ChiaraInfo.h File Reference
Defines some capabilities of the Chiara hexapod robots. More...
#include <cmath>#include <stdlib.h>#include "CommonInfo.h"
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Classes | |
| class | ChiaraInfo::ChiaraCapabilities |
| provides polymorphic robot capability detection/mapping More... | |
Namespaces | |
| namespace | ChiaraInfo |
Contains information about an Chiara hexapod robot, such as number of joints, LEDs, etc. | |
Defines | |
| #define | RAD(deg) (((deg) * (float)M_PI ) / 180.0f) |
| 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 | ChiaraInfo::TargetName = "Chiara" |
| the name of the model, to be used for logging and remote GUIs | |
| const unsigned int | ChiaraInfo::FrameTime = 32 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | ChiaraInfo::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | ChiaraInfo::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
| const fmat::Column< 3 > | ChiaraInfo::AgentBoundingBoxBaseFrameOffset = fmat::pack(0,0,0) |
| Offset needed so that the centroid of the robot is correct relative to the bounding box. | |
| const fmat::Column< 3 > | ChiaraInfo::AgentBoundingBoxHalfDims = fmat::pack(304.8/2, 304.8/2, 0) |
| Half of the length, width, and height of the robot. | |
| const char *const | ChiaraInfo::outputNames [NumReferenceFrames+1] |
| Names for each of the outputs. | |
| const ChiaraCapabilities | ChiaraInfo::capabilities |
| allocation declared in RobotInfo.cc | |
| const float | ChiaraInfo::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 | ChiaraInfo::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/sec. | |
| const float | ChiaraInfo::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 | ChiaraInfo::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 | ChiaraInfo::NumWheels = 0 |
| The number of joints per leg. | |
| const unsigned | ChiaraInfo::FingerJointsPerArm = 2 |
| The number of joints per leg. | |
| const unsigned | ChiaraInfo::JointsPerArm = 6 |
| The number of joints per leg. | |
| const unsigned | ChiaraInfo::NumArms = 1 |
| The number of joints per leg. | |
| const unsigned | ChiaraInfo::NumArmJoints = JointsPerArm*NumArms |
| The number of joints per leg. | |
| const unsigned | ChiaraInfo::JointsPerLeg = 3 |
| The number of joints per leg. | |
| const unsigned | ChiaraInfo::NumLegs = 6 |
| The number of legs. | |
| const unsigned | ChiaraInfo::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs | |
| const unsigned | ChiaraInfo::NumHeadJoints = 2 |
| The number of joints in the pantilt. | |
| const unsigned | ChiaraInfo::NumTailJoints = 0 |
| The number of joints assigned to the tail. | |
| const unsigned | ChiaraInfo::NumMouthJoints = 0 |
| the number of joints that control the mouth | |
| const unsigned | ChiaraInfo::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | ChiaraInfo::NumButtons = 3 |
| the number of buttons that are available | |
| const unsigned | ChiaraInfo::NumSensors = 11 |
| the number of sensors available | |
| const unsigned | ChiaraInfo::NumFacePanelLEDs = 0 |
| The number of face panel LEDs. | |
| const unsigned | ChiaraInfo::NumLEDs = NumLegs + 1 + 4 |
| 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 | ChiaraInfo::NumPIDJoints = NumArmJoints + 1 + NumLegJoints + NumHeadJoints+NumTailJoints+NumMouthJoints |
| The number of joints per leg. | |
| const unsigned | ChiaraInfo::NumOutputs = NumWheels + NumPIDJoints + NumLEDs |
| servo pins | |
| const unsigned | ChiaraInfo::NumReferenceFrames = NumOutputs + 1 + NumLegs + NumArms + 1 + 3 |
| for the base, feet, gripper, camera, and IR distance rangefinder | |
| const float | ChiaraInfo::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 | ChiaraInfo::LegOrder_t { ChiaraInfo::RFrLegOrder = 0, ChiaraInfo::LFrLegOrder, ChiaraInfo::RMdLegOrder, ChiaraInfo::LMdLegOrder, ChiaraInfo::RBkLegOrder, ChiaraInfo::LBkLegOrder } |
the ordering of legs More... | |
| enum | ChiaraInfo::SEKOffset_t { ChiaraInfo::SweepOffset = 0, ChiaraInfo::ElevatorOffset, ChiaraInfo::KneeOffset } |
The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage. More... | |
| enum | ChiaraInfo::TPROffset_t { ChiaraInfo::PanOffset = 0, ChiaraInfo::TiltOffset, ChiaraInfo::NodOffset = TiltOffset, ChiaraInfo::RollOffset } |
The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head/wrist). More... | |
| enum | ChiaraInfo::LegOffset_t { ChiaraInfo::RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, ChiaraInfo::LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, ChiaraInfo::RMdLegOffset = LegOffset+RMdLegOrder*JointsPerLeg, ChiaraInfo::LMdLegOffset = LegOffset+LMdLegOrder*JointsPerLeg, ChiaraInfo::RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg, ChiaraInfo::LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg } |
The offsets of the individual legs, add REKOffset_t value to access specific joint. More... | |
| enum | ChiaraInfo::ArmOffset_t { ChiaraInfo::ArmShoulderOffset = ArmOffset, ChiaraInfo::ArmElbowOffset, ChiaraInfo::WristOffset, ChiaraInfo::WristYawOffset = WristOffset, ChiaraInfo::WristPitchOffset, ChiaraInfo::WristRollOffset, ChiaraInfo::GripperOffset } |
These are 'absolute' offsets for the arm joints, don't need to add to ArmOffset like TPROffset_t values do. More... | |
| enum | ChiaraInfo::HeadOffset_t { ChiaraInfo::HeadPanOffset = HeadOffset, ChiaraInfo::HeadTiltOffset } |
These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do. More... | |
| enum | ChiaraInfo::LEDOffset_t { ChiaraInfo::BlueLEDOffset = LEDOffset, ChiaraInfo::GreenLEDOffset, ChiaraInfo::YellowLEDOffset, ChiaraInfo::RedLEDOffset, ChiaraInfo::RFrKneeLEDOffset, ChiaraInfo::LFrKneeLEDOffset, ChiaraInfo::RMdKneeLEDOffset, ChiaraInfo::LMdKneeLEDOffset, ChiaraInfo::RBkKneeLEDOffset, ChiaraInfo::LBkKneeLEDOffset, ChiaraInfo::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 | ChiaraInfo::LEDBitMask_t |
| So you can be clear when you're refering to a LED bitmask. | |
| const unsigned | ChiaraInfo::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | ChiaraInfo::RFrRotatorOffset = PIDJointOffset |
| The right front leg's rotator joint. | |
| const unsigned | ChiaraInfo::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 | ChiaraInfo::ArmOffset = LegOffset+NumLegJoints |
| the offset of the beginning of the arm joints, add TPROffset_t to get specific joint | |
| const unsigned | ChiaraInfo::HeadOffset = ArmOffset+NumArmJoints |
| the offset of the beginning of the head joints, add TPROffset_t to get specific joint | |
| const unsigned | ChiaraInfo::LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets | |
| const unsigned | ChiaraInfo::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | ChiaraInfo::FootFrameOffset = BaseFrameOffset+1 |
| Use with kinematics to refer to feet reference frames (add appropriate LegOrder_t to specify which paw). | |
| const unsigned | ChiaraInfo::GripperFrameOffset = FootFrameOffset+NumLegs |
| Use with kinematics to refer to gripper reference frame. | |
| const unsigned | ChiaraInfo::CameraFrameOffset = GripperFrameOffset+NumArms |
| Use with kinematics to refer to camera reference frame. | |
| const unsigned | ChiaraInfo::LeftIRFrameOffset = CameraFrameOffset+1 |
| Use with kinematics to refer to left IR distance rangefinder reference frame. | |
| const unsigned | ChiaraInfo::CenterIRFrameOffset = LeftIRFrameOffset+1 |
| Use with kinematics to refer to center IR distance rangefinder reference frame. | |
| const unsigned | ChiaraInfo::IRFrameOffset = CenterIRFrameOffset |
| alias for CenterIRFrameOffset | |
| const unsigned | ChiaraInfo::RightIRFrameOffset = CenterIRFrameOffset+1 |
| Use with kinematics to refer to right IR distance rangefinder reference frame. | |
| const LEDBitMask_t | ChiaraInfo::BlueLEDMask = 1<<(BlueLEDOffset-LEDOffset) |
| mask corresponding to BlueLEDOffset | |
| const LEDBitMask_t | ChiaraInfo::GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset) |
| mask corresponding to GreenLEDOffset | |
| const LEDBitMask_t | ChiaraInfo::YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset) |
| mask corresponding to YellowLEDOffset | |
| const LEDBitMask_t | ChiaraInfo::RedLEDMask = 1<<(RedLEDOffset-LEDOffset) |
| mask corresponding to RedLEDOffset | |
| const LEDBitMask_t | ChiaraInfo::RFrKneeLEDMask = 1<<(RFrKneeLEDOffset-LEDOffset) |
| mask corresponding to RFrKneeLEDOffset | |
| const LEDBitMask_t | ChiaraInfo::LFrKneeLEDMask = 1<<(LFrKneeLEDOffset-LEDOffset) |
| mask corresponding to LFrKneeLEDOffset | |
| const LEDBitMask_t | ChiaraInfo::RMdKneeLEDMask = 1<<(RMdKneeLEDOffset-LEDOffset) |
| mask corresponding to RMdKneeLEDOffset | |
| const LEDBitMask_t | ChiaraInfo::LMdKneeLEDMask = 1<<(LMdKneeLEDOffset-LEDOffset) |
| mask corresponding to LMdKneeLEDOffset | |
| const LEDBitMask_t | ChiaraInfo::RBkKneeLEDMask = 1<<(RBkKneeLEDOffset-LEDOffset) |
| mask corresponding to RBkKneeLEDOffset | |
| const LEDBitMask_t | ChiaraInfo::LBkKneeLEDMask = 1<<(LBkKneeLEDOffset-LEDOffset) |
| mask corresponding to LBkKneeLEDOffset | |
| const LEDBitMask_t | ChiaraInfo::HeadLEDMask = 1<<(HeadLEDOffset-LEDOffset) |
| mask corresponding to HeadLEDOffset | |
| const LEDBitMask_t | ChiaraInfo::FaceLEDMask = HeadLEDMask |
| LEDs for the "face panel" -- on the Chiara this is just HeadLEDMask. | |
| const LEDBitMask_t | ChiaraInfo::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
Input Offsets | |
The order in which inputs should be stored | |
| enum | ChiaraInfo::ButtonOffset_t { ChiaraInfo::GreenButOffset, ChiaraInfo::RedButOffset, ChiaraInfo::YellowButOffset } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | ChiaraInfo::SensorOffset_t { ChiaraInfo::LeftIRDistOffset, ChiaraInfo::CenterIRDistOffset, ChiaraInfo::IRDistOffset = CenterIRDistOffset, ChiaraInfo::RightIRDistOffset, ChiaraInfo::LeftLuminosityOffset, ChiaraInfo::CenterLuminosityOffset, ChiaraInfo::RightLuminosityOffset, ChiaraInfo::MicVolumeOffset, ChiaraInfo::MicSpikeCountOffset, ChiaraInfo::PowerRemainOffset, ChiaraInfo::PowerThermoOffset, ChiaraInfo::PowerVoltageOffset } |
holds offset to different sensor values in WorldState::sensors[] More... | |
| const char *const | ChiaraInfo::buttonNames [NumButtons+1] = { "GreenBut", "RedBut", "YellowBut", NULL } |
| Provides a string name for each button. | |
| const char *const | ChiaraInfo::sensorNames [NumSensors+1] |
| Provides a string name for each sensor. | |
Detailed Description
Defines some capabilities of the Chiara hexapod robots.
Definition in file ChiaraInfo.h.
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 340 of file ChiaraInfo.h.
| #define RAD | ( | deg | ) | (((deg) * (float)M_PI ) / 180.0f) |
Just a little macro for converting degrees to radians.
Definition at line 338 of file ChiaraInfo.h.
