}
the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others)
- Warning:
- IMPORTANT!!!! DO NOT CHANGE THE ORDER OF ITEMS IN THIS TABLE!!!
The offset consts defined in this file correspond to this table and will make life easier if you feel the need to reorder things, but they aren't used perfect everywhere
In particular, assumptions are made that the pid joints will be in slots 0-numPIDJoints and that the fast outputs (ie NOT ears) will be in slots 0-NumFastOutputs
There may be other assumptions not noted here!!! - Note:
- These entries DON'T correspond to the CPC index numbers defined in WorldState (this only lists joints, and in a different order defined by OPEN-R, that one has sensors as well
Definition at line 306 of file ERS7Info.h. |
|
mask corresponding to RrBackColorLEDOffset
Definition at line 149 of file ERS7Info.h. |
|
mask corresponding to RrBackWhiteLEDOffset
Definition at line 150 of file ERS7Info.h. |
|
Initial value: {
"NearIRDist","FarIRDist","ChestIRDist",
"BAccel","LAccel","DAccel",
"PowerRemain","PowerThermo","PowerCapacity","PowerVoltage","PowerCurrent"
}
Provides a string name for each sensor.
Definition at line 228 of file ERS7Info.h. |
|
time between frames for the ears (ERS-7 doesn't seem to have any "slow" joints; this only applied for the ears on the ERS-210)
Definition at line 25 of file ERS7Info.h. |
|
the number of milliseconds per sound buffer... I'm not sure if this can be changed
Definition at line 27 of file ERS7Info.h. |
|
use to open speaker connection with the system
Definition at line 365 of file ERS7Info.h. |
|
LEDs on tail (ERS-7 has none).
Definition at line 166 of file ERS7Info.h. |
|
mask corresponding to WirelessLEDOffset
Definition at line 143 of file ERS7Info.h. |
|