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CommonInfo.h File Reference

Defines items shared between robot models, like camera specifications. More...

#include <vector>
#include <map>
#include <set>
#include <string>
#include <stdexcept>
#include "Shared/fmat.h"
Include dependency graph for CommonInfo.h:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes

class  RobotInfo::Capabilities
 Allows behaviors to lookup output/button/sensor names from other models to support basic cross-model portability. More...

Namespaces

namespace  CameraGeneric60
 

parameters for a 60° horizontal field of view, 4:3 aspect ratio camera


namespace  Camera75DOF
 

parameters for a 75° diagonal field of view, 4:3 aspect ratio camera, like Logitech QuickCam Pro 9000 or Communicate Deluxe


namespace  CameraKinect
 

parameters for Microsoft Kinect


namespace  CameraSTX
 

parameters for a 42° by 31.5° camera, like Logitech Communicate STX, note that these specifications indicate either a mistake or non-square pixels...


namespace  CameraLifeCam
 

parameters for a 66° camera, like the Microsoft LifeCam, with a 16:9 aspect ratio


namespace  RobotInfo
 

Contains information about the robot, such as number of joints, PID defaults, timing information, etc.


Enumerations

enum  RobotInfo::MinMaxRange_t { RobotInfo::MinRange, RobotInfo::MaxRange }
 

Defines the indexes to use as indices to access the min and max entries of joint limit specifications (e.g. ERS7Info::outputRanges and ERS7Info::mechanicalLimits).

More...

Functions

const char *const RobotInfo::detectModel ()
 Some target models, such as ERS2xxInfo, may be dual-booting compatability modes. This function returns the actual robot name (e.g. ERS210Info::TargetName or ERS220Info::TargetName).

Variables

const float CameraGeneric60::CameraHorizFOV = 60*(float)M_PI/180
 horizontal field of view (radians)
const float CameraGeneric60::CameraVertFOV = 0.8172757101952f
 vertical field of view (radians): 2*atan( tan(60°/2) * 3/4 ) = 46.83°
const float CameraGeneric60::CameraFOV = CameraHorizFOV
 should be set to maximum of CameraHorizFOV or CameraVertFOV
const unsigned int CameraGeneric60::CameraResolutionX = 640
 the number of pixels available in the 'full' layer
const unsigned int CameraGeneric60::CameraResolutionY = 480
 the number of pixels available in the 'full' layer
const char CameraGeneric60::CameraModelName [] = "Generic60"
 specifies a name of the camera to load calibration parameters into RobotInfo::CameraHomography
const float Camera75DOF::CameraHorizFOV = 1.1010990963f
 horizontal field of view (radians)
const float Camera75DOF::CameraVertFOV = 0.8629313824f
 vertical field of view (radians)
const float Camera75DOF::CameraFOV = CameraHorizFOV
 should be set to maximum of CameraHorizFOV or CameraVertFOV
const unsigned int Camera75DOF::CameraResolutionX = 640
 the number of pixels available in the 'full' layer
const unsigned int Camera75DOF::CameraResolutionY = 480
 the number of pixels available in the 'full' layer
const char Camera75DOF::CameraModelName [] = "QuickCam-Pro-9000"
 specifies a name of the camera to load calibration parameters into RobotInfo::CameraHomography
const float CameraKinect::CameraHorizFOV = 1.01229097f
 horizontal field of view (radians)
const float CameraKinect::CameraVertFOV = 0.785398163f
 vertical field of view (radians)
const float CameraKinect::CameraFOV = CameraHorizFOV
 should be set to maximum of CameraHorizFOV or CameraVertFOV
const unsigned int CameraKinect::CameraResolutionX = 640
 the number of pixels available in the 'full' layer
const unsigned int CameraKinect::CameraResolutionY = 480
 the number of pixels available in the 'full' layer
const char CameraKinect::CameraModelName [] = "Kinect-Camera"
 specifies a name of the camera to load calibration parameters into RobotInfo::CameraHomography
const float CameraSTX::CameraHorizFOV = 0.7330382858f
 horizontal field of view (radians)
const float CameraSTX::CameraVertFOV = 0.5497787144f
 vertical field of view (radians)
const float CameraSTX::CameraFOV = CameraHorizFOV
 should be set to maximum of CameraHorizFOV or CameraVertFOV
const unsigned int CameraSTX::CameraResolutionX = 640
 the number of pixels available in the 'full' layer
const unsigned int CameraSTX::CameraResolutionY = 480
 the number of pixels available in the 'full' layer
const char CameraSTX::CameraModelName [] = "QuickCam-STX"
 specifies a name of the camera to load calibration parameters into RobotInfo::CameraHomography
const float CameraLifeCam::CameraHorizFOV = 1.03010024717f
 horizontal field of view (radians)
const float CameraLifeCam::CameraVertFOV = 0.61646432538f
 vertical field of view (radians)
const float CameraLifeCam::CameraFOV = CameraHorizFOV
 should be set to maximum of CameraHorizFOV or CameraVertFOV
const unsigned int CameraLifeCam::CameraResolutionX = 1280
 the number of pixels available in the 'full' layer
const unsigned int CameraLifeCam::CameraResolutionY = 720
 the number of pixels available in the 'full' layer
const char CameraLifeCam::CameraModelName [] = "LifeCam-HD-5000"
 specifies a name of the camera to load calibration parameters into RobotInfo::CameraHomography
const char *const RobotInfo::RobotName = detectModel()
 Name of the robot which is actually running.

Detailed Description

Defines items shared between robot models, like camera specifications.

Author:
ejt (Creator)

Definition in file CommonInfo.h.


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