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Namespaces |
namespace | ERS7Info |
LED Bitmasks |
Bitmasks for use when specifying combinations of LEDs (see LedEngine ) Note that left/right are robot's point of view
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typedef unsigned int | ERS7Info::LEDBitMask_t |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | ERS7Info::HeadColorLEDMask = 1<<(HeadColorLEDOffset-LEDOffset) |
| mask corresponding to HeadColorLEDOffset
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const LEDBitMask_t | ERS7Info::HeadWhiteLEDMask = 1<<(HeadWhiteLEDOffset-LEDOffset) |
| mask corresponding to HeadWhiteLEDOffset
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const LEDBitMask_t | ERS7Info::ModeRedLEDMask = 1<<(ModeRedLEDOffset-LEDOffset) |
| mask corresponding to ModeRedLEDOffset
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const LEDBitMask_t | ERS7Info::ModeGreenLEDMask = 1<<(ModeGreenLEDOffset-LEDOffset) |
| mask corresponding to ModeGreenLEDOffset
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const LEDBitMask_t | ERS7Info::ModeBlueLEDMask = 1<<(ModeBlueLEDOffset-LEDOffset) |
| mask corresponding to ModeBlueLEDOffset
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const LEDBitMask_t | ERS7Info::WirelessLEDMask = 1<<(WirelessLEDOffset-LEDOffset) |
| mask corresponding to WirelessLEDOffset
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const LEDBitMask_t | ERS7Info::FaceLEDPanelMask = 1<<(FaceLEDPanelOffset-LEDOffset) |
| mask corresponding to FaceLEDPanelOffset, selects only the first of the panel - shift this to get the others
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const LEDBitMask_t | ERS7Info::FrBackColorLEDMask = 1<<(FrBackColorLEDOffset-LEDOffset) |
| mask corresponding to FrBackColorLEDOffset
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const LEDBitMask_t | ERS7Info::FrBackWhiteLEDMask = 1<<(FrBackWhiteLEDOffset-LEDOffset) |
| mask corresponding to FrBackWhiteLEDOffset
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const LEDBitMask_t | ERS7Info::MdBackColorLEDMask = 1<<(MdBackColorLEDOffset-LEDOffset) |
| mask corresponding to MdBackColorLEDOffset
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const LEDBitMask_t | ERS7Info::MdBackWhiteLEDMask = 1<<(MdBackWhiteLEDOffset-LEDOffset) |
| mask corresponding to MdBackWhiteLEDOffset
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const LEDBitMask_t | ERS7Info::RrBackColorLEDMask = 1<<(RrBackColorLEDOffset-LEDOffset) |
| mask corresponding to RrBackColorLEDOffset
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const LEDBitMask_t | ERS7Info::RrBackWhiteLEDMask = 1<<(RrBackWhiteLEDOffset-LEDOffset) |
| mask corresponding to RrBackWhiteLEDOffset
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const LEDBitMask_t | ERS7Info::LEDABModeMask = 1<<(LEDABModeOffset-LEDOffset) |
| mask corresponding to LEDABModeOffset
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const LEDBitMask_t | ERS7Info::BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset) |
| bottom left
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const LEDBitMask_t | ERS7Info::BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset) |
| bottom right
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const LEDBitMask_t | ERS7Info::MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset) |
| middle left
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const LEDBitMask_t | ERS7Info::MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset) |
| middle right
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const LEDBitMask_t | ERS7Info::TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset) |
| top left
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const LEDBitMask_t | ERS7Info::TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset) |
| top right
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const LEDBitMask_t | ERS7Info::TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset) |
| top bar
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const LEDBitMask_t | ERS7Info::TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset) |
| red tail light
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const LEDBitMask_t | ERS7Info::TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset) |
| blue tail light
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const LEDBitMask_t | ERS7Info::FaceLEDMask = (FaceLEDPanelMask<<0) | (FaceLEDPanelMask<<1) | (FaceLEDPanelMask<<2) | (FaceLEDPanelMask<<3) | (FaceLEDPanelMask<<4) | (FaceLEDPanelMask<<5) | (FaceLEDPanelMask<<6) | (FaceLEDPanelMask<<7) | (FaceLEDPanelMask<<8) | (FaceLEDPanelMask<<9) | (FaceLEDPanelMask<<10) | (FaceLEDPanelMask<<11) | (FaceLEDPanelMask<<12) | (FaceLEDPanelMask<<13) |
| LEDs for the face panel.
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const LEDBitMask_t | ERS7Info::HeadLEDMask = FaceLEDMask | HeadColorLEDMask | HeadWhiteLEDMask | ModeRedLEDMask | ModeGreenLEDMask | ModeBlueLEDMask | WirelessLEDMask |
| LEDs for face (all but back lights).
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const LEDBitMask_t | ERS7Info::BackLEDMask = FrBackColorLEDMask | FrBackWhiteLEDMask | MdBackColorLEDMask | MdBackWhiteLEDMask | RrBackColorLEDMask | RrBackWhiteLEDMask |
| LEDS on the back.
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const LEDBitMask_t | ERS7Info::TailLEDMask = 0 |
| LEDs on tail (ERS-7 has none).
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const LEDBitMask_t | ERS7Info::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds
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Output Offsets |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
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enum | ERS7Info::LegOffset_t { ERS7Info::LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg,
ERS7Info::RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg,
ERS7Info::LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg,
ERS7Info::RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg
} |
| The offsets of the individual legs. More...
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const unsigned | ERS7Info::PIDJointOffset = 0 |
| The beginning of the PID Joints.
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const unsigned | ERS7Info::LegOffset = PIDJointOffset |
| the offset of the beginning of the leg joints
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const unsigned | ERS7Info::HeadOffset = LegOffset+NumLegJoints |
| the offset of the beginning of the head joints
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const unsigned | ERS7Info::TailOffset = HeadOffset+NumHeadJoints |
| the offset of the beginning of the tail joints
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const unsigned | ERS7Info::MouthOffset = TailOffset+NumTailJoints |
| the offset of the beginning of the mouth joint
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const unsigned | ERS7Info::LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions
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const unsigned | ERS7Info::BinJointOffset = LEDOffset + NumLEDs |
| The beginning of the binary joints.
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const unsigned | ERS7Info::EarOffset = BinJointOffset |
| the offset of the beginning of the ear joints - note that ears aren't sensed. They can be flicked by the environment and you won't know. Nor will they be flicked back
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const unsigned | ERS7Info::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame.
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const unsigned | ERS7Info::PawFrameOffset = BaseFrameOffset+1 |
| Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw).
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const unsigned | ERS7Info::CameraFrameOffset = PawFrameOffset+NumLegs |
| Use with kinematics to refer to camera reference frame.
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const unsigned | ERS7Info::NearIRFrameOffset = CameraFrameOffset+1 |
| Use with kinematics to refer to short-range infrared (distance) sensor reference frame.
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const unsigned | ERS7Info::FarIRFrameOffset = NearIRFrameOffset+1 |
| Use with kinematics to refer to long-range infrared (distance) sensor reference frame.
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const unsigned | ERS7Info::ChestIRFrameOffset = FarIRFrameOffset+1 |
| Use with kinematics to refer to chest-mounted infrared (distance) sensor reference frame.
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Input Offsets |
The order in which inputs should be stored
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enum | ERS7Info::ButtonOffset_t {
ERS7Info::LFrPawOffset = LFrLegOrder,
ERS7Info::RFrPawOffset = RFrLegOrder,
ERS7Info::LBkPawOffset = LBkLegOrder,
ERS7Info::RBkPawOffset = RBkLegOrder,
ERS7Info::ChinButOffset = 4,
ERS7Info::HeadButOffset,
ERS7Info::HeadFrButOffset = HeadButOffset,
ERS7Info::FrontBackButOffset,
ERS7Info::MiddleBackButOffset,
ERS7Info::BackButOffset = MiddleBackButOffset,
ERS7Info::RearBackButOffset,
ERS7Info::WirelessSwOffset
} |
| holds offsets to different buttons in WorldState::buttons[] More...
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enum | ERS7Info::SensorOffset_t {
ERS7Info::NearIRDistOffset = 0,
ERS7Info::FarIRDistOffset,
ERS7Info::ChestIRDistOffset,
ERS7Info::BAccelOffset,
ERS7Info::LAccelOffset,
ERS7Info::DAccelOffset,
ERS7Info::PowerRemainOffset,
ERS7Info::PowerThermoOffset,
ERS7Info::PowerCapacityOffset,
ERS7Info::PowerVoltageOffset,
ERS7Info::PowerCurrentOffset
} |
| holds offset to different sensor values in WorldState::sensors[] More...
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const char *const | ERS7Info::buttonNames [NumButtons] |
| Provides a string name for each button.
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const char *const | ERS7Info::sensorNames [NumSensors] |
| Provides a string name for each sensor.
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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
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const unsigned | ERS7Info::JointsPerLeg = 3 |
| The number of joints per leg.
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const unsigned | ERS7Info::NumLegs = 4 |
| The number of legs.
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const unsigned | ERS7Info::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs
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const unsigned | ERS7Info::NumHeadJoints = 3 |
| The number of joints in the neck.
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const unsigned | ERS7Info::NumTailJoints = 2 |
| The number of joints assigned to the tail.
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const unsigned | ERS7Info::NumMouthJoints = 1 |
| the number of joints that control the mouth
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const unsigned | ERS7Info::NumEarJoints = 2 |
| The number of joints which control the ears (NOT per ear, is total).
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const unsigned | ERS7Info::NumButtons = 2+4+3+1 |
| the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t
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const unsigned | ERS7Info::NumSensors = 3+3+5 |
| 3 IR (distance), 3 accel (force), 5 from power, see ERS7Info::SensorOffset_t
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const unsigned | ERS7Info::NumLEDs = 27 |
| The number of LEDs which can be controlled.
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const unsigned | ERS7Info::NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints |
| The number of joints which use PID motion - everything except ears.
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const unsigned | ERS7Info::NumBinJoints = NumEarJoints |
| The number of binary joints - just the ears.
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const unsigned | ERS7Info::NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs |
| the total number of outputs
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const unsigned | ERS7Info::NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 3 |
| for the base, paws (NumLegs), camera, and IR sensors (3) reference frames
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const float | ERS7Info::CameraHorizFOV = 56.9/180*M_PI |
| horizontal field of view (radians)
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const float | ERS7Info::CameraVertFOV = 45.2/180*M_PI |
| vertical field of view (radians)
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const float | ERS7Info::CameraFOV = CameraHorizFOV |
| should be set to maximum of CameraHorizFOV or CameraVertFOV
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const unsigned int | ERS7Info::CameraResolutionX = 208 |
| the number of pixels available in the 'full' layer
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const unsigned int | ERS7Info::CameraResolutionY = 160 |
| the number of pixels available in the 'full' layer
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const bool | ERS7Info::IsFastOutput [NumOutputs] |
| true for joints which can be updated every 32 ms (all ers-7 joints)
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const bool | ERS7Info::IsRealERS7 [NumOutputs] |
| we need this so you can tell programmatically which joints are "real" and which are "fake" in a compatability mode
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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
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static const int | ERS7Info::CPCJointMouth = 0 |
| Mouth.
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static const int | ERS7Info::CPCSwitchChin = 1 |
| Chin sensor.
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static const int | ERS7Info::CPCJointNeckNod = 2 |
| Neck tilt2.
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static const int | ERS7Info::CPCSensorHead = 3 |
| Head sensor.
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static const int | ERS7Info::CPCSensorNearPSD = 4 |
| Head distance sensor(near).
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static const int | ERS7Info::CPCSensorFarPSD = 5 |
| Head distance sensor(far).
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static const int | ERS7Info::CPCJointNeckPan = 6 |
| Neck pan.
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static const int | ERS7Info::CPCJointNeckTilt = 7 |
| Neck tilt1.
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static const int | ERS7Info::CPCSwitchLFPaw = 8 |
| Left fore leg paw sensor.
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static const int | ERS7Info::CPCJointLFKnee = 9 |
| Left fore legJ3.
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static const int | ERS7Info::CPCJointLFElevator = 10 |
| Left fore legJ2.
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static const int | ERS7Info::CPCJointLFRotator = 11 |
| Left fore legJ1.
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static const int | ERS7Info::CPCSwitchLHPaw = 12 |
| Left hind leg paw sensor.
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static const int | ERS7Info::CPCJointLHKnee = 13 |
| Left hind legJ3.
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static const int | ERS7Info::CPCJointLHElevator = 14 |
| Left hind legJ2.
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static const int | ERS7Info::CPCJointLHRotator = 15 |
| Left hind legJ1.
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static const int | ERS7Info::CPCSwitchRFPaw = 16 |
| Right fore leg paw sensor.
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static const int | ERS7Info::CPCJointRFKnee = 17 |
| Right fore legJ3.
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static const int | ERS7Info::CPCJointRFElevator = 18 |
| Right fore legJ2.
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static const int | ERS7Info::CPCJointRFRotator = 19 |
| Right fore legJ1.
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static const int | ERS7Info::CPCSwitchRHPaw = 20 |
| Right hind leg paw sensor.
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static const int | ERS7Info::CPCJointRHKnee = 21 |
| Right hind legJ3.
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static const int | ERS7Info::CPCJointRHElevator = 22 |
| Right hind legJ2.
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static const int | ERS7Info::CPCJointRHRotator = 23 |
| Right hind legJ1.
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static const int | ERS7Info::CPCJointTailTilt = 24 |
| Tail tilt.
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static const int | ERS7Info::CPCJointTailPan = 25 |
| Tail pan.
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static const int | ERS7Info::CPCSensorAccelFB = 26 |
| Acceleration sensor(front-back).
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static const int | ERS7Info::CPCSensorAccelLR = 27 |
| Acceleration sensor(right-left).
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static const int | ERS7Info::CPCSensorAccelUD = 28 |
| Acceleration sensor(up-down).
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static const int | ERS7Info::CPCSensorChestPSD = 29 |
| Chest distance sensor.
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static const int | ERS7Info::CPCSwitchWireless = 30 |
| Wireless LAN switch.
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static const int | ERS7Info::CPCSensorBackRear = 31 |
| Back sensor(rear).
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static const int | ERS7Info::CPCSensorBackMiddle = 32 |
| Back sensor(middle).
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static const int | ERS7Info::CPCSensorBackFront = 33 |
| Back sensor(front).
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Defines |
#define | RAD(deg) (((deg) * M_PI ) / 180.0) |
| Just a little macro for converting degrees to radians.
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#define | __RI_RAD_FLAG |
| a flag so we undef these after we're done - do you have a cleaner solution?
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Enumerations |
enum | ERS7Info::LEDOffset_t {
ERS7Info::HeadColorLEDOffset = LEDOffset,
ERS7Info::HeadWhiteLEDOffset,
ERS7Info::ModeRedLEDOffset,
ERS7Info::ModeGreenLEDOffset,
ERS7Info::ModeBlueLEDOffset,
ERS7Info::WirelessLEDOffset,
ERS7Info::FaceLEDPanelOffset,
ERS7Info::FrBackColorLEDOffset = FaceLEDPanelOffset+14,
ERS7Info::FrBackWhiteLEDOffset,
ERS7Info::MdBackColorLEDOffset,
ERS7Info::MdBackWhiteLEDOffset,
ERS7Info::RrBackColorLEDOffset,
ERS7Info::RrBackWhiteLEDOffset,
ERS7Info::LEDABModeOffset,
ERS7Info::BotLLEDOffset = FaceLEDPanelOffset+0,
ERS7Info::BotRLEDOffset = FaceLEDPanelOffset+1,
ERS7Info::MidLLEDOffset = FaceLEDPanelOffset+2,
ERS7Info::MidRLEDOffset = FaceLEDPanelOffset+3,
ERS7Info::TopLLEDOffset = FaceLEDPanelOffset+6,
ERS7Info::TopRLEDOffset = FaceLEDPanelOffset+7,
ERS7Info::TopBrLEDOffset = HeadColorLEDOffset,
ERS7Info::TlRedLEDOffset = RrBackColorLEDOffset,
ERS7Info::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...
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enum | ERS7Info::MinMaxRange_t { ERS7Info::MinRange,
ERS7Info::MaxRange
} |
| Defines the indexes to use to access the min and max entries of ERS7Info::outputRanges and ERS7Info::mechanicalLimits. More...
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Variables |
const unsigned int | ERS7Info::FrameTime = 8 |
| time between frames in the motion system (milliseconds)
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const unsigned int | ERS7Info::NumFrames = 4 |
| the number of frames per buffer (don't forget also double buffered)
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const unsigned int | ERS7Info::SlowFrameTime = 8 |
| time between frames for the ears (ERS-7 doesn't seem to have any "slow" joints; this only applied for the ears on the ERS-210)
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const unsigned int | ERS7Info::NumSlowFrames = 4 |
| the number of frames per buffer being sent to ears (double buffered as well)
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const unsigned int | ERS7Info::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed
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const unsigned | ERS7Info::outputNameLen = 9 |
| The length of the strings used for each of the outputs in outputNames (doesn't include null term).
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const char *const | ERS7Info::outputNames [NumOutputs] |
| A name of uniform length for referring to joints - handy for posture files, etc.
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const char *const | ERS7Info::PrimitiveName [NumOutputs] |
| the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others)
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const char *const | ERS7Info::SpeakerLocator = "PRM:/s1-Speaker:S1" |
| use to open speaker connection with the system
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const char *const | ERS7Info::CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1" |
| use to open camera connection with the system
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const float | ERS7Info::DefaultPIDs [NumPIDJoints][3] |
| This table holds the default PID values for each joint. see PIDMC.
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const unsigned char | ERS7Info::DefaultPIDShifts [3] = {0x0E, 0x02-1, 0x0F-3} |
| These will control the shift values given to the system. see PIDMC.
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const float | ERS7Info::MaxOutputSpeed [NumOutputs] |
| These values are Sony's recommended maximum joint velocities, in rad/ms.
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const double | ERS7Info::outputRanges [NumOutputs][2] |
| This table holds the software limits of each of the outputs.
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const double | ERS7Info::mechanicalLimits [NumOutputs][2] |
| This table holds the mechanical limits of each of the outputs.
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