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LynxArm6Info.h File Reference

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

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Namespaces

namespace  LynxArm6Info

Output Offsets

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

enum  LynxArm6Info::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 LynxArm6Info::PIDJointOffset = 0
 The beginning of the PID Joints.
const unsigned LynxArm6Info::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.
const unsigned LynxArm6Info::BaseFrameOffset = NumOutputs
 Use with kinematics to refer to base reference frame.
const unsigned LynxArm6Info::GripperFrameOffset = BaseFrameOffset+1
 Use with kinematics to refer to paw reference frames.
const LEDBitMask_t LynxArm6Info::FaceLEDMask = 0
 LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
const LEDBitMask_t LynxArm6Info::AllLEDMask = (LEDBitMask_t)~0
 selects all of the leds
typedef unsigned int LynxArm6Info::LEDBitMask_t

Input Offsets

The order in which inputs should be stored

enum  LynxArm6Info::ButtonOffset_t
 holds offsets to different buttons in WorldState::buttons[] More...
enum  LynxArm6Info::SensorOffset_t { LynxArm6Info::SensorAOffset, LynxArm6Info::SensorBOffset, LynxArm6Info::SensorCOffset, LynxArm6Info::SensorDOffset }
 holds offset to different sensor values in WorldState::sensors[] More...
const char *const LynxArm6Info::buttonNames [NumButtons+1] = { NULL }
 Provides a string name for each button.
const char *const LynxArm6Info::sensorNames [NumSensors] = { "SensorA", "SensorB", "SensorC", "SensorD" }
 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 LynxArm6Info::TargetName = "LynxArm6"
 the name of the model, to be used for logging and remote GUIs
const unsigned int LynxArm6Info::FrameTime = 32
 time between frames in the motion system (milliseconds)
const unsigned int LynxArm6Info::NumFrames = 1
 the number of frames per buffer (don't forget also double buffered)
const unsigned int LynxArm6Info::SoundBufferTime = 32
 the number of milliseconds per sound buffer... I'm not sure if this can be changed
const char *const LynxArm6Info::outputNames [NumOutputs]
 Names for each of the outputs.
Capabilities LynxArm6Info::capabilities
 allocation declared in RobotInfo.cc
const float LynxArm6Info::DefaultPIDs [NumPIDJoints][3]
 This table holds the default PID values for each joint. see PIDMC.
const float LynxArm6Info::MaxOutputSpeed [NumOutputs]
 These values are Sony's recommended maximum joint velocities, in rad/ms.
const double LynxArm6Info::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 LynxArm6Info::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 LynxArm6Info::NumWheels = 0
 no wheels, just legs
const unsigned LynxArm6Info::JointsPerArm = 6
 no wheels, just legs
const unsigned LynxArm6Info::NumArms = 1
 no wheels, just legs
const unsigned LynxArm6Info::NumArmJoints = JointsPerArm*NumArms
 no wheels, just legs
const unsigned LynxArm6Info::JointsPerLeg = 0
 The number of joints per leg.
const unsigned LynxArm6Info::NumLegs = 0
 The number of legs.
const unsigned LynxArm6Info::NumLegJoints = JointsPerLeg*NumLegs
 the TOTAL number of joints on ALL legs
const unsigned LynxArm6Info::NumHeadJoints = 0
 The number of joints in the neck.
const unsigned LynxArm6Info::NumTailJoints = 0
 The number of joints assigned to the tail.
const unsigned LynxArm6Info::NumMouthJoints = 0
 the number of joints that control the mouth
const unsigned LynxArm6Info::NumEarJoints = 0
 The number of joints which control the ears (NOT per ear, is total).
const unsigned LynxArm6Info::NumButtons = 0
 the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t
const unsigned LynxArm6Info::NumSensors = 4
 the four input pins
const unsigned LynxArm6Info::NumLEDs = 0
 The number of LEDs which can be controlled.
const unsigned LynxArm6Info::NumFacePanelLEDs = 0
 The number of face panel LEDs.
const unsigned LynxArm6Info::NumPIDJoints = NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints
 The number of joints which use PID motion - everything except ears.
const unsigned LynxArm6Info::NumOutputs = NumPIDJoints + NumLEDs
 the total number of outputs
const unsigned LynxArm6Info::NumReferenceFrames = NumOutputs + 1 + NumArms + 1
 for the base, gripper (* NumArms), and camera reference frames
const float LynxArm6Info::CameraHorizFOV = 56.9/180*M_PI
 horizontal field of view (radians)
const float LynxArm6Info::CameraVertFOV = 45.2/180*M_PI
 vertical field of view (radians)
const float LynxArm6Info::CameraFOV = CameraHorizFOV
 should be set to maximum of CameraHorizFOV or CameraVertFOV
const unsigned int LynxArm6Info::CameraResolutionX = 320
 the number of pixels available in the 'full' layer
const unsigned int LynxArm6Info::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 152 of file LynxArm6Info.h.

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

Just a little macro for converting degrees to radians.

Definition at line 150 of file LynxArm6Info.h.


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