Reference

ERS7Info Namespace Reference

Detailed Description

Contains information about the ERS-7 Robot, such as number of joints, PID defaults, timing information, etc.

You may be particularly interested in the "Output Offsets" section, which, along with the offsets of the common RobotInfo namespace, allows you to reference any specific joint or LED on the robot.

The "Input Offsets" section gives the index order of the buttons (ButtonOffset_t) and sensors (SensorOffset_t), as well as string names for each for easier debugging (buttonNames, sensorNames)

"Output Types" section provides "meta-information" regarding the capabilities of the robot, such as the number of head joints, or the number of LEDs, etc.

For more information on your robot's specifications, see also DefaultPIDs, MaxOutputSpeed, outputRanges, and mechanicalLimits.

"Outputs" (i.e. Joints, LEDs) are often refered to by index ("offset") value within an array. These values are formed by specifying a section offset, plus a specific offset. Sections are typically general across robot models, whereas the specifics are model-dependent (but can be aliased to provide compatability).

For most joints, the positive direction is "up", and the 0 position yields a forward looking, fully extended standing posture.

{L,R}{FrBk}LegOffset - NumLegs combinations, each with JointsPerLeg items, add REKOffset_t; see also LegOffset_t
- + RotatorOffset: positive moves "out", away from body
- + ElevatorOffset: positive moves up, away from body
- + KneeOffset: positive bends knee (slight negative possible)
HeadOffset - NumHeadJoints items, add TPROffset_t:
- + TiltOffset: positive looks up
- + PanOffset: positive looks left
- + NodOffset: positive looks up
TailOffset - NumTailJoints items, add TPROffset_t:
- + TiltOffset: positive raises the joint (lowers the tail itself)
- + PanOffset: positive points the tail to the Aibo's right
MouthOffset - NumMouthJoints items (no specific, only 1 joint)
LEDs: NumLEDs items, see LEDOffset_t; these are all direct offsets, and do not need to be added to anything else
EarOffset - NumEarJoints items (no specifics, first is left ear, second is right ear)

It happens that these joints can also be grouped by the type of joint, so there are additionally a few other offsets that can be used in order to loop across a group of joints:

PIDJointOffset - NumPIDJoints items, servos using PID control
LegOffset - NumLegJoints items, a subset of PID servos corresponding to the leg joints
LEDOffset - NumLEDs items
BinJointOffset - NumBinJoints items, solenoids, such as the ears (if any) which flip between two positions
NumOutputs - total number of outputs available

LEDs are often handled in groups to display patterns. Some functions take an LEDBitMask_t parameter, which allows you to specify a set of several LEDs in a single parameter. For any given LED offset fooLEDOffset, the corresponding bitmask constant is fooLEDMask. Alternatively, you could calculate the bitmask of fooLEDOffset by 1<<(fooLEDOffset-LEDOffset).

See also:: ERS-7 Quick Reference Sheet

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 HeadColorLEDMask = 1<<(HeadColorLEDOffset-LEDOffset)

mask corresponding to HeadColorLEDOffset

const LEDBitMask_t HeadWhiteLEDMask = 1<<(HeadWhiteLEDOffset-LEDOffset)

mask corresponding to HeadWhiteLEDOffset

const LEDBitMask_t ModeRedLEDMask = 1<<(ModeRedLEDOffset-LEDOffset)

mask corresponding to ModeRedLEDOffset

const LEDBitMask_t ModeGreenLEDMask = 1<<(ModeGreenLEDOffset-LEDOffset)

mask corresponding to ModeGreenLEDOffset

const LEDBitMask_t ModeBlueLEDMask = 1<<(ModeBlueLEDOffset-LEDOffset)

mask corresponding to ModeBlueLEDOffset

const LEDBitMask_t WirelessLEDMask = 1<<(WirelessLEDOffset-LEDOffset)

mask corresponding to WirelessLEDOffset

const LEDBitMask_t FaceLEDPanelMask = 1<<(FaceLEDPanelOffset-LEDOffset)

mask corresponding to FaceLEDPanelOffset, selects only the first of the panel - shift this to get the others

const LEDBitMask_t FrBackColorLEDMask = 1<<(FrBackColorLEDOffset-LEDOffset)

mask corresponding to FrBackColorLEDOffset

const LEDBitMask_t FrBackWhiteLEDMask = 1<<(FrBackWhiteLEDOffset-LEDOffset)

mask corresponding to FrBackWhiteLEDOffset

const LEDBitMask_t MdBackColorLEDMask = 1<<(MdBackColorLEDOffset-LEDOffset)

mask corresponding to MdBackColorLEDOffset

const LEDBitMask_t MdBackWhiteLEDMask = 1<<(MdBackWhiteLEDOffset-LEDOffset)

mask corresponding to MdBackWhiteLEDOffset

const LEDBitMask_t RrBackColorLEDMask = 1<<(RrBackColorLEDOffset-LEDOffset)

mask corresponding to RrBackColorLEDOffset

const LEDBitMask_t RrBackWhiteLEDMask = 1<<(RrBackWhiteLEDOffset-LEDOffset)

mask corresponding to RrBackWhiteLEDOffset

const LEDBitMask_t LEDABModeMask = 1<<(LEDABModeOffset-LEDOffset)

mask corresponding to LEDABModeOffset

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

bottom left

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

bottom right

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

middle left

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

middle right

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

top left

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

top right

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

top bar

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 the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).

const LEDBitMask_t HeadLEDMask

LEDs for face (all but back lights).

const LEDBitMask_t BackLEDMask

LEDS on the back.

const LEDBitMask_t TailLEDMask = 0

LEDs on tail (ERS-7 has none).

const LEDBitMask_t AllLEDMask = (LEDBitMask_t)~0

selects all of the leds

Output Offsets

Corresponds to entries in ERS7Info::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, add REKOffset_t value to access specific joint. More...

enum LEDOffset_t {
  HeadColorLEDOffset = LEDOffset, HeadWhiteLEDOffset, ModeRedLEDOffset, ModeGreenLEDOffset,
  ModeBlueLEDOffset, WirelessLEDOffset, FaceLEDPanelOffset, FrBackColorLEDOffset = FaceLEDPanelOffset+NumFacePanelLEDs,
  FrBackWhiteLEDOffset, MdBackColorLEDOffset, MdBackWhiteLEDOffset, RrBackColorLEDOffset,
  RrBackWhiteLEDOffset, LEDABModeOffset, BotLLEDOffset = FaceLEDPanelOffset+1, BotRLEDOffset = FaceLEDPanelOffset+0,
  MidLLEDOffset = FaceLEDPanelOffset+3, MidRLEDOffset = FaceLEDPanelOffset+2, TopLLEDOffset = FaceLEDPanelOffset+7, TopRLEDOffset = FaceLEDPanelOffset+6,
  TopBrLEDOffset = HeadColorLEDOffset, TlRedLEDOffset = RrBackColorLEDOffset, TlBluLEDOffset = FrBackColorLEDOffset
}

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...

const unsigned PIDJointOffset = 0

The beginning of the PID Joints.

const unsigned LegOffset = PIDJointOffset

the offset of the beginning of the leg joints, NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t

const unsigned HeadOffset = LegOffset+NumLegJoints

the offset of the beginning of the head joints, add TPROffset_t to get specific joint

const unsigned TailOffset = HeadOffset+NumHeadJoints

the offset of the beginning of the tail joints, add TPROffset_t to get specific joint (except RollOffset not available)

const unsigned MouthOffset = TailOffset+NumTailJoints

the offset of the beginning of the mouth joint, is specific joint

const unsigned LEDOffset = PIDJointOffset + NumPIDJoints

the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets

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.

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 NearIRFrameOffset = CameraFrameOffset+1

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

const unsigned FarIRFrameOffset = NearIRFrameOffset+1

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

const unsigned ChestIRFrameOffset = FarIRFrameOffset+1

Use with kinematics to refer to chest-mounted 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, HeadButOffset, HeadFrButOffset = HeadButOffset, FrontBackButOffset,
  MiddleBackButOffset, BackButOffset = MiddleBackButOffset, RearBackButOffset, WirelessSwOffset
}

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

enum SensorOffset_t {
  NearIRDistOffset = 0, FarIRDistOffset, ChestIRDistOffset, BAccelOffset,
  LAccelOffset, DAccelOffset, 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 = 2+4+3+1

the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t

const unsigned NumSensors = 3+3+5

3 IR (distance), 3 accel (force), 5 from power, see ERS7Info::SensorOffset_t

const unsigned NumLEDs = 27

The number of LEDs which can be controlled.

const unsigned NumFacePanelLEDs = 14

The number of face panel LEDs.

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 + 3

for the base, paws (NumLegs), camera, and IR sensors (3) reference frames

const float CameraHorizFOV = 56.9/180*M_PI

horizontal field of view (radians)

const float CameraVertFOV = 45.2/180*M_PI

vertical field of view (radians)

const float CameraFOV = CameraHorizFOV

should be set to maximum of CameraHorizFOV or CameraVertFOV

const unsigned int CameraResolutionX = 208

the number of pixels available in the 'full' layer

const unsigned int CameraResolutionY = 160

the number of pixels available in the 'full' layer

const float BallOfFootRadius = 23.433/2

radius of the ball of the foot

const bool IsFastOutput [NumOutputs]

true for joints which can be updated every 32 ms (all joints on ERS-7)

const bool IsRealERS7 [NumOutputs]

we need this so you can tell programmatically which joints are "real" and which are "fake" in a compatability mode

CPC IDs

Values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - values don't correspond to order of ERS7Info::PrimitiveName

static const int CPCJointMouth = 0

Mouth.

static const int CPCSwitchChin = 1

Chin sensor.

static const int CPCJointNeckNod = 2

Neck tilt2.

static const int CPCSensorHead = 3

Head sensor.

static const int CPCSensorNearPSD = 4

Head distance sensor(near).

static const int CPCSensorFarPSD = 5

Head distance sensor(far).

static const int CPCJointNeckPan = 6

Neck pan.

static const int CPCJointNeckTilt = 7

Neck tilt1.

static const int CPCSwitchLFPaw = 8

Left fore leg paw sensor.

static const int CPCJointLFKnee = 9

Left fore legJ3.

static const int CPCJointLFElevator = 10

Left fore legJ2.

static const int CPCJointLFRotator = 11

Left fore legJ1.

static const int CPCSwitchLHPaw = 12

Left hind leg paw sensor.

static const int CPCJointLHKnee = 13

Left hind legJ3.

static const int CPCJointLHElevator = 14

Left hind legJ2.

static const int CPCJointLHRotator = 15

Left hind legJ1.

static const int CPCSwitchRFPaw = 16

Right fore leg paw sensor.

static const int CPCJointRFKnee = 17

Right fore legJ3.

static const int CPCJointRFElevator = 18

Right fore legJ2.

static const int CPCJointRFRotator = 19

Right fore legJ1.

static const int CPCSwitchRHPaw = 20

Right hind leg paw sensor.

static const int CPCJointRHKnee = 21

Right hind legJ3.

static const int CPCJointRHElevator = 22

Right hind legJ2.

static const int CPCJointRHRotator = 23

Right hind legJ1.

static const int CPCJointTailTilt = 24

Tail tilt.

static const int CPCJointTailPan = 25

Tail pan.

static const int CPCSensorAccelFB = 26

Acceleration sensor(front-back).

static const int CPCSensorAccelLR = 27

Acceleration sensor(right-left).

static const int CPCSensorAccelUD = 28

Acceleration sensor(up-down).

static const int CPCSensorChestPSD = 29

Chest distance sensor.

static const int CPCSwitchWireless = 30

Wireless LAN switch.

static const int CPCSensorBackRear = 31

Back sensor(rear).

static const int CPCSensorBackMiddle = 32

Back sensor(middle).

static const int CPCSensorBackFront = 33

Back sensor(front).

Variables

const char *const RobotName = "ERS-7"

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 = 8

time between frames for the ears (ERS-7 doesn't seem to have any "slow" joints; this only applied for the ears on the ERS-210)

const unsigned int NumSlowFrames = 4

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:/s1-Speaker:S1"

use to open speaker connection 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, 0x02-1, 0x0F-3}

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, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange).

const double 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).

Typedef Documentation

typedef unsigned int ERS7Info::LEDBitMask_t

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

Definition at line 187 of file ERS7Info.h.

Enumeration Type Documentation

enum ERS7Info::LegOffset_t

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

Enumerator:

LFrLegOffset	beginning of left front leg's joints
RFrLegOffset	beginning of right front leg's joints
LBkLegOffset	beginning of left back leg's joints
RBkLegOffset	beginning of right back leg's joints

Definition at line 147 of file ERS7Info.h.

enum ERS7Info::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:

HeadColorLEDOffset	the orange LED immediately above the head button (copositioned with HeadWhiteLEDOffset)
HeadWhiteLEDOffset	the LED immediately above the head button (copositioned with HeadColorLEDOffset)
ModeRedLEDOffset	controls both of the red LEDs above the ears (copositioned with ModeGreenLEDOffset and ModeBlueLEDOffset)
ModeGreenLEDOffset	controls both of the green LEDs above the ears (copositioned with ModeRedLEDOffset and ModeBlueLEDOffset)
ModeBlueLEDOffset	controls both of the blue LEDs above the ears (copositioned with ModeRedLEDOffset and ModeGreenLEDOffset)
WirelessLEDOffset	controls the small rectangular blue LED on the back of the head
FaceLEDPanelOffset	the first LED in the panel - add 0 up to (not including) NumFacePanelLEDs to this to access specific face panel LEDs, see LedEngine for diagram of placement
FrBackColorLEDOffset	blue/purple LED on back, closest to head (copositioned with FrBackWhiteLEDOffset)
FrBackWhiteLEDOffset	white LED on back, closest to head (copositioned with FrBackColorLEDOffset)
MdBackColorLEDOffset	orange LED on back, in between FrBackColorLEDOffset and RrBackColorLEDOffset (copositioned with MdBackWhiteLEDOffset)
MdBackWhiteLEDOffset	white LED on back, in between FrBackWhiteLEDOffset and RrBackWhiteLEDOffset (copositioned with MdBackColorLEDOffset)
RrBackColorLEDOffset	red LED on back, farthest from head (copositioned with RrBackWhiteLEDOffset)
RrBackWhiteLEDOffset	white LED on back, farthest from head (copositioned with RrBackColorLEDOffset)
LEDABModeOffset
BotLLEDOffset	aliases for backward compatability with ERS-210 (use mode A); bottom left of face panel
BotRLEDOffset	aliases for backward compatability with ERS-210 (use mode A); bottom right of face panel
MidLLEDOffset	aliases for backward compatability with ERS-210 (use mode A); middle left of face panel
MidRLEDOffset	aliases for backward compatability with ERS-210 (use mode A); middle right of face panel
TopLLEDOffset	aliases for backward compatability with ERS-210 (use mode A); top left of face panel
TopRLEDOffset	aliases for backward compatability with ERS-210(use mode A); top right of face panel
TopBrLEDOffset	aliases for backward compatability with ERS-210 (use mode A); top bar (HeadColorLEDOffset)
TlRedLEDOffset	aliases for backward compatability with ERS-210; red tail light (RrBackColorLEDOffset)
TlBluLEDOffset	aliases for backward compatability with ERS-210; blue tail light (FrBackColorLEDOffset)

Definition at line 156 of file ERS7Info.h.

enum ERS7Info::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
HeadButOffset
HeadFrButOffset
FrontBackButOffset
MiddleBackButOffset
BackButOffset
RearBackButOffset
WirelessSwOffset

Definition at line 256 of file ERS7Info.h.

enum ERS7Info::SensorOffset_t

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

See also:: WorldState::sensors[]

Enumerator:

NearIRDistOffset	in millimeters, ranges from 50 to 500
FarIRDistOffset	in millimeters, ranges from 200 to 1500
ChestIRDistOffset	in millimeters, ranges from 100 to 900
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...
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 281 of file ERS7Info.h.

Variable Documentation

const char* const ERS7Info::RobotName = "ERS-7"

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

Definition at line 67 of file ERS7Info.h.

const unsigned int ERS7Info::FrameTime = 8

time between frames in the motion system (milliseconds)

Definition at line 69 of file ERS7Info.h.

const unsigned int ERS7Info::NumFrames = 4

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

Definition at line 70 of file ERS7Info.h.

const unsigned int ERS7Info::SlowFrameTime = 8

time between frames for the ears (ERS-7 doesn't seem to have any "slow" joints; this only applied for the ears on the ERS-210)

Definition at line 71 of file ERS7Info.h.

const unsigned int ERS7Info::NumSlowFrames = 4

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

Definition at line 72 of file ERS7Info.h.

const unsigned int ERS7Info::SoundBufferTime = 32

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

Definition at line 73 of file ERS7Info.h.

const unsigned ERS7Info::JointsPerLeg = 3

The number of joints per leg.

Definition at line 78 of file ERS7Info.h.

const unsigned ERS7Info::NumLegs = 4

The number of legs.

Definition at line 79 of file ERS7Info.h.

const unsigned ERS7Info::NumLegJoints = JointsPerLeg*NumLegs

the TOTAL number of joints on ALL legs

Definition at line 80 of file ERS7Info.h.

const unsigned ERS7Info::NumHeadJoints = 3

The number of joints in the neck.

Definition at line 81 of file ERS7Info.h.

const unsigned ERS7Info::NumTailJoints = 2

The number of joints assigned to the tail.

Definition at line 82 of file ERS7Info.h.

const unsigned ERS7Info::NumMouthJoints = 1

the number of joints that control the mouth

Definition at line 83 of file ERS7Info.h.

const unsigned ERS7Info::NumEarJoints = 2

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

Definition at line 84 of file ERS7Info.h.

Referenced by BatteryMonitorBehavior::setFlipper().

const unsigned ERS7Info::NumButtons = 2+4+3+1

the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t

Definition at line 85 of file ERS7Info.h.

const unsigned ERS7Info::NumSensors = 3+3+5

3 IR (distance), 3 accel (force), 5 from power, see ERS7Info::SensorOffset_t

Definition at line 86 of file ERS7Info.h.

const unsigned ERS7Info::NumLEDs = 27

The number of LEDs which can be controlled.

Definition at line 87 of file ERS7Info.h.

const unsigned ERS7Info::NumFacePanelLEDs = 14

The number of face panel LEDs.

Definition at line 88 of file ERS7Info.h.

const unsigned ERS7Info::NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints

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

Definition at line 90 of file ERS7Info.h.

const unsigned ERS7Info::NumBinJoints = NumEarJoints

The number of binary joints - just the ears.

Definition at line 91 of file ERS7Info.h.

const unsigned ERS7Info::NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs

the total number of outputs

Definition at line 92 of file ERS7Info.h.

const unsigned ERS7Info::NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 3

for the base, paws (NumLegs), camera, and IR sensors (3) reference frames

Definition at line 93 of file ERS7Info.h.

const float ERS7Info::CameraHorizFOV = 56.9/180*M_PI

horizontal field of view (radians)

Definition at line 95 of file ERS7Info.h.

const float ERS7Info::CameraVertFOV = 45.2/180*M_PI

vertical field of view (radians)

Definition at line 96 of file ERS7Info.h.

const float ERS7Info::CameraFOV = CameraHorizFOV

should be set to maximum of CameraHorizFOV or CameraVertFOV

Definition at line 97 of file ERS7Info.h.

const unsigned int ERS7Info::CameraResolutionX = 208

the number of pixels available in the 'full' layer

Definition at line 98 of file ERS7Info.h.

const unsigned int ERS7Info::CameraResolutionY = 160

the number of pixels available in the 'full' layer

Definition at line 99 of file ERS7Info.h.

const float ERS7Info::BallOfFootRadius = 23.433/2

radius of the ball of the foot

Definition at line 100 of file ERS7Info.h.

const bool ERS7Info::IsFastOutput[NumOutputs]

true for joints which can be updated every 32 ms (all joints on ERS-7)

Definition at line 104 of file ERS7Info.h.

const bool ERS7Info::IsRealERS7[NumOutputs]

we need this so you can tell programmatically which joints are "real" and which are "fake" in a compatability mode

Definition at line 111 of file ERS7Info.h.

const unsigned ERS7Info::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 126 of file ERS7Info.h.

const unsigned ERS7Info::LegOffset = PIDJointOffset

the offset of the beginning of the leg joints, NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t

Definition at line 127 of file ERS7Info.h.

const unsigned ERS7Info::HeadOffset = LegOffset+NumLegJoints

the offset of the beginning of the head joints, add TPROffset_t to get specific joint

Definition at line 128 of file ERS7Info.h.

const unsigned ERS7Info::TailOffset = HeadOffset+NumHeadJoints

the offset of the beginning of the tail joints, add TPROffset_t to get specific joint (except RollOffset not available)

Definition at line 129 of file ERS7Info.h.

Referenced by WorldState::read(), and TailWagMC::updateOutputs().

const unsigned ERS7Info::MouthOffset = TailOffset+NumTailJoints

the offset of the beginning of the mouth joint, is specific joint

Definition at line 130 of file ERS7Info.h.