LynxArm6Info Namespace Reference
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Output Offsets |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
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enum | 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 | PIDJointOffset = 0 |
| The beginning of the PID Joints.
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const unsigned | ArmOffset = PIDJointOffset |
| 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.
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const unsigned | BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame.
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const unsigned | GripperFrameOffset = BaseFrameOffset+1 |
| Use with kinematics to refer to paw reference frames.
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const LEDBitMask_t | FaceLEDMask = 0 |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
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const LEDBitMask_t | AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds
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typedef unsigned int | LEDBitMask_t |
Input Offsets |
The order in which inputs should be stored
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enum | ButtonOffset_t |
| holds offsets to different buttons in WorldState::buttons[] More...
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enum | SensorOffset_t { SensorAOffset,
SensorBOffset,
SensorCOffset,
SensorDOffset
} |
| holds offset to different sensor values in WorldState::sensors[] More...
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const char *const | buttonNames [NumButtons+1] = { NULL } |
| Provides a string name for each button.
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const char *const | sensorNames [NumSensors] = { "SensorA", "SensorB", "SensorC", "SensorD" } |
| Provides a string name for each sensor.
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Functions |
Capabilities | capabilities (TargetName, NumOutputs, outputNames, NumButtons, buttonNames, NumSensors, sensorNames, PIDJointOffset, NumPIDJoints, 0, 0) |
Variables |
const char *const | TargetName = "LynxArm6" |
| the name of the model, to be used for logging and remote GUIs
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const unsigned int | FrameTime = 32 |
| time between frames in the motion system (milliseconds)
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const unsigned int | NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered)
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const unsigned int | 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 | outputNames [NumOutputs] |
| Names for each of the outputs.
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Capabilities | capabilities |
| allocation declared in RobotInfo.cc
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const float | DefaultPIDs [NumPIDJoints][3] |
| This table holds the default PID values for each joint. see PIDMC.
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const float | MaxOutputSpeed [NumOutputs] |
| These values are Sony's recommended maximum joint velocities, in rad/ms.
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const double | 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 | 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 | NumWheels = 0 |
| no wheels, just legs
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const unsigned | JointsPerArm = 6 |
| no wheels, just legs
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const unsigned | NumArms = 1 |
| no wheels, just legs
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const unsigned | NumArmJoints = JointsPerArm*NumArms |
| no wheels, just legs
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const unsigned | JointsPerLeg = 0 |
| The number of joints per leg.
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const unsigned | NumLegs = 0 |
| The number of legs.
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const unsigned | NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs
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const unsigned | NumHeadJoints = 0 |
| The number of joints in the neck.
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const unsigned | NumTailJoints = 0 |
| The number of joints assigned to the tail.
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const unsigned | NumMouthJoints = 0 |
| the number of joints that control the mouth
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const unsigned | NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total).
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const unsigned | 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 | NumSensors = 4 |
| the four input pins
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const unsigned | NumLEDs = 0 |
| The number of LEDs which can be controlled.
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const unsigned | NumFacePanelLEDs = 0 |
| The number of face panel LEDs.
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const unsigned | NumPIDJoints = NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints |
| The number of joints which use PID motion - everything except ears.
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const unsigned | NumOutputs = NumPIDJoints + NumLEDs |
| the total number of outputs
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const unsigned | NumReferenceFrames = NumOutputs + 1 + NumArms + 1 |
| for the base, gripper (* NumArms), and camera reference frames
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const float | CameraHorizFOV = 56.9/180*M_PI |
| horizontal field of view (radians)
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const float | CameraVertFOV = 45.2/180*M_PI |
| vertical field of view (radians)
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const float | CameraFOV = CameraHorizFOV |
| should be set to maximum of CameraHorizFOV or CameraVertFOV
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const unsigned int | CameraResolutionX = 320 |
| the number of pixels available in the 'full' layer
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const unsigned int | CameraResolutionY = 240 |
| the number of pixels available in the 'full' layer
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Typedef Documentation
So you can be clear when you're refering to a LED bitmask
Definition at line 76 of file LynxArm6Info.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 PowerSrcID::PauseSID.
- See also:
- WorldState::buttons
ButtonSourceID_t
Definition at line 102 of file LynxArm6Info.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.
Definition at line 74 of file LynxArm6Info.h.
Function Documentation
Capabilities LynxArm6Info::capabilities |
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TargetName |
, |
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NumOutputs |
, |
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outputNames |
, |
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NumButtons |
, |
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buttonNames |
, |
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NumSensors |
, |
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sensorNames |
, |
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PIDJointOffset |
, |
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NumPIDJoints |
, |
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0 |
, |
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0 |
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) |
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Variable Documentation
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.
Definition at line 67 of file LynxArm6Info.h.
Use with kinematics to refer to base reference frame.
Definition at line 69 of file LynxArm6Info.h.
Provides a string name for each button.
Definition at line 105 of file LynxArm6Info.h.
horizontal field of view (radians)
Definition at line 51 of file LynxArm6Info.h.
the number of pixels available in the 'full' layer
Definition at line 54 of file LynxArm6Info.h.
the number of pixels available in the 'full' layer
Definition at line 55 of file LynxArm6Info.h.
Capabilities LynxArm6Info::capabilities(TargetName, NumOutputs, outputNames, NumButtons, buttonNames, NumSensors, sensorNames, PIDJointOffset, NumPIDJoints, 0, 0) |
Initial value: {
{1,0,0}, {1,0,0}, {1,0,0},
{1,0,0}, {1,0,0}, {1,0,0},
}
This table holds the default PID values for each joint. see PIDMC.
Definition at line 127 of file LynxArm6Info.h.
LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
Definition at line 78 of file LynxArm6Info.h.
time between frames in the motion system (milliseconds)
Definition at line 23 of file LynxArm6Info.h.
Use with kinematics to refer to paw reference frames.
Definition at line 70 of file LynxArm6Info.h.
Initial value: {
4.86510529e-3,
5.27962099e-3,
5.27962099e-3,
4.86510529e-3,
5.27962099e-3,
5.27962099e-3
}
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 139 of file LynxArm6Info.h.
Initial value:
{
{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },
{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },
}
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).
Same as outputRanges
Definition at line 164 of file LynxArm6Info.h.
The number of joints which control the ears (NOT per ear, is total).
Definition at line 40 of file LynxArm6Info.h.
the number of frames per buffer (don't forget also double buffered)
Definition at line 24 of file LynxArm6Info.h.
The number of LEDs which can be controlled.
Definition at line 43 of file LynxArm6Info.h.
the TOTAL number of joints on ALL legs
Definition at line 36 of file LynxArm6Info.h.
the number of joints that control the mouth
Definition at line 39 of file LynxArm6Info.h.
The number of joints which use PID motion - everything except ears.
Definition at line 46 of file LynxArm6Info.h.
for the base, gripper (* NumArms), and camera reference frames
Definition at line 48 of file LynxArm6Info.h.
The number of joints assigned to the tail.
Definition at line 38 of file LynxArm6Info.h.
Initial value: {
"Shldr:rot","Shldr:elv","Elbow",
"Wrist:rot","Wrist:elv","Gripper"
}
Names for each of the outputs.
Definition at line 118 of file LynxArm6Info.h.
Initial value:
{
{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },
{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },
}
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).
Definition at line 156 of file LynxArm6Info.h.
Provides a string name for each sensor.
Definition at line 112 of file LynxArm6Info.h.
the number of milliseconds per sound buffer... I'm not sure if this can be changed
Definition at line 25 of file LynxArm6Info.h.
the name of the model, to be used for logging and remote GUIs
Definition at line 37 of file RobotInfo.cc.
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