CalliopeInfo.h

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//-*-c++-*-
#ifndef INCLUDED_CalliopeInfo_h
#define INCLUDED_CalliopeInfo_h

#include "CalliopeComponents.h"

//**** This file defines specific Calliope robot models such as
//**** Calliope2SP in terms of the modular components defined in
//**** CalliopeComponents.h.

//! Basic Calliope with no arm, fixed netbook camera, without AX-S1 sensors
namespace CalliopeInfo {
  extern const char* const TargetName; //!< the name of the model, to be used for logging and remote GUIs
  
  using namespace CalliopeComponents;
  using CalliopeComponents::PIDJointOffset;
  using CalliopeComponents::NumButtons;
  using CalliopeComponents::buttonNames;
  using CalliopeComponents::NumLEDs;
  
  using namespace CalliopeComponents::CalliopeInfo;
  using CalliopeComponents::CalliopeInfo::NumPIDJoints;
  using CalliopeComponents::CalliopeInfo::NumOutputs;
  using CalliopeComponents::CalliopeInfo::LEDOffset;
  
  using namespace WithoutAXS1Sensors;
  using WithoutAXS1Sensors::NumSensors;
  using WithoutAXS1Sensors::sensorNames;
  
  using namespace CameraGeneric60;
  const unsigned NumReferenceFrames = NumOutputs + 1 /*base*/ + 0 /*grippers*/ + 1 /*camera*/ + 0 /*IR sensors*/ + 0 /*fingers*/;
  
  //! Names for each of the outputs
  const char* const outputNames[NumReferenceFrames+1] = {
    "WHEEL:L",
    "WHEEL:R",
    "LED:Power(Red)",
    "LED:Power(Green)",
    "LED:Play",
    "LED:Advance",
    "DesiredMode",
    "BaseFrame",
    "CameraFrame",
    NULL
  };
  
  //! provides polymorphic robot capability detection/mapping
  class CalliopeCapabilities : public Capabilities {
  public:
    //! constructor
    CalliopeCapabilities()
    : Capabilities(TargetName,NumReferenceFrames,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,LEDOffset,NumLEDs,NumOutputs)
    {}
  };

  //! allocation declared in RobotInfo.cc
  extern const CalliopeCapabilities capabilities;

}

//! Calliope with no arm, Sony Playstation camera on pan/tilt, AX-S1 sensors
namespace CalliopeSPInfo {
  extern const char* const TargetName; //!< the name of the model, to be used for logging and remote GUIs
  
  using namespace CalliopeComponents;
  using CalliopeComponents::PIDJointOffset;
  using CalliopeComponents::NumButtons;
  using CalliopeComponents::buttonNames;
  using CalliopeComponents::NumLEDs;
  
  using namespace Calliope0;
  using Calliope0::NumPIDJoints;
  using Calliope0::NumOutputs;
  using Calliope0::LEDOffset;
  using Calliope0::HeadTiltOffset;
  using Calliope0::IRFrameOffset;
  
  using namespace WithAXS1Sensors;
  using WithAXS1Sensors::NumSensors;
  using WithAXS1Sensors::sensorNames;
  using WithAXS1Sensors::IRDistOffset;
  
  using namespace Camera75DOF;
  
  const unsigned NumReferenceFrames = NumOutputs + 1 /*base*/ + 0 /*grippers*/ + 1 /*camera*/ + 3 /*IR sensors*/ + 0 /*fingers*/;
  
  //! Names for each of the outputs
  const char* const outputNames[NumReferenceFrames+1] = {
    "WHEEL:L",
    "WHEEL:R",
    "NECK:pan",
    "NECK:tilt",
    "LED:Power(Red)",
    "LED:Power(Green)",
    "LED:Play",
    "LED:Advance",
    "DesiredMode",
    "BaseFrame",
    "CameraFrame",
    "LeftIRFrame",
    "CenterIRFrame",
    "RightIRFrame",
    NULL
  };

  //! provides polymorphic robot capability detection/mapping
  class CalliopeSPCapabilities : public Capabilities {
  public:
    //! constructor
    CalliopeSPCapabilities()
    : Capabilities(TargetName,NumReferenceFrames,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,LEDOffset,NumLEDs,NumOutputs)
    {
      frameToIndex["NECK:nod"] = HeadTiltOffset;
      frameToIndex["IRFrame"] = IRFrameOffset; // aliased to the center IR sensor
      sensorToIndex["IRDist"]=IRDistOffset; // aliased to the center IR sensor
    }
  };
  //! allocation declared in RobotInfo.cc
  extern const CalliopeSPCapabilities capabilities;
}

//! Calliope with no arm, Logitech camera on pan/tilt, AX-S1 sensors
namespace CalliopeLPInfo {
  extern const char* const TargetName; //!< the name of the model, to be used for logging and remote GUIs
  
  using namespace CalliopeComponents;
  using CalliopeComponents::PIDJointOffset;
  using CalliopeComponents::NumButtons;
  using CalliopeComponents::buttonNames;
  using CalliopeComponents::NumLEDs;
  
  using namespace Calliope0;
  using Calliope0::NumPIDJoints;
  using Calliope0::NumOutputs;
  using Calliope0::LEDOffset;
  using Calliope0::HeadTiltOffset;
  using Calliope0::IRFrameOffset;
  
  using namespace WithAXS1Sensors;
  using WithAXS1Sensors::NumSensors;
  using WithAXS1Sensors::sensorNames;
  using WithAXS1Sensors::IRDistOffset;
  
  using namespace Camera75DOF;
  
  const unsigned NumReferenceFrames = NumOutputs + 1 /*base*/ + 0 /*grippers*/ + 1 /*camera*/ + 3 /*IR sensors*/ + 0 /*fingers*/;
  
  //! Names for each of the outputs
  const char* const outputNames[NumReferenceFrames+1] = {
    "WHEEL:L",
    "WHEEL:R",
    "NECK:pan",
    "NECK:tilt",
    "LED:Power(Red)",
    "LED:Power(Green)",
    "LED:Play",
    "LED:Advance",
    "DesiredMode",
    "BaseFrame",
    "CameraFrame",
    "LeftIRFrame",
    "CenterIRFrame",
    "RightIRFrame",
    NULL
  };
  
  //! provides polymorphic robot capability detection/mapping
  class CalliopeLPCapabilities : public Capabilities {
  public:
    //! constructor
    CalliopeLPCapabilities()
    : Capabilities(TargetName,NumReferenceFrames,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,LEDOffset,NumLEDs,NumOutputs)
    {
      frameToIndex["NECK:nod"] = HeadTiltOffset;
      frameToIndex["IRFrame"] = IRFrameOffset; // aliased to the center IR sensor
      sensorToIndex["IRDist"]=IRDistOffset; // aliased to the center IR sensor
    }
  };
  //! allocation declared in RobotInfo.cc
  extern const CalliopeLPCapabilities capabilities;
}

//! Calliope with 2DOF arm, Sony Playstation camera on pan/tilt, AX-S1 sensors
namespace Calliope2SPInfo {
  extern const char* const TargetName; //!< the name of the model, to be used for logging and remote GUIs
  
  using namespace CalliopeComponents;
  using CalliopeComponents::PIDJointOffset;
  using CalliopeComponents::NumButtons;
  using CalliopeComponents::buttonNames;
  using CalliopeComponents::NumLEDs;
  
  using namespace Calliope2;
  using Calliope2::NumPIDJoints;
  using Calliope2::NumOutputs;
  using Calliope2::NumArms;
  using Calliope2::LEDOffset;
  using Calliope2::HeadTiltOffset;
  using Calliope2::IRFrameOffset;
  using Calliope2::MaxOutputSpeed;
  
  using namespace WithAXS1Sensors;
  using WithAXS1Sensors::NumSensors;
  using WithAXS1Sensors::sensorNames;
  using WithAXS1Sensors::IRDistOffset;
  
  using namespace Camera75DOF;
  
  const unsigned NumReferenceFrames = NumOutputs + 1 /*base*/ + NumArms /*grippers*/ + 1 /*camera*/ + 3 /*IR sensors*/ + 0 /*fingers*/;

  //! Names for each of the outputs
  const char* const outputNames[NumReferenceFrames+1] = {
    "WHEEL:L",
    "WHEEL:R",
    "NECK:pan",
    "NECK:tilt",
    "ARM:base",
    "ARM:shoulder",
    "ARM:gripper",
    "LED:Power(Red)",
    "LED:Power(Green)",
    "LED:Play",
    "LED:Advance",
    "DesiredMode",
    "BaseFrame",
    "GripperFrame",
    "CameraFrame",
    "LeftIRFrame",
    "CenterIRFrame",
    "RightIRFrame",
    NULL
  };
  
  //! provides polymorphic robot capability detection/mapping
  class Calliope2SPCapabilities : public Capabilities {
  public:
    //! constructor
    Calliope2SPCapabilities()
    : Capabilities(TargetName,NumReferenceFrames,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,LEDOffset,NumLEDs,NumOutputs)
    {
      frameToIndex["NECK:nod"] = HeadTiltOffset;
      frameToIndex["IRFrame"] = IRFrameOffset; // aliased to the center IR sensor
      sensorToIndex["IRDist"]=IRDistOffset; // aliased to the center IR sensor
    }
  };
  //! allocation declared in RobotInfo.cc
  extern const Calliope2SPCapabilities capabilities;
}

//! Calliope with 5DOF arm, Sony Playstation camera on pan/tilt, AX-S1 sensors
namespace Calliope5SPInfo {
  extern const char* const TargetName; //!< the name of the model, to be used for logging and remote GUIs
  
  using namespace CalliopeComponents;
  using CalliopeComponents::PIDJointOffset;
  using CalliopeComponents::NumButtons;
  using CalliopeComponents::buttonNames;
  using CalliopeComponents::NumLEDs;
  
  using namespace Calliope5;
  using Calliope5::NumPIDJoints;
  using Calliope5::NumOutputs;
  using Calliope5::NumArms;
  using Calliope5::LEDOffset;
  using Calliope5::HeadTiltOffset;
  
  using namespace Calliope5::WithAXS1Sensors;
  using Calliope5::WithAXS1Sensors::NumSensors;
  using Calliope5::WithAXS1Sensors::sensorNames;
  using Calliope5::WithAXS1Sensors::IRDistOffset;
  using Calliope5::WithAXS1Sensors::IRFrameOffset;
  
  using namespace Camera75DOF;
  
  const unsigned NumReferenceFrames = NumOutputs + 1 /*base*/ + NumArms /*grippers*/ + 1 /*camera*/ + 3 /*IR sensors*/ + 2 /*fingers*/;

  //! Names for each of the outputs
  const char* const outputNames[NumReferenceFrames+1] = {
    "WHEEL:L",
    "WHEEL:R",
    "NECK:pan",
    "NECK:tilt",
    "ARM:base",
    "ARM:shoulder",
    "ARM:elbow",
    "ARM:wrist",
    "ARM:wristrot",
    "ARM:gripperLeft",
    "ARM:gripperRight",
    "LED:Power(Red)",
    "LED:Power(Green)",
    "LED:Play",
    "LED:Advance",
    "DesiredMode",
    "BaseFrame",
    "GripperFrame",
    "LeftFingerFrame",
    "RightFingerFrame",
    "CameraFrame",
    "LeftIRFrame",
    "CenterIRFrame",
    "RightIRFrame",
    NULL
  };
  
  //! provides polymorphic robot capability detection/mapping
  class Calliope5SPCapabilities : public Capabilities {
  public:
    //! constructor
    Calliope5SPCapabilities()
    : Capabilities(TargetName,NumReferenceFrames,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,LEDOffset,NumLEDs,NumOutputs)
    {
      frameToIndex["NECK:nod"] = HeadTiltOffset;
      frameToIndex["IRFrame"] = IRFrameOffset; // aliased to the center IR sensor
      sensorToIndex["IRDist"]=IRDistOffset; // aliased to the center IR sensor
    }
  };
  //! allocation declared in RobotInfo.cc
  extern const Calliope5SPCapabilities capabilities;
}

//! Calliope with 5DOF arm, Kinect camera on pan/tilt, without AX-S1 sensors
namespace Calliope5KPInfo {
  extern const char* const TargetName; //!< the name of the model, to be used for logging and remote GUIs
  
  using namespace CalliopeComponents;
  using CalliopeComponents::PIDJointOffset;
  using CalliopeComponents::NumButtons;
  using CalliopeComponents::buttonNames;
  using CalliopeComponents::NumLEDs;
  
  using namespace Calliope5;
  using Calliope5::NumPIDJoints;
  using Calliope5::NumOutputs;
  using Calliope5::NumArms;
  using Calliope5::LEDOffset;
  using Calliope5::HeadTiltOffset;
  
  using namespace Calliope5::WithoutAXS1Sensors;
  using Calliope5::WithoutAXS1Sensors::NumSensors;
  using Calliope5::WithoutAXS1Sensors::sensorNames;
  
  using namespace CameraKinect;
  
  const unsigned NumReferenceFrames = NumOutputs + 1 /*base*/ + NumArms /*grippers*/ + 1 /*camera*/ + 0 /*IR sensors*/ + 2 /*fingers*/;

  //! Names for each of the outputs
  const char* const outputNames[NumReferenceFrames+1] = {
    "WHEEL:L",
    "WHEEL:R",
    "NECK:pan",
    "NECK:tilt",
    "ARM:base",
    "ARM:shoulder",
    "ARM:elbow",
    "ARM:wrist",
    "ARM:wristrot",
    "ARM:gripperLeft",
    "ARM:gripperRight",
    "LED:Power(Red)",
    "LED:Power(Green)",
    "LED:Play",
    "LED:Advance",
    "DesiredMode",
    "BaseFrame",
    "GripperFrame",
    "LeftFingerFrame",
    "RightFingerFrame",
    "CameraFrame",
    NULL
  };
  
  //! provides polymorphic robot capability detection/mapping
  class Calliope5KPCapabilities : public Capabilities {
  public:
    //! constructor
    Calliope5KPCapabilities()
    : Capabilities(TargetName,NumReferenceFrames,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,LEDOffset,NumLEDs,NumOutputs)
    {
      frameToIndex["NECK:nod"] = HeadTiltOffset;
    }
  };
  //! allocation declared in RobotInfo.cc
  extern const Calliope5KPCapabilities capabilities;
}

/*! @file
 * @brief Defines some capabilities of the Calliope robot, based on the iRobot Create
 * @author ejt (Creator)
 */

#ifdef __RI_RAD_FLAG
#  undef RAD
#  undef __RI_RAD_FLAG
#endif


#endif