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ERS2xxInfo Namespace Reference

Detailed Description

Contains information about the ERS-2xx series of robot, such as number of joints, PID defaults, timing information, etc.

This is a compatability mode, which allows dual-booting of the same memory stick on both models without needing to recompile, at the expense of (a little) runtime speed.


Classes

class  ERS2xxCapabilities
 provides polymorphic robot capability detection/mapping More...

Output Offsets

Corresponds to entries in ERS2xxInfo::PrimitiveName, defined at the end of this file

enum  LegOrder_t { LFrLegOrder = 0, RFrLegOrder, LBkLegOrder, RBkLegOrder }
 the ordering of legs More...
enum  REKOffset_t { RotatorOffset = 0, ElevatorOffset, KneeOffset }
 The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the head's TPROffset_t's). More...
enum  TPROffset_t { TiltOffset = 0, PanOffset, RollOffset, NodOffset = RollOffset }
 The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the leg's REKOffset_t's). More...
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, 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.

LED Bitmasks

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

const LEDBitMask_t FaceFrontLeftLEDMask = 1<<(FaceFrontLeftLEDOffset-LEDOffset)
const LEDBitMask_t FaceFrontRightLEDMask = 1<<(FaceFrontRightLEDOffset-LEDOffset)
const LEDBitMask_t FaceCenterLeftLEDMask = 1<<(FaceCenterLeftLEDOffset-LEDOffset)
const LEDBitMask_t FaceCenterRightLEDMask = 1<<(FaceCenterRightLEDOffset-LEDOffset)
const LEDBitMask_t FaceBackLeftLEDMask = 1<<(FaceBackLeftLEDOffset-LEDOffset)
const LEDBitMask_t FaceBackRightLEDMask = 1<<(FaceBackRightLEDOffset-LEDOffset)
const LEDBitMask_t ModeLEDMask = 1<<(ModeLEDOffset-LEDOffset)
const LEDBitMask_t BackLeft1LEDMask = 1<<(BackLeft1LEDOffset-LEDOffset)
const LEDBitMask_t BackLeft2LEDMask = 1<<(BackLeft2LEDOffset-LEDOffset)
const LEDBitMask_t BackLeft3LEDMask = 1<<(BackLeft3LEDOffset-LEDOffset)
const LEDBitMask_t BackRight3LEDMask = 1<<(BackRight3LEDOffset-LEDOffset)
const LEDBitMask_t BackRight2LEDMask = 1<<(BackRight2LEDOffset-LEDOffset)
const LEDBitMask_t BackRight1LEDMask = 1<<(BackRight1LEDOffset-LEDOffset)
const LEDBitMask_t TailLeftLEDMask = 1<<(TailLeftLEDOffset-LEDOffset)
const LEDBitMask_t TailCenterLEDMask = 1<<(TailCenterLEDOffset-LEDOffset)
const LEDBitMask_t TailRightLEDMask = 1<<(TailRightLEDOffset-LEDOffset)
const LEDBitMask_t FaceFrontBLEDMask = 1<<(FaceFrontBLEDOffset-LEDOffset)
const LEDBitMask_t FaceFrontALEDMask = 1<<(FaceFrontALEDOffset-LEDOffset)
const LEDBitMask_t FaceFrontCLEDMask = 1<<(FaceFrontCLEDOffset-LEDOffset)
const LEDBitMask_t RetractableHeadLEDMask = 1<<(RetractableHeadLEDOffset-LEDOffset)
const LEDBitMask_t TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset)
 red tail light
const LEDBitMask_t TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset)
 blue tail light
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 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
typedef unsigned int LEDBitMask_t
 So you can be clear when you're refering to a LED bitmask.

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,
  TlBluLEDOffset, TlRedLEDOffset, BotLLEDOffset = FaceFrontLeftLEDOffset, BotRLEDOffset = FaceFrontRightLEDOffset,
  MidLLEDOffset = FaceCenterLeftLEDOffset, MidRLEDOffset = FaceCenterRightLEDOffset, TopLLEDOffset = FaceBackLeftLEDOffset, TopRLEDOffset = FaceBackRightLEDOffset,
  TopBrLEDOffset = ModeLEDOffset
}
 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 TargetName = "ERS-2xx"
 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 char *const outputNames [NumOutputs]
 Names for each of the outputs.
ERS2xxCapabilities capabilities
 allocation declared in RobotInfo.cc
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.
Output Types Information
Corresponds to entries in ERS2xxInfo::PrimitiveName, defined at the end of this file, these are the primary grouping

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 NumWheels = 0
 no wheels, just legs
const unsigned JointsPerArm = 0
 no arms, just legs
const unsigned NumArms = 0
 no arms, just legs
const unsigned NumArmJoints = JointsPerArm*NumArms
 no wheels, just legs
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 = 11
 the number of buttons that are available, see ERS2xxInfo::ButtonOffset_t
const unsigned NumSensors = 1+3+1+5
 1 dist, 3 accel, 1 thermo, 5 from power, see ERS2xxInfo::SensorOffset_t
const unsigned NumLEDs = 22
 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 (Aperios only).
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 on a 210)

Typedef Documentation

typedef unsigned int ERS2xxInfo::LEDBitMask_t

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

Definition at line 191 of file ERS2xxInfo.h.

Enumeration Type Documentation

enum ERS2xxInfo::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 PowerSrcID::PauseSID.

See also:
WorldState::buttons

ButtonSourceID_t

Enumerator:
LFrPawOffset 
RFrPawOffset 
LBkPawOffset 
RBkPawOffset 
ChinButOffset 
BackButOffset 
HeadFrButOffset  see ERS210Info::HeadFrButOffset, ERS220Info::HeadFrButOffset
HeadButOffset  for ERS-7 compatibility
HeadBkButOffset  see ERS210Info::HeadBkButOffset, ERS220Info::HeadBkButOffset
TailLeftButOffset 
TailCenterButOffset 
TailRightButOffset 

Definition at line 281 of file ERS2xxInfo.h.

enum ERS2xxInfo::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) (ERS-220)
FaceFrontRightLEDOffset  head face side light (front right - blue) (ERS-220)
FaceCenterLeftLEDOffset  head face side light (center left - blue) (ERS-220)
FaceCenterRightLEDOffset  head face side light (center right - blue) (ERS-220)
FaceBackLeftLEDOffset  head face side light (back left - red) (ERS-220)
FaceBackRightLEDOffset  head face side light (back right - red) (ERS-220)
ModeLEDOffset  mode indicator (back of the head - orange) (ERS-220)
BackLeft1LEDOffset  back multi-indicator (left #1 - blue) (ERS-220)
BackLeft2LEDOffset  back multi-indicator (left #2 - blue) (ERS-220)
BackLeft3LEDOffset  back multi-indicator (left #3 - blue) (ERS-220)
BackRight3LEDOffset  back multi-indicator (right #3 - blue) (ERS-220)
BackRight2LEDOffset  back multi-indicator (right #2 - blue) (ERS-220)
BackRight1LEDOffset  back multi-indicator (right #1 - blue) (ERS-220)
TailLeftLEDOffset  tail light (left - blue) (ERS-220)
TailCenterLEDOffset  tail light (center - red) (ERS-220)
TailRightLEDOffset  tail light (right - blue) (ERS-220)
FaceFrontBLEDOffset  face front light B (blue) (ERS-220)
FaceFrontALEDOffset  face front light A (blue) (ERS-220)
FaceFrontCLEDOffset  face front light C (red) (ERS-220)
RetractableHeadLEDOffset  retractable head light (ERS-220)
TlBluLEDOffset  blue tail light (ERS-210)
TlRedLEDOffset  red tail light (ERS-210)
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)

Definition at line 154 of file ERS2xxInfo.h.

enum ERS2xxInfo::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 144 of file ERS2xxInfo.h.

enum ERS2xxInfo::LegOrder_t

the ordering of legs

Enumerator:
LFrLegOrder  left front leg
RFrLegOrder  right front leg
LBkLegOrder  left back leg
RBkLegOrder  right back leg

Definition at line 121 of file ERS2xxInfo.h.

enum ERS2xxInfo::REKOffset_t

The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the head's TPROffset_t's).

Enumerator:
RotatorOffset  moves leg forward or backward along body
ElevatorOffset  moves leg toward or away from body
KneeOffset  moves knee

Definition at line 129 of file ERS2xxInfo.h.

enum ERS2xxInfo::SensorOffset_t

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

See also:
WorldState::sensors[]
Enumerator:
IRDistOffset  in millimeters
BAccelOffset  backward acceleration, in $m/s^2$, negative if sitting on butt (positive for faceplant)
LAccelOffset  acceleration to the robot's left, in $m/s^2$, negative if lying on robot's left side
DAccelOffset  downward acceleration, in $m/s^2$, 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 305 of file ERS2xxInfo.h.

enum ERS2xxInfo::TPROffset_t

The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the leg's REKOffset_t's).

Enumerator:
TiltOffset  tilt/elevation (vertical)
PanOffset  pan/heading (horizontal)
RollOffset  roll (rotational)
NodOffset  nod (second tilt)

Definition at line 136 of file ERS2xxInfo.h.

Variable Documentation

const LEDBitMask_t ERS2xxInfo::AllLEDMask = (LEDBitMask_t)~0

selects all of the leds

Definition at line 260 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BackLEDMask

Initial value:

 BackLeft1LEDMask
  | BackLeft2LEDMask
  | BackLeft3LEDMask
  | BackRight1LEDMask
  | BackRight2LEDMask
  | BackRight3LEDMask
LEDs on back.

Definition at line 244 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BackLeft1LEDMask = 1<<(BackLeft1LEDOffset-LEDOffset)

Definition at line 199 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BackLeft2LEDMask = 1<<(BackLeft2LEDOffset-LEDOffset)

Definition at line 200 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BackLeft3LEDMask = 1<<(BackLeft3LEDOffset-LEDOffset)

Definition at line 201 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BackRight1LEDMask = 1<<(BackRight1LEDOffset-LEDOffset)

Definition at line 204 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BackRight2LEDMask = 1<<(BackRight2LEDOffset-LEDOffset)

Definition at line 203 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BackRight3LEDMask = 1<<(BackRight3LEDOffset-LEDOffset)

Definition at line 202 of file ERS2xxInfo.h.

const float ERS2xxInfo::BallOfFootRadius = 27.922/2

radius of the ball of the foot

Definition at line 68 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 115 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::BinJointOffset = LEDOffset+NumLEDs

The beginning of the binary joints.

Definition at line 112 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset)

bottom left (red - sad)

Definition at line 217 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset)

bottom right (red - sad)

Definition at line 218 of file ERS2xxInfo.h.

const char* const ERS2xxInfo::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 297 of file ERS2xxInfo.h.

const float ERS2xxInfo::CameraFOV = CameraHorizFOV

should be set to maximum of CameraHorizFOV or CameraVertFOV

Definition at line 65 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::CameraFrameOffset = PawFrameOffset+NumLegs

Use with kinematics to refer to camera reference frame.

Definition at line 117 of file ERS2xxInfo.h.

const float ERS2xxInfo::CameraHorizFOV = 57.6/180*M_PI

horizontal field of view (radians)

Definition at line 63 of file ERS2xxInfo.h.

const char* const ERS2xxInfo::CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1"

use to open camera connection with the system

Definition at line 495 of file ERS2xxInfo.h.

const unsigned int ERS2xxInfo::CameraResolutionX = 176

the number of pixels available in the 'full' layer

Definition at line 66 of file ERS2xxInfo.h.

const unsigned int ERS2xxInfo::CameraResolutionY = 144

the number of pixels available in the 'full' layer

Definition at line 67 of file ERS2xxInfo.h.

const float ERS2xxInfo::CameraVertFOV = 47.8/180*M_PI

vertical field of view (radians)

Definition at line 64 of file ERS2xxInfo.h.

ERS2xxCapabilities ERS2xxInfo::capabilities

allocation declared in RobotInfo.cc

Definition at line 26 of file RobotInfo.cc.

const float ERS2xxInfo::CylinderOfFootRadius = 24.606/2

radius of the cylinder of the foot

Definition at line 69 of file ERS2xxInfo.h.

const float ERS2xxInfo::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)) },

      { 0x0A/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x18/(double)(1<<(16-0xF)) },
      { 0x07/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x11/(double)(1<<(16-0xF)) },

      { 0x0E/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x10/(double)(1<<(16-0xF)) }
    }
This table holds the default PID values for each joint. see PIDMC.

Definition at line 523 of file ERS2xxInfo.h.

const unsigned char ERS2xxInfo::DefaultPIDShifts[3] = {0x0E, 0x02, 0x0F}

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

Definition at line 549 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::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

Definition at line 113 of file ERS2xxInfo.h.

Referenced by ERS2xxInfo::ERS2xxCapabilities::ERS2xxCapabilities().

const LEDBitMask_t ERS2xxInfo::FaceBackLeftLEDMask = 1<<(FaceBackLeftLEDOffset-LEDOffset)

Definition at line 196 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceBackRightLEDMask = 1<<(FaceBackRightLEDOffset-LEDOffset)

Definition at line 197 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceCenterLeftLEDMask = 1<<(FaceCenterLeftLEDOffset-LEDOffset)

Definition at line 194 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceCenterRightLEDMask = 1<<(FaceCenterRightLEDOffset-LEDOffset)

Definition at line 195 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceFrontALEDMask = 1<<(FaceFrontALEDOffset-LEDOffset)

Definition at line 209 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceFrontBLEDMask = 1<<(FaceFrontBLEDOffset-LEDOffset)

Definition at line 208 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceFrontCLEDMask = 1<<(FaceFrontCLEDOffset-LEDOffset)

Definition at line 210 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceFrontLeftLEDMask = 1<<(FaceFrontLeftLEDOffset-LEDOffset)

Definition at line 192 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceFrontRightLEDMask = 1<<(FaceFrontRightLEDOffset-LEDOffset)

Definition at line 193 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceLEDMask

Initial value:

 FaceFrontLeftLEDMask
  | FaceFrontRightLEDMask
  | FaceCenterLeftLEDMask
  | FaceCenterRightLEDMask
  | FaceBackLeftLEDMask
  | FaceBackRightLEDMask
  | FaceFrontALEDMask
  | FaceFrontBLEDMask
  | FaceFrontCLEDMask
  | ModeLEDMask
LEDs for face.

Definition at line 227 of file ERS2xxInfo.h.

const unsigned int ERS2xxInfo::FrameTime = 8

time between frames in the motion system (milliseconds)

Definition at line 32 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::HeadLEDMask = FaceLEDMask | RetractableHeadLEDMask

LEDs on head (face plus retractable light).

Definition at line 240 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::HeadOffset = LegOffset+NumLegJoints

the offset of the beginning of the head joints

Definition at line 106 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::IRFrameOffset = CameraFrameOffset+1

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

Definition at line 118 of file ERS2xxInfo.h.

const bool ERS2xxInfo::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, true,           
    true,                       
    true, true,                 
    
    false, false
  }
true for joints which can be updated every 32 ms (all but the ears on a 210)

Definition at line 72 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::JointsPerArm = 0

no arms, just legs

Definition at line 43 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::JointsPerLeg = 3

The number of joints per leg.

Definition at line 47 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::LEDOffset = PIDJointOffset + NumPIDJoints

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

Definition at line 110 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::LegOffset = PIDJointOffset

the offset of the beginning of the leg joints

Definition at line 105 of file ERS2xxInfo.h.

const float ERS2xxInfo::MaxOutputSpeed[NumOutputs]

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 556 of file ERS2xxInfo.h.

const double ERS2xxInfo::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(-85),RAD(46) },{ RAD(-92.6),RAD(92.6) },{ RAD(-32),RAD(32) }, 
        
      { RAD(-25),RAD(25) },{ RAD(-25),RAD(25) }, 

      { RAD(-50),RAD(0) }, 
        
      {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},                     
      {0,1},{0,1},              

      {0,1},{0,1} 
    }
This table holds the mechanical limits of each of the outputs.

Definition at line 627 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset)

middle left (green - happy)

Definition at line 219 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset)

middle right (green - happy)

Definition at line 220 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::ModeLEDMask = 1<<(ModeLEDOffset-LEDOffset)

Definition at line 198 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::MouthOffset = TailOffset+NumTailJoints

the offset of the beginning of the mouth joint

Definition at line 108 of file ERS2xxInfo.h.

Referenced by ERS2xxInfo::ERS2xxCapabilities::ERS2xxCapabilities().

const unsigned ERS2xxInfo::NumArmJoints = JointsPerArm*NumArms

no wheels, just legs

Definition at line 45 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumArms = 0

no arms, just legs

Definition at line 44 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumBinJoints = NumEarJoints

The number of binary joints - just the ears (Aperios only).

Definition at line 59 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumButtons = 11

the number of buttons that are available, see ERS2xxInfo::ButtonOffset_t

Definition at line 54 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumEarJoints = 2

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

Definition at line 53 of file ERS2xxInfo.h.

Referenced by ERS2xxInfo::ERS2xxCapabilities::ERS2xxCapabilities().

const unsigned int ERS2xxInfo::NumFrames = 4

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

Definition at line 33 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumHeadJoints = 3

The number of joints in the neck.

Definition at line 50 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumLEDs = 22

The number of LEDs which can be controlled.

Definition at line 56 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumLegJoints = JointsPerLeg*NumLegs

the TOTAL number of joints on ALL legs

Definition at line 49 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumLegs = 4

The number of legs.

Definition at line 48 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumMouthJoints = 1

the number of joints that control the mouth

Definition at line 52 of file ERS2xxInfo.h.

Referenced by ERS2xxInfo::ERS2xxCapabilities::ERS2xxCapabilities().

const unsigned ERS2xxInfo::NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs

the total number of outputs

Definition at line 60 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints

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

Definition at line 58 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 1

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

Definition at line 61 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumSensors = 1+3+1+5

1 dist, 3 accel, 1 thermo, 5 from power, see ERS2xxInfo::SensorOffset_t

Definition at line 55 of file ERS2xxInfo.h.

const unsigned int ERS2xxInfo::NumSlowFrames = 1

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

Definition at line 35 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumTailJoints = 2

The number of joints assigned to the tail.

Definition at line 51 of file ERS2xxInfo.h.

Referenced by ERS2xxInfo::ERS2xxCapabilities::ERS2xxCapabilities().

const unsigned ERS2xxInfo::NumWheels = 0

no wheels, just legs

Definition at line 41 of file ERS2xxInfo.h.

const char* const ERS2xxInfo::outputNames[NumOutputs]

Names for each of the outputs.

Definition at line 330 of file ERS2xxInfo.h.

const double ERS2xxInfo::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(-82),RAD(43) },{ RAD(-89.6),RAD(89.6) },{ RAD(-29),RAD(29) }, 
        
      { RAD(-22),RAD(22) },{ RAD(-22),RAD(22) }, 

      { RAD(-47),RAD(-3) }, 

      {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},                    
      {0,1},{0,1},              

      {0,1},{0,1} 
    }
This table holds the software limits of each of the outputs.

Definition at line 600 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::PawFrameOffset = BaseFrameOffset+1

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

Definition at line 116 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 104 of file ERS2xxInfo.h.

const char* const ERS2xxInfo::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:/r6/c2-Joint2:j2",       
    "PRM:/r6/c1-Joint2:j1",       
    
    "PRM:/r1/c1/c2/c3/c4-Joint2:j4", 
    
    "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", 

    "PRM:/r6/l2-LED2:l2", 
    "PRM:/r6/l1-LED2:l1", 

    "PRM:/r1/c1/c2/c3/e1-Joint3:j5", 
    "PRM:/r1/c1/c2/c3/e2-Joint3:j6" 
  }
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 436 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::RetractableHeadLEDMask = 1<<(RetractableHeadLEDOffset-LEDOffset)

Definition at line 211 of file ERS2xxInfo.h.

const char* const ERS2xxInfo::sensorNames[NumSensors]

Initial value:

 {
    "IRDist",
    "BAccel","LAccel","DAccel",
    "Thermo",
    "PowerRemain","PowerThermo","PowerCapacity","PowerVoltage","PowerCurrent"
  }
Provides a string name for each sensor.

Definition at line 319 of file ERS2xxInfo.h.

const unsigned int ERS2xxInfo::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 34 of file ERS2xxInfo.h.

const unsigned int ERS2xxInfo::SoundBufferTime = 32

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

Definition at line 36 of file ERS2xxInfo.h.

const char* const ERS2xxInfo::SpeakerLocator = "PRM:/r1/c1/c2/c3/s1-Speaker:S1"

use to open speaker connectio with the system

Definition at line 492 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::TailCenterLEDMask = 1<<(TailCenterLEDOffset-LEDOffset)

Definition at line 206 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::TailLEDMask

Initial value:

 TailLeftLEDMask
  | TailCenterLEDMask
  | TailRightLEDMask
  | TlRedLEDMask
  | TlBluLEDMask
LEDs for tail.

Definition at line 253 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::TailLeftLEDMask = 1<<(TailLeftLEDOffset-LEDOffset)

Definition at line 205 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::TailOffset = HeadOffset+NumHeadJoints

the offset of the beginning of the tail joints

Definition at line 107 of file ERS2xxInfo.h.

Referenced by ERS2xxInfo::ERS2xxCapabilities::ERS2xxCapabilities().

const LEDBitMask_t ERS2xxInfo::TailRightLEDMask = 1<<(TailRightLEDOffset-LEDOffset)

Definition at line 207 of file ERS2xxInfo.h.

const char *const ERS2xxInfo::TargetName = "ERS-2xx"

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

Definition at line 25 of file RobotInfo.cc.

Referenced by Controller::init().

const LEDBitMask_t ERS2xxInfo::TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset)

blue tail light

Definition at line 214 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset)

red tail light

Definition at line 213 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset)

top bar (green)

Definition at line 223 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset)

top left (red - angry)

Definition at line 221 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset)

top right (red - angry)

Definition at line 222 of file ERS2xxInfo.h.


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