Homepage Demos Overview Downloads Tutorials Reference
Credits

ERS210Info.h

Go to the documentation of this file.
00001 //-*-c++-*-
00002 #ifndef INCLUDED_ERS210Info_h
00003 #define INCLUDED_ERS210Info_h
00004 
00005 #include <math.h>
00006 #ifndef PLATFORM_APERIOS
00007 typedef unsigned short word; //!< otherwise defined in Types.h
00008 #else
00009 #include <Types.h>
00010 #endif
00011 
00012 #include "CommonInfo.h"
00013 using namespace RobotInfo;
00014 
00015 #if TGT_ERS2xx
00016 #include "ERS2xxInfo.h"
00017 #endif
00018 
00019 //! Contains information about the ERS-210 Robot, such as number of joints, PID defaults, timing information, etc.
00020 namespace ERS210Info {
00021 
00022 #if TGT_ERS2xx
00023   using namespace ERS2xxInfo;
00024 #else
00025   // *******************************
00026   //       ROBOT CONFIGURATION
00027   // *******************************
00028 
00029 
00030   const unsigned int FrameTime=8;        //!< time between frames in the motion system (milliseconds)
00031   const unsigned int NumFrames=4;        //!< the number of frames per buffer (don't forget also double buffered)
00032   const unsigned int SlowFrameTime=128;  //!< time between frames for the ears (which move slower for some reason, don't want to mix with other outputs) (milliseconds)
00033   const unsigned int NumSlowFrames=1;    //!< the number of frames per buffer being sent to ears (double buffered as well)
00034   const unsigned int SoundBufferTime=32; //!< the number of milliseconds per sound buffer... I'm not sure if this can be changed
00035   
00036   //!Corresponds to entries in ERS210Info::PrimitiveName, defined at the end of this file, these are the primary grouping
00037   /*!Right now all binary joints are slow, but perhaps this won't always be the case... hence the IsFast/Slow bitmasks to select which type, in order to be more general */
00038   //!@name Output Types Information
00039   const unsigned NumPIDJoints   = 18; //!< The number of joints which use PID motion - everything except ears
00040   const unsigned NumLEDs        =  9; //!< The number LEDs which can be controlled
00041   const unsigned NumBinJoints   =  2; //!< The number of binary joints - just the ears
00042   const unsigned NumOutputs     = NumPIDJoints + NumBinJoints + NumLEDs; //!< the total number of outputs
00043 
00044   const bool IsFastOutput[NumOutputs] = { true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false }; //!< true for joints which can be updated every 32 ms (all but the ears)
00045   //! we need this so you can tell programmatically which joints are "real" and which are "fake" in ERS-2xx target mode
00046   const bool IsRealERS210[NumOutputs] = { true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true };
00047   //@}
00048 
00049   const unsigned JointsPerLeg   =  3; //!< The number of joints per leg
00050   const unsigned NumLegs        =  4; //!< The number of legs
00051   const unsigned NumLegJoints   =  JointsPerLeg*NumLegs; //!< the TOTAL number of joints on ALL legs
00052   const unsigned NumHeadJoints  =  3; //!< The number of joints in the neck
00053   const unsigned NumTailJoints  =  2; //!< The number of joints assigned to the tail
00054   const unsigned NumMouthJoints =  1; //!< the number of joints that control the mouth
00055   const unsigned NumEarJoints   =  2; //!< The number of joints which control the ears (NOT per ear, is total)
00056   const unsigned NumButtons     =  8; //!< the number of buttons that are available, see ERS210Info::ButtonOffset_t
00057   const unsigned NumSensors     =  1+3+1+5;  //!< 1 dist, 3 accel, 1 thermo, 5 from power, see ERS210Info::SensorOffset_t
00058   
00059 
00060   // *******************************
00061   //         OUTPUT OFFSETS
00062   // *******************************
00063 
00064 
00065   //!Corresponds to entries in ERS210Info::PrimitiveName, defined at the end of this file
00066   //!@name Output Offsets
00067 
00068   const unsigned PIDJointOffset = 0; //!< The beginning of the PID Joints
00069   const unsigned LegOffset   = PIDJointOffset;           //!< the offset of the beginning of the leg joints
00070   const unsigned HeadOffset  = LegOffset+NumLegJoints;   //!< the offset of the beginning of the head joints
00071   const unsigned TailOffset  = HeadOffset+NumHeadJoints; //!< the offset of the beginning of the tail joints
00072   const unsigned MouthOffset = TailOffset+NumTailJoints; //!< the offset of the beginning of the mouth joint
00073 
00074   const unsigned LEDOffset   = PIDJointOffset + NumPIDJoints; //!< the offset of LEDs in WorldState::outputs and MotionCommand functions
00075 
00076   const unsigned BinJointOffset = LEDOffset + NumLEDs; //!< The beginning of the binary joints
00077   const unsigned EarOffset   = BinJointOffset;           //!< the offset of the beginning of the ear joints - note that ears aren't sensed.  They can be flicked by the environment and you won't know.  Nor will they be flicked back
00078 
00079   //! The offsets of the individual legs
00080   enum LegOffset_t {
00081     LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, //!< beginning of left front leg
00082     RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, //!< beginning of right front leg
00083     LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg, //!< beginning of left back leg
00084     RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg  //!< beginning of right back leg
00085   };
00086   
00087   //@}
00088   
00089   //! The offsets of the individual LEDs on the head and tail.  Note that left/right are robot's point of view.  See also LEDBitMask_t
00090   enum LEDOffset_t {
00091     BotLLEDOffset = LEDOffset,//!< bottom left (red - sad)
00092     BotRLEDOffset, //!< bottom right (red - sad)
00093     MidLLEDOffset, //!< middle left (green - happy)
00094     MidRLEDOffset, //!< middle right (green - happy)
00095     TopLLEDOffset, //!< top left (red - angry)
00096     TopRLEDOffset, //!< top right (red - angry)
00097     TopBrLEDOffset,//!< top bar (green)
00098     TlRedLEDOffset,//!< red tail light
00099     TlBluLEDOffset, //!< blue tail light
00100  
00101     // alias for 220 cross-compatibility
00102     FaceFrontLeftLEDOffset = BotLLEDOffset,   //!< alias for 220 cross-compatibility
00103     FaceFrontRightLEDOffset = BotRLEDOffset,  //!< alias for 220 cross-compatibility
00104     FaceCenterLeftLEDOffset = MidLLEDOffset,  //!< alias for 220 cross-compatibility
00105     FaceCenterRightLEDOffset = MidRLEDOffset, //!< alias for 220 cross-compatibility
00106     FaceBackLeftLEDOffset = TopLLEDOffset,    //!< alias for 220 cross-compatibility
00107     FaceBackRightLEDOffset = TopRLEDOffset,   //!< alias for 220 cross-compatibility
00108     ModeLEDOffset = TopBrLEDOffset,           //!< alias for 220 cross-compatibility
00109     TailRightLEDOffset = TlRedLEDOffset,      //!< alias for 220 cross-compatibility
00110     TailLeftLEDOffset = TlBluLEDOffset        //!< alias for 220 cross-compatibility
00111   };
00112   
00113   //! Bitmasks for use when specifying combinations of LEDs (see LedEngine ) Note that left/right are robot's point of view
00114   //!@name LED Bitmasks
00115   typedef unsigned int LEDBitMask_t; //!< So you can be clear when you're refering to a LED bitmask
00116   const LEDBitMask_t BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset); //!< bottom left (red - sad)
00117   const LEDBitMask_t BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset); //!< bottom right (red - sad)
00118   const LEDBitMask_t MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset); //!< middle left (green - happy)
00119   const LEDBitMask_t MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset); //!< middle right (green - happy)
00120   const LEDBitMask_t TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset); //!< top left (red - angry)
00121   const LEDBitMask_t TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset); //!< top right (red - angry)
00122   const LEDBitMask_t TopBrLEDMask= 1<<(TopBrLEDOffset-LEDOffset); //!< top bar (green)
00123   const LEDBitMask_t TlRedLEDMask= 1<<(TlRedLEDOffset-LEDOffset); //!< red tail light
00124   const LEDBitMask_t TlBluLEDMask= 1<<(TlBluLEDOffset-LEDOffset); //!< blue tail light
00125 
00126   const LEDBitMask_t FaceLEDMask = BotLLEDMask|BotRLEDMask|MidLLEDMask|MidRLEDMask|TopLLEDMask|TopRLEDMask|TopBrLEDMask; //!< LEDs for face (all but tail)
00127   const LEDBitMask_t HeadLEDMask = BotLLEDMask|BotRLEDMask|MidLLEDMask|MidRLEDMask|TopLLEDMask|TopRLEDMask|TopBrLEDMask; //!< LEDs for face (all but tail)
00128   const LEDBitMask_t BackLEDMask = 0; //!< 210 has no back LEDs
00129   const LEDBitMask_t TailLEDMask = TlRedLEDMask|TlBluLEDMask; //!< LEDs on tail
00130   const LEDBitMask_t AllLEDMask  = ~0; //!< selects all of the leds
00131   //@}
00132 
00133 
00134   // *******************************
00135   //          INPUT OFFSETS
00136   // *******************************
00137 
00138 
00139   //! The order in which inputs should be stored
00140   //!@name Input Offsets
00141 
00142   //! holds offsets to different buttons in WorldState::buttons[]
00143   /*! Should be a straight mapping to the ButtonSourceIDs
00144    *
00145    *  Note that the chest (power) button is not a normal button.  It kills
00146    *  power to the motors at a hardware level, and isn't sensed in the
00147    *  normal way.  If you want to know when it is pressed (and you are
00148    *  about to shut down) see PowerSourceID::PauseSID.
00149    *
00150    *  @see WorldState::buttons @see ButtonSourceID_t */
00151   enum ButtonOffset_t {
00152     LFrPawOffset = LFrLegOrder,
00153     RFrPawOffset = RFrLegOrder,
00154     LBkPawOffset = LBkLegOrder,
00155     RBkPawOffset = RBkLegOrder,
00156     ChinButOffset= 4,
00157     BackButOffset,
00158     HeadFrButOffset, //!< not in reliable pressure units, but 1.0 is fairly stiff pressure, 0 is none
00159     HeadBkButOffset //!< not in reliable pressure units, but 1.0 is fairly stiff pressure, 0 is none
00160   };
00161 
00162   //! holds offset to different sensor values in WorldState::sensors[]
00163   /*! @see WorldState::sensors[] */
00164   enum SensorOffset_t {
00165     IRDistOffset = 0,  //!< in millimeters
00166     BAccelOffset, //!< backward acceleration, in @f$m/s^2@f$, negative if sitting on butt (positive for faceplant)
00167     LAccelOffset, //!< acceleration to the robot's left, in @f$m/s^2@f$, negative if lying on robot's left side
00168     DAccelOffset, //!< downward acceleration, in @f$m/s^2@f$, negative if standing up... be careful about the signs on all of these...
00169     ThermoOffset, //!< in degrees Celcius
00170     PowerRemainOffset, //!< percentage, 0-1
00171     PowerThermoOffset, //!<  degrees Celcius
00172     PowerCapacityOffset, //!< milli-amp hours
00173     PowerVoltageOffset, //!< volts
00174     PowerCurrentOffset //!< milli-amp negative values (maybe positive while charging?)
00175   };
00176 
00177   //@}
00178 
00179 
00180   //! The length of the strings used for each of the outputs in outputNames (doesn't include null term)
00181   const unsigned outputNameLen = 9;
00182   //! A name of uniform length for referring to joints - handy for posture files, etc.
00183   const char* const outputNames[NumOutputs] = {
00184     "LFr:rotor",
00185     "LFr:elvtr",
00186     "LFr:knee~",
00187     "RFr:rotor",
00188     "RFr:elvtr",
00189     "RFr:knee~",
00190     "LBk:rotor",
00191     "LBk:elvtr",
00192     "LBk:knee~",
00193     "RBk:rotor",
00194     "RBk:elvtr",
00195     "RBk:knee~",
00196     
00197     "NECK:tilt",
00198     "NECK:pan~",
00199     "NECK:roll",
00200     
00201     "TAIL:tilt",
00202     "TAIL:pan~",
00203     
00204     "MOUTH~~~~",
00205     
00206     "LED:botL~",
00207     "LED:botR~",
00208     "LED:midL~",
00209     "LED:midR~",
00210     "LED:topL~",
00211     "LED:topR~",
00212     "LED:topBr",
00213     
00214     "LED:tlRed",
00215     "LED:tlBlu",
00216     
00217     "EAR:left~",
00218     "EAR:right"
00219   };
00220   
00221 
00222   //! the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others)
00223   /*!@showinitializer 
00224    * @warning IMPORTANT!!!!  DO NOT CHANGE THE ORDER OF ITEMS IN THIS TABLE!!!\n
00225    *
00226    * The offset consts defined in this file correspond to this table and will make life easier
00227    * if you feel the need to reorder things, but they aren't used perfect @e everywhere \n
00228    * In particular, assumptions are made that the pid joints will be in slots 0-numPIDJoints
00229    * and that the fast outputs (ie NOT ears) will be in slots 0-NumFastOutputs\n
00230    * There may be other assumptions not noted here!!!
00231    * @note These entries DON'T correspond to the CPC index numbers defined in WorldState (this only lists joints, and in a different order defined by OPEN-R, that one has sensors as well*/
00232   const char* const PrimitiveName [NumOutputs] = {
00233     "PRM:/r2/c1-Joint2:j1",       //!< the left front leg   the rotator
00234     "PRM:/r2/c1/c2-Joint2:j2",    //!< the left front leg   the elevator 
00235     "PRM:/r2/c1/c2/c3-Joint2:j3", //!< the left front leg   the knee 
00236     "PRM:/r4/c1-Joint2:j1",       //!< the right front leg   the rotator
00237     "PRM:/r4/c1/c2-Joint2:j2",    //!< the right front leg    the elevator 
00238     "PRM:/r4/c1/c2/c3-Joint2:j3", //!< the right front leg   the knee 
00239     
00240     "PRM:/r3/c1-Joint2:j1",       //!< the left hind leg   the rotator
00241     "PRM:/r3/c1/c2-Joint2:j2",    //!< the left hind leg   the elevator 
00242     "PRM:/r3/c1/c2/c3-Joint2:j3", //!< the left hind leg   the knee
00243     "PRM:/r5/c1-Joint2:j1",       //!< the right hind leg   the rotator
00244     "PRM:/r5/c1/c2-Joint2:j2",    //!< the right hind leg   the elevator 
00245     "PRM:/r5/c1/c2/c3-Joint2:j3", //!< the right hind leg   the knee 
00246 
00247     "PRM:/r1/c1-Joint2:j1",       //!< the neck  tilt (12)
00248     "PRM:/r1/c1/c2-Joint2:j2",    //!< the neck   pan 
00249     "PRM:/r1/c1/c2/c3-Joint2:j3", //!< the neck   roll 
00250     
00251     "PRM:/r6/c2-Joint2:j2",       //!< the tail tilt (15)       // *** NOTE ***
00252     "PRM:/r6/c1-Joint2:j1",       //!< the tail pan             // CHANGE_ET 12/16/01 matches neck order
00253     
00254     "PRM:/r1/c1/c2/c3/c4-Joint2:j4", //!< the mouth (17)
00255     
00256     "PRM:/r1/c1/c2/c3/l1-LED2:l1", //!< lower  left  LED (18)
00257     "PRM:/r1/c1/c2/c3/l4-LED2:l4", //!< lower  right LED
00258     "PRM:/r1/c1/c2/c3/l2-LED2:l2", //!< middle left  LED
00259     "PRM:/r1/c1/c2/c3/l5-LED2:l5", //!< middle right LED
00260     "PRM:/r1/c1/c2/c3/l3-LED2:l3", //!< upper  left  LED
00261     "PRM:/r1/c1/c2/c3/l6-LED2:l6", //!< upper  right LED
00262     "PRM:/r1/c1/c2/c3/l7-LED2:l7", //!< top          LED
00263     
00264     "PRM:/r6/l2-LED2:l2", //!< tail red  LED
00265     "PRM:/r6/l1-LED2:l1", //!< tail blue LED
00266     
00267     "PRM:/r1/c1/c2/c3/e1-Joint3:j5", //!< left ear (27)
00268     "PRM:/r1/c1/c2/c3/e2-Joint3:j6" //!< right ear
00269   };
00270 
00271   //! use to open speaker connectio with the system
00272   const char* const SpeakerLocator="PRM:/r1/c1/c2/c3/s1-Speaker:S1";
00273 
00274   //! use to open camera connection with the system
00275   const char* const CameraLocator="PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1";
00276 
00277   //Old PID table:
00278   /*const word Pid[NumPIDJoints][6] = {
00279     { 0x16, 0x04, 0x08, 0x0E, 0x02, 0x0F },
00280     { 0x14, 0x04, 0x06, 0x0E, 0x02, 0x0F },
00281     { 0x23, 0x04, 0x05, 0x0E, 0x02, 0x0F },
00282     { 0x16, 0x04, 0x08, 0x0E, 0x02, 0x0F },
00283     { 0x14, 0x04, 0x06, 0x0E, 0x02, 0x0F },
00284     { 0x23, 0x04, 0x05, 0x0E, 0x02, 0x0F },
00285     { 0x16, 0x04, 0x08, 0x0E, 0x02, 0x0F },
00286     { 0x14, 0x04, 0x06, 0x0E, 0x02, 0x0F },
00287     { 0x23, 0x04, 0x05, 0x0E, 0x02, 0x0F },
00288     { 0x16, 0x04, 0x08, 0x0E, 0x02, 0x0F },
00289     { 0x14, 0x04, 0x06, 0x0E, 0x02, 0x0F },
00290     { 0x23, 0x04, 0x05, 0x0E, 0x02, 0x0F },
00291     
00292     { 0x0A, 0x08, 0x0C, 0x0E, 0x02, 0x0F },
00293     { 0x0D, 0x08, 0x0B, 0x0E, 0x02, 0x0F },
00294     { 0x10, 0x08, 0x0C, 0x0E, 0x02, 0x0F }, // P was 0x0C, updated as seen on https://www.openr.org/page1_2001/gain.html 8/13/2002
00295     
00296     { 0x0A, 0x00, 0x18, 0x0E, 0x02, 0x0F },
00297     { 0x07, 0x00, 0x11, 0x0E, 0x02, 0x0F },
00298     
00299     { 0x0E, 0x08, 0x10, 0x0E, 0x02, 0x0F }, //  { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
00300   };*/
00301 
00302   //! This table holds the default PID values for each joint.  see PIDMC
00303   const float DefaultPIDs[NumPIDJoints][3] =
00304     {
00305       { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
00306       { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
00307       { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
00308       { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
00309       { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
00310       { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
00311       { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
00312       { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
00313       { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
00314       { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
00315       { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
00316       { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
00317 
00318       { 0x0A/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0C/(double)(1<<(16-0xF)) },
00319       { 0x0D/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0B/(double)(1<<(16-0xF)) },
00320       { 0x0A/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0C/(double)(1<<(16-0xF)) },
00321 
00322       { 0x0A/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x18/(double)(1<<(16-0xF)) },
00323       { 0x07/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x11/(double)(1<<(16-0xF)) },
00324 
00325       { 0x0E/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x10/(double)(1<<(16-0xF)) }
00326     };
00327 
00328   //! These will control the shift values given to the system.  see PIDMC
00329   const unsigned char DefaultPIDShifts[3] = {0x0E, 0x02, 0x0F};
00330     
00331   //!These values are Sony's recommended maximum joint velocities, in rad/ms
00332   /*! a value <= 0 means infinite speed (e.g. LEDs) 
00333    *  
00334    *  These limits are <b>not</b> enforced by the framework.  They are simply available for you to use as you see fit.
00335    *  HeadPointerMC is (as of v1.6) the only included MotionCommand to actually use these values. */
00336   const float MaxOutputSpeed[NumOutputs] = {
00337     2.8143434e-03,     //Legs LR,FB,REK
00338     2.4980025e-03,
00339     2.8361600e-03,
00340     2.8143434e-03,
00341     2.4980025e-03,
00342     2.8361600e-03,
00343     2.8143434e-03,
00344     2.4980025e-03,
00345     2.8361600e-03,
00346     2.8143434e-03,
00347     2.4980025e-03,
00348     2.8361600e-03,
00349   
00350     2.1053034e-03,     //Head TPR
00351     3.0106930e-03,
00352     3.0106930e-03,
00353   
00354     4.4724062e-03,     //Tail
00355     4.4724062e-03,
00356   
00357     4.3742314e-03,     //Mouth
00358     
00359     0,0,0,0,0,0,0,0,0, //LEDs
00360     
00361     0,0                //Ears
00362   };
00363 
00364   #ifndef RAD
00365     //!Just a little macro for converting degrees to radians
00366   #define RAD(deg) (((deg) * M_PI ) / 180.0)
00367     //!a flag so we undef these after we're done - do you have a cleaner solution?
00368   #define __RI_RAD_FLAG
00369   #endif
00370   
00371   //! Defines the indexes to use to access the min and max entries of ERS210Info::outputRanges and ERS210Info::mechanicalLimits
00372   enum MinMaxRange_t { MinRange,MaxRange };
00373 
00374   //! This table holds the software limits of each of the outputs
00375   const double outputRanges[NumOutputs][2] =
00376     {
00377       { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, //left front REK
00378       { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, //right front REK
00379       { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, //left back REK
00380       { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, //right back REK
00381 
00382       { RAD(-82),RAD(43) },{ RAD(-89.6),RAD(89.6) },{ RAD(-29),RAD(29) }, //neck TPR
00383         
00384       { RAD(-22),RAD(22) },{ RAD(-22),RAD(22) }, // tail tp
00385 
00386       { RAD(-47),RAD(-3) }, //mouth
00387 
00388       {0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1}, //LEDs
00389     
00390       {0,1},{0,1} //ears
00391     };
00392 
00393   //! This table holds the mechanical limits of each of the outputs
00394   const double mechanicalLimits[NumOutputs][2] =
00395     {
00396       { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, //left front jsk
00397       { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, //right front jsk
00398       { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, //left back jsk
00399       { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, //right back jsk
00400 
00401       { RAD(-85),RAD(46) },{ RAD(-92.6),RAD(92.6) },{ RAD(-32),RAD(32) }, //neck tpr
00402         
00403       { RAD(-25),RAD(25) },{ RAD(-25),RAD(25) }, // tail tp
00404 
00405       { RAD(-50),RAD(0) }, //mouth
00406 
00407       {0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1}, //LEDs
00408     
00409       {0,1},{0,1} //ears
00410     };
00411 
00412 #ifdef __RI_RAD_FLAG
00413 #undef RAD
00414 #undef __RI_RAD_FLAG
00415 #endif
00416 
00417 #endif //TGT_ERS2xx check
00418 
00419   /*! @name CPC IDs
00420    * values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - DOESN'T correspond to ERS210Info::PrimitiveName */
00421   static const int CPCJointNeckTilt           =  0; // Head
00422   static const int CPCJointNeckPan            =  1;
00423   static const int CPCJointNeckRoll           =  2;
00424   static const int CPCSensorHeadBackPressure  =  3;
00425   static const int CPCSensorHeadFrontPressure =  4;
00426   static const int CPCSensorPSD               =  5;
00427   static const int CPCJointMouth              =  6;
00428   static const int CPCSensorChinSwitch        =  7;
00429   static const int CPCJointLFRotator          =  8; // Left front leg
00430   static const int CPCJointLFElevator         =  9;
00431   static const int CPCJointLFKnee             = 10;
00432   static const int CPCSensorLFPaw             = 11;
00433   static const int CPCJointLHRotator          = 12; // Left hind leg
00434   static const int CPCJointLHElevator         = 13;
00435   static const int CPCJointLHKnee             = 14;
00436   static const int CPCSensorLHPaw             = 15;
00437   static const int CPCJointRFRotator          = 16; // Right front leg
00438   static const int CPCJointRFElevator         = 17;
00439   static const int CPCJointRFKnee             = 18;
00440   static const int CPCSensorRFPaw             = 19;
00441   static const int CPCJointRHRotator          = 20; // Right hind leg
00442   static const int CPCJointRHElevator         = 21;
00443   static const int CPCJointRHKnee             = 22;
00444   static const int CPCSensorRHPaw             = 23;
00445   static const int CPCJointTailPan            = 24; // Tail
00446   static const int CPCJointTailTilt           = 25;
00447   static const int CPCSensorThermoSensor      = 26;
00448   static const int CPCSensorBackSwitch        = 27;
00449   static const int CPCSensorAccelFB           = 28; //!< Front-back; see RobotInfo::BAccelOffset 
00450   static const int CPCSensorAccelLR           = 29; //!< Left-right; see RobotInfo::LAccelOffset 
00451   static const int CPCSensorAccelUD           = 30; //!< Up-down; see RobotInfo::DAccelOffset 
00452   //@}
00453 
00454 }
00455   
00456 /*! @file
00457  * @brief Defines RobotInfo namespace for ERS-210 models, gives some information about the robot's capabilities, such as joint counts, offsets, names and PID values
00458  * @author ejt (Creator)
00459  *
00460  * $Author: ejt $
00461  * $Name: tekkotsu-2_1 $
00462  * $Revision: 1.12 $
00463  * $State: Exp $
00464  * $Date: 2004/02/09 22:45:28 $
00465  */
00466 
00467 #endif

Tekkotsu v2.1
Generated Tue Mar 16 23:19:13 2004 by Doxygen 1.3.5