KHR2Info.h File Reference
Defines some capabilities of the KHR2 humanoid robots. More...
#include <cmath>#include <stdlib.h>#include "CommonInfo.h"
Include dependency graph for KHR2Info.h:
Go to the source code of this file.
Namespaces | |
| namespace | KHR2Info |
Contains information about an KHR2 humanoid robot, such as number of joints, LEDs, etc. | |
Variables | |
| const char *const | KHR2Info::TargetName = "KHR2" |
| the name of the model, to be used for logging and remote GUIs | |
| const unsigned int | KHR2Info::FrameTime = 32 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | KHR2Info::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | KHR2Info::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
Output Types Information | |
| const unsigned | KHR2Info::NumWheels = 0 |
| The number of joints per leg. | |
| const unsigned | KHR2Info::FingerJointsPerArm = 0 |
| The number of joints per leg. | |
| const unsigned | KHR2Info::JointsPerArm = 3 |
| The number of joints per leg. | |
| const unsigned | KHR2Info::NumArms = 2 |
| The number of joints per leg. | |
| const unsigned | KHR2Info::NumArmJoints = JointsPerArm*NumArms |
| The number of joints per leg. | |
| const unsigned | KHR2Info::JointsPerLeg = 5 |
| The number of joints per leg. | |
| const unsigned | KHR2Info::NumLegs = 2 |
| The number of legs. | |
| const unsigned | KHR2Info::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs 10 | |
| const unsigned | KHR2Info::NumHeadJoints = 1 |
| The number of joints in the pantilt 1. | |
| const unsigned | KHR2Info::NumTailJoints = 0 |
| The number of joints assigned to the tail. | |
| const unsigned | KHR2Info::NumMouthJoints = 0 |
| the number of joints that control the mouth | |
| const unsigned | KHR2Info::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | KHR2Info::NumButtons = 0 |
| the number of buttons that are available | |
| const unsigned | KHR2Info::SensorsPerFoot = 6 |
| The number of joints per leg. | |
| const unsigned | KHR2Info::NumIMUAxes = 3 |
| The number of joints per leg. | |
| const unsigned | KHR2Info::NumFootSensors = SensorsPerFoot*NumLegs |
| The number of joints per leg. | |
| const unsigned | KHR2Info::NumSensors = NumArms + NumLegs*6 + 3 |
| The number of joints per leg. | |
| const unsigned | KHR2Info::NumFacePanelLEDs = 0 |
| The number of face panel LEDs. | |
| const unsigned | KHR2Info::NumLEDs = 0 |
| The number of joints per leg. | |
| const unsigned | KHR2Info::NumPIDJoints = NumArmJoints+NumLegJoints+NumHeadJoints |
| servo pins 15 | |
| const unsigned | KHR2Info::NumOutputs = NumWheels + NumPIDJoints + NumLEDs |
| the total number of outputs 17 | |
| const unsigned | KHR2Info::NumReferenceFrames = NumOutputs + NumLegs + NumArms + 1 + 1 |
| for the feet (NumLegs), arms, base, and camera 23 | |
| const float | KHR2Info::BallOfFootRadius = 23.433f / 2 |
| radius of the ball of the foot | |
Input Offsets | |
The order in which inputs should be stored | |
| #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? | |
| enum | KHR2Info::ButtonOffset_t |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | KHR2Info::SensorOffset_t { KHR2Info::LStressOffset, KHR2Info::RStressOffset, KHR2Info::LLToeOffset, KHR2Info::LRToeOffset, KHR2Info::LLSoleOffset, KHR2Info::LRSoleOffset, KHR2Info::LLBackOffset, KHR2Info::LRBackOffset, KHR2Info::RLToeOffset, KHR2Info::RRToeOffset, KHR2Info::RLSoleOffset, KHR2Info::RRSoleOffset, KHR2Info::RLBackOffset, KHR2Info::RRBackOffset, KHR2Info::BAccelOffset, KHR2Info::LAccelOffset, KHR2Info::DAccelOffset } |
| const char *const | KHR2Info::buttonNames [NumButtons+1] = {NULL} |
| Provides a string name for each button. | |
| const char *const | KHR2Info::sensorNames [NumSensors+1] |
| provides a string name for each sensor | |
| const char *const | KHR2Info::outputNames [NumReferenceFrames+1] |
| names for each of the outputs | |
| const Capabilities | KHR2Info::capabilities |
| allocation declared in RobotInfo.cc | |
| const float | KHR2Info::DefaultPIDs [NumPIDJoints][3] |
| this table holds the default PID values for each joint; see PIDMC | |
| const float | KHR2Info::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/ms. | |
| const float | KHR2Info::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 | KHR2Info::mechanicalLimits [NumOutputs][2] |
Output Offsets | |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file | |
| enum | KHR2Info::ArmOrder_t { KHR2Info::LeftArmOrder = 0, KHR2Info::RightArmOrder } |
the ordering of arms More... | |
| enum | KHR2Info::LegOrder_t { KHR2Info::LeftLegOrder = 0, KHR2Info::RightLegOrder } |
the ordering of legs More... | |
| enum | KHR2Info::RLEOffset_t { KHR2Info::ArmShoulderRotateOffset = 0, KHR2Info::ArmShoulderOffset, KHR2Info::ArmElbowOffset } |
the ordering of arms More... | |
| enum | KHR2Info::TPROffset_t { KHR2Info::PanOffset = 0, KHR2Info::TiltOffset = PanOffset } |
the ordering of arms More... | |
| enum | KHR2Info::AHKALOffset_t { KHR2Info::LegHipAbduceOffset = 0, KHR2Info::LegHipOffset, KHR2Info::LegKneeOffset, KHR2Info::LegAnkleOffset, KHR2Info::LegAnkleLateralOffset } |
the ordering of arms More... | |
| enum | KHR2Info::ArmOffset_t { KHR2Info::LeftArmOffset = ArmOffset+LeftArmOrder*JointsPerArm, KHR2Info::RightArmOffset = ArmOffset+RightArmOrder*JointsPerArm } |
the ordering of arms More... | |
| enum | KHR2Info::LegOffset_t { KHR2Info::LeftLegOffset = LegOffset+LeftLegOrder*JointsPerLeg, KHR2Info::RightLegOffset = LegOffset+RightLegOrder*JointsPerLeg } |
the ordering of arms More... | |
| enum | KHR2Info::HeadOffset_t { KHR2Info::HeadPanOffset = HeadOffset } |
the ordering of arms More... | |
| enum | KHR2Info::LEDOffset_t |
the ordering of arms More... | |
| const unsigned | KHR2Info::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | KHR2Info::ArmOffset = PIDJointOffset |
| 0 - the offset of the beginning of the arm joints | |
| const unsigned | KHR2Info::LegOffset = ArmOffset+NumArmJoints |
| 6 - the offset of the beginning of the leg joints | |
| const unsigned | KHR2Info::HeadOffset = LegOffset+NumLegJoints |
| 16 - the offset of the beginning of the head joint | |
| const unsigned | KHR2Info::LEDOffset = PIDJointOffset + NumPIDJoints |
| 17 - the offset of LEDs | |
| const unsigned | KHR2Info::BaseFrameOffset = NumOutputs |
| 17 - Use with kinematics to refer to base reference frame | |
| const unsigned | KHR2Info::CameraFrameOffset = BaseFrameOffset+1 |
| 18 | |
| const unsigned | KHR2Info::GripperFrameOffset = CameraFrameOffset+1 |
| 19 | |
| const unsigned | KHR2Info::FootFrameOffset = GripperFrameOffset+NumLegs |
| 21 | |
Detailed Description
Defines some capabilities of the KHR2 humanoid robots.
- Author
- dst
- Name
- Revision
- 1.5
- State
- Exp
- Date
- 2013-05-02 03:56:40
Definition in file KHR2Info.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 271 of file KHR2Info.h.
| #define RAD | ( | deg | ) | (((deg) * (float)M_PI ) / 180.0f) |
Just a little macro for converting degrees to radians.
Definition at line 269 of file KHR2Info.h.
