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Regis1Info Namespace Reference


Classes

class  Regis1Capabilities
 provides polymorphic robot capability detection/mapping More...

Output Offsets

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

enum  WheelOffset_t { LWheelOffset = WheelOffset, RWheelOffset }
 Just a little macro for converting degrees to radians. More...
enum  HeadOffset_t {
  HeadBaseOffset = HeadOffset, HeadPanOffset = HeadBaseOffset, HeadShoulderOffset, HeadElbowOffset,
  HeadTiltOffset = HeadElbowOffset, HeadWristOffset, HeadNodOffset = HeadWristOffset
}
 these are all 'absolute' offsets -- no need to add to HeadOffset More...
enum  TPROffset_t { PanOffset = HeadBaseOffset - HeadOffset, TiltOffset = HeadElbowOffset - HeadOffset, NodOffset = HeadWristOffset - HeadOffset }
 these are the traditional sub-offsets, relative to HeadOffset More...
enum  ArmOffset_t {
  ArmBaseOffset = ArmOffset, ArmShoulderOffset, ArmElbowOffset, ArmWristOffset,
  ArmWristRotateOffset, ArmGripperOffset
}
 Just a little macro for converting degrees to radians. More...
enum  LEDOffset_t
 Just a little macro for converting degrees to radians. More...
enum  ButtonOffset_t
 Just a little macro for converting degrees to radians. More...
enum  SensorOffset_t
 Just a little macro for converting degrees to radians. More...
const unsigned PIDJointOffset = 0
 The beginning of the PID Joints.
const unsigned WheelOffset = PIDJointOffset
 beginning of wheel velocities, don't need to add anything, just use WheelOffset_t entries directly
const unsigned ArmOffset = WheelOffset+NumWheels
 beginning of arm joints, don't add anything, just use ArmOffset_t entries directly
const unsigned HeadOffset = ArmOffset+NumArmJoints
 the offset of the beginning of the head joints, add TPROffset_t to get specific joint
const unsigned LEDOffset = PIDJointOffset + NumPIDJoints
 the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets
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.
const unsigned BaseFrameOffset = NumOutputs
 Use with kinematics to refer to base reference frame.
const unsigned GripperFrameOffset = BaseFrameOffset+1
 Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw).
const unsigned CameraFrameOffset = GripperFrameOffset+NumArms
 Use with kinematics to refer to camera reference frame.
const LEDBitMask_t FaceLEDMask = 0
 Just a little macro for converting degrees to radians.
const LEDBitMask_t AllLEDMask = (LEDBitMask_t)~0
 Just a little macro for converting degrees to radians.
const char *const buttonNames [NumButtons+1] = { NULL }
 Just a little macro for converting degrees to radians.
const char *const sensorNames [NumSensors+1] = { NULL }
 Just a little macro for converting degrees to radians.
const char *const outputNames [NumOutputs]
 Names for each of the outputs.
Regis1Capabilities capabilities
 allocation declared in RobotInfo.cc
const float DefaultPIDs [NumPIDJoints][3]
 Just a little macro for converting degrees to radians.
const float MaxOutputSpeed [NumOutputs]
 haven't determined safe speeds for regis yet
const double outputRanges [NumOutputs][2]
 the range that can be reached by the joint controller (i.e. the domain of the output commands)
const double mechanicalLimits [NumOutputs][2]
 the range that can be reached by external interaction (i.e. the domain of the output feedback)
typedef unsigned int LEDBitMask_t
 Just a little macro for converting degrees to radians.

Variables

const char *const TargetName = "Regis1"
 the name of the model, to be used for logging and remote GUIs
const unsigned int FrameTime = 15
 time between frames in the motion system (milliseconds)
const unsigned int NumFrames = 1
 the number of frames per buffer (don't forget also double buffered)
const unsigned int SoundBufferTime = 32
 the number of milliseconds per sound buffer... I'm not sure if this can be changed
Output Types Information
const unsigned NumWheels = 2
 Left and Right Wheels.
const unsigned JointsPerArm = 6
 Base, Shoulder, Elbow, Wrist (Yaw, Roll), Gripper.
const unsigned NumArms = 1
 Left and Right Wheels.
const unsigned NumArmJoints = JointsPerArm*NumArms
 Left and Right Wheels.
const unsigned JointsPerLeg = 0
 Left and Right Wheels.
const unsigned NumLegs = 0
 Left and Right Wheels.
const unsigned NumLegJoints = JointsPerLeg*NumLegs
 Left and Right Wheels.
const unsigned NumHeadJoints = 4
 Left and Right Wheels.
const unsigned NumTailJoints = 0
 Left and Right Wheels.
const unsigned NumMouthJoints = 0
 Left and Right Wheels.
const unsigned NumEarJoints = 0
 Left and Right Wheels.
const unsigned NumButtons = 0
 Left and Right Wheels.
const unsigned NumSensors = 0
 Left and Right Wheels.
const unsigned NumLEDs = 0
 Left and Right Wheels.
const unsigned NumFacePanelLEDs = 0
 Left and Right Wheels.
const unsigned NumPIDJoints = NumWheels+NumArmJoints+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 + NumArms + 1
 for the base, gripper (* NumArms), and camera 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 = 320
 the number of pixels available in the 'full' layer
const unsigned int CameraResolutionY = 240
 the number of pixels available in the 'full' layer


Typedef Documentation

typedef unsigned int Regis1Info::LEDBitMask_t

Just a little macro for converting degrees to radians.

Definition at line 117 of file Regis1Info.h.


Enumeration Type Documentation

Just a little macro for converting degrees to radians.

Enumerator:
ArmBaseOffset 
ArmShoulderOffset 
ArmElbowOffset 
ArmWristOffset 
ArmWristRotateOffset 
ArmGripperOffset 

Definition at line 106 of file Regis1Info.h.

Just a little macro for converting degrees to radians.

Definition at line 123 of file Regis1Info.h.

these are all 'absolute' offsets -- no need to add to HeadOffset

Enumerator:
HeadBaseOffset 
HeadPanOffset 
HeadShoulderOffset 
HeadElbowOffset 
HeadTiltOffset 
HeadWristOffset 
HeadNodOffset 

Definition at line 89 of file Regis1Info.h.

Just a little macro for converting degrees to radians.

Definition at line 115 of file Regis1Info.h.

Just a little macro for converting degrees to radians.

Definition at line 127 of file Regis1Info.h.

these are the traditional sub-offsets, relative to HeadOffset

Enumerator:
PanOffset  pan/heading (horizontal)
TiltOffset  tilt/elevation (vertical)
NodOffset  replicated tilt (could be left undefined instead...)

Definition at line 100 of file Regis1Info.h.

Just a little macro for converting degrees to radians.

Enumerator:
LWheelOffset 
RWheelOffset 

Definition at line 83 of file Regis1Info.h.


Variable Documentation

Just a little macro for converting degrees to radians.

Definition at line 121 of file Regis1Info.h.

Referenced by LedMC::LedMC().

beginning of arm joints, don't add anything, just use ArmOffset_t entries directly

Definition at line 72 of file Regis1Info.h.

Use with kinematics to refer to base reference frame.

Definition at line 79 of file Regis1Info.h.

Referenced by Kinematics::initStatics().

The beginning of the binary joints.

Definition at line 76 of file Regis1Info.h.

should be set to maximum of CameraHorizFOV or CameraVertFOV

Definition at line 57 of file Regis1Info.h.

Referenced by VisionObjectEvent::getDistanceEstimate().

Use with kinematics to refer to camera reference frame.

Definition at line 81 of file Regis1Info.h.

const float Regis1Info::CameraHorizFOV = 56.9/180*M_PI

horizontal field of view (radians)

Definition at line 55 of file Regis1Info.h.

const unsigned int Regis1Info::CameraResolutionX = 320

the number of pixels available in the 'full' layer

Definition at line 58 of file Regis1Info.h.

Referenced by FilterBankGenerator::setNumImages().

const unsigned int Regis1Info::CameraResolutionY = 240

the number of pixels available in the 'full' layer

Definition at line 59 of file Regis1Info.h.

Referenced by FilterBankGenerator::setNumImages().

const float Regis1Info::CameraVertFOV = 45.2/180*M_PI

vertical field of view (radians)

Definition at line 56 of file Regis1Info.h.

allocation declared in RobotInfo.cc

Definition at line 44 of file RobotInfo.cc.

Initial value:

 {
    {1,0,0},
    {1,0,0},
    {1,0,0},{1,0,0},{1,0,0},{1,0,0},{1,0,0},{1,0,0},
    {1,0,0},{1,0,0},{1,0,0},{1,0,0}
  }
Just a little macro for converting degrees to radians.

Definition at line 155 of file Regis1Info.h.

Referenced by PIDMC::setAllPowerLevel(), PIDMC::setJointPowerLevel(), PIDMC::setRangePowerLevel(), TorqueCalibrate::TakeMeasurementControl::transition(), and WorldState::WorldState().

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.

Definition at line 77 of file Regis1Info.h.

Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw).

Definition at line 80 of file Regis1Info.h.

the offset of the beginning of the head joints, add TPROffset_t to get specific joint

Definition at line 73 of file Regis1Info.h.

Referenced by PostureMC::defaultMaxSpeed(), HeadPointerMC::defaultMaxSpeed(), HeadPointControllerBehavior::runCommand(), HeadPointerMC::setJoints(), HeadPointerMC::setJointValue(), and HeadPointerMC::takeSnapshot().

const unsigned Regis1Info::JointsPerArm = 6

Base, Shoulder, Elbow, Wrist (Yaw, Roll), Gripper.

Definition at line 33 of file Regis1Info.h.

const unsigned Regis1Info::JointsPerLeg = 0

Left and Right Wheels.

Definition at line 37 of file Regis1Info.h.

Referenced by WalkMC::init(), WalkMC::isDirty(), WalkMC::resetLegPos(), UPennWalkMC::SetLegJoints(), and WalkMC::updateOutputs().

Initial value:

 {
    1e-3,
    1e-3,
    1e-3,1e-3,1e-3,1e-3,1e-3,1e-3,
    1e-3,1e-3,1e-3,1e-3
  }
haven't determined safe speeds for regis yet

Definition at line 163 of file Regis1Info.h.

Referenced by PostureMC::defaultMaxSpeed().

Initial value:

 {
      { -1 , 1 },
      { -1 , 1 },
      { RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) }, 
      { RAD(-100),RAD(100) },{ RAD(-10.0),RAD(190.0) },{ RAD(-140),RAD(60) },{ RAD(-150),RAD(50) }
  }
the range that can be reached by external interaction (i.e. the domain of the output feedback)

This is probably identical to outputRanges, but may differ if the outputs have some built-in safety margin...

Definition at line 187 of file Regis1Info.h.

Left and Right Wheels.

Definition at line 35 of file Regis1Info.h.

const unsigned Regis1Info::NumArms = 1

Left and Right Wheels.

Definition at line 34 of file Regis1Info.h.

The number of binary joints - just the ears.

Definition at line 50 of file Regis1Info.h.

const unsigned Regis1Info::NumEarJoints = 0

Left and Right Wheels.

Definition at line 43 of file Regis1Info.h.

const unsigned Regis1Info::NumFacePanelLEDs = 0

Left and Right Wheels.

Definition at line 47 of file Regis1Info.h.

Left and Right Wheels.

Definition at line 39 of file Regis1Info.h.

Referenced by WalkMC::updateOutputs(), and UPennWalkMC::updateOutputs().

const unsigned Regis1Info::NumLegs = 0

Left and Right Wheels.

Definition at line 38 of file Regis1Info.h.

Referenced by WalkMC::init(), WalkMC::isDirty(), WalkMC::resetLegPos(), WalkMC::setTargetDisplacement(), and WalkMC::updateOutputs().

const unsigned Regis1Info::NumMouthJoints = 0

Left and Right Wheels.

Definition at line 42 of file Regis1Info.h.

the total number of outputs

Definition at line 51 of file Regis1Info.h.

Referenced by PostureEngine::avgdiff(), PostureEngine::clear(), MotionSequenceMC< MAXMOVE >::clear(), DynamicMotionSequence::clear(), MotionSequenceEngine::compress(), PostureMC::defaultMaxSpeed(), PostureEngine::diff(), WorldStateSerializerBehavior::DoStart(), EmergencyStopMC::freezeJoints(), PostureEngine::getBinSize(), MotionSequenceEngine::getBinSize(), MotionSequenceEngine::getOutputIndex(), MotionSequenceEngine::getPose(), PostureMC::isAlive(), MotionSequenceEngine::loadBuffer(), PostureEngine::maxdiff(), MotionManager::MotionManager(), MotionSequenceEngine::MotionSequenceEngine(), Kinematics::newChain(), PostureMC::noMaxSpeed(), PostureEngine::operator=(), MotionSequenceEngine::overlayMotion(), PostureEditor::PostureEditor(), PostureEngine::PostureEngine(), WorldStateSerializerBehavior::processEvent(), SensorObserverControl::processEvent(), PostureEditor::processEvent(), WorldStatePool::read(), WorldState::read(), RemoteState::RemoteState(), MotionSequenceEngine::resume(), PostureEngine::saveBuffer(), MotionSequenceEngine::saveBuffer(), SensorObserverControl::SensorObserverControl(), PostureEngine::setAverage(), PostureEngine::setCombine(), PostureMC::setDirty(), MotionSequenceEngine::setExplicitPose(), MotionManager::setOutput(), PostureEngine::setOverlay(), MotionSequenceEngine::setPose(), MotionSequenceEngine::setTime(), PostureEngine::setUnderlay(), PostureMC::setWeights(), PostureEngine::setWeights(), PostureEngine::solveLinkPosition(), PostureEngine::takeSnapshot(), PostureEngine::update(), Kinematics::update(), RemoteControllerMC::updateOutputs(), PostureMC::updateOutputs(), MotionSequenceMC< MAXMOVE >::updateOutputs(), EmergencyStopMC::updateOutputs(), DynamicMotionSequence::updateOutputs(), PostureEditor::updatePose(), SensorObserverControl::updateRT(), and WorldState::WorldState().

for the base, gripper (* NumArms), and camera reference frames

Definition at line 52 of file Regis1Info.h.

Referenced by Kinematics::lookup(), and Kinematics::newChain().

const unsigned Regis1Info::NumTailJoints = 0

Left and Right Wheels.

Definition at line 41 of file Regis1Info.h.

const unsigned Regis1Info::NumWheels = 2

Left and Right Wheels.

Definition at line 31 of file Regis1Info.h.

Referenced by EmergencyStopMC::freezeJoints(), WalkMC::isDirty(), MotionCommand::resetWheels(), and WalkMC::updateOutputs().

Initial value:

 {
      { -1 , 1 },
      { -1 , 1 },
      { RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) }, 
      { RAD(-100),RAD(100) },{ RAD(-10.0),RAD(190.0) },{ RAD(-140),RAD(60) },{ RAD(-150),RAD(50) }
  }
the range that can be reached by the joint controller (i.e. the domain of the output commands)

Definition at line 178 of file Regis1Info.h.

Referenced by HeadPointerMC::clipAngularRange(), WalkToTargetNode::processEvent(), and HeadPointControllerBehavior::runCommand().

const char* const Regis1Info::sensorNames[NumSensors+1] = { NULL }

Just a little macro for converting degrees to radians.

Definition at line 129 of file Regis1Info.h.

Referenced by PostureEngine::getBinSize(), PostureEngine::saveBuffer(), SensorObserverControl::SensorObserverControl(), and SensorObserverControl::updateRT().

const unsigned int Regis1Info::SoundBufferTime = 32

the number of milliseconds per sound buffer... I'm not sure if this can be changed

Definition at line 28 of file Regis1Info.h.

Referenced by SpeakerServer::QueueFrame().

const char *const Regis1Info::TargetName = "Regis1"

the name of the model, to be used for logging and remote GUIs

Definition at line 43 of file RobotInfo.cc.

Referenced by RobotInfo::detectModel(), and Controller::init().

beginning of wheel velocities, don't need to add anything, just use WheelOffset_t entries directly

Definition at line 71 of file Regis1Info.h.

Referenced by EmergencyStopMC::freezeJoints(), MotionCommand::resetWheels(), and WalkMC::updateOutputs().


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