Reference

ERS220Info Namespace Reference

Detailed Description

Contains information about the ERS-220 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 FaceFrontLeftLEDMask = 1<<(FaceFrontLeftLEDOffset-LEDOffset)

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

const LEDBitMask_t FaceFrontRightLEDMask = 1<<(FaceFrontRightLEDOffset-LEDOffset)

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

const LEDBitMask_t FaceCenterLeftLEDMask = 1<<(FaceCenterLeftLEDOffset-LEDOffset)

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

const LEDBitMask_t FaceCenterRightLEDMask = 1<<(FaceCenterRightLEDOffset-LEDOffset)

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

const LEDBitMask_t FaceBackLeftLEDMask = 1<<(FaceBackLeftLEDOffset-LEDOffset)

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

const LEDBitMask_t FaceBackRightLEDMask = 1<<(FaceBackRightLEDOffset-LEDOffset)

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

const LEDBitMask_t ModeLEDMask = 1<<(ModeLEDOffset-LEDOffset)

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

const LEDBitMask_t BackLeft1LEDMask = 1<<(BackLeft1LEDOffset-LEDOffset)

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

const LEDBitMask_t BackLeft2LEDMask = 1<<(BackLeft2LEDOffset-LEDOffset)

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

const LEDBitMask_t BackLeft3LEDMask = 1<<(BackLeft3LEDOffset-LEDOffset)

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

const LEDBitMask_t BackRight3LEDMask = 1<<(BackRight3LEDOffset-LEDOffset)

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

const LEDBitMask_t BackRight2LEDMask = 1<<(BackRight2LEDOffset-LEDOffset)

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

const LEDBitMask_t BackRight1LEDMask = 1<<(BackRight1LEDOffset-LEDOffset)

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

const LEDBitMask_t TailLeftLEDMask = 1<<(TailLeftLEDOffset-LEDOffset)

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

const LEDBitMask_t TailCenterLEDMask = 1<<(TailCenterLEDOffset-LEDOffset)

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

const LEDBitMask_t TailRightLEDMask = 1<<(TailRightLEDOffset-LEDOffset)

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

const LEDBitMask_t FaceFrontBLEDMask = 1<<(FaceFrontBLEDOffset-LEDOffset)

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

const LEDBitMask_t FaceFrontALEDMask = 1<<(FaceFrontALEDOffset-LEDOffset)

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

const LEDBitMask_t FaceFrontCLEDMask = 1<<(FaceFrontCLEDOffset-LEDOffset)

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

const LEDBitMask_t RetractableHeadLEDMask = 1<<(RetractableHeadLEDOffset-LEDOffset)

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.

const LEDBitMask_t HeadLEDMask = FaceLEDMask | RetractableHeadLEDMask

LEDs on head (face plus retractable light).

const LEDBitMask_t BackLEDMask

LEDs on back.

const LEDBitMask_t TailLEDMask

LEDs for tail.

const LEDBitMask_t AllLEDMask = (LEDBitMask_t)~0

selects all of the leds

Output Offsets

Corresponds to entries in ERS220Info::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 LEDOffset = PIDJointOffset + NumPIDJoints

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

const unsigned BinJointOffset = NumOutputs

The beginning of the binary joints.

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, TailLeftButOffset, TailCenterButOffset, TailRightButOffset
}

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 = 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 = 11

the number of buttons that are available, see ERS220Info::ButtonOffset_t

const unsigned NumSensors = 1+3+1+5

1 dist, 3 accel, 1 thermo, 5 from power, see ERS220Info::SensorOffset_t

const unsigned NumLEDs = 20

The number of LEDs which can be controlled.

const unsigned NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints

The number of joints which use PID motion - everything.

const unsigned NumBinJoints = NumEarJoints

The number of binary joints - just the ears (which the 220 doesn't have).

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 (true for all)

const bool IsRealERS220 [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 ERS220Info::PrimitiveName

static const int CPCJointNeckTilt = 0

static const int CPCJointNeckPan = 1

static const int CPCJointNeckRoll = 2

static const int CPCSensorPSD = 3

static const int CPCSensorHeadBackPressure = 4

static const int CPCSensorHeadFrontPressure = 5

static const int CPCSensorChinSwitch = 6

static const int CPCJointLFRotator = 7

static const int CPCJointLFElevator = 8

static const int CPCJointLFKnee = 9

static const int CPCSensorLFPaw = 10

static const int CPCJointLHRotator = 11

static const int CPCJointLHElevator = 12

static const int CPCJointLHKnee = 13

static const int CPCSensorLHPaw = 14

static const int CPCJointRFRotator = 15

static const int CPCJointRFElevator = 16

static const int CPCJointRFKnee = 17

static const int CPCSensorRFPaw = 18

static const int CPCJointRHRotator = 19

static const int CPCJointRHElevator = 20

static const int CPCJointRHKnee = 21

static const int CPCSensorRHPaw = 22

static const int CPCSensorThermoSensor = 23

static const int CPCSensorBackSwitch = 24

static const int CPCSensorTailLeftSwitch = 25

static const int CPCSensorTailCenterSwitch = 26

static const int CPCSensorTailRightSwitch = 27

static const int CPCSensorAccelFB = 28

static const int CPCSensorAccelLR = 29

static const int CPCSensorAccelUD = 30

Enumerations

enum LEDOffset_t {
  FaceFrontLeftLEDOffset = LEDOffset, FaceFrontRightLEDOffset, FaceCenterLeftLEDOffset, FaceCenterRightLEDOffset,
  FaceBackLeftLEDOffset, FaceBackRightLEDOffset, ModeLEDOffset, BackLeft1LEDOffset,
  BackLeft2LEDOffset, BackLeft3LEDOffset, BackRight3LEDOffset, BackRight2LEDOffset,
  BackRight1LEDOffset, TailLeftLEDOffset, TailCenterLEDOffset, TailRightLEDOffset,
  FaceFrontBLEDOffset, FaceFrontALEDOffset, FaceFrontCLEDOffset, RetractableHeadLEDOffset,
  BotLLEDOffset = FaceFrontLeftLEDOffset, BotRLEDOffset = FaceFrontRightLEDOffset, MidLLEDOffset = FaceCenterLeftLEDOffset, MidRLEDOffset = FaceCenterRightLEDOffset,
  TopLLEDOffset = FaceBackLeftLEDOffset, TopRLEDOffset = FaceBackRightLEDOffset, TopBrLEDOffset = ModeLEDOffset, TlBluLEDOffset = TailLeftLEDOffset,
  TlRedLEDOffset = TailRightLEDOffset
}

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-220"

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 ERS220Info::LEDBitMask_t

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

Definition at line 175 of file ERS220Info.h.

Enumeration Type Documentation

enum ERS220Info::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 129 of file ERS220Info.h.

enum ERS220Info::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:

FaceFrontLeftLEDOffset	head face side light (front left - blue)
FaceFrontRightLEDOffset	head face side light (front right - blue)
FaceCenterLeftLEDOffset	head face side light (center left - blue)
FaceCenterRightLEDOffset	head face side light (center right - blue)
FaceBackLeftLEDOffset	head face side light (back left - red)
FaceBackRightLEDOffset	head face side light (back right - red)
ModeLEDOffset	mode indicator (back of the head - orange)
BackLeft1LEDOffset	back multi-indicator (left #1 - blue)
BackLeft2LEDOffset	back multi-indicator (left #2 - blue)
BackLeft3LEDOffset	back multi-indicator (left #3 - blue)
BackRight3LEDOffset	back multi-indicator (right #3 - blue)
BackRight2LEDOffset	back multi-indicator (right #2 - blue)
BackRight1LEDOffset	back multi-indicator (right #1 - blue)
TailLeftLEDOffset	tail light (left - blue)
TailCenterLEDOffset	tail light (center - red)
TailRightLEDOffset	tail light (right - blue)
FaceFrontBLEDOffset	face front light B (blue)
FaceFrontALEDOffset	face front light A (blue)
FaceFrontCLEDOffset	face front light C (red)
RetractableHeadLEDOffset	retractable head light
BotLLEDOffset	bottom left (red - sad) (ERS-210)
BotRLEDOffset	bottom right (red - sad) (ERS-210)
MidLLEDOffset	middle left (green - happy) (ERS-210)
MidRLEDOffset	middle right (green - happy) (ERS-210)
TopLLEDOffset	top left (red - angry) (ERS-210)
TopRLEDOffset	top right (red - angry) (ERS-210)
TopBrLEDOffset	top bar (green) (ERS-210)
TlBluLEDOffset	blue tail light (ERS-210)
TlRedLEDOffset	red tail light (ERS-210)

Definition at line 139 of file ERS220Info.h.

enum ERS220Info::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	for the "antenna" - this is <.2 if pushed back all the way
HeadButOffset	for ERS-7 compatibility
HeadBkButOffset	for the "antenna" - this is >.98 if pulled forward, <.2 if pushed back partly
TailLeftButOffset
TailCenterButOffset
TailRightButOffset

Definition at line 262 of file ERS220Info.h.

enum ERS220Info::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?)

Definition at line 286 of file ERS220Info.h.

Variable Documentation

const char* const ERS220Info::RobotName = "ERS-220"

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

Definition at line 32 of file ERS220Info.h.

const unsigned int ERS220Info::FrameTime = 8

time between frames in the motion system (milliseconds)

Definition at line 34 of file ERS220Info.h.

const unsigned int ERS220Info::NumFrames = 4

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

Definition at line 35 of file ERS220Info.h.

const unsigned int ERS220Info::SlowFrameTime = 128

time between frames for the ears (which move slower for some reason, don't want to mix with other outputs) (milliseconds)

Definition at line 36 of file ERS220Info.h.

const unsigned int ERS220Info::NumSlowFrames = 1

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

Definition at line 37 of file ERS220Info.h.

const unsigned int ERS220Info::SoundBufferTime = 32

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

Definition at line 38 of file ERS220Info.h.

const unsigned ERS220Info::JointsPerLeg = 3

The number of joints per leg.

Definition at line 43 of file ERS220Info.h.

const unsigned ERS220Info::NumLegs = 4

The number of legs.

Definition at line 44 of file ERS220Info.h.

const unsigned ERS220Info::NumLegJoints = JointsPerLeg*NumLegs

the TOTAL number of joints on ALL legs

Definition at line 45 of file ERS220Info.h.

const unsigned ERS220Info::NumHeadJoints = 3

The number of joints in the neck.

Definition at line 46 of file ERS220Info.h.

const unsigned ERS220Info::NumTailJoints = 0

The number of joints assigned to the tail.

Definition at line 47 of file ERS220Info.h.

const unsigned ERS220Info::NumMouthJoints = 0

the number of joints that control the mouth

Definition at line 48 of file ERS220Info.h.

const unsigned ERS220Info::NumEarJoints = 0

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

Definition at line 49 of file ERS220Info.h.

const unsigned ERS220Info::NumButtons = 11

the number of buttons that are available, see ERS220Info::ButtonOffset_t

Definition at line 50 of file ERS220Info.h.

const unsigned ERS220Info::NumSensors = 1+3+1+5

1 dist, 3 accel, 1 thermo, 5 from power, see ERS220Info::SensorOffset_t

Definition at line 51 of file ERS220Info.h.

const unsigned ERS220Info::NumLEDs = 20

The number of LEDs which can be controlled.

Definition at line 52 of file ERS220Info.h.

const unsigned ERS220Info::NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints

The number of joints which use PID motion - everything.

Definition at line 54 of file ERS220Info.h.

const unsigned ERS220Info::NumBinJoints = NumEarJoints

The number of binary joints - just the ears (which the 220 doesn't have).

Definition at line 55 of file ERS220Info.h.

const unsigned ERS220Info::NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs

the total number of outputs

Definition at line 56 of file ERS220Info.h.

const unsigned ERS220Info::NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 1

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

Definition at line 57 of file ERS220Info.h.

const float ERS220Info::CameraHorizFOV = 57.6/180*M_PI

horizontal field of view (radians)

Definition at line 59 of file ERS220Info.h.

const float ERS220Info::CameraVertFOV = 47.8/180*M_PI

vertical field of view (radians)

Definition at line 60 of file ERS220Info.h.

const float ERS220Info::CameraFOV = CameraHorizFOV

should be set to maximum of CameraHorizFOV or CameraVertFOV

Definition at line 61 of file ERS220Info.h.

const unsigned int ERS220Info::CameraResolutionX = 176

the number of pixels available in the 'full' layer

Definition at line 62 of file ERS220Info.h.

const unsigned int ERS220Info::CameraResolutionY = 144

the number of pixels available in the 'full' layer

Definition at line 63 of file ERS220Info.h.

const float ERS220Info::BallOfFootRadius = 27.922/2

radius of the ball of the foot

Definition at line 64 of file ERS220Info.h.

const float ERS220Info::CylinderOfFootRadius = 24.606/2

radius of the cylinder of the foot

Definition at line 65 of file ERS220Info.h.

const bool ERS220Info::IsFastOutput[NumOutputs]

Initial value:

 {
    
    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, true, true,           
    true, true, true,           
    true,                       
    
  }

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

Definition at line 68 of file ERS220Info.h.

const bool ERS220Info::IsRealERS220[NumOutputs]

Initial value:

 {
    
    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, true, true,           
    true, true, true,           
    true,                       
    
  }

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

Definition at line 88 of file ERS220Info.h.

const unsigned ERS220Info::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 115 of file ERS220Info.h.

const unsigned ERS220Info::LegOffset = PIDJointOffset

the offset of the beginning of the leg joints

Definition at line 116 of file ERS220Info.h.

const unsigned ERS220Info::HeadOffset = LegOffset+NumLegJoints

the offset of the beginning of the head joints

Definition at line 117 of file ERS220Info.h.

const unsigned ERS220Info::LEDOffset = PIDJointOffset + NumPIDJoints

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

Definition at line 119 of file ERS220Info.h.

const unsigned ERS220Info::BinJointOffset = NumOutputs

The beginning of the binary joints.

Definition at line 121 of file ERS220Info.h.

const unsigned ERS220Info::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 123 of file ERS220Info.h.

const unsigned ERS220Info::PawFrameOffset = BaseFrameOffset+1

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

Definition at line 124 of file ERS220Info.h.

const unsigned ERS220Info::CameraFrameOffset = PawFrameOffset+NumLegs

Use with kinematics to refer to camera reference frame.

Definition at line 125 of file ERS220Info.h.

const unsigned ERS220Info::IRFrameOffset = CameraFrameOffset+1

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

Definition at line 126 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceFrontLeftLEDMask = 1<<(FaceFrontLeftLEDOffset-LEDOffset)

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

Definition at line 176 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceFrontRightLEDMask = 1<<(FaceFrontRightLEDOffset-LEDOffset)

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

Definition at line 177 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceCenterLeftLEDMask = 1<<(FaceCenterLeftLEDOffset-LEDOffset)

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

Definition at line 178 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceCenterRightLEDMask = 1<<(FaceCenterRightLEDOffset-LEDOffset)

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

Definition at line 179 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceBackLeftLEDMask = 1<<(FaceBackLeftLEDOffset-LEDOffset)

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

Definition at line 180 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceBackRightLEDMask = 1<<(FaceBackRightLEDOffset-LEDOffset)

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

Definition at line 181 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::ModeLEDMask = 1<<(ModeLEDOffset-LEDOffset)

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

Definition at line 182 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BackLeft1LEDMask = 1<<(BackLeft1LEDOffset-LEDOffset)

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

Definition at line 183 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BackLeft2LEDMask = 1<<(BackLeft2LEDOffset-LEDOffset)

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

Definition at line 184 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BackLeft3LEDMask = 1<<(BackLeft3LEDOffset-LEDOffset)

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

Definition at line 185 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BackRight3LEDMask = 1<<(BackRight3LEDOffset-LEDOffset)

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

Definition at line 186 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BackRight2LEDMask = 1<<(BackRight2LEDOffset-LEDOffset)

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

Definition at line 187 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BackRight1LEDMask = 1<<(BackRight1LEDOffset-LEDOffset)

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

Definition at line 188 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TailLeftLEDMask = 1<<(TailLeftLEDOffset-LEDOffset)

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

Definition at line 189 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TailCenterLEDMask = 1<<(TailCenterLEDOffset-LEDOffset)

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

Definition at line 190 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TailRightLEDMask = 1<<(TailRightLEDOffset-LEDOffset)

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

Definition at line 191 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceFrontBLEDMask = 1<<(FaceFrontBLEDOffset-LEDOffset)

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

Definition at line 192 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceFrontALEDMask = 1<<(FaceFrontALEDOffset-LEDOffset)

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

Definition at line 193 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceFrontCLEDMask = 1<<(FaceFrontCLEDOffset-LEDOffset)

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

Definition at line 194 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::RetractableHeadLEDMask = 1<<(RetractableHeadLEDOffset-LEDOffset)

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

Definition at line 195 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset)

bottom left (red - sad)

Definition at line 198 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset)

bottom right (red - sad)

Definition at line 199 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset)

middle left (green - happy)

Definition at line 200 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset)

middle right (green - happy)

Definition at line 201 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset)

top left (red - angry)

Definition at line 202 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset)

top right (red - angry)

Definition at line 203 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset)

top bar (green)

Definition at line 204 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset)

red tail light

Definition at line 205 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset)

blue tail light

Definition at line 206 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::FaceLEDMask

Initial value:

 FaceFrontLeftLEDMask
  | FaceFrontRightLEDMask
  | FaceCenterLeftLEDMask
  | FaceCenterRightLEDMask
  | FaceBackLeftLEDMask
  | FaceBackRightLEDMask
  | FaceFrontALEDMask
  | FaceFrontBLEDMask
  | FaceFrontCLEDMask
  | ModeLEDMask

LEDs for face.

Definition at line 210 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::HeadLEDMask = FaceLEDMask | RetractableHeadLEDMask

LEDs on head (face plus retractable light).

Definition at line 223 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::BackLEDMask

Initial value:

 BackLeft1LEDMask
  | BackLeft2LEDMask
  | BackLeft3LEDMask
  | BackRight1LEDMask
  | BackRight2LEDMask
  | BackRight3LEDMask

LEDs on back.

Definition at line 227 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::TailLEDMask

Initial value:

 TailLeftLEDMask
  | TailCenterLEDMask
  | TailRightLEDMask

LEDs for tail.

Definition at line 236 of file ERS220Info.h.

const LEDBitMask_t ERS220Info::AllLEDMask = (LEDBitMask_t)~0

selects all of the leds

Definition at line 241 of file ERS220Info.h.

const char* const ERS220Info::buttonNames[NumButtons]

Initial value:

 {
    "LFrPaw","RFrPaw","LBkPaw","RBkPaw",
    "ChinBut","BackBut","HeadFrBut","HeadBkBut",
    "TailLeftBut","TailCenterBut","TailRightBut"
  }

Provides a string name for each button.

Definition at line 278 of file ERS220Info.h.

const char* const ERS220Info::sensorNames[NumSensors]

Initial value:

 {
    "IRDist",
    "BAccel","LAccel","DAccel",
    "Thermo",
    "PowerRemain","PowerThermo","PowerCapacity","PowerVoltage","PowerCurrent"
  }

Provides a string name for each sensor.

Definition at line 300 of file ERS220Info.h.

const unsigned ERS220Info::outputNameLen = 9

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

Definition at line 311 of file ERS220Info.h.

const char* const ERS220Info::outputNames[NumOutputs]

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

Definition at line 313 of file ERS220Info.h.

const char* const ERS220Info::PrimitiveName[NumOutputs]

Initial value:

 {
    "PRM:/r2/c1-Joint2:j1",       
    "PRM:/r2/c1/c2-Joint2:j2",    
    "PRM:/r2/c1/c2/c3-Joint2:j3", 
    "PRM:/r4/c1-Joint2:j1",       
    "PRM:/r4/c1/c2-Joint2:j2",    
    "PRM:/r4/c1/c2/c3-Joint2:j3", 
    
    "PRM:/r3/c1-Joint2:j1",       
    "PRM:/r3/c1/c2-Joint2:j2",    
    "PRM:/r3/c1/c2/c3-Joint2:j3", 
    "PRM:/r5/c1-Joint2:j1",       
    "PRM:/r5/c1/c2-Joint2:j2",    
    "PRM:/r5/c1/c2/c3-Joint2:j3", 

    "PRM:/r1/c1-Joint2:j1",       
    "PRM:/r1/c1/c2-Joint2:j2",    
    "PRM:/r1/c1/c2/c3-Joint2:j3", 
        
    "PRM:/r1/c1/c2/c3/l1-LED2:l1", 
    "PRM:/r1/c1/c2/c3/l4-LED2:l4", 
    "PRM:/r1/c1/c2/c3/l2-LED2:l2", 
    "PRM:/r1/c1/c2/c3/l5-LED2:l5", 
    "PRM:/r1/c1/c2/c3/l3-LED2:l3", 
    "PRM:/r1/c1/c2/c3/l6-LED2:l6", 
    "PRM:/r1/c1/c2/c3/l7-LED2:l7", 
    
    "PRM:/r6/l1-LED2:l1", 
    "PRM:/r6/l2-LED2:l2", 
    "PRM:/r6/l3-LED2:l3", 
    "PRM:/r6/l4-LED2:l4", 
    "PRM:/r6/l5-LED2:l5", 
    "PRM:/r6/l6-LED2:l6", 
 
    "PRM:/r6/l9-LED2:l9", 
    "PRM:/r6/l7-LED2:l7", 
    "PRM:/r6/l8-LED2:l8", 
 
    "PRM:/r1/c1/c2/c3/l8-LED2:l8", 
    "PRM:/r1/c1/c2/c3/l9-LED2:l9", 
    "PRM:/r1/c1/c2/c3/la-LED2:la", 
    "PRM:/r1/c1/c2/c3/lb-LED2:lb", 
  }

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

Warning:: IMPORTANT!!!! DO NOT CHANGE THE ORDER OF ITEMS IN THIS TABLE!!!

The offset consts defined in this file correspond to this table and will make life easier if you feel the need to reorder things, but they aren't used perfect everywhere
In particular, assumptions are made that the pid joints will be in slots 0-numPIDJoints and that the fast outputs (ie NOT ears) will be in slots 0-NumFastOutputs
There may be other assumptions not noted here!!!

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

Definition at line 365 of file ERS220Info.h.

const char* const ERS220Info::SpeakerLocator = "PRM:/r1/c1/c2/c3/s1-Speaker:S1"

use to open speaker connectio with the system

Definition at line 410 of file ERS220Info.h.

const char* const ERS220Info::CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1"

use to open camera connection with the system

Definition at line 413 of file ERS220Info.h.

const float ERS220Info::DefaultPIDs[NumPIDJoints][3]

Initial value:

    {
      { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
      { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
      { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
      { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
      { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
      { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
      { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
      { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
      { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
      { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
      { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
      { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },

      { 0x0A/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0C/(double)(1<<(16-0xF)) },
      { 0x0D/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0B/(double)(1<<(16-0xF)) },
      { 0x0A/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0C/(double)(1<<(16-0xF)) }





    }

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

Definition at line 441 of file ERS220Info.h.

const unsigned char ERS220Info::DefaultPIDShifts[3] = {0x0E, 0x02, 0x0F}

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

Definition at line 467 of file ERS220Info.h.

const float ERS220Info::MaxOutputSpeed[NumOutputs]

Initial value:

 {
    2.8143434e-03,     
    2.4980025e-03,
    2.8361600e-03,
    2.8143434e-03,
    2.4980025e-03,
    2.8361600e-03,
    2.8143434e-03,
    2.4980025e-03,
    2.8361600e-03,
    2.8143434e-03,
    2.4980025e-03,
    2.8361600e-03,
  
    2.1053034e-03,     
    3.0106930e-03,
    3.0106930e-03,
  
    0,0,0,
    0,0,0,
    0,
    0,0,0, 
    0,0,0, 
    0,0,0, 
    0,0,0, 
    0
  }

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

a value <= 0 means infinite speed (e.g. LEDs)

These limits are not enforced by the framework. They are simply available for you to use as you see fit. HeadPointerMC is (as of v1.6) the only included MotionCommand to actually use these values.

Definition at line 474 of file ERS220Info.h.

const double ERS220Info::outputRanges[NumOutputs][2]

Initial value:

    {
      { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, 
      { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, 
      { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, 
      { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, 

      { RAD(-88.5),RAD(43) },{ RAD(-89.6),RAD(89.6) },{ RAD(-29),RAD(29) }, 
        
      {0,1},{0,1},{0,1},        
      {0,1},{0,1},{0,1},        
      {0,1},                    
      {0,1},{0,1},{0,1},        
      {0,1},{0,1},{0,1},        
      {0,1},{0,1},{0,1},        
      {0,1},{0,1},{0,1},        
      {0,1}                     
    }

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

Definition at line 510 of file ERS220Info.h.

const double ERS220Info::mechanicalLimits[NumOutputs][2]

Initial value:

    {
      { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, 
      { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, 
      { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, 
      { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, 

      { RAD(-91.5),RAD(46) },{ RAD(-92.6),RAD(92.6) },{ RAD(-32),RAD(32) }, 
        
      {0,1},{0,1},{0,1},        
      {0,1},{0,1},{0,1},        
      {0,1},                    
      {0,1},{0,1},{0,1},        
      {0,1},{0,1},{0,1},        
      {0,1},{0,1},{0,1},        
      {0,1},{0,1},{0,1},        
      {0,1}                     
    }