Tekkotsu Homepage
Dev. Resources

HandEyeInfo.h File Reference

Defines some capabilities of the HandEye planar arm robot. More...

#include <cmath>
#include <stdlib.h>
#include "CommonInfo.h"
Include dependency graph for HandEyeInfo.h:

Go to the source code of this file.


class  HandEyeInfo::HandEyeCapabilities
 provides polymorphic robot capability detection/mapping More...


namespace  HandEyeInfo

Declares configuration of the HandEye planar arm robot, such as number of joints, LEDs, etc.


#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?


const char *const HandEyeInfo::TargetName = "HandEye"
 the name of the model, to be used for logging and remote GUIs
const unsigned int HandEyeInfo::FrameTime = 32
 time between frames in the motion system (milliseconds)
const unsigned int HandEyeInfo::NumFrames = 1
 the number of frames per buffer (don't forget also double buffered)
const unsigned int HandEyeInfo::SoundBufferTime = 32
 the number of milliseconds per sound buffer... I'm not sure if this can be changed
const fmat::Column< 3 > HandEyeInfo::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 > HandEyeInfo::AgentBoundingBoxHalfDims = fmat::pack(304.8/2, 304.8/2, 0)
 Half of the length, width, and height of the robot.
const char *const HandEyeInfo::outputNames [NumReferenceFrames+1]
 Names for each of the outputs.
const HandEyeCapabilities HandEyeInfo::capabilities
 allocation declared in RobotInfo.cc
const float HandEyeInfo::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 HandEyeInfo::MaxOutputSpeed [NumOutputs]
 These values are our recommended maximum joint velocities, in rad/ms.
const float HandEyeInfo::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 HandEyeInfo::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 HandEyeInfo::NumWheels = 0
 The number of joints per leg.
const unsigned HandEyeInfo::FingerJointsPerArm = 0
 The number of joints per leg.
const unsigned HandEyeInfo::JointsPerArm = 3
 The number of joints per leg.
const unsigned HandEyeInfo::NumArms = 1
 The number of joints per leg.
const unsigned HandEyeInfo::NumArmJoints = JointsPerArm*NumArms
 The number of joints per leg.
const unsigned HandEyeInfo::JointsPerLeg = 0
 The number of joints per leg.
const unsigned HandEyeInfo::NumLegs = 0
 The number of legs.
const unsigned HandEyeInfo::NumLegJoints = JointsPerLeg*NumLegs
 the TOTAL number of joints on ALL legs
const unsigned HandEyeInfo::NumHeadJoints = 2
 The number of joints in the pantilt.
const unsigned HandEyeInfo::NumTailJoints = 0
 The number of joints assigned to the tail.
const unsigned HandEyeInfo::NumMouthJoints = 0
 the number of joints that control the mouth
const unsigned HandEyeInfo::NumEarJoints = 0
 The number of joints which control the ears (NOT per ear, is total).
const unsigned HandEyeInfo::NumButtons = 3
 the number of buttons that are available
const unsigned HandEyeInfo::NumSensors = 2
 the number of sensors available
const unsigned HandEyeInfo::NumFacePanelLEDs = 0
 The number of face panel LEDs.
const unsigned HandEyeInfo::NumLEDs = 5
 The number of LEDs which can be controlled (one per dynamixel servo).
const unsigned HandEyeInfo::NumPIDJoints = NumWheels + NumArmJoints + NumLegJoints + NumHeadJoints + NumTailJoints + NumMouthJoints
 The number of joints per leg.
const unsigned HandEyeInfo::NumOutputs = NumWheels + NumPIDJoints + NumLEDs
 servo pins
const unsigned HandEyeInfo::NumReferenceFrames = NumOutputs + 1 + NumArms + 1
 for the base, gripper (* NumArms), and camera reference frames

Output Offsets

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

enum  HandEyeInfo::ArmOffset_t { HandEyeInfo::ArmShoulderOffset = ArmOffset, HandEyeInfo::ArmElbowOffset, HandEyeInfo::WristOffset, HandEyeInfo::WristYawOffset = WristOffset }

These are 'absolute' offsets for the arm joints.

enum  HandEyeInfo::TPROffset_t { HandEyeInfo::PanOffset = 0, HandEyeInfo::TiltOffset }

The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).

enum  HandEyeInfo::HeadOffset_t { HandEyeInfo::HeadPanOffset = HeadOffset, HandEyeInfo::HeadTiltOffset }

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

enum  HandEyeInfo::LEDOffset_t {
  HandEyeInfo::ArmShoulderLEDOffset = LEDOffset, HandEyeInfo::ArmElbowLEDOffset, HandEyeInfo::ArmWristLEDOffset, HandEyeInfo::NeckPanLEDOffset,

The offsets of the individual LEDs.

typedef unsigned int HandEyeInfo::LEDBitMask_t
 So you can be clear when you're refering to a LED bitmask.
const unsigned HandEyeInfo::PIDJointOffset = 0
 The beginning of the PID Joints.
const unsigned HandEyeInfo::ArmOffset = PIDJointOffset
 beginning of arm joints, don't add anything, just use ArmOffset_t entries directly
const unsigned HandEyeInfo::HeadOffset = ArmOffset+NumArmJoints
 the offset of the beginning of the head joints, add TPROffset_t to get specific joint
const unsigned HandEyeInfo::LEDOffset = PIDJointOffset + NumPIDJoints
 the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets
const unsigned HandEyeInfo::BaseFrameOffset = NumOutputs
 Use with kinematics to refer to base reference frame.
const unsigned HandEyeInfo::GripperFrameOffset = BaseFrameOffset+1
 Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw).
const unsigned HandEyeInfo::CameraFrameOffset = GripperFrameOffset+NumArms
 Use with kinematics to refer to camera reference frame.
const LEDBitMask_t HandEyeInfo::ArmShoulderLEDMask = 1 << (ArmShoulderLEDOffset-LEDOffset)
 Mask corresponding to ArmShoulderLEDOffset.
const LEDBitMask_t HandEyeInfo::ArmElbowLEDMask = 1 << (ArmElbowLEDOffset-LEDOffset)
 Mask corresponding to ArmElbowLEDOffset.
const LEDBitMask_t HandEyeInfo::ArmWristLEDMask = 1 << (ArmWristLEDOffset-LEDOffset)
 Mask corresponding to ArmWristLEDOffset.
const LEDBitMask_t HandEyeInfo::NeckPanLEDMask = 1 << (NeckPanLEDOffset-LEDOffset)
 Mask corresponding to NeckPanLEDOffset.
const LEDBitMask_t HandEyeInfo::NeckTiltLEDMask = 1 << (NeckTiltLEDOffset-LEDOffset)
 Mask corresponding to NeckTiltLEDOffset.
const LEDBitMask_t HandEyeInfo::FaceLEDMask = NeckPanLEDMask | NeckTiltLEDMask
 LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
const LEDBitMask_t HandEyeInfo::AllLEDMask = (LEDBitMask_t)~0
 selects all of the leds

Input Offsets

The order in which inputs should be stored

enum  HandEyeInfo::ButtonOffset_t { HandEyeInfo::GreenButOffset, HandEyeInfo::RedButOffset, HandEyeInfo::YellowButOffset }

holds offsets to different buttons in WorldState::buttons[]

enum  HandEyeInfo::SensorOffset_t { HandEyeInfo::PowerThermoOffset, HandEyeInfo::PowerVoltageOffset }

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

const char *const HandEyeInfo::buttonNames [NumButtons+1] = { "GreenBut", "RedBut", "YellowBut", NULL }
 Provides a string name for each button.
const char *const HandEyeInfo::sensorNames [NumSensors+1]
 Provides a string name for each sensor.

Detailed Description

Defines some capabilities of the HandEye planar arm robot.

ejt (Creator)

Definition in file HandEyeInfo.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 230 of file HandEyeInfo.h.

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

Just a little macro for converting degrees to radians.

Definition at line 228 of file HandEyeInfo.h.

Tekkotsu v5.1CVS
Generated Mon May 9 04:58:57 2016 by Doxygen 1.6.3