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CreateInfo.h File Reference

#include <cmath>
#include <stdlib.h>
#include "CommonInfo.h"

Include dependency graph for CreateInfo.h:

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Namespaces

namespace  CreateInfo

Output Offsets

Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file

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...
const unsigned CreateInfo::PIDJointOffset = 0
 The beginning of the PID Joints.
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
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.
const LEDBitMask_t CreateInfo::FaceLEDMask = 0
 LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
const LEDBitMask_t CreateInfo::AllLEDMask = (LEDBitMask_t)~0
 selects all of the leds
typedef unsigned int CreateInfo::LEDBitMask_t

Input Offsets

The order in which inputs should be stored

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...
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...
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...
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...
const char *const CreateInfo::buttonNames [NumButtons+1] = { NULL }
 Provides a string name for each button.
const char *const CreateInfo::sensorNames [NumSensors]
 Provides a string name for each sensor.

Defines

#define RAD(deg)   (((deg) * M_PI ) / 180.0)
 Just a little macro for converting degrees to radians.
#define __RI_RAD_FLAG
 a flag so we undef these after we're done - do you have a cleaner solution?

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
const unsigned int CreateInfo::FrameTime = 15
 time between frames in the motion system (milliseconds)
const unsigned int CreateInfo::NumFrames = 1
 the number of frames per buffer (don't forget also double buffered)
const unsigned int CreateInfo::SoundBufferTime = 32
 the number of milliseconds per sound buffer... I'm not sure if this can be changed
const char *const CreateInfo::outputNames [NumOutputs]
 Names for each of the outputs.
Capabilities CreateInfo::capabilities
 allocation declared in RobotInfo.cc
const float CreateInfo::DefaultPIDs [NumPIDJoints+1][3]
 This table holds the default PID values for each joint. see PIDMC.
const float CreateInfo::MaxOutputSpeed [NumOutputs]
 These values are our recommended maximum joint velocities, in rad/ms.
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).
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).
Output Types Information
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.
const unsigned CreateInfo::NumLegs = 0
 The number of legs.
const unsigned CreateInfo::NumLegJoints = JointsPerLeg*NumLegs
 the TOTAL number of joints on ALL legs
const unsigned CreateInfo::NumHeadJoints = 0
 The number of joints in the neck.
const unsigned CreateInfo::NumTailJoints = 0
 The number of joints assigned to the tail.
const unsigned CreateInfo::NumMouthJoints = 0
 the number of joints that control the mouth
const unsigned CreateInfo::NumEarJoints = 0
 The number of joints which control the ears (NOT per ear, is total).
const unsigned CreateInfo::NumButtons = 0
 the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t
const unsigned CreateInfo::NumSensors = 18
 the number of sensors available
const unsigned CreateInfo::NumLEDs = 2
 The number of LEDs which can be controlled.
const unsigned CreateInfo::NumFacePanelLEDs = 0
 The number of face panel LEDs.
const unsigned CreateInfo::NumPIDJoints = 0
 servo pins
const unsigned CreateInfo::NumOutputs = NumWheels + NumLEDs
 the total number of outputs
const unsigned CreateInfo::NumReferenceFrames = NumOutputs + 1 + NumArms + 1
 for the base, gripper (* NumArms), and camera reference frames
const float CreateInfo::CameraHorizFOV = 56.9/180*M_PI
 horizontal field of view (radians)
const float CreateInfo::CameraVertFOV = 45.2/180*M_PI
 vertical field of view (radians)
const float CreateInfo::CameraFOV = CameraHorizFOV
 should be set to maximum of CameraHorizFOV or CameraVertFOV
const unsigned int CreateInfo::CameraResolutionX = 320
 the number of pixels available in the 'full' layer
const unsigned int CreateInfo::CameraResolutionY = 240
 the number of pixels available in the 'full' layer


Define Documentation

#define __RI_RAD_FLAG

a flag so we undef these after we're done - do you have a cleaner solution?

Definition at line 257 of file CreateInfo.h.

#define RAD ( deg   )     (((deg) * M_PI ) / 180.0)

Just a little macro for converting degrees to radians.

Definition at line 255 of file CreateInfo.h.


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