LynxArm6Info.h File Reference
Defines some capabilities of the 6-DOF PUMA style arm from Lynx Motion. More...
#include <cmath>#include <cstdlib>#include "CommonInfo.h"
Include dependency graph for LynxArm6Info.h:
Go to the source code of this file.
Namespaces | |
| namespace | LynxArm6Info |
Declares configuration of the 6-DOF PUMA style arm from Lynx Motion, 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 | LynxArm6Info::TargetName = "LynxArm6" |
| the name of the model, to be used for logging and remote GUIs | |
| const unsigned int | LynxArm6Info::FrameTime = 32 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | LynxArm6Info::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | LynxArm6Info::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
| const char *const | LynxArm6Info::outputNames [NumReferenceFrames+1] |
| Names for each of the outputs. | |
| const Capabilities | LynxArm6Info::capabilities |
| allocation declared in RobotInfo.cc | |
| const float | LynxArm6Info::DefaultPIDs [NumPIDJoints][3] |
| This table holds the default PID values for each joint. see PIDMC. | |
| const float | LynxArm6Info::MaxOutputSpeed [NumOutputs] |
| These values are Sony's recommended maximum joint velocities, in rad/sec. | |
| const float | LynxArm6Info::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 | LynxArm6Info::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 | LynxArm6Info::NumWheels = 0 |
| no wheels, just legs | |
| const unsigned | LynxArm6Info::JointsPerArm = 6 |
| no wheels, just legs | |
| const unsigned | LynxArm6Info::NumArms = 1 |
| no wheels, just legs | |
| const unsigned | LynxArm6Info::NumArmJoints = JointsPerArm*NumArms |
| no wheels, just legs | |
| const unsigned | LynxArm6Info::JointsPerLeg = 0 |
| The number of joints per leg. | |
| const unsigned | LynxArm6Info::NumLegs = 0 |
| The number of legs. | |
| const unsigned | LynxArm6Info::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs | |
| const unsigned | LynxArm6Info::NumHeadJoints = 0 |
| The number of joints in the neck. | |
| const unsigned | LynxArm6Info::NumTailJoints = 0 |
| The number of joints assigned to the tail. | |
| const unsigned | LynxArm6Info::NumMouthJoints = 0 |
| the number of joints that control the mouth | |
| const unsigned | LynxArm6Info::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | LynxArm6Info::NumButtons = 0 |
| the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t | |
| const unsigned | LynxArm6Info::NumSensors = 4 |
| the four input pins | |
| const unsigned | LynxArm6Info::NumLEDs = 0 |
| The number of LEDs which can be controlled. | |
| const unsigned | LynxArm6Info::NumFacePanelLEDs = 0 |
| The number of face panel LEDs. | |
| const unsigned | LynxArm6Info::NumPIDJoints = NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints |
| The number of joints which use PID motion - everything except ears. | |
| const unsigned | LynxArm6Info::NumOutputs = NumPIDJoints + NumLEDs |
| the total number of outputs | |
| const unsigned | LynxArm6Info::NumReferenceFrames = NumOutputs + 1 + NumArms |
| for the base, gripper (* NumArms) | |
| const float | LynxArm6Info::CameraHorizFOV = 56.9f/180*(float)M_PI |
| horizontal field of view (radians) | |
| const float | LynxArm6Info::CameraVertFOV = 45.2f/180*(float)M_PI |
| vertical field of view (radians) | |
| const float | LynxArm6Info::CameraFOV = CameraHorizFOV |
| should be set to maximum of CameraHorizFOV or CameraVertFOV | |
| const unsigned int | LynxArm6Info::CameraResolutionX = 320 |
| the number of pixels available in the 'full' layer | |
| const unsigned int | LynxArm6Info::CameraResolutionY = 240 |
| the number of pixels available in the 'full' layer | |
Output Offsets | |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file | |
| enum | LynxArm6Info::ArmOffset_t { LynxArm6Info::ArmShoulderOffset = ArmOffset, LynxArm6Info::ArmElevatorOffset, LynxArm6Info::ArmElbowOffset, LynxArm6Info::WristOffset, LynxArm6Info::WristRollOffset = WristOffset, LynxArm6Info::WristPitchOffset, LynxArm6Info::GripperOffset } |
These are 'absolute' offsets for the arm joints, don't need to add to ArmOffset like TPROffset_t values do. More... | |
| const unsigned | LynxArm6Info::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | LynxArm6Info::ArmOffset = PIDJointOffset |
| These are 'absolute' offsets for the arm joints, don't need to add to ArmOffset like TPROffset_t values do. | |
| const unsigned | LynxArm6Info::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | LynxArm6Info::GripperFrameOffset = BaseFrameOffset+1 |
| Use with kinematics to refer to paw reference frames. | |
Input Offsets | |
The order in which inputs should be stored | |
| enum | LynxArm6Info::ButtonOffset_t |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | LynxArm6Info::SensorOffset_t { LynxArm6Info::SensorAOffset, LynxArm6Info::SensorBOffset, LynxArm6Info::SensorCOffset, LynxArm6Info::SensorDOffset } |
holds offset to different sensor values in WorldState::sensors[] More... | |
| const char *const | LynxArm6Info::buttonNames [NumButtons+1] = { NULL } |
| Provides a string name for each button. | |
| const char *const | LynxArm6Info::sensorNames [NumSensors] = { "SensorA", "SensorB", "SensorC", "SensorD" } |
| Provides a string name for each sensor. | |
Detailed Description
Defines some capabilities of the 6-DOF PUMA style arm from Lynx Motion.
Definition in file LynxArm6Info.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 158 of file LynxArm6Info.h.
| #define RAD | ( | deg | ) | (((deg) * (float)M_PI ) / 180.0f) |
Just a little macro for converting degrees to radians.
Definition at line 156 of file LynxArm6Info.h.
