HandEyeZInfo.h File Reference
Defines some capabilities of the modified HandEye planar arm robot. More...
#include <cmath>#include <stdlib.h>#include "CommonInfo.h"
Include dependency graph for HandEyeZInfo.h:
Go to the source code of this file.
Classes | |
| class | HandEyeZInfo::HandEyeZCapabilities |
| provides polymorphic robot capability detection/mapping More... | |
Namespaces | |
| namespace | HandEyeZInfo |
Declares configuration of the modified HandEye planar arm 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 | HandEyeZInfo::TargetName = "HandEyeZ" |
| the name of the model, to be used for logging and remote GUIs | |
| const unsigned int | HandEyeZInfo::FrameTime = 32 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | HandEyeZInfo::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | HandEyeZInfo::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
| const fmat::Column< 3 > | HandEyeZInfo::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 > | HandEyeZInfo::AgentBoundingBoxHalfDims = fmat::pack(304.8/2, 304.8/2, 0) |
| Half of the length, width, and height of the robot. | |
| const char *const | HandEyeZInfo::outputNames [NumReferenceFrames+1] |
| Names for each of the outputs. | |
| const HandEyeZCapabilities | HandEyeZInfo::capabilities |
| allocation declared in RobotInfo.cc | |
| const float | HandEyeZInfo::DefaultPIDs [NumPIDJoints][5] |
| 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 | HandEyeZInfo::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/ms. | |
| const float | HandEyeZInfo::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 | HandEyeZInfo::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 | HandEyeZInfo::NumWheels = 0 |
| The number of joints per leg. | |
| const unsigned | HandEyeZInfo::FingerJointsPerArm = 2 |
| The number of joints per leg. | |
| const unsigned | HandEyeZInfo::JointsPerArm = 5 |
| The number of joints per leg. | |
| const unsigned | HandEyeZInfo::NumArms = 1 |
| The number of joints per leg. | |
| const unsigned | HandEyeZInfo::NumArmJoints = JointsPerArm*NumArms |
| The number of joints per leg. | |
| const unsigned | HandEyeZInfo::JointsPerLeg = 0 |
| The number of joints per leg. | |
| const unsigned | HandEyeZInfo::NumLegs = 0 |
| The number of legs. | |
| const unsigned | HandEyeZInfo::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs | |
| const unsigned | HandEyeZInfo::NumHeadJoints = 2 |
| The number of joints in the pantilt. | |
| const unsigned | HandEyeZInfo::NumTailJoints = 0 |
| The number of joints assigned to the tail. | |
| const unsigned | HandEyeZInfo::NumMouthJoints = 0 |
| the number of joints that control the mouth | |
| const unsigned | HandEyeZInfo::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | HandEyeZInfo::NumButtons = 3 |
| the number of buttons that are available | |
| const unsigned | HandEyeZInfo::NumSensors = 2 |
| the number of sensors available | |
| const unsigned | HandEyeZInfo::NumFacePanelLEDs = 0 |
| The number of face panel LEDs. | |
| const unsigned | HandEyeZInfo::NumLEDs = 7 |
| The number of LEDs which can be controlled (one per dynamixel servo). | |
| const unsigned | HandEyeZInfo::NumPIDJoints = NumWheels + NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints |
| The number of joints per leg. | |
| const unsigned | HandEyeZInfo::NumOutputs = NumWheels + NumPIDJoints + NumLEDs |
| servo pins | |
| const unsigned | HandEyeZInfo::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 | HandEyeZInfo::ArmOffset_t { HandEyeZInfo::ArmShoulderOffset = ArmOffset, HandEyeZInfo::ArmElbowOffset, HandEyeZInfo::WristOffset, HandEyeZInfo::WristYawOffset = WristOffset, HandEyeZInfo::LeftGripperOffset, HandEyeZInfo::RightGripperOffset } |
These are 'absolute' offsets for the arm joints. More... | |
| enum | HandEyeZInfo::TPROffset_t { HandEyeZInfo::PanOffset = 0, HandEyeZInfo::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). More... | |
| enum | HandEyeZInfo::HeadOffset_t { HandEyeZInfo::HeadPanOffset = HeadOffset, HandEyeZInfo::HeadTiltOffset } |
These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do. More... | |
| enum | HandEyeZInfo::LEDOffset_t { HandEyeZInfo::ArmShoulderLEDOffset = LEDOffset, HandEyeZInfo::ArmElbowLEDOffset, HandEyeZInfo::ArmWristLEDOffset, HandEyeZInfo::ArmLeftGripperLEDOffset, HandEyeZInfo::ArmRightGripperLEDOffset, HandEyeZInfo::NeckPanLEDOffset, HandEyeZInfo::NeckTiltLEDOffset } |
The offsets of the individual LEDs. More... | |
| typedef unsigned int | HandEyeZInfo::LEDBitMask_t |
| So you can be clear when you're refering to a LED bitmask. | |
| const unsigned | HandEyeZInfo::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | HandEyeZInfo::ArmOffset = PIDJointOffset |
| beginning of arm joints, don't add anything, just use ArmOffset_t entries directly | |
| const unsigned | HandEyeZInfo::HeadOffset = ArmOffset+NumArmJoints |
| the offset of the beginning of the head joints, add TPROffset_t to get specific joint | |
| const unsigned | HandEyeZInfo::LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets | |
| const unsigned | HandEyeZInfo::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | HandEyeZInfo::GripperFrameOffset = BaseFrameOffset+1 |
| Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw). | |
| const unsigned | HandEyeZInfo::CameraFrameOffset = GripperFrameOffset+NumArms |
| Use with kinematics to refer to camera reference frame. | |
| const LEDBitMask_t | HandEyeZInfo::ArmShoulderLEDMask = 1 << (ArmShoulderLEDOffset-LEDOffset) |
| Mask corresponding to ArmShoulderLEDOffset. | |
| const LEDBitMask_t | HandEyeZInfo::ArmElbowLEDMask = 1 << (ArmElbowLEDOffset-LEDOffset) |
| Mask corresponding to ArmElbowLEDOffset. | |
| const LEDBitMask_t | HandEyeZInfo::ArmWristLEDMask = 1 << (ArmWristLEDOffset-LEDOffset) |
| Mask corresponding to ArmWristLEDOffset. | |
| const LEDBitMask_t | HandEyeZInfo::ArmLeftGripperLEDMask = 1 << (ArmLeftGripperLEDOffset-LEDOffset) |
| Mask corresponding to ArmLeftGripperLEDOffset. | |
| const LEDBitMask_t | HandEyeZInfo::ArmRightGripperLEDMask = 1 << (ArmRightGripperLEDOffset-LEDOffset) |
| Mask corresponding to ArmRightGripperLEDOffset. | |
| const LEDBitMask_t | HandEyeZInfo::NeckPanLEDMask = 1 << (NeckPanLEDOffset-LEDOffset) |
| Mask corresponding to NeckPanLEDOffset. | |
| const LEDBitMask_t | HandEyeZInfo::NeckTiltLEDMask = 1 << (NeckTiltLEDOffset-LEDOffset) |
| Mask corresponding to NeckTiltLEDOffset. | |
| const LEDBitMask_t | HandEyeZInfo::FaceLEDMask = 0 |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries). | |
| const LEDBitMask_t | HandEyeZInfo::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
Input Offsets | |
The order in which inputs should be stored | |
| enum | HandEyeZInfo::ButtonOffset_t { HandEyeZInfo::GreenButOffset, HandEyeZInfo::RedButOffset, HandEyeZInfo::YellowButOffset } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | HandEyeZInfo::SensorOffset_t { HandEyeZInfo::PowerThermoOffset, HandEyeZInfo::PowerVoltageOffset } |
holds offset to different sensor values in WorldState::sensors[] More... | |
| const char *const | HandEyeZInfo::buttonNames [NumButtons+1] = { "GreenBut", "RedBut", "YellowBut", NULL } |
| Provides a string name for each button. | |
| const char *const | HandEyeZInfo::sensorNames [NumSensors+1] |
| Provides a string name for each sensor. | |
Detailed Description
Defines some capabilities of the modified HandEye planar arm robot.
Definition in file HandEyeZInfo.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 237 of file HandEyeZInfo.h.
| #define RAD | ( | deg | ) | (((deg) * (float)M_PI ) / 180.0f) |
Just a little macro for converting degrees to radians.
Definition at line 235 of file HandEyeZInfo.h.
