Chiara2Info Namespace Reference

Contains information about an Chiara hexapod robot, such as number of joints, LEDs, etc. More...

Classes
class	ChiaraCapabilities
	provides polymorphic robot capability detection/mapping More...
Enumerations
enum	ServoParam_t { DYNAMIXEL_SLOPE = 0, DYNAMIXEL_PUNCH, DYNAMIXEL_MARGIN }
	offsets into DefaultPIDs, since Dynamixel servos don't actually use PID control, but a different set of parameters More...
Variables
const char *const	TargetName = "Chiara2"
	the name of the model, to be used for logging and remote GUIs
const unsigned int	FrameTime = 32
	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
const char *const	outputNames [NumReferenceFrames+1]
	Names for each of the outputs.
const ChiaraCapabilities	capabilities
	allocation declared in RobotInfo.cc
const float	DefaultPIDs [NumPIDJoints][3]
	Dynamixel servos don't use PID control. Instead, these values indicate compliance slope (P), punch (add to P*error), compliance margin (min error to start applying torque) (see ServoParam_t).
const float	MaxOutputSpeed [NumOutputs]
	These values are our recommended maximum joint velocities, in rad/ms.
const float	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 float	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	NumWheels = 0
	The number of joints per leg.
const unsigned	JointsPerArm = 6
	The number of joints per leg.
const unsigned	NumArms = 1
	The number of joints per leg.
const unsigned	NumArmJoints = JointsPerArm*NumArms
	The number of joints per leg.
const unsigned	JointsPerLeg = 3
	The number of joints per leg.
const unsigned	NumLegs = 6
	The number of legs.
const unsigned	NumLegJoints = JointsPerLeg*NumLegs
	the TOTAL number of joints on ALL legs
const unsigned	NumHeadJoints = 2
	The number of joints in the pantilt.
const unsigned	NumTailJoints = 0
	The number of joints assigned to the tail.
const unsigned	NumMouthJoints = 0
	the number of joints that control the mouth
const unsigned	NumEarJoints = 0
	The number of joints which control the ears (NOT per ear, is total).
const unsigned	NumButtons = 3
	the number of buttons that are available
const unsigned	NumSensors = 11
	the number of sensors available
const unsigned	NumFacePanelLEDs = 0
	The number of face panel LEDs.
const unsigned	NumLEDs = NumLegs + 1
	There's an LED on every dynamixel, but can't see most of them, so save some computational resources and only expose the visible ones: knees and pan.
const unsigned	NumPIDJoints = NumArmJoints + 1 + NumLegJoints + NumHeadJoints+NumTailJoints+NumMouthJoints
	The number of joints per leg.
const unsigned	NumOutputs = NumWheels + NumPIDJoints + NumLEDs
	servo pins
const unsigned	NumReferenceFrames = NumOutputs + 1 + NumLegs + NumArms + 1 + 3
	for the base, feet, gripper, camera, and IR distance rangefinder
const float	BallOfFootRadius = 0
	radius of the ball of the foot
Output Offsets
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
enum	LegOrder_t { RFrLegOrder = 0, LFrLegOrder, RMdLegOrder, LMdLegOrder, RBkLegOrder, LBkLegOrder }
	the ordering of legs More...
enum	SEKOffset_t { SweepOffset = 0, ElevatorOffset, KneeOffset }
	The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage. More...
enum	TPROffset_t { PanOffset = 0, TiltOffset, NodOffset = TiltOffset, RollOffset }
	The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head/wrist). More...
enum	LegOffset_t { RFrLegOffset = LegOffset+RFrLegOrderJointsPerLeg, LFrLegOffset = LegOffset+LFrLegOrderJointsPerLeg, RMdLegOffset = LegOffset+RMdLegOrderJointsPerLeg, LMdLegOffset = LegOffset+LMdLegOrderJointsPerLeg, RBkLegOffset = LegOffset+RBkLegOrderJointsPerLeg, LBkLegOffset = LegOffset+LBkLegOrderJointsPerLeg }
	The offsets of the individual legs, add REKOffset_t value to access specific joint. More...
enum	ArmOffset_t { ArmShoulderOffset = ArmOffset, ArmElbowOffset, WristOffset, WristYawOffset = WristOffset, WristPitchOffset, GripperLeftOffset, GripperRightOffset, GripperOffset }
	These are 'absolute' offsets for the arm joints, don't need to add to ArmOffset like TPROffset_t values do. More...
enum	HeadOffset_t { HeadPanOffset = HeadOffset, HeadTiltOffset }
	These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do. More...
enum	LEDOffset_t { RFrKneeLEDOffset = LEDOffset, LFrKneeLEDOffset, RMdKneeLEDOffset, LMdKneeLEDOffset, RBkKneeLEDOffset, LBkKneeLEDOffset, HeadLEDOffset }
	The offsets of the individual LEDs, one LED on each dynamixel servo, these match the servo order, so this is empty. More...
typedef unsigned int	LEDBitMask_t
	So you can be clear when you're refering to a LED bitmask.
const unsigned	PIDJointOffset = 0
	The beginning of the PID Joints.
const unsigned	RFrRotatorOffset = PIDJointOffset
	The right front leg's rotator joint.
const unsigned	LegOffset = RFrRotatorOffset+1
	the offset of the beginning of the regular leg joints (after the 1 rotator joint for the right front leg): NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t
const unsigned	ArmOffset = LegOffset+NumLegJoints
	the offset of the beginning of the arm joints, add TPROffset_t to get specific joint
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	BaseFrameOffset = NumOutputs
	Use with kinematics to refer to base reference frame.
const unsigned	FootFrameOffset = BaseFrameOffset+1
	Use with kinematics to refer to feet reference frames (add appropriate LegOrder_t to specify which paw).
const unsigned	GripperFrameOffset = FootFrameOffset+NumLegs
	Use with kinematics to refer to gripper reference frame.
const unsigned	CameraFrameOffset = GripperFrameOffset+NumArms
	Use with kinematics to refer to camera reference frame.
const unsigned	LeftIRFrameOffset = CameraFrameOffset+1
	Use with kinematics to refer to left IR distance rangefinder reference frame.
const unsigned	CenterIRFrameOffset = LeftIRFrameOffset+1
	Use with kinematics to refer to center IR distance rangefinder reference frame.
const unsigned	IRFrameOffset = CenterIRFrameOffset
	alias for CenterIRFrameOffset
const unsigned	RightIRFrameOffset = CenterIRFrameOffset+1
	Use with kinematics to refer to right IR distance rangefinder reference frame.
const LEDBitMask_t	RFrKneeLEDMask = 1<<(RFrKneeLEDOffset-LEDOffset)
	mask corresponding to RFrKneeLEDOffset
const LEDBitMask_t	LFrKneeLEDMask = 1<<(LFrKneeLEDOffset-LEDOffset)
	mask corresponding to LFrKneeLEDOffset
const LEDBitMask_t	RMdKneeLEDMask = 1<<(RMdKneeLEDOffset-LEDOffset)
	mask corresponding to RMdKneeLEDOffset
const LEDBitMask_t	LMdKneeLEDMask = 1<<(LMdKneeLEDOffset-LEDOffset)
	mask corresponding to LMdKneeLEDOffset
const LEDBitMask_t	RBkKneeLEDMask = 1<<(RBkKneeLEDOffset-LEDOffset)
	mask corresponding to RBkKneeLEDOffset
const LEDBitMask_t	LBkKneeLEDMask = 1<<(LBkKneeLEDOffset-LEDOffset)
	mask corresponding to LBkKneeLEDOffset
const LEDBitMask_t	HeadLEDMask = 1<<(HeadLEDOffset-LEDOffset)
	mask corresponding to HeadLEDOffset
const LEDBitMask_t	FaceLEDMask = HeadLEDMask
	LEDs for the "face panel" -- on the Chiara this is just HeadLEDMask.
const LEDBitMask_t	AllLEDMask = (LEDBitMask_t)~0
	selects all of the leds
Input Offsets
The order in which inputs should be stored
enum	ButtonOffset_t { GreenButOffset, RedButOffset, YellowButOffset }
	holds offsets to different buttons in WorldState::buttons[] More...
enum	SensorOffset_t { LeftIRDistOffset, CenterIRDistOffset, IRDistOffset = CenterIRDistOffset, RightIRDistOffset, LeftLuminosityOffset, CenterLuminosityOffset, RightLuminosityOffset, MicVolumeOffset, MicSpikeCountOffset, PowerRemainOffset, PowerThermoOffset, PowerVoltageOffset }
	holds offset to different sensor values in WorldState::sensors[] More...
const char *const	buttonNames [NumButtons+1] = { "GreenBut", "RedBut", "YellowBut", NULL }
	Provides a string name for each button.
const char *const	sensorNames [NumSensors+1]
	Provides a string name for each sensor.

Detailed Description

Contains information about an Chiara hexapod robot, such as number of joints, LEDs, etc.

Typedef Documentation

typedef unsigned int Chiara2Info::LEDBitMask_t

So you can be clear when you're refering to a LED bitmask.

Definition at line 161 of file Chiara2Info.h.

Enumeration Type Documentation

enum Chiara2Info::ArmOffset_t

These are 'absolute' offsets for the arm joints, don't need to add to ArmOffset like TPROffset_t values do.

Enumerator:

ArmShoulderOffset
ArmElbowOffset
WristOffset
WristYawOffset
WristPitchOffset
GripperLeftOffset
GripperRightOffset
GripperOffset

Definition at line 132 of file Chiara2Info.h.

enum Chiara2Info::ButtonOffset_t

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

Enumerator:

GreenButOffset
RedButOffset
YellowButOffset

Definition at line 196 of file Chiara2Info.h.

enum Chiara2Info::HeadOffset_t

These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do.

Enumerator:

HeadPanOffset	pan/heading (horizontal)
HeadTiltOffset	tilt/elevation (vertical)

Definition at line 144 of file Chiara2Info.h.

enum Chiara2Info::LEDOffset_t

The offsets of the individual LEDs, one LED on each dynamixel servo, these match the servo order, so this is empty.

Enumerator:

RFrKneeLEDOffset	Small LED on the knee servo.
LFrKneeLEDOffset	Small LED on the knee servo.
RMdKneeLEDOffset	Small LED on the knee servo.
LMdKneeLEDOffset	Small LED on the knee servo.
RBkKneeLEDOffset	Small LED on the knee servo.
LBkKneeLEDOffset	Small LED on the knee servo.
HeadLEDOffset	Small LED on the camera's pan servo.

Definition at line 151 of file Chiara2Info.h.

enum Chiara2Info::LegOffset_t

The offsets of the individual legs, add REKOffset_t value to access specific joint.

Enumerator:

RFrLegOffset	beginning of right front leg's joints
LFrLegOffset	beginning of left front leg's joints
RMdLegOffset	beginning of right front leg's joints
LMdLegOffset	beginning of left front leg's joints
RBkLegOffset	beginning of right back leg's joints
LBkLegOffset	beginning of left back leg's joints

Definition at line 122 of file Chiara2Info.h.

enum Chiara2Info::LegOrder_t

the ordering of legs

Enumerator:

RFrLegOrder	right front leg
LFrLegOrder	left front leg
RMdLegOrder	right middle leg
LMdLegOrder	left middle leg
RBkLegOrder	right back leg
LBkLegOrder	left back leg

Definition at line 96 of file Chiara2Info.h.

enum Chiara2Info::SEKOffset_t

The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage.

Enumerator:

SweepOffset	moves leg forward or backward along body
ElevatorOffset	moves leg toward or away from body
KneeOffset	moves knee

Definition at line 106 of file Chiara2Info.h.

enum Chiara2Info::SensorOffset_t

holds offset to different sensor values in WorldState::sensors[]

See also:: WorldState::sensors[]

Enumerator:

LeftIRDistOffset
CenterIRDistOffset
IRDistOffset
RightIRDistOffset
LeftLuminosityOffset
CenterLuminosityOffset
RightLuminosityOffset
MicVolumeOffset
MicSpikeCountOffset
PowerRemainOffset
PowerThermoOffset	estimate of power capacity as percentage, 0-1 degrees Celcius
PowerVoltageOffset	volts

Definition at line 203 of file Chiara2Info.h.

enum Chiara2Info::ServoParam_t

offsets into DefaultPIDs, since Dynamixel servos don't actually use PID control, but a different set of parameters

Enumerator:

DYNAMIXEL_SLOPE	compliance slope, the proportional control (P in PID)
DYNAMIXEL_PUNCH	punch, a constant added to the slope once error exceeds compliance margin
DYNAMIXEL_MARGIN	compliance margin, the amount of error to tolerate before triggering a torque response

Definition at line 283 of file Chiara2Info.h.

enum Chiara2Info::TPROffset_t

The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head/wrist).

Enumerator:

PanOffset	pan/yaw/heading (horizontal)
TiltOffset	tilt/pitch/elevation (vertical)
NodOffset	replicated tilt (could be left undefined instead...)
RollOffset	spin/twist final axis (can be applied to WristOffset, but Chiara neck only has pan/tilt)

Definition at line 113 of file Chiara2Info.h.

Variable Documentation

const LEDBitMask_t Chiara2Info::AllLEDMask = (LEDBitMask_t)~0

selects all of the leds

Definition at line 174 of file Chiara2Info.h.

Referenced by EmergencyStopMC::EmergencyStopMC(), and EmergencyStopMC::freezeJoints().

const unsigned Chiara2Info::ArmOffset = LegOffset+NumLegJoints

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

Definition at line 80 of file Chiara2Info.h.

Referenced by CBracketGrasperPredicate< N >::CBracketGrasperPredicate(), ArmController::connect(), ArmController::doEvent(), ArmController::doStart(), ArmMC::ensureValidJoint(), Grasper::MoveArm::executeMove(), ArmController::gripper(), ArmMC::isAlive(), ArmMC::markDirty(), ArmMC::moveOffsetToPoint(), ArmMC::moveOffsetToPointWithOrientation(), HandEyeGripper::OpenClose(), PlanarThreeLinkArm::PlanarThreeLinkArm(), ArmController::pointPicked(), ArmController::relax(), ArmController::setJoint(), ArmMC::setJointValue(), ArmMC::setOutputCmd(), ArmMC::takeSnapshot(), ArmController::unrelax(), and ArmMC::updateOutputs().

const float Chiara2Info::BallOfFootRadius = 0

radius of the ball of the foot

Definition at line 65 of file Chiara2Info.h.

Referenced by Kinematics::calcLegHeights(), Kinematics::calculateGroundPlane(), and CMPackWalkMC::updateOutputs().

const unsigned Chiara2Info::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 85 of file Chiara2Info.h.

const char* const Chiara2Info::buttonNames[NumButtons+1] = { "GreenBut", "RedBut", "YellowBut", NULL }

Provides a string name for each button.

Definition at line 199 of file Chiara2Info.h.

const unsigned Chiara2Info::CameraFrameOffset = GripperFrameOffset+NumArms

Use with kinematics to refer to camera reference frame.

Definition at line 88 of file Chiara2Info.h.

Referenced by LookAtMarkers::Search::doEvent(), LookAtMarkers::TrackMarker::doEvent(), DualCoding::Lookout::findLocationFor(), DualCoding::MapBuilder::grabCameraImageAndGo(), HeadPointerMC::lookAtPoint(), HeadPointerMC::lookInDirection(), projectShapeToCamera(), Kinematics::projectToGround(), DualCoding::MapBuilder::projectToLocal(), DualCoding::Lookout::requestComplete(), and DualCoding::Lookout::setupTrack().

const ChiaraCapabilities Chiara2Info::capabilities

allocation declared in RobotInfo.cc

Definition at line 143 of file RobotInfo.cc.

const unsigned Chiara2Info::CenterIRFrameOffset = LeftIRFrameOffset+1

Use with kinematics to refer to center IR distance rangefinder reference frame.

Definition at line 91 of file Chiara2Info.h.

const float Chiara2Info::DefaultPIDs[NumPIDJoints][3]

Initial value:

 {
    {32,32,0},
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0},
  }

Dynamixel servos don't use PID control. Instead, these values indicate compliance slope (P), punch (add to P*error), compliance margin (min error to start applying torque) (see ServoParam_t).

I believe the torque calculation goes something like: torque = (error<compliance) ? 0 : punch + P*error Dynamixel servos allow different values to be supplied for CW vs. CCW motion, but we just use the same value for each

Definition at line 292 of file Chiara2Info.h.

const LEDBitMask_t Chiara2Info::FaceLEDMask = HeadLEDMask

LEDs for the "face panel" -- on the Chiara this is just HeadLEDMask.

Definition at line 172 of file Chiara2Info.h.

const unsigned Chiara2Info::FootFrameOffset = BaseFrameOffset+1

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

Definition at line 86 of file Chiara2Info.h.

Referenced by GaitedFootsteps::addCandidate(), GaitedFootsteps::addRotation(), Kinematics::calcLegHeights(), Kinematics::calculateGroundPlane(), GaitedFootsteps::expand(), XWalkMC::sendLoadPredictions(), XWalkMC::solveIK(), GaitedFootstepMC::solveIK(), XWalkMC::start(), XWalkMC::stop(), GaitedFootstepMC::updateOutputs(), CMPackWalkMC::updateOutputs(), XWalkMC::updateOutputsInitial(), and XWalkMC::updateOutputsWalking().

const unsigned int Chiara2Info::FrameTime = 32

time between frames in the motion system (milliseconds)

Definition at line 35 of file Chiara2Info.h.

const unsigned Chiara2Info::GripperFrameOffset = FootFrameOffset+NumLegs

Use with kinematics to refer to gripper reference frame.

Definition at line 87 of file Chiara2Info.h.

Referenced by ArmController::ArmController(), CBracketGrasperPredicate< N >::CBracketGrasperPredicate(), ArmController::doStart(), GrasperRequest::GrasperRequest(), and PlanarThreeLinkArm::PlanarThreeLinkArm().

const LEDBitMask_t Chiara2Info::HeadLEDMask = 1<<(HeadLEDOffset-LEDOffset)

mask corresponding to HeadLEDOffset

Definition at line 169 of file Chiara2Info.h.

const unsigned Chiara2Info::HeadOffset = ArmOffset+NumArmJoints

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

Definition at line 81 of file Chiara2Info.h.

Referenced by PostureMC::defaultMaxSpeed(), HeadPointerMC::defaultMaxSpeed(), HeadPointerMC::ensureValidJoint(), HeadPointerMC::isAlive(), HeadPointerMC::lookAtPoint(), HeadPointerMC::lookInDirection(), HeadPointerMC::markDirty(), HeadController::runCommand(), DualCoding::Lookout::scanAlongLine(), DualCoding::Lookout::scanAlongPolygon(), HeadPointerMC::setJoints(), HeadPointerMC::setJointValue(), HeadPointerMC::takeSnapshot(), DualCoding::Lookout::triggerSearchMotionSequence(), and HeadPointerMC::updateOutputs().

const unsigned Chiara2Info::IRFrameOffset = CenterIRFrameOffset

alias for CenterIRFrameOffset

Definition at line 92 of file Chiara2Info.h.

Referenced by Calliope2SPInfo::Calliope2SPCapabilities::Calliope2SPCapabilities(), Calliope5SPInfo::Calliope5SPCapabilities::Calliope5SPCapabilities(), CalliopeLPInfo::CalliopeLPCapabilities::CalliopeLPCapabilities(), CalliopeSPInfo::CalliopeSPCapabilities::CalliopeSPCapabilities(), Chiara2Info::ChiaraCapabilities::ChiaraCapabilities(), and DualCoding::Lookout::moveHeadToPoint().

const unsigned Chiara2Info::JointsPerArm = 6

The number of joints per leg.

Definition at line 42 of file Chiara2Info.h.

const unsigned Chiara2Info::JointsPerLeg = 3

The number of joints per leg.

Definition at line 46 of file Chiara2Info.h.

const LEDBitMask_t Chiara2Info::LBkKneeLEDMask = 1<<(LBkKneeLEDOffset-LEDOffset)

mask corresponding to LBkKneeLEDOffset

Definition at line 168 of file Chiara2Info.h.

const unsigned Chiara2Info::LEDOffset = PIDJointOffset + NumPIDJoints

the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets

Definition at line 83 of file Chiara2Info.h.

const unsigned Chiara2Info::LeftIRFrameOffset = CameraFrameOffset+1

Use with kinematics to refer to left IR distance rangefinder reference frame.

Definition at line 90 of file Chiara2Info.h.

const unsigned Chiara2Info::LegOffset = RFrRotatorOffset+1

the offset of the beginning of the regular leg joints (after the 1 rotator joint for the right front leg): NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t

Definition at line 79 of file Chiara2Info.h.

Referenced by Kinematics::calcLegHeights(), Kinematics::calculateGroundPlane(), XWalkParameters::computeNeutralPos(), CMPackWalkMC::resetLegPos(), XWalkMC::sendLoadPredictions(), GaitedFootsteps::setGait(), XWalkMC::setTargetVelocity(), XWalkMC::solveIK(), XWalkMC::updateNeutralPos(), and CMPackWalkMC::updateOutputs().

const LEDBitMask_t Chiara2Info::LFrKneeLEDMask = 1<<(LFrKneeLEDOffset-LEDOffset)

mask corresponding to LFrKneeLEDOffset

Definition at line 164 of file Chiara2Info.h.

const LEDBitMask_t Chiara2Info::LMdKneeLEDMask = 1<<(LMdKneeLEDOffset-LEDOffset)

mask corresponding to LMdKneeLEDOffset

Definition at line 166 of file Chiara2Info.h.

const float Chiara2Info::MaxOutputSpeed[NumOutputs]

Initial value:

 {
    
    0,
    0,0,0,
    0,0,0,
    0,0,0,
    0,0,0,
    0,0,0,
    0,0,0,
    0,0,0,0,0,0,
    0,0,
    
    0,0,
    0,0,
    0,0,
    0,
  }

These values are our 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 311 of file Chiara2Info.h.

const float Chiara2Info::mechanicalLimits[NumOutputs][2]

Initial value:

 {
    
    {RAD(-17),RAD(90)},
    {RAD(-102),RAD(67)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(58)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-73),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-95),RAD(95)}, {RAD(-95),RAD(95)}, {RAD(-100),RAD(100)}, {RAD(-90),RAD(90)}, {RAD(-90),RAD(90)}, {RAD(-90),RAD(90)},
    {RAD(-150),RAD(150)}, {RAD(-92),RAD(75)},     

    
    {0,1}, {0,1},
    {0,1}, {0,1},
    {0,1}, {0,1},
    {0,1}, 
  }

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, don't know actual values because they were never specified by Sony

Definition at line 358 of file Chiara2Info.h.

const unsigned Chiara2Info::NumArmJoints = JointsPerArm*NumArms

The number of joints per leg.

Definition at line 44 of file Chiara2Info.h.

const unsigned Chiara2Info::NumArms = 1

The number of joints per leg.

Definition at line 43 of file Chiara2Info.h.

const unsigned Chiara2Info::NumButtons = 3

the number of buttons that are available

Definition at line 53 of file Chiara2Info.h.

const unsigned Chiara2Info::NumEarJoints = 0

The number of joints which control the ears (NOT per ear, is total).

Definition at line 52 of file Chiara2Info.h.

const unsigned Chiara2Info::NumFacePanelLEDs = 0

The number of face panel LEDs.

Definition at line 55 of file Chiara2Info.h.

const unsigned int Chiara2Info::NumFrames = 1

the number of frames per buffer (don't forget also double buffered)

Definition at line 36 of file Chiara2Info.h.

const unsigned Chiara2Info::NumHeadJoints = 2

The number of joints in the pantilt.

Definition at line 49 of file Chiara2Info.h.

const unsigned Chiara2Info::NumLEDs = NumLegs + 1

There's an LED on every dynamixel, but can't see most of them, so save some computational resources and only expose the visible ones: knees and pan.

Definition at line 57 of file Chiara2Info.h.

const unsigned Chiara2Info::NumLegJoints = JointsPerLeg*NumLegs

the TOTAL number of joints on ALL legs

Definition at line 48 of file Chiara2Info.h.

const unsigned Chiara2Info::NumLegs = 6

The number of legs.

Definition at line 47 of file Chiara2Info.h.

const unsigned Chiara2Info::NumMouthJoints = 0

the number of joints that control the mouth

Definition at line 51 of file Chiara2Info.h.

const unsigned Chiara2Info::NumOutputs = NumWheels + NumPIDJoints + NumLEDs

servo pins

the total number of outputs

Definition at line 60 of file Chiara2Info.h.

const unsigned Chiara2Info::NumPIDJoints = NumArmJoints + 1 + NumLegJoints + NumHeadJoints+NumTailJoints+NumMouthJoints

The number of joints per leg.

Definition at line 58 of file Chiara2Info.h.

const unsigned Chiara2Info::NumReferenceFrames = NumOutputs + 1 + NumLegs + NumArms + 1 + 3

for the base, feet, gripper, camera, and IR distance rangefinder

Definition at line 61 of file Chiara2Info.h.

const unsigned Chiara2Info::NumSensors = 11

the number of sensors available

Definition at line 54 of file Chiara2Info.h.

const unsigned Chiara2Info::NumTailJoints = 0

The number of joints assigned to the tail.

Definition at line 50 of file Chiara2Info.h.

const unsigned Chiara2Info::NumWheels = 0

The number of joints per leg.

Definition at line 40 of file Chiara2Info.h.

const char* const Chiara2Info::outputNames[NumReferenceFrames+1]

Names for each of the outputs.

Definition at line 230 of file Chiara2Info.h.

const float Chiara2Info::outputRanges[NumOutputs][2]

Initial value:

 {
    
    {RAD(-17),RAD(90)},
    {RAD(-102),RAD(67)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(58)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-73),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-95),RAD(95)}, {RAD(-95),RAD(95)}, {RAD(-100),RAD(100)}, {RAD(-90),RAD(90)}, {RAD(-90),RAD(90)}, {RAD(-90),RAD(90)},
    {RAD(-150),RAD(150)}, {RAD(-92),RAD(75)}, 
    
    
    {0,1}, {0,1},
    {0,1}, {0,1},
    {0,1}, {0,1},
    {0,1}, 
  }

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 337 of file Chiara2Info.h.

const unsigned Chiara2Info::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 77 of file Chiara2Info.h.

const LEDBitMask_t Chiara2Info::RBkKneeLEDMask = 1<<(RBkKneeLEDOffset-LEDOffset)

mask corresponding to RBkKneeLEDOffset

Definition at line 167 of file Chiara2Info.h.

const LEDBitMask_t Chiara2Info::RFrKneeLEDMask = 1<<(RFrKneeLEDOffset-LEDOffset)

mask corresponding to RFrKneeLEDOffset

Definition at line 163 of file Chiara2Info.h.

const unsigned Chiara2Info::RFrRotatorOffset = PIDJointOffset

The right front leg's rotator joint.

Definition at line 78 of file Chiara2Info.h.

const unsigned Chiara2Info::RightIRFrameOffset = CenterIRFrameOffset+1

Use with kinematics to refer to right IR distance rangefinder reference frame.

Definition at line 93 of file Chiara2Info.h.

const LEDBitMask_t Chiara2Info::RMdKneeLEDMask = 1<<(RMdKneeLEDOffset-LEDOffset)

mask corresponding to RMdKneeLEDOffset

Definition at line 165 of file Chiara2Info.h.

const char* const Chiara2Info::sensorNames[NumSensors+1]

Initial value:

 {
    "LeftIRDist", "CenterIRDist", "RightIRDist",
    "LeftLuminosity", "CenterLuminosity", "RightLuminosity",
    "MicVolume", "MicSpikeCount",
    "PowerRemain", "PowerThermo", "PowerVoltage", NULL
  }

Provides a string name for each sensor.

Definition at line 219 of file Chiara2Info.h.

const unsigned int Chiara2Info::SoundBufferTime = 32

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

Definition at line 37 of file Chiara2Info.h.

const char *const Chiara2Info::TargetName = "Chiara2"

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

Definition at line 142 of file RobotInfo.cc.

Chiara2Info Namespace Reference

Classes

Enumerations

Variables

Output Offsets

Input Offsets

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Variable Documentation