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Namespaces |
namespace | CreateInfo |
Output Offsets |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
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enum | CreateInfo::WheelOffset_t { CreateInfo::LWheelOffset = WheelOffset,
CreateInfo::RWheelOffset
} |
enum | CreateInfo::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. More...
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const unsigned | CreateInfo::PIDJointOffset = 0 |
| The beginning of the PID Joints.
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const unsigned | CreateInfo::WheelOffset = PIDJointOffset |
const unsigned | CreateInfo::LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets
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const unsigned | CreateInfo::MODE_OFFSET = LEDOffset + NumLEDs |
const unsigned | CreateInfo::DEMO_OFFSET = MODE_OFFSET+1 |
const unsigned | CreateInfo::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame.
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const LEDBitMask_t | CreateInfo::FaceLEDMask = 0 |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
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const LEDBitMask_t | CreateInfo::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds
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typedef unsigned int | CreateInfo::LEDBitMask_t |
Input Offsets |
The order in which inputs should be stored
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enum | CreateInfo::ButtonOffset_t {
CreateInfo::PLAY_OFFSET,
CreateInfo::ADVANCE_OFFSET,
CreateInfo::WALL_OFFSET,
CreateInfo::DROP_CASTER_OFFSET,
CreateInfo::DROP_LEFT_WHEEL_OFFSET,
CreateInfo::DROP_RIGHT_WHEEL_OFFSET,
CreateInfo::BUMP_LEFT_OFFSET,
CreateInfo::BUMP_RIGHT_OFFSET,
CreateInfo::OVERCURRENT_LEFT_WHEEL_OFFSET,
CreateInfo::OVERCURRENT_RIGHT_WHEEL_OFFSET,
CreateInfo::LOW_SIDE_DRIVER_0_OFFSET,
CreateInfo::LOW_SIDE_DRIVER_1_OFFSET,
CreateInfo::LOW_SIDE_DRIVER_2_OFFSET,
CreateInfo::BASE_CHARGER_OFFSET,
CreateInfo::INTERNAL_CHARGER_OFFSET
} |
| holds offsets to different buttons in WorldState::buttons[] More...
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enum | CreateInfo::SensorOffset_t {
CreateInfo::DIGITAL0_INPUTS_OFFSET,
CreateInfo::DIGITAL1_INPUTS_OFFSET,
CreateInfo::DIGITAL2_INPUTS_OFFSET,
CreateInfo::DIGITAL3_INPUTS_OFFSET,
CreateInfo::ANALOG_SIGNAL_OFFSET,
CreateInfo::WALL_SIGNAL_OFFSET,
CreateInfo::IR_COMM_OFFSET,
CreateInfo::CLIFF_LEFT_SIGNAL_OFFSET,
CreateInfo::CLIFF_FRONT_LEFT_SIGNAL_OFFSET,
CreateInfo::CLIFF_FRONT_RIGHT_SIGNAL_OFFSET,
CreateInfo::CLIFF_RIGHT_SIGNAL_OFFSET,
CreateInfo::ENCODER_DISTANCE_OFFSET,
CreateInfo::ENCODER_ANGLE_OFFSET,
CreateInfo::VOLTAGE_OFFSET,
CreateInfo::CURRENT_OFFSET,
CreateInfo::BATTERY_CHARGE_OFFSET,
CreateInfo::BATTERY_TEMP_OFFSET,
CreateInfo::CHARGING_STATE_OFFSET
} |
| holds offset to different sensor values in WorldState::sensors[] More...
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enum | CreateInfo::IRComm_t {
CreateInfo::IR_REMOTE_LEFT = 129,
CreateInfo::IR_REMOTE_FORWARD,
CreateInfo::IR_REMOTE_RIGHT,
CreateInfo::IR_REMOTE_SPOT,
CreateInfo::IR_REMOTE_MAX,
CreateInfo::IR_REMOTE_SMALL,
CreateInfo::IR_REMOTE_MEDIUM,
CreateInfo::IR_REMOTE_LARGE,
CreateInfo::IR_REMOTE_PAUSE,
CreateInfo::IR_REMOTE_POWER,
CreateInfo::IR_REMOTE_ARC_LEFT,
CreateInfo::IR_REMOTE_ARC_RIGHT,
CreateInfo::IR_REMOTE_STOP,
CreateInfo::IR_REMOTE_SEND,
CreateInfo::IR_REMOTE_DOCK,
CreateInfo::IR_BASE_RED = 248,
CreateInfo::IR_BASE_GREEN = 244,
CreateInfo::IR_BASE_FORCE = 242,
CreateInfo::IR_BASE_RED_GREEN = 252,
CreateInfo::IR_BASE_RED_FORCE = 250,
CreateInfo::IR_BASE_GREEN_FORCE = 246,
CreateInfo::IR_BASE_RED_GREEN_FORCE = 254
} |
| holds offsets to different buttons in WorldState::buttons[] More...
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enum | CreateInfo::ChargingState_t {
CreateInfo::CHARGING_OFF,
CreateInfo::CHARGING_RECONDITIONING,
CreateInfo::CHARGING_FULL,
CreateInfo::CHARGING_TRICKLE,
CreateInfo::CHARGING_WAITING,
CreateInfo::CHARGING_FAULT
} |
| holds offsets to different buttons in WorldState::buttons[] More...
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const char *const | CreateInfo::buttonNames [NumButtons+1] = { NULL } |
| Provides a string name for each button.
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const char *const | CreateInfo::sensorNames [NumSensors] |
| Provides a string name for each sensor.
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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 | CreateInfo::InterfaceMode_t { CreateInfo::MODE_SAFE,
CreateInfo::MODE_FULL,
CreateInfo::MODE_PASSIVE,
CreateInfo::MODE_OFF
} |
Variables |
const char *const | CreateInfo::TargetName = "Create" |
| the name of the model, to be used for logging and remote GUIs
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const unsigned int | CreateInfo::FrameTime = 15 |
| time between frames in the motion system (milliseconds)
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const unsigned int | CreateInfo::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered)
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const unsigned int | CreateInfo::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed
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const char *const | CreateInfo::outputNames [NumOutputs] |
| Names for each of the outputs.
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Capabilities | CreateInfo::capabilities |
| allocation declared in RobotInfo.cc
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const float | CreateInfo::DefaultPIDs [NumPIDJoints+1][3] |
| This table holds the default PID values for each joint. see PIDMC.
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const float | CreateInfo::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/ms.
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const double | CreateInfo::outputRanges [NumOutputs][2] |
| This table holds the software limits of each of the outputs, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange).
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const double | CreateInfo::mechanicalLimits [NumOutputs][2] |
| This table holds the mechanical limits of each of the outputs, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange).
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const unsigned | CreateInfo::NumWheels = 2 |
const unsigned | CreateInfo::JointsPerArm = 0 |
const unsigned | CreateInfo::NumArms = 0 |
const unsigned | CreateInfo::NumArmJoints = JointsPerArm*NumArms |
const unsigned | CreateInfo::JointsPerLeg = 0 |
| The number of joints per leg.
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const unsigned | CreateInfo::NumLegs = 0 |
| The number of legs.
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const unsigned | CreateInfo::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs
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const unsigned | CreateInfo::NumHeadJoints = 0 |
| The number of joints in the neck.
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const unsigned | CreateInfo::NumTailJoints = 0 |
| The number of joints assigned to the tail.
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const unsigned | CreateInfo::NumMouthJoints = 0 |
| the number of joints that control the mouth
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const unsigned | CreateInfo::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total).
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const unsigned | CreateInfo::NumButtons = 0 |
| 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 | CreateInfo::NumSensors = 18 |
| the number of sensors available
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const unsigned | CreateInfo::NumLEDs = 2 |
| The number of LEDs which can be controlled.
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const unsigned | CreateInfo::NumFacePanelLEDs = 0 |
| The number of face panel LEDs.
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const unsigned | CreateInfo::NumPIDJoints = 0 |
| servo pins
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const unsigned | CreateInfo::NumOutputs = NumWheels + NumLEDs |
| the total number of outputs
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const unsigned | CreateInfo::NumReferenceFrames = NumOutputs + 1 + NumArms + 1 |
| for the base, gripper (* NumArms), and camera reference frames
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const float | CreateInfo::CameraHorizFOV = 56.9/180*M_PI |
| horizontal field of view (radians)
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const float | CreateInfo::CameraVertFOV = 45.2/180*M_PI |
| vertical field of view (radians)
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const float | CreateInfo::CameraFOV = CameraHorizFOV |
| should be set to maximum of CameraHorizFOV or CameraVertFOV
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const unsigned int | CreateInfo::CameraResolutionX = 320 |
| the number of pixels available in the 'full' layer
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const unsigned int | CreateInfo::CameraResolutionY = 240 |
| the number of pixels available in the 'full' layer
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