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QBotPlusInfo.h File Reference

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

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Namespaces

namespace  QBotPlusInfo

Classes

class  QBotPlusInfo::QBotPlusCapabilities
 provides polymorphic robot capability detection/mapping More...

Output Offsets

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

enum  QBotPlusInfo::TPROffset_t { QBotPlusInfo::PanOffset = 0, QBotPlusInfo::TiltOffset, QBotPlusInfo::NodOffset = TiltOffset }
 The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). More...
enum  QBotPlusInfo::HeadOffset_t { QBotPlusInfo::HeadPanOffset = HeadOffset, QBotPlusInfo::HeadTiltOffset }
 These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do. More...
enum  QBotPlusInfo::WheelOffset_t { QBotPlusInfo::LWheelOffset = WheelOffset, QBotPlusInfo::RWheelOffset }
 'Absolute' offsets for each of the wheels More...
enum  QBotPlusInfo::LEDOffset_t
 The offsets of the individual LEDs -- except the qwerk board doesn't have any particularly symbolic LEDs, just use numeric values... More...
const unsigned QBotPlusInfo::PIDJointOffset = 0
 The beginning of the PID Joints.
const unsigned QBotPlusInfo::WheelOffset = PIDJointOffset
 The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).
const unsigned QBotPlusInfo::HeadOffset = WheelOffset+NumWheels
 the offset of the beginning of the head joints, add TPROffset_t to get specific joint
const unsigned QBotPlusInfo::LEDOffset = PIDJointOffset + NumPIDJoints
 the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets
const unsigned QBotPlusInfo::BaseFrameOffset = NumOutputs
 Use with kinematics to refer to base reference frame.
const unsigned QBotPlusInfo::CameraFrameOffset = BaseFrameOffset + 1
 Use with kinematics to refer to camera reference frame.
const LEDBitMask_t QBotPlusInfo::FaceLEDMask = 0
 LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
const LEDBitMask_t QBotPlusInfo::AllLEDMask = (LEDBitMask_t)~0
 selects all of the leds
typedef unsigned int QBotPlusInfo::LEDBitMask_t

Input Offsets

The order in which inputs should be stored

enum  QBotPlusInfo::ButtonOffset_t
 holds offsets to different buttons in WorldState::buttons[] More...
enum  QBotPlusInfo::SensorOffset_t { QBotPlusInfo::BatteryVoltage }
 holds offset to different sensor values in WorldState::sensors[] More...
const char *const QBotPlusInfo::buttonNames [NumButtons+1] = { NULL }
 Provides a string name for each button.
const char *const QBotPlusInfo::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?

Variables

const char *const QBotPlusInfo::TargetName = "QBotPlus"
 the name of the model, to be used for logging and remote GUIs
const unsigned int QBotPlusInfo::FrameTime = 15
 time between frames in the motion system (milliseconds)
const unsigned int QBotPlusInfo::NumFrames = 1
 the number of frames per buffer (don't forget also double buffered)
const unsigned int QBotPlusInfo::SoundBufferTime = 32
 the number of milliseconds per sound buffer... I'm not sure if this can be changed
const char *const QBotPlusInfo::outputNames [NumOutputs]
 Names for each of the outputs.
QBotPlusCapabilities QBotPlusInfo::capabilities
 allocation declared in RobotInfo.cc
const float QBotPlusInfo::DefaultPIDs [NumPIDJoints][3]
 This table holds the default PID values for each joint. see PIDMC.
const float QBotPlusInfo::MaxOutputSpeed [NumOutputs]
 These values are our recommended maximum joint velocities, in rad/ms.
const double QBotPlusInfo::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 QBotPlusInfo::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 QBotPlusInfo::NumWheels = 2
const unsigned QBotPlusInfo::JointsPerArm = 0
const unsigned QBotPlusInfo::NumArms = 0
const unsigned QBotPlusInfo::NumArmJoints = JointsPerArm*NumArms
const unsigned QBotPlusInfo::JointsPerLeg = 0
 The number of joints per leg.
const unsigned QBotPlusInfo::NumLegs = 0
 The number of legs.
const unsigned QBotPlusInfo::NumLegJoints = JointsPerLeg*NumLegs
 the TOTAL number of joints on ALL legs
const unsigned QBotPlusInfo::NumHeadJoints = 2
 The number of joints in the neck.
const unsigned QBotPlusInfo::NumTailJoints = 0
 The number of joints assigned to the tail.
const unsigned QBotPlusInfo::NumMouthJoints = 0
 the number of joints that control the mouth
const unsigned QBotPlusInfo::NumEarJoints = 0
 The number of joints which control the ears (NOT per ear, is total).
const unsigned QBotPlusInfo::NumButtons = 0
 the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t
const unsigned QBotPlusInfo::NumSensors = 5
 the number of sensors available
const unsigned QBotPlusInfo::NumLEDs = 10
 The number of LEDs which can be controlled.
const unsigned QBotPlusInfo::NumFacePanelLEDs = 0
 The number of face panel LEDs.
const unsigned QBotPlusInfo::NumPIDJoints = NumWheels + NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints
 The number of joints which use PID motion - everything except ears.
const unsigned QBotPlusInfo::NumOutputs = NumPIDJoints + NumLEDs
 the total number of outputs
const unsigned QBotPlusInfo::NumReferenceFrames = NumOutputs + 1 + NumArms + 1
 for the base, gripper (* NumArms), and camera reference frames
const float QBotPlusInfo::CameraHorizFOV = 56.9/180*M_PI
 horizontal field of view (radians)
const float QBotPlusInfo::CameraVertFOV = 45.2/180*M_PI
 vertical field of view (radians)
const float QBotPlusInfo::CameraFOV = CameraHorizFOV
 should be set to maximum of CameraHorizFOV or CameraVertFOV
const unsigned int QBotPlusInfo::CameraResolutionX = 320
 the number of pixels available in the 'full' layer
const unsigned int QBotPlusInfo::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 210 of file QBotPlusInfo.h.

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

Just a little macro for converting degrees to radians.

Definition at line 208 of file QBotPlusInfo.h.


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