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Regis1Info Namespace Reference
Typedef Documentation
Enumeration Type DocumentationJust a little macro for converting degrees to radians.
Definition at line 106 of file Regis1Info.h. these are all 'absolute' offsets -- no need to add to HeadOffset
Definition at line 89 of file Regis1Info.h. these are the traditional sub-offsets, relative to HeadOffset
Definition at line 100 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().
Just a little macro for converting degrees to radians.
Definition at line 125 of file Regis1Info.h. Referenced by PostureEngine::getBinSize(), FlashIPAddrBehavior::getClassDescription(), WorldState::read(), PostureEngine::saveBuffer(), SensorObserverControl::SensorObserverControl(), Controller::takeLine(), and SensorObserverControl::updateRT().
should be set to maximum of CameraHorizFOV or CameraVertFOV
Definition at line 57 of file Regis1Info.h. Referenced by VisionObjectEvent::getDistanceEstimate().
the number of pixels available in the 'full' layer
Definition at line 58 of file Regis1Info.h. Referenced by FilterBankGenerator::setNumImages().
the number of pixels available in the 'full' layer
Definition at line 59 of file Regis1Info.h. Referenced by FilterBankGenerator::setNumImages().
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} }
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.
Just a little macro for converting degrees to radians.
Definition at line 119 of file Regis1Info.h. Referenced by BehaviorSwitchActivatorControl::activate(), ControlBase::doReadStdIn(), ControlBase::doSelect(), Controller::DoStart(), RunSequenceControl< SequenceSize >::selectedFile(), and LoadPostureControl::selectedFile().
time between frames in the motion system (milliseconds)
Definition at line 26 of file Regis1Info.h. Referenced by WaypointEngine< MAX_WAY >::computeNewVelocity(), PostureMC::defaultMaxSpeed(), HeadPointerMC::defaultMaxSpeed(), PostureMC::getMaxSpeed(), HeadPointerMC::getMaxSpeed(), MotionManager::getOutputs(), BatteryMonitorBehavior::processEvent(), PostureMC::setMaxSpeed(), HeadPointerMC::setMaxSpeed(), TailWagMC::updateOutputs(), MotionSequenceMC< MAXMOVE >::updateOutputs(), EmergencyStopMC::updateOutputs(), and DynamicMotionSequence::updateOutputs().
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().
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().
the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets
Definition at line 75 of file Regis1Info.h. Referenced by PostureEditor::activate(), Controller::deactivate(), Controller::DoStop(), EmergencyStopMC::EmergencyStopMC(), EmergencyStopMC::freezeJoints(), LedEngine::getSetting(), LedEngine::getValue(), PostureEditor::processEvent(), RunSequenceControl< SequenceSize >::selectedFile(), LoadPostureControl::selectedFile(), LedMC::updateOutputs(), and EmergencyStopMC::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 }
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) } } 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 44 of file Regis1Info.h. Referenced by WorldStateSerializerBehavior::DoStart(), PostureEngine::getBinSize(), WorldStateSerializerBehavior::processEvent(), SensorObserverControl::processEvent(), WorldState::read(), PostureEngine::saveBuffer(), SensorObserverControl::SensorObserverControl(), Controller::takeLine(), SensorObserverControl::updateRT(), and WorldState::WorldState().
the number of frames per buffer (don't forget also double buffered)
Definition at line 27 of file Regis1Info.h. Referenced by WaypointEngine< MAX_WAY >::computeNewVelocity(), MotionManager::getOutputs(), MotionManager::OutputState::OutputState(), BatteryMonitorBehavior::processEvent(), WorldStatePool::read(), WorldState::read(), MotionManager::setOutput(), LedMC::setWeights(), WalkMC::updateOutputs(), TailWagMC::updateOutputs(), PostureMC::updateOutputs(), MotionSequenceMC< MAXMOVE >::updateOutputs(), EmergencyStopMC::updateOutputs(), and DynamicMotionSequence::updateOutputs().
Left and Right Wheels.
Definition at line 40 of file Regis1Info.h. Referenced by HeadPointerMC::freezeMotion(), HeadPointerMC::lookAtPoint(), HeadPointerMC::noMaxSpeed(), HeadPointerMC::setWeight(), and HeadPointerMC::takeSnapshot().
Left and Right Wheels.
Definition at line 46 of file Regis1Info.h. Referenced by PostureEditor::activate(), Controller::deactivate(), Controller::DoStop(), EmergencyStopMC::EmergencyStopMC(), EmergencyStopMC::freezeJoints(), MotionManager::getOutputs(), LedEngine::LedEngine(), PostureEditor::processEvent(), RunSequenceControl< SequenceSize >::selectedFile(), LoadPostureControl::selectedFile(), LedMC::setWeights(), LedMC::updateOutputs(), and EmergencyStopMC::updateOutputs().
Left and Right Wheels.
Definition at line 39 of file Regis1Info.h. Referenced by WalkMC::updateOutputs(), and UPennWalkMC::updateOutputs().
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().
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().
The number of joints which use PID motion - everything except ears.
Definition at line 49 of file Regis1Info.h. Referenced by WorldStateSerializerBehavior::DoStart(), EmergencyStopMC::EmergencyStopMC(), EmergencyStopMC::freezeJoints(), PostureEngine::getBinSize(), MotionManager::getOutputs(), TorqueCalibrate::init(), PIDMC::isPID(), WorldStatePool::isZeroPID(), PostureEngine::loadLine(), PIDMC::PIDMC(), WorldStateSerializerBehavior::processEvent(), SensorObserverControl::processEvent(), WorldStatePool::read(), WorldState::read(), PostureEngine::saveBuffer(), SensorObserverControl::SensorObserverControl(), PIDMC::setAllPowerLevel(), PIDMC::updateOutputs(), EmergencyStopMC::updateOutputs(), 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().
Left and Right Wheels.
Definition at line 45 of file Regis1Info.h. Referenced by WorldStateSerializerBehavior::DoStart(), PostureEngine::getBinSize(), WorldStateSerializerBehavior::processEvent(), SensorObserverControl::processEvent(), WorldState::read(), PostureEngine::saveBuffer(), SensorObserverControl::SensorObserverControl(), SensorObserverControl::updateRT(), and WorldState::WorldState().
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: { "WHEEL:L", "WHEEL:R", "Arm:Base","Arm:Shldr","Arm:Elbow","Arm:Yaw","Arm:Roll","Arm:Grpr", "GNk:Pan","GNk:Shldr","GNk:Elbow","GNk:Pitch", }
Definition at line 132 of file Regis1Info.h. Referenced by PostureEngine::getBinSize(), MotionSequenceEngine::getBinSize(), MotionSequenceEngine::getOutputIndex(), MotionManager::getOutputs(), OutputConfig< plist::Primitive< float > >::OutputConfig(), PostureEditor::PostureEditor(), PostureEngine::saveBuffer(), MotionSequenceEngine::saveBuffer(), OutputConfig< T >::saveXML(), SensorObserverControl::SensorObserverControl(), and SensorObserverControl::updateRT().
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) } }
Definition at line 178 of file Regis1Info.h. Referenced by HeadPointerMC::clipAngularRange(), WalkToTargetNode::processEvent(), and HeadPointControllerBehavior::runCommand().
The beginning of the PID Joints.
Definition at line 70 of file Regis1Info.h. Referenced by MotionManager::getOutputs(), PIDMC::getPID(), TorqueCalibrate::init(), PIDMC::isPID(), WorldStatePool::isZeroPID(), PostureEngine::loadLine(), PIDMC::PIDMC(), TorqueCalibrate::TakeMeasurementControl::processEvent(), WorldStatePool::read(), WorldState::read(), SensorObserverControl::SensorObserverControl(), PIDMC::setJointPowerLevel(), PIDMC::setPID(), PIDMC::setRangePowerLevel(), PIDMC::updateOutputs(), and EmergencyStopMC::updateOutputs().
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().
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().
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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