Reference

ERS210Info Namespace Reference

Detailed Description

Contains information about the ERS-210 Robot, such as number of joints, PID defaults, timing information, etc.

LED Bitmasks

Bitmasks for use when specifying combinations of LEDs (see LedEngine ) Note that left/right are robot's point of view

typedef unsigned int LEDBitMask_t

So you can be clear when you're refering to a LED bitmask.

const LEDBitMask_t BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset)

bottom left (red - sad)

const LEDBitMask_t BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset)

bottom right (red - sad)

const LEDBitMask_t MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset)

middle left (green - happy)

const LEDBitMask_t MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset)

middle right (green - happy)

const LEDBitMask_t TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset)

top left (red - angry)

const LEDBitMask_t TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset)

top right (red - angry)

const LEDBitMask_t TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset)

top bar (green)

const LEDBitMask_t TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset)

red tail light

const LEDBitMask_t TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset)

blue tail light

const LEDBitMask_t FaceLEDMask

LEDs for face (all but tail).

const LEDBitMask_t HeadLEDMask

LEDs for face (all but tail).

const LEDBitMask_t BackLEDMask = 0

210 has no back LEDs

const LEDBitMask_t TailLEDMask = TlRedLEDMask|TlBluLEDMask

LEDs on tail.

const LEDBitMask_t AllLEDMask = (LEDBitMask_t)~0

selects all of the leds

Output Offsets

Corresponds to entries in ERS210Info::PrimitiveName, defined at the end of this file

enum LegOffset_t { LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg, RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg }

The offsets of the individual legs. More...

const unsigned PIDJointOffset = 0

The beginning of the PID Joints.

const unsigned LegOffset = PIDJointOffset

the offset of the beginning of the leg joints

const unsigned HeadOffset = LegOffset+NumLegJoints

the offset of the beginning of the head joints

const unsigned TailOffset = HeadOffset+NumHeadJoints

the offset of the beginning of the tail joints

const unsigned MouthOffset = TailOffset+NumTailJoints

the offset of the beginning of the mouth joint

const unsigned LEDOffset = PIDJointOffset + NumPIDJoints

the offset of LEDs in WorldState::outputs and MotionCommand functions

const unsigned BinJointOffset = LEDOffset + NumLEDs

The beginning of the binary joints.

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

const unsigned BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

const unsigned PawFrameOffset = BaseFrameOffset+1

Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw).

const unsigned CameraFrameOffset = PawFrameOffset+NumLegs

Use with kinematics to refer to camera reference frame.

const unsigned IRFrameOffset = CameraFrameOffset+1

Use with kinematics to refer to infrared (distance) sensor reference frame.

Input Offsets

The order in which inputs should be stored

enum ButtonOffset_t {
  LFrPawOffset = LFrLegOrder, RFrPawOffset = RFrLegOrder, LBkPawOffset = LBkLegOrder, RBkPawOffset = RBkLegOrder,
  ChinButOffset = 4, BackButOffset, HeadFrButOffset, HeadButOffset = HeadFrButOffset,
  HeadBkButOffset
}

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

enum SensorOffset_t {
  IRDistOffset = 0, BAccelOffset, LAccelOffset, DAccelOffset,
  ThermoOffset, PowerRemainOffset, PowerThermoOffset, PowerCapacityOffset,
  PowerVoltageOffset, PowerCurrentOffset
}

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

const char *const buttonNames [NumButtons]

Provides a string name for each button.

const char *const sensorNames [NumSensors]

Provides a string name for each sensor.

Output Types Information

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

const unsigned JointsPerLeg = 3

The number of joints per leg.

const unsigned NumLegs = 4

The number of legs.

const unsigned NumLegJoints = JointsPerLeg*NumLegs

the TOTAL number of joints on ALL legs

const unsigned NumHeadJoints = 3

The number of joints in the neck.

const unsigned NumTailJoints = 2

The number of joints assigned to the tail.

const unsigned NumMouthJoints = 1

the number of joints that control the mouth

const unsigned NumEarJoints = 2

The number of joints which control the ears (NOT per ear, is total).

const unsigned NumButtons = 8

the number of buttons that are available, see ERS210Info::ButtonOffset_t

const unsigned NumSensors = 1+3+1+5

1 dist, 3 accel, 1 thermo, 5 from power, see ERS210Info::SensorOffset_t

const unsigned NumLEDs = 9

The number of LEDs which can be controlled.

const unsigned NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints

The number of joints which use PID motion - everything except ears.

const unsigned NumBinJoints = NumEarJoints

The number of binary joints - just the ears.

const unsigned NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs

the total number of outputs

const unsigned NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 1

for the base, paw, camera, and IR sensor reference frames

const float CameraHorizFOV = 57.6/180*M_PI

horizontal field of view (radians)

const float CameraVertFOV = 47.8/180*M_PI

vertical field of view (radians)

const float CameraFOV = CameraHorizFOV

should be set to maximum of CameraHorizFOV or CameraVertFOV

const unsigned int CameraResolutionX = 176

the number of pixels available in the 'full' layer

const unsigned int CameraResolutionY = 144

the number of pixels available in the 'full' layer

const float BallOfFootRadius = 27.922/2

radius of the ball of the foot

const float CylinderOfFootRadius = 24.606/2

radius of the cylinder of the foot

const bool IsFastOutput [NumOutputs]

true for joints which can be updated every 32 ms (all but the ears)

const bool IsRealERS210 [NumOutputs]

we need this so you can tell programmatically which joints are "real" and which are "fake" in ERS-2xx target mode

CPC IDs

values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - DOESN'T correspond to ERS210Info::PrimitiveName

static const int CPCJointNeckTilt = 0

static const int CPCJointNeckPan = 1

static const int CPCJointNeckRoll = 2

static const int CPCSensorHeadBackPressure = 3

static const int CPCSensorHeadFrontPressure = 4

static const int CPCSensorPSD = 5

static const int CPCJointMouth = 6

static const int CPCSensorChinSwitch = 7

static const int CPCJointLFRotator = 8

static const int CPCJointLFElevator = 9

static const int CPCJointLFKnee = 10

static const int CPCSensorLFPaw = 11

static const int CPCJointLHRotator = 12

static const int CPCJointLHElevator = 13

static const int CPCJointLHKnee = 14

static const int CPCSensorLHPaw = 15

static const int CPCJointRFRotator = 16

static const int CPCJointRFElevator = 17

static const int CPCJointRFKnee = 18

static const int CPCSensorRFPaw = 19

static const int CPCJointRHRotator = 20

static const int CPCJointRHElevator = 21

static const int CPCJointRHKnee = 22

static const int CPCSensorRHPaw = 23

static const int CPCJointTailPan = 24

static const int CPCJointTailTilt = 25

static const int CPCSensorThermoSensor = 26

static const int CPCSensorBackSwitch = 27

static const int CPCSensorAccelFB = 28

Front-back; see RobotInfo::BAccelOffset.

static const int CPCSensorAccelLR = 29

Left-right; see RobotInfo::LAccelOffset.

static const int CPCSensorAccelUD = 30

Up-down; see RobotInfo::DAccelOffset.

Enumerations

enum LEDOffset_t {
  BotLLEDOffset = LEDOffset, BotRLEDOffset, MidLLEDOffset, MidRLEDOffset,
  TopLLEDOffset, TopRLEDOffset, TopBrLEDOffset, TlRedLEDOffset,
  TlBluLEDOffset, FaceFrontLeftLEDOffset = BotLLEDOffset, FaceFrontRightLEDOffset = BotRLEDOffset, FaceCenterLeftLEDOffset = MidLLEDOffset,
  FaceCenterRightLEDOffset = MidRLEDOffset, FaceBackLeftLEDOffset = TopLLEDOffset, FaceBackRightLEDOffset = TopRLEDOffset, ModeLEDOffset = TopBrLEDOffset,
  TailRightLEDOffset = TlRedLEDOffset, TailLeftLEDOffset = TlBluLEDOffset
}

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. More...

Variables

const char *const RobotName = "ERS-210"

the name of the model, to be used for logging and remote GUIs

const unsigned int FrameTime = 8

time between frames in the motion system (milliseconds)

const unsigned int NumFrames = 4

the number of frames per buffer (don't forget also double buffered)

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)

const unsigned int NumSlowFrames = 1

the number of frames per buffer being sent to ears (double buffered as well)

const unsigned int SoundBufferTime = 32

the number of milliseconds per sound buffer... I'm not sure if this can be changed

const unsigned outputNameLen = 9

The length of the strings used for each of the outputs in outputNames (doesn't include null term).

const char *const outputNames [NumOutputs]

A name of uniform length for referring to joints - handy for posture files, etc.

const char *const PrimitiveName [NumOutputs]

the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others)

const char *const SpeakerLocator = "PRM:/r1/c1/c2/c3/s1-Speaker:S1"

use to open speaker connectio with the system

const char *const CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1"

use to open camera connection with the system

const float DefaultPIDs [NumPIDJoints][3]

This table holds the default PID values for each joint. see PIDMC.

const unsigned char DefaultPIDShifts [3] = {0x0E, 0x02, 0x0F}

These will control the shift values given to the system. see PIDMC.

const float MaxOutputSpeed [NumOutputs]

These values are Sony's recommended maximum joint velocities, in rad/ms.

const double outputRanges [NumOutputs][2]

This table holds the software limits of each of the outputs.

const double mechanicalLimits [NumOutputs][2]

This table holds the mechanical limits of each of the outputs.

Typedef Documentation

typedef unsigned int ERS210Info::LEDBitMask_t

So you can be clear when you're refering to a LED bitmask.

Definition at line 133 of file ERS210Info.h.

Enumeration Type Documentation

enum ERS210Info::LegOffset_t

The offsets of the individual legs.

Enumerator:

LFrLegOffset	beginning of left front leg
RFrLegOffset	beginning of right front leg
LBkLegOffset	beginning of left back leg
RBkLegOffset	beginning of right back leg

Definition at line 98 of file ERS210Info.h.

enum ERS210Info::LEDOffset_t

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.

Enumerator:

BotLLEDOffset	bottom left (red - sad)
BotRLEDOffset	bottom right (red - sad)
MidLLEDOffset	middle left (green - happy)
MidRLEDOffset	middle right (green - happy)
TopLLEDOffset	top left (red - angry)
TopRLEDOffset	top right (red - angry)
TopBrLEDOffset	top bar (green)
TlRedLEDOffset	red tail light
TlBluLEDOffset	blue tail light
FaceFrontLeftLEDOffset	alias for 220 cross-compatibility
FaceFrontRightLEDOffset	alias for 220 cross-compatibility
FaceCenterLeftLEDOffset	alias for 220 cross-compatibility
FaceCenterRightLEDOffset	alias for 220 cross-compatibility
FaceBackLeftLEDOffset	alias for 220 cross-compatibility
FaceBackRightLEDOffset	alias for 220 cross-compatibility
ModeLEDOffset	alias for 220 cross-compatibility
TailRightLEDOffset	alias for 220 cross-compatibility
TailLeftLEDOffset	alias for 220 cross-compatibility

Definition at line 108 of file ERS210Info.h.

enum ERS210Info::ButtonOffset_t

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 PowerSourceID::PauseSID.

See also:: WorldState::buttons
ButtonSourceID_t

Enumerator:

LFrPawOffset
RFrPawOffset
LBkPawOffset
RBkPawOffset
ChinButOffset
BackButOffset
HeadFrButOffset	not in reliable pressure units, but 1.0 is fairly stiff pressure, 0 is none
HeadButOffset	for ERS-7 compatibility
HeadBkButOffset	not in reliable pressure units, but 1.0 is fairly stiff pressure, 0 is none

Definition at line 181 of file ERS210Info.h.

enum ERS210Info::SensorOffset_t

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

See also:: WorldState::sensors[]

Enumerator:

IRDistOffset	in millimeters
BAccelOffset	backward acceleration, in , negative if sitting on butt (positive for faceplant)
LAccelOffset	acceleration to the robot's left, in , negative if lying on robot's left side
DAccelOffset	downward acceleration, in , negative if standing up... be careful about the signs on all of these...
ThermoOffset	in degrees Celcius
PowerRemainOffset	percentage, 0-1
PowerThermoOffset	degrees Celcius
PowerCapacityOffset	milli-amp hours
PowerVoltageOffset	volts
PowerCurrentOffset	milli-amp negative values (maybe positive while charging?)