KHR2Info.h

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//-*-c++-*-
#ifndef INCLUDED_KHR2Info_h
#define INCLUDED_KHR2Info_h

#include <cmath>
#include <stdlib.h>
#include "CommonInfo.h"
using namespace RobotInfo;

// see http://tekkotsu.org/porting.html#configuration for more information on TGT_HAS_* flags
#if defined(TGT_KHR2)
#  define TGT_IS_BIPED
#  define TGT_IS_HUMANOID
#  define TGT_IS_KHR2
#  define TGT_HAS_CAMERA 1
#  define TGT_HAS_LEGS 2
#  define TGT_HAS_ARMS 2
#  define TGT_HAS_HEAD 1
#endif

//! Contains information about an KHR2 humanoid robot, such as number of joints, LEDs, etc.
namespace KHR2Info {

  // *******************************
  //       ROBOT CONFIGURATION
  // *******************************

  extern const char* const TargetName; //!< the name of the model, to be used for logging and remote GUIs

  const unsigned int FrameTime=32;       //!< time between frames in the motion system (milliseconds)
  const unsigned int NumFrames=1;        //!< the number of frames per buffer (don't forget also double buffered)
  const unsigned int SoundBufferTime=32; //!< the number of milliseconds per sound buffer... I'm not sure if this can be changed
  
  //!@name Output Types Information
  const unsigned NumWheels      =  0;
  
  const unsigned JointsPerArm   =  3;
  const unsigned NumArms        =  2;
  const unsigned NumArmJoints   =  JointsPerArm*NumArms;//                                                 6
  
  const unsigned JointsPerLeg   =  5; //!< The number of joints per leg
  const unsigned NumLegs        =  2; //!< The number of legs
  const unsigned NumLegJoints   =  JointsPerLeg*NumLegs; //!< the TOTAL number of joints on ALL legs      10
  const unsigned NumHeadJoints  =  1; //!< The number of joints in the pantilt                             1
  const unsigned NumTailJoints  =  0; //!< The number of joints assigned to the tail
  const unsigned NumMouthJoints =  0; //!< the number of joints that control the mouth
  const unsigned NumEarJoints   =  0; //!< The number of joints which control the ears (NOT per ear, is total)
  const unsigned NumButtons     =  0; //!< the number of buttons that are available
  const unsigned SensorsPerFoot = 6;
        const unsigned NumIMUAxes     = 3;
        const unsigned NumFootSensors = SensorsPerFoot*NumLegs;
  const unsigned NumSensors     =  NumArms + NumLegs*6 + 3;  // 2 grippers, 12 foot pressure sensors, 3 axis imu
  const unsigned NumFacePanelLEDs = 0; //!< The number of face panel LEDs

  const unsigned NumLEDs        =  0;//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 NumPIDJoints   = NumArmJoints+NumLegJoints+NumHeadJoints; //!< servo pins             15
  
  const unsigned NumOutputs     = NumWheels + NumPIDJoints + NumLEDs; //!< the total number of outputs    17
  const unsigned NumReferenceFrames = NumOutputs + NumLegs + NumArms + 1 + 1; //!< for the feet (NumLegs), arms, base, and camera  23

  using namespace Camera75DOF;
  
  const float BallOfFootRadius=23.433f / 2; //!< radius of the ball of the foot
  //@}


  // *******************************
  //         OUTPUT OFFSETS
  // *******************************

  //!Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
  //!@name Output Offsets

  const unsigned PIDJointOffset = 0; //!< The beginning of the PID Joints
  //const unsigned RFrRotatorOffset = PIDJointOffset;
  const unsigned ArmOffset   = PIDJointOffset;          //!< 0 - the offset of the beginning of the arm joints
  const unsigned LegOffset   = ArmOffset+NumArmJoints;   //!< 6 - the offset of the beginning of the leg joints
  const unsigned HeadOffset  = LegOffset+NumLegJoints;  //!< 16 - the offset of the beginning of the head joint
  const unsigned LEDOffset   = PIDJointOffset + NumPIDJoints; //!< 17 - the offset of LEDs
  const unsigned BaseFrameOffset    = NumOutputs; //!< 17 - Use with kinematics to refer to base reference frame
  const unsigned CameraFrameOffset  = BaseFrameOffset+1; //!< 18  
  const unsigned GripperFrameOffset = CameraFrameOffset+1; //!< 19 
  const unsigned FootFrameOffset    = GripperFrameOffset+NumLegs; //!< 21 

  //! the ordering of arms
  enum ArmOrder_t
  {
    LeftArmOrder = 0,   //!< left arm
    RightArmOrder       //!< right arm
  };

  //! the ordering of legs
  enum LegOrder_t
  {
    LeftLegOrder = 0,   //!< left leg
    RightLegOrder       //!< right leg
  };

  enum RLEOffset_t
  {
    ArmShoulderRotateOffset = 0,
    ArmShoulderOffset,
    ArmElbowOffset
  };

  //tilt, pan, roll
  enum TPROffset_t
  {
    PanOffset = 0,
    TiltOffset = PanOffset
  };

  enum AHKALOffset_t
  {
    LegHipAbduceOffset = 0,
    LegHipOffset,
    LegKneeOffset,
    LegAnkleOffset,
    LegAnkleLateralOffset
  };

  enum ArmOffset_t
  {
    LeftArmOffset = ArmOffset+LeftArmOrder*JointsPerArm, // 0+0*3 = 0
    RightArmOffset = ArmOffset+RightArmOrder*JointsPerArm// 0+1*3 = 3
  };

  enum LegOffset_t
  {
    LeftLegOffset = LegOffset+LeftLegOrder*JointsPerLeg, //6+0*5 = 6
    RightLegOffset = LegOffset+RightLegOrder*JointsPerLeg//6+1*5 = 11
  };

  enum HeadOffset_t
  {
    HeadPanOffset = HeadOffset //16
  };

  enum LEDOffset_t {};

  // *******************************
  //          INPUT OFFSETS
  // *******************************


  //! The order in which inputs should be stored
  //!@name Input Offsets

  //! holds offsets to different buttons in WorldState::buttons[]
  /*! Should be a straight mapping to the ButtonSourceIDs
   *
   *  Note that the chest (power) button is not a normal button.  It kills
   *  power to the motors at a hardware level, and isn't sensed in the
   *  normal way.  If you want to know when it is pressed (and you are
   *  about to shut down) see PowerSrcID::PauseSID.
   *
   *  @see WorldState::buttons @see ButtonSourceID_t
   * @hideinitializer */
  enum ButtonOffset_t {};

  //! Provides a string name for each button
  const char* const buttonNames[NumButtons+1] = {NULL};

  /*! holds offset to different sensor values in WorldState::sensors[]
   *  @see WorldState::sensors[] */
  enum SensorOffset_t
  {
    LStressOffset, RStressOffset,

    LLToeOffset, LRToeOffset, LLSoleOffset, LRSoleOffset, LLBackOffset, LRBackOffset,

                //! right foot pressure sensors
                RLToeOffset, RRToeOffset, RLSoleOffset, RRSoleOffset, RLBackOffset, RRBackOffset,

    //! ... be careful about the signs on all of these...

    /*! backward acceleration, in @f$m/s^2@f$
     *  (negative if laying on back) */
    BAccelOffset,

    /*! acceleration to the robot's left, in @f$m/s^2@f$
     *  (negative if lying on the robot's right side) */
    LAccelOffset,

    /*! download acceleration, in @f$m/s^2@f$
     *  (negative if standing up) */
    DAccelOffset//,

    //PowerVoltageOffset   //!< power status, in volts
  };

  //! provides a string name for each sensor
  const char* const sensorNames[NumSensors + 1] = {
    "LStress", "RStress",

    //! left foot pressure sensors
    "LLToe", "LRToe", "LLSole", "LRSole", "LLBack", "LRBack",

    //! right foot pressure sensors
    "RLToe", "RRToe", "RLSole", "RRSole", "RLBack", "RRBack",

    "BAccel", "LAccel", "DAccel"//,

    //"PowerVoltage"
  };

  //! names for each of the outputs
  const char* const outputNames[NumReferenceFrames + 1] = {

    //! names for the left arm outputs
    "LArm:Rotate", "LArm:Elevator", "LArm:Elbow",

    //! names for the right arm outputs
    "RArm:Rotate", "RArm:Elevator", "RArm:Elbow",
    
    //! names for the left leg outputs
    "LLeg:Abduce", "LLeg:Flex", "LLeg:Knee",
    "LLeg:AnkleFlex",
     "LLeg:AnkleLateral",

    //! names for the right left outputs
    "RLeg:Abduce", "RLeg:Flex", "RLeg:Knee",
    "RLeg:AnkleFlex",
     "RLeg:AnkleLateral",

    //! names for each of the neck outputs
    "NECK:Pan",
    
    "BaseFrame",
    "CAMERA:Eye",// 18
    "LArm:Wrist",// 19
    "RArm:Wrist",
    "LLeg:Sole",// 21
    "RLeg:Sole",
    NULL
  };
  
  //! allocation declared in RobotInfo.cc
  extern const Capabilities capabilities;
  
  //! this table holds the default PID values for each joint; see PIDMC
  const float DefaultPIDs[NumPIDJoints][3] = {
    {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, // PID joints
    {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0},
    {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0},
    {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, 
    {1, 0, 0}
  };
  
  //!These values are our recommended maximum joint velocities, in rad/ms
  /*! a value <= 0 means infinite speed (e.g. LEDs)
   *  
   *  These limits are <b>not</b> enforced by the framework.  They are simply available for you to use as you see fit.
   *  HeadPointerMC and PostureMC are primary examples of included classes which do respect these values (although they can be overridden)
   *  
   *  These values were obtained from the administrators of the Sony OPEN-R BBS */
  //! haven't determined safe speeds for KHR2 yet
  const float MaxOutputSpeed[NumOutputs] = {

    //! PID joints
    1e-3f, 1e-3f, 1e-3f, 1e-3f, 1e-3f, 1e-3f, 1e-3f, 1e-3f,
    1e-3f, 1e-3f, 1e-3f, 1e-3f, 1e-3f, 1e-3f, 1e-3f, 1e-3f, 
    1e-3f
  };

  #ifndef RAD
    //!Just a little macro for converting degrees to radians
  #define RAD(deg) (((deg) * (float)M_PI ) / 180.0f)
    //!a flag so we undef these after we're done - do you have a cleaner solution?
  #define __RI_RAD_FLAG
  #endif
  
  //! 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 outputRanges[NumOutputs][2] = {

    //! left arm
    {RAD(0), RAD(180)}, {RAD(0), RAD(180)}, {RAD(-90), RAD(90)},

    //! right arm
    {RAD(0), RAD(180)}, {RAD(0), RAD(180)}, {RAD(-90), RAD(90)},

    //! left leg
    {RAD(-10), RAD(90)}, {RAD(-90), RAD(90)}, {RAD(-90), RAD(20)},
    {RAD(-90), RAD(90)},
     {RAD(-70), RAD(20)},

    //! right leg
    {RAD(-10), RAD(90)}, {RAD(-90), RAD(90)}, {RAD(-90), RAD(20)},
    {RAD(-90), RAD(90)},
     {RAD(-70), RAD(20)},

    //! head (neck)
    {RAD(-90), RAD(90)}
  };

  /*! the range that can be reached by external interaction
   * (i.e. the domain of the output feedback);
   *  this is probably identical to #outputRanges,
   *  but may differ if the output have some built-in safety margin... */
  const float mechanicalLimits[NumOutputs][2] = {

    //! left arm
        {RAD(0), RAD(180)}, {RAD(0), RAD(180)}, {RAD(-90), RAD(90)},

    //! right arm
    {RAD(0), RAD(180)}, {RAD(0), RAD(180)}, {RAD(-90), RAD(90)},

    //! left leg
    {RAD(-10), RAD(90)}, {RAD(-90), RAD(90)}, {RAD(-90), RAD(20)},
    {RAD(-90), RAD(90)},
     {RAD(-70), RAD(20)},

    //! right leg
    {RAD(-10), RAD(90)}, {RAD(-90), RAD(90)}, {RAD(-90), RAD(20)},
    {RAD(-90), RAD(90)},
     {RAD(-70), RAD(20)},

    //! head (neck)
    {RAD(-90), RAD(90)}
  };

#ifdef __RI_RAD_FLAG
#undef RAD
#undef __RI_RAD_FLAG
#endif
}

/*! @file
 * @brief Defines some capabilities of the KHR2 humanoid robots
 * $Author: ejt $
 * $Name:  $
 * $Revision: 1.3 $
 * $State: Exp $
 * $Date: 2011-03-10 16:45:43 $
 */

#endif