/* LICENSE: ========================================================================= CMPack'04 Source Code Release for OPEN-R SDK 1.1.5-r2 for ERS7 Copyright (C) 2004 Multirobot Lab [Project Head: Manuela Veloso] School of Computer Science, Carnegie Mellon University All rights reserved. ========================================================================= */ #ifndef RobotConstants_h #define RobotConstants_h #include "../headers/Geometry.h" #include "../headers/Util.h" struct RobotConstants { RobotConstants() {} RobotConstants(vector3d _f_body_to_shoulder, vector3d _f_leg_shoulder_to_knee, vector3d _f_leg_knee_to_ball, vector3d _h_body_to_shoulder, vector3d _h_leg_shoulder_to_knee, vector3d _h_leg_knee_to_ball, vector3d _body_to_neck, vector3d _neck_to_camera, vector3d _neck_to_head, vector3d _head_to_camera, double _rotator_min, double _rotator_max, double _shoulder_min, double _shoulder_max, double _knee_min, double _knee_max, double _rotator_kmin, double _rotator_kmax, double _shoulder_kmin, double _shoulder_kmax, double _f_knee_kmin, double _h_knee_kmin, double _knee_kmax, double _tail_tilt_min, double _tail_tilt_max, double _tail_pan_min, double _tail_pan_max, double _head_tilt_min, double _head_tilt_max, double _head_pan_min, double _head_pan_max, double _head_roll_min, double _head_roll_max, double _head_tilt2_min, double _head_tilt2_max, double _mouth_min, double _mouth_max) : f_body_to_shoulder(_f_body_to_shoulder), f_leg_shoulder_to_knee(_f_leg_shoulder_to_knee), f_leg_knee_to_ball(_f_leg_knee_to_ball), h_body_to_shoulder(_h_body_to_shoulder), h_leg_shoulder_to_knee(_h_leg_shoulder_to_knee), h_leg_knee_to_ball(_h_leg_knee_to_ball), body_to_neck(_body_to_neck), neck_to_camera(_neck_to_camera), neck_to_head(_neck_to_head), head_to_camera(_head_to_camera), f_upper(_f_leg_shoulder_to_knee), f_lower(_f_leg_knee_to_ball), h_upper(_h_leg_shoulder_to_knee), h_lower(_h_leg_knee_to_ball), rotator_min(_rotator_min), rotator_max(_rotator_max), shoulder_min(_shoulder_min), shoulder_max(_shoulder_max), knee_min(_knee_min), knee_max(_knee_max), rotator_kmin(_rotator_kmin), rotator_kmax(_rotator_kmax), shoulder_kmin(_shoulder_kmin), shoulder_kmax(_shoulder_kmax), f_knee_kmin(_f_knee_kmin), h_knee_kmin(_h_knee_kmin), knee_kmax(_knee_kmax), tail_tilt_min(_tail_tilt_min), tail_tilt_max(_tail_tilt_max), tail_pan_min(_tail_pan_min), tail_pan_max(_tail_pan_max), head_tilt_min(_head_tilt_min), head_tilt_max(_head_tilt_max), head_pan_min(_head_pan_min), head_pan_max(_head_pan_max), head_roll_min(_head_roll_min), head_roll_max(_head_roll_max), head_tilt2_min(_head_tilt2_min), head_tilt2_max(_head_tilt2_max), mouth_min(_mouth_min), mouth_max(_mouth_max) { // do nothing in constructor. } vector3d f_body_to_shoulder; vector3d f_leg_shoulder_to_knee; vector3d f_leg_knee_to_ball; vector3d h_body_to_shoulder; vector3d h_leg_shoulder_to_knee; vector3d h_leg_knee_to_ball; vector3d body_to_neck; vector3d neck_to_camera; vector3d neck_to_head; vector3d head_to_camera; vector3d f_upper; vector3d f_lower; vector3d h_upper; vector3d h_lower; double rotator_min; double rotator_max; double shoulder_min; double shoulder_max; double knee_min; double knee_max; double rotator_kmin; double rotator_kmax; double shoulder_kmin; double shoulder_kmax; double f_knee_kmin; double h_knee_kmin; double knee_kmax; double tail_tilt_min; double tail_tilt_max; double tail_pan_min; double tail_pan_max; double head_tilt_min; double head_tilt_max; double head_pan_min; double head_pan_max; double head_roll_min; double head_roll_max; double head_tilt2_min; double head_tilt2_max; double mouth_min; double mouth_max; }; const RobotConstants ers210_constants = RobotConstants(vector3d( 59.50, 59.20, 0.00) /* _f_body_to_shoulder */, vector3d( 12.80, 0.50, -64.00) /* _f_leg_shoulder_to_knee */, vector3d(-18.00, 0.00, -67.23) /* _f_leg_knee_to_ball */, vector3d(-59.50, 59.20, 0.00) /* _h_body_to_shoulder */, vector3d(-12.80, 0.50, -64.00) /* _h_leg_shoulder_to_knee */, vector3d( 18.00, 0.00, -74.87) /* _h_leg_knee_to_ball */, vector3d( 75.00, 0.00, 50.00) /* _body_to_neck */, vector3d( 65.00, 0.00, 48.00) /* _neck_to_camera */, vector3d( 0.00, 0.00, 0.00) /* _neck_to_head */, vector3d( 0.00, 0.00, 0.00) /* _head_to_camera */, RAD(-117.0) /* rotator_min */, RAD( 117.0) /* rotator_max */, RAD( -11.0) /* shoulder_min */, RAD( 97.0) /* shoulder_max */, RAD( -27.0) /* knee_min */, RAD( 147.0) /* knee_max */, RAD(-90.0) /* rotator_kmin */, RAD( 90.0) /* rotator_kmax */, RAD( -11.0) /* shoulder_kmin */, RAD( 90.0) /* shoulder_kmax */, 0.2616 /* f_knee_kmin */, 0.2316 /* h_knee_kmin */, RAD( 147.0) /* knee_kmax */, RAD(-22) /* tail_tilt_min */, RAD( 22) /* tail_tilt_max */, RAD(-22) /* tail_pan_min */, RAD(22) /* tail_pan_max */, RAD(-88.5) /* head_tilt_min */, RAD( 43.0) /* head_tilt_max */, RAD(-89.6) /* head_pan_min */, RAD( 89.6) /* head_pan_max */, RAD(-29.0) /* head_roll_min */, RAD( 29.0) /* head_roll_max */, 0.0 /* head_tilt2_min */, 0.0 /* head_tilt2_max */, 0.0 /* mouth_min */, 0.0 /* mouth_max */); const RobotConstants ers7_constants = RobotConstants(vector3d( 65.00, 62.50, 0.00) /* _f_body_to_shoulder */, vector3d( 9.00, 4.70, -69.50) /* _f_leg_shoulder_to_knee */, vector3d(-13.13, 0.00, -75.77) /* _f_leg_knee_to_ball */, vector3d(-65.00, 62.50, 0.00) /* _h_body_to_shoulder */, vector3d( -9.00, 4.70, -69.50) /* _h_leg_shoulder_to_knee */, vector3d( 19.02, 0.00, -77.10) /* _h_leg_knee_to_ball */, vector3d( 67.50, 0.00, 19.50) /* _body_to_neck */, vector3d( 81.06, 0.00, 65.40) /* _neck_to_camera */, vector3d( 0.00, 0.00, 80.00) /* _neck_to_head */, vector3d( 81.06, 0.00, -14.60) /* _head_to_camera */, RAD(-115.0) /* rotator_min */, RAD( 130.0) /* rotator_max */, RAD( -10.0) /* shoulder_min */, RAD( 88.0) /* shoulder_max */, RAD( -25.0) /* knee_min */, RAD( 122.0) /* knee_max */, RAD(-90.0) /* rotator_kmin */, RAD( 90.0) /* rotator_kmax */, RAD( -10.0) /* shoulder_kmin */, RAD( 90.0) /* shoulder_kmax */, 0.2616 /* f_knee_kmin */, 0.2316 /* h_knee_kmin */, RAD( 122.0) /* knee_kmax */, RAD(5) /* tail_tilt_min */, RAD(60) /* tail_tilt_max */, RAD(-45) /* tail_pan_min */, RAD(45) /* tail_pan_max */, RAD(-75.0) /* head_tilt_min */, RAD( 0.0) /* head_tilt_max */, RAD(-88.0) /* head_pan_min */, RAD( 88.0) /* head_pan_max */, 0.0 /* head_roll_min */, 0.0 /* head_roll_max */, RAD(-15.0) /* head_tilt2_min */, RAD(45.0) /* head_tilt2_max */, RAD(-55) /* mouth_min */, RAD(-3) /* mouth_max */); //====================================================================// struct RobotConstants2{ vector3d f_body_to_shoulder; vector3d f_leg_shoulder_to_knee; vector3d f_leg_knee_to_ball; vector3d h_body_to_shoulder; vector3d h_leg_shoulder_to_knee; vector3d h_leg_knee_to_ball; vector3d body_to_neck; vector3d neck_to_camera; vector3d neck_to_head; vector3d head_to_camera; vector3d f_upper; vector3d f_lower; vector3d h_upper; vector3d h_lower; double rotator_min; double rotator_max; double shoulder_min; double shoulder_max; double knee_min; double knee_max; double rotator_kmin; double rotator_kmax; double shoulder_kmin; double shoulder_kmax; double f_knee_kmin; double h_knee_kmin; double knee_kmax; double tail_tilt_min; double tail_tilt_max; double tail_pan_min; double tail_pan_max; double head_tilt_min; double head_tilt_max; double head_pan_min; double head_pan_max; double head_roll_min; double head_roll_max; double head_tilt2_min; double head_tilt2_max; double mouth_min; double mouth_max; }; static const RobotConstants2 ERS210Constants = { f_body_to_shoulder: vector3d( 59.50, 59.20, 0.00), f_leg_shoulder_to_knee: vector3d( 12.80, 0.50, -64.00), f_leg_knee_to_ball: vector3d(-18.00, 0.00, -67.23), h_body_to_shoulder: vector3d(-59.50, 59.20, 0.00), h_leg_shoulder_to_knee: vector3d(-12.80, 0.50, -64.00), h_leg_knee_to_ball: vector3d( 18.00, 0.00, -74.87), body_to_neck: vector3d( 75.00, 0.00, 50.00), neck_to_camera: vector3d( 65.00, 0.00, 48.00), neck_to_head: vector3d( 0.00, 0.00, 0.00), head_to_camera: vector3d( 0.00, 0.00, 0.00), // FIXME, next four are duplicates, should be removed f_upper: vector3d( 12.80, 0.50, -64.00), f_lower: vector3d(-18.00, 0.00, -67.23), h_upper: vector3d(-12.80, 0.50, -64.00), h_lower: vector3d( 18.00, 0.00, -74.87), rotator_min: RAD(-117.0), rotator_max: RAD( 117.0), shoulder_min: RAD( -11.0), shoulder_max: RAD( 97.0), knee_min: RAD( -27.0), knee_max: RAD( 147.0), rotator_kmin: RAD( -90.0), rotator_kmax: RAD( 90.0), shoulder_kmin: RAD( -11.0), shoulder_kmax: RAD( 90.0), f_knee_kmin: 0.2616, h_knee_kmin: 0.2316, knee_kmax: RAD( 147.0), tail_tilt_min: RAD( -22.0), tail_tilt_max: RAD( 22.0), tail_pan_min: RAD( -22.0), tail_pan_max: RAD( 22.0), head_tilt_min: RAD( -88.5), head_tilt_max: RAD( 43.0), head_pan_min: RAD( -89.6), head_pan_max: RAD( 89.6), head_roll_min: RAD( -29.0), head_roll_max: RAD( 29.0), head_tilt2_min: 0.0, head_tilt2_max: 0.0, mouth_min: 0.0, mouth_max: 0.0, }; static const RobotConstants2 ERS7Constants = { f_body_to_shoulder: vector3d( 65.00, 62.50, 0.00), f_leg_shoulder_to_knee: vector3d( 9.00, 4.70, -69.50), f_leg_knee_to_ball: vector3d( 0.00, 0.00, -76.50), h_body_to_shoulder: vector3d(-65.00, 62.50, 0.00), h_leg_shoulder_to_knee: vector3d( -9.00, 4.70, -69.50), h_leg_knee_to_ball: vector3d( 0.00, 0.00, -76.50), body_to_neck: vector3d( 67.50, 0.00, 19.50), neck_to_camera: vector3d(137.61, 0.00, 41.95), neck_to_head: vector3d( 56.55, 0.00, 56.55), head_to_camera: vector3d( 81.06, 0.00, -14.60), // FIXME, next four are duplicates, should be removed f_upper: vector3d( 9.00, 4.70, -69.50), f_lower: vector3d( 0.00, 0.00, -76.50), h_upper: vector3d( -9.00, 4.70, -69.50), h_lower: vector3d( 0.00, 0.00, -76.50), rotator_min: RAD(-115.0), rotator_max: RAD( 130.0), shoulder_min: RAD( -10.0), shoulder_max: RAD( 88.0), knee_min: RAD( -25.0), knee_max: RAD( 122.0), rotator_kmin: RAD( -90.0), rotator_kmax: RAD( 90.0), shoulder_kmin: RAD( -10.0), shoulder_kmax: RAD( 90.0), f_knee_kmin: 0.2616, h_knee_kmin: 0.2316, knee_kmax: RAD( 122.0), tail_tilt_min: RAD( 5.0), tail_tilt_max: RAD( 60.0), tail_pan_min: RAD( -45.0), tail_pan_max: RAD( 45.0), head_tilt_min: RAD( -75.0), head_tilt_max: RAD( 0.0), head_pan_min: RAD( -88.0), head_pan_max: RAD( 88.0), head_roll_min: 0.0, head_roll_max: 0.0, head_tilt2_min: RAD( -15.0), head_tilt2_max: RAD( 45.0), mouth_min: RAD( -55.0), mouth_max: RAD( -3.0), }; #endif