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MantisLegInfo.h File Reference

Defines some capabilities of the Mantis leg robots. More...

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

Go to the source code of this file.


class  MantisLegInfo::MantisLegCapabilities
 provides polymorphic robot capability detection/mapping More...


namespace  MantisLegInfo

Contains information about an Mantis Leg 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?


enum  MantisLegInfo::ServoParam_t { MantisLegInfo::DYNAMIXEL_SLOPE = 0, MantisLegInfo::DYNAMIXEL_PUNCH, MantisLegInfo::DYNAMIXEL_MARGIN }

offsets into DefaultPIDs, since Dynamixel servos don't actually use PID control, but a different set of parameters



const char *const MantisLegInfo::TargetName = "MantisLeg"
 the name of the model, to be used for logging and remote GUIs
const unsigned int MantisLegInfo::FrameTime = 32
 time between frames in the motion system (milliseconds)
const unsigned int MantisLegInfo::NumFrames = 1
 the number of frames per buffer (don't forget also double buffered)
const unsigned int MantisLegInfo::SoundBufferTime = 32
 the number of milliseconds per sound buffer... I'm not sure if this can be changed
const fmat::Column< 3 > MantisLegInfo::AgentBoundingBoxBaseFrameOffset = fmat::pack(400,70,350)
 Offset needed so that the centroid of the robot is correct related to the bounding box.
const fmat::Column< 3 > MantisLegInfo::AgentBoundingBoxHalfDims = fmat::pack(100,100,100)
 Half of the length, width, and height of the robot.
const char *const MantisLegInfo::outputNames [NumReferenceFrames+1]
 Names for each of the outputs.
const MantisLegCapabilities MantisLegInfo::capabilities
 allocation declared in RobotInfo.cc
const float MantisLegInfo::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 MantisLegInfo::MaxOutputSpeed [NumOutputs]
 These values are our recommended maximum joint velocities, in rad/ms.
const float MantisLegInfo::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 MantisLegInfo::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 MantisLegInfo::NumWheels = 0
 The number of joints per leg.
const unsigned MantisLegInfo::JointsPerArm = 0
 The number of joints per leg.
const unsigned MantisLegInfo::NumArms = 0
 The number of joints per leg.
const unsigned MantisLegInfo::NumArmJoints = JointsPerArm*NumArms
 The number of joints per leg.
const unsigned MantisLegInfo::JointsPerLeg = 4
 The number of joints per leg.
const unsigned MantisLegInfo::NumLegs = 1
 The number of legs.
const unsigned MantisLegInfo::NumLegJoints = JointsPerLeg*NumLegs
 the TOTAL number of joints on ALL legs
const unsigned MantisLegInfo::NumHeadJoints = 0
 The number of joints in the pantilt.
const unsigned MantisLegInfo::NumTailJoints = 0
 The number of joints assigned to the tail.
const unsigned MantisLegInfo::NumMouthJoints = 0
 the number of joints that control the mouth
const unsigned MantisLegInfo::NumEarJoints = 0
 The number of joints which control the ears (NOT per ear, is total).
const unsigned MantisLegInfo::NumButtons = 3
 the number of buttons that are available
const unsigned MantisLegInfo::NumSensors = 11
 the number of sensors available
const unsigned MantisLegInfo::NumFacePanelLEDs = 0
 The number of face panel LEDs.
const unsigned MantisLegInfo::NumPIDJoints = NumArmJoints + NumLegJoints + NumHeadJoints + NumTailJoints + NumMouthJoints
 servo pins
const unsigned MantisLegInfo::NumLEDs = NumPIDJoints
 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.
const unsigned MantisLegInfo::NumOutputs = NumWheels + NumPIDJoints + NumLEDs
 the total number of outputs
const unsigned MantisLegInfo::NumReferenceFrames = NumOutputs + NumLegs + NumArms + 1
 for the base, feet, gripper, camera, and IR distance rangefinder
const float MantisLegInfo::BallOfFootRadius = 0
 radius of the ball of the foot

Output Offsets

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

enum  MantisLegInfo::LegOrder_t { MantisLegInfo::MdLegOrder = 0 }

the ordering of legs

enum  MantisLegInfo::SEKOffset_t { MantisLegInfo::SweepOffset = 0, MantisLegInfo::ElevatorOffset, MantisLegInfo::RotorOffset, MantisLegInfo::KneeOffset }

The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage.

enum  MantisLegInfo::TPROffset_t { MantisLegInfo::PanOffset = 0, MantisLegInfo::TiltOffset, MantisLegInfo::NodOffset = TiltOffset, MantisLegInfo::RollOffset }

The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head/wrist).

enum  MantisLegInfo::LegOffset_t { MantisLegInfo::MdLegOffset = LegOffset+MdLegOrder*JointsPerLeg }

The offsets of the individual legs, add REKOffset_t value to access specific joint.

enum  MantisLegInfo::LEDOffset_t { MantisLegInfo::PowerRedLEDOffset = LEDOffset, MantisLegInfo::PowerGreenLEDOffset, MantisLegInfo::PlayLEDOffset, MantisLegInfo::AdvanceLEDOffset }

The offsets of the individual LEDs.

typedef unsigned int MantisLegInfo::LEDBitMask_t
 So you can be clear when you're refering to a LED bitmask.
const unsigned MantisLegInfo::PIDJointOffset = 0
 The beginning of the PID Joints.
const unsigned MantisLegInfo::LegOffset = PIDJointOffset
 the offset of the beginning of the regular leg joints (after the 1 rotator joint for the right front leg): NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t
const unsigned MantisLegInfo::LEDOffset = PIDJointOffset + NumPIDJoints
 the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets
const unsigned MantisLegInfo::BaseFrameOffset = NumOutputs
 Use with kinematics to refer to base reference frame.
const unsigned MantisLegInfo::FootFrameOffset = BaseFrameOffset+1
 Use with kinematics to refer to feet reference frames (add appropriate LegOrder_t to specify which paw).
const unsigned MantisLegInfo::GripperFrameOffset = FootFrameOffset+NumLegs
 Use with kinematics to refer to gripper reference frame.
const unsigned MantisLegInfo::CameraFrameOffset = GripperFrameOffset+NumArms
 Use with kinematics to refer to camera reference frame.
const unsigned MantisLegInfo::LeftIRFrameOffset = CameraFrameOffset+1
 Use with kinematics to refer to left IR distance rangefinder reference frame.
const unsigned MantisLegInfo::CenterIRFrameOffset = LeftIRFrameOffset+1
 Use with kinematics to refer to center IR distance rangefinder reference frame.
const unsigned MantisLegInfo::IRFrameOffset = CenterIRFrameOffset
 alias for CenterIRFrameOffset
const unsigned MantisLegInfo::RightIRFrameOffset = CenterIRFrameOffset+1
 Use with kinematics to refer to right IR distance rangefinder reference frame.
const LEDOffset_t MantisLegInfo::RedLEDOffset = PowerRedLEDOffset
 the ordering of legs
const LEDOffset_t MantisLegInfo::BlueLEDOffset = AdvanceLEDOffset
 the ordering of legs
const LEDOffset_t MantisLegInfo::GreenLEDOffset = PlayLEDOffset
 the ordering of legs
const LEDOffset_t MantisLegInfo::YellowLEDOffset = AdvanceLEDOffset
 the ordering of legs
const LEDBitMask_t MantisLegInfo::BlueLEDMask = (1<<(AdvanceLEDOffset-LEDOffset)) | (1<<(PowerRedLEDOffset-LEDOffset))
 the ordering of legs
const LEDBitMask_t MantisLegInfo::GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset)
 mask corresponding to GreenLEDOffset
const LEDBitMask_t MantisLegInfo::YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset)
 mask corresponding to YellowLEDOffset
const LEDBitMask_t MantisLegInfo::RedLEDMask = 1<<(RedLEDOffset-LEDOffset)
 mask corresponding to RedLEDOffset
const LEDBitMask_t MantisLegInfo::PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset)
 mask corresponding to BlueLEDOffset
const LEDBitMask_t MantisLegInfo::PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset)
 mask corresponding to GreenLEDOffset
const LEDBitMask_t MantisLegInfo::PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset)
 mask corresponding to YellowLEDOffset
const LEDBitMask_t MantisLegInfo::AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset)
 mask corresponding to RedLEDOffset
const LEDBitMask_t MantisLegInfo::FaceLEDMask = 0
 LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
const LEDBitMask_t MantisLegInfo::AllLEDMask = (LEDBitMask_t)~0
 selects all of the leds

Input Offsets

The order in which inputs should be stored

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

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

enum  MantisLegInfo::SensorOffset_t {
  MantisLegInfo::LeftIRDistOffset, MantisLegInfo::CenterIRDistOffset, MantisLegInfo::IRDistOffset = CenterIRDistOffset, MantisLegInfo::RightIRDistOffset,
  MantisLegInfo::LeftLuminosityOffset, MantisLegInfo::CenterLuminosityOffset, MantisLegInfo::RightLuminosityOffset, MantisLegInfo::MicVolumeOffset,
  MantisLegInfo::MicSpikeCountOffset, MantisLegInfo::PowerRemainOffset, MantisLegInfo::PowerThermoOffset, MantisLegInfo::PowerVoltageOffset

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

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

Detailed Description

Defines some capabilities of the Mantis leg robots.

ejt (Creator)

Definition in file MantisLegInfo.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 266 of file MantisLegInfo.h.

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

Just a little macro for converting degrees to radians.

Definition at line 264 of file MantisLegInfo.h.

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