diff -urdN ../Tekkotsu_2.2.1/Behaviors/BehaviorBase.h ./Behaviors/BehaviorBase.h --- ../Tekkotsu_2.2.1/Behaviors/BehaviorBase.h Mon Nov 15 17:46:19 2004 +++ ./Behaviors/BehaviorBase.h Mon Nov 15 17:46:19 2004 @@ -113,7 +113,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controller.cc ./Behaviors/Controller.cc --- ../Tekkotsu_2.2.1/Behaviors/Controller.cc Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Controller.cc Sat Oct 16 21:16:10 2004 @@ -452,7 +452,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controller.h ./Behaviors/Controller.h --- ../Tekkotsu_2.2.1/Behaviors/Controller.h Wed Nov 10 20:45:31 2004 +++ ./Behaviors/Controller.h Wed Nov 10 20:45:31 2004 @@ -211,7 +211,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/BatteryCheckControl.h ./Behaviors/Controls/BatteryCheckControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/BatteryCheckControl.h Thu Oct 7 15:07:04 2004 +++ ./Behaviors/Controls/BatteryCheckControl.h Thu Oct 7 15:07:04 2004 @@ -111,7 +111,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/BehaviorActivatorControl.h ./Behaviors/Controls/BehaviorActivatorControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/BehaviorActivatorControl.h Thu Sep 25 11:26:10 2003 +++ ./Behaviors/Controls/BehaviorActivatorControl.h Thu Sep 25 11:26:10 2003 @@ -62,7 +62,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/BehaviorReportControl.h ./Behaviors/Controls/BehaviorReportControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/BehaviorReportControl.h Tue Nov 16 14:25:24 2004 +++ ./Behaviors/Controls/BehaviorReportControl.h Tue Nov 16 14:25:24 2004 @@ -58,7 +58,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/BehaviorSwitchActivatorControl.h ./Behaviors/Controls/BehaviorSwitchActivatorControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/BehaviorSwitchActivatorControl.h Thu Sep 25 11:26:10 2003 +++ ./Behaviors/Controls/BehaviorSwitchActivatorControl.h Thu Sep 25 11:26:10 2003 @@ -54,7 +54,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/BehaviorSwitchControl.h ./Behaviors/Controls/BehaviorSwitchControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/BehaviorSwitchControl.h Thu Nov 11 19:05:03 2004 +++ ./Behaviors/Controls/BehaviorSwitchControl.h Thu Nov 11 19:05:03 2004 @@ -265,7 +265,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/ControlBase.cc ./Behaviors/Controls/ControlBase.cc --- ../Tekkotsu_2.2.1/Behaviors/Controls/ControlBase.cc Wed Nov 3 22:01:31 2004 +++ ./Behaviors/Controls/ControlBase.cc Wed Nov 3 22:01:31 2004 @@ -411,7 +411,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/ControlBase.h ./Behaviors/Controls/ControlBase.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/ControlBase.h Wed Nov 3 22:01:31 2004 +++ ./Behaviors/Controls/ControlBase.h Wed Nov 3 22:01:31 2004 @@ -167,7 +167,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/DumpFileControl.h ./Behaviors/Controls/DumpFileControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/DumpFileControl.h Thu Sep 25 11:26:10 2003 +++ ./Behaviors/Controls/DumpFileControl.h Thu Sep 25 11:26:10 2003 @@ -40,7 +40,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/EventLogger.cc ./Behaviors/Controls/EventLogger.cc --- ../Tekkotsu_2.2.1/Behaviors/Controls/EventLogger.cc Wed Nov 3 22:01:32 2004 +++ ./Behaviors/Controls/EventLogger.cc Wed Dec 22 18:53:34 2004 @@ -17,7 +17,7 @@ pushSlot(new NullControl(("[ ] "+tmp).c_str(),"Show/hide events from "+tmp)); } pushSlot(NULL); - pushSlot(new ValueEditControl("Verbosity","Controls verbosity level: 0=name,type; 1=0+duration,timestamp; 2=1+magnitude; 3=2+subclass info","Please enter a new verbosity level: 0=name,type; 1=0+duration,timestamp; 2=1+magnitude; 3=2+subclass info",&verbosity)); + pushSlot(new ValueEditControl("Verbosity","Controls verbosity level: 0=(gen,source,type); 1=0+gen_id,source_id,type_id; 2=1+duration,timestamp; 3=2+magnitude; additional columns may be added for subclass info","Please enter a new verbosity level: 0=(gen,source,type); 1=0+gen_id,source_id,type_id; 2=1+duration,timestamp; 3=2+magnitude; additional columns may be added for subclass info",&verbosity)); pushSlot(new ControlBase("[X] Console Output","If selected, outputs events to the console")); pushSlot(new StringInputControl("[ ] File Output","Please enter the filename to log to (in /ms/...)")); } @@ -109,8 +109,8 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/EventLogger.h ./Behaviors/Controls/EventLogger.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/EventLogger.h Thu Oct 7 18:15:20 2004 +++ ./Behaviors/Controls/EventLogger.h Thu Oct 7 18:15:20 2004 @@ -45,7 +45,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/FileBrowserControl.cc ./Behaviors/Controls/FileBrowserControl.cc --- ../Tekkotsu_2.2.1/Behaviors/Controls/FileBrowserControl.cc Wed Jan 14 15:43:43 2004 +++ ./Behaviors/Controls/FileBrowserControl.cc Wed Jan 14 15:43:43 2004 @@ -158,7 +158,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/FileBrowserControl.h ./Behaviors/Controls/FileBrowserControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/FileBrowserControl.h Wed Jan 14 15:43:44 2004 +++ ./Behaviors/Controls/FileBrowserControl.h Wed Jan 14 15:43:44 2004 @@ -72,7 +72,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/FileInputControl.h ./Behaviors/Controls/FileInputControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/FileInputControl.h Mon Mar 22 19:55:01 2004 +++ ./Behaviors/Controls/FileInputControl.h Mon Mar 22 19:55:01 2004 @@ -48,7 +48,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/FreeMemReportControl.cc ./Behaviors/Controls/FreeMemReportControl.cc --- ../Tekkotsu_2.2.1/Behaviors/Controls/FreeMemReportControl.cc Thu Sep 25 11:26:11 2003 +++ ./Behaviors/Controls/FreeMemReportControl.cc Thu Sep 25 11:26:11 2003 @@ -63,7 +63,7 @@ * @author ejt (object), alokl (core function) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/FreeMemReportControl.h ./Behaviors/Controls/FreeMemReportControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/FreeMemReportControl.h Wed Nov 10 20:45:35 2004 +++ ./Behaviors/Controls/FreeMemReportControl.h Wed Nov 10 20:45:35 2004 @@ -66,7 +66,7 @@ * @author ejt (object), alokl (core function) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/HelpControl.cc ./Behaviors/Controls/HelpControl.cc --- ../Tekkotsu_2.2.1/Behaviors/Controls/HelpControl.cc Tue Jul 13 20:50:26 2004 +++ ./Behaviors/Controls/HelpControl.cc Wed Nov 17 19:04:16 2004 @@ -36,7 +36,12 @@ if(slots.size()>1) numlen=(int)(log(slots.size()-1)/log(10))+1; #ifdef HelpControl_HTML_ - sout->printf("
    \n"); + unsigned int ngoodslots=0; + for(unsigned int i=0; i0) + sout->printf("
      \n"); #endif for(unsigned int i=0; i0 && !isspace(desc[len-1])) len--; #ifdef HelpControl_HTML_ - fmt="%s
    1. %s: %s"; + fmt="%s
    2. %s: %s"; #else if(config->main.use_VT100) fmt="\33[1m%s%*d. %s\33[0m: %s\n"; @@ -89,7 +94,8 @@ report(slots[i],pre,depth_remain-1); } #ifdef HelpControl_HTML_ - sout->printf("
    \n"); + if(ngoodslots>0) + sout->printf("
\n"); #endif } @@ -98,9 +104,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/HelpControl.h ./Behaviors/Controls/HelpControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/HelpControl.h Mon Jan 19 17:03:58 2004 +++ ./Behaviors/Controls/HelpControl.h Mon Jan 19 17:03:58 2004 @@ -45,7 +45,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/LoadCalibration.h ./Behaviors/Controls/LoadCalibration.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/LoadCalibration.h Wed Feb 25 20:02:25 2004 +++ ./Behaviors/Controls/LoadCalibration.h Wed Feb 25 20:02:25 2004 @@ -86,7 +86,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/LoadPostureControl.h ./Behaviors/Controls/LoadPostureControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/LoadPostureControl.h Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Controls/LoadPostureControl.h Sat Oct 16 21:16:10 2004 @@ -60,7 +60,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/LoadWalkControl.h ./Behaviors/Controls/LoadWalkControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/LoadWalkControl.h Sat Jan 10 15:10:27 2004 +++ ./Behaviors/Controls/LoadWalkControl.h Sat Jan 10 15:10:27 2004 @@ -56,7 +56,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/MCValueEditControl.h ./Behaviors/Controls/MCValueEditControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/MCValueEditControl.h Thu Sep 25 11:26:11 2003 +++ ./Behaviors/Controls/MCValueEditControl.h Thu Sep 25 11:26:11 2003 @@ -29,7 +29,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/NullControl.h ./Behaviors/Controls/NullControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/NullControl.h Thu Sep 25 11:26:11 2003 +++ ./Behaviors/Controls/NullControl.h Thu Sep 25 11:26:11 2003 @@ -32,7 +32,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/PlaySoundControl.h ./Behaviors/Controls/PlaySoundControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/PlaySoundControl.h Thu Sep 25 11:26:11 2003 +++ ./Behaviors/Controls/PlaySoundControl.h Thu Sep 25 11:26:11 2003 @@ -32,7 +32,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/PostureEditor.cc ./Behaviors/Controls/PostureEditor.cc --- ../Tekkotsu_2.2.1/Behaviors/Controls/PostureEditor.cc Mon Oct 18 15:53:02 2004 +++ ./Behaviors/Controls/PostureEditor.cc Tue Dec 21 16:49:50 2004 @@ -3,21 +3,22 @@ #include "Motion/EmergencyStopMC.h" #include "Motion/MotionSequenceMC.h" #include "Motion/LedMC.h" +#include "SoundPlay/SoundManager.h" #include "Events/EventRouter.h" #include "ValueEditControl.h" #include "NullControl.h" -#include "SoundPlay/SoundManager.h" - -typedef MotionSequenceMC reach_t; //!< just to save some typing +#include "StringInputControl.h" +#include "FileInputControl.h" PostureEditor::PostureEditor(MotionManager::MC_ID estop_ID) : ControlBase("Posture Editor","Allows you to load, save, and numerically edit the posture"), pose(), reachID(MotionManager::invalid_MC_ID), - estopID(estop_ID), lastSlot(NULL), loadPose(NULL), savePose(NULL), pauseCalled(false) + estopID(estop_ID), loadPose(NULL), disabledLoadPose(NULL), savePose(NULL), pauseCalled(false) { // add load and save menus pushSlot(loadPose=new FileInputControl("Load Posture","Select a posture to open",config->motion.root)); loadPose->setFilter("*.pos"); + disabledLoadPose=new NullControl("[Load disabled by EStop]","Cannot load new postures while EStop is active"); pushSlot(savePose=new StringInputControl("Save Posture","Please enter the filename to save to (in "+config->motion.root+")")); // add submenu for weight editors @@ -33,6 +34,12 @@ pushSlot(new ValueEditControl(outputNames[i],&pose(i).value)); } +PostureEditor::~PostureEditor() { + delete loadPose; + delete disabledLoadPose; + options[0]=NULL; +} + ControlBase * PostureEditor::activate(MotionManager::MC_ID disp_id, Socket * gui) { //cout << "activate" << endl; @@ -42,7 +49,7 @@ for(unsigned int i=LEDOffset; i reach; + SharedObject reach; reachID=motman->addPersistentMotion(reach); // we'll need to know when estop is turned on or off erouter->addListener(this,EventBase::estopEGID); @@ -55,29 +62,31 @@ //cout << "refresh" << endl; if(isEStopped()) { erouter->addTimer(this,0,500); - options[0]=NULL; + options[0]=disabledLoadPose; } else { options[0]=loadPose; } - if(lastSlot==loadPose) { - // we just got back from the load menu + if(loadPose->getLastInput().size()>0) { pose.LoadFile(loadPose->getLastInput().c_str()); updatePose(moveTime); - } else if(lastSlot==savePose || savePose->getLastInput().size()>0) { + loadPose->clearLastInput(); + } else if(savePose->getLastInput().size()>0) { // we just got back from the save menu - pose.SaveFile(config->motion.makePath(savePose->getLastInput()).c_str()); + std::string filename=savePose->getLastInput(); + if(filename.find(".")==std::string::npos) + filename+=".pos"; + pose.SaveFile(config->motion.makePath(filename).c_str()); savePose->takeInput(""); } else { updatePose(moveTime/2); } - lastSlot=NULL; pauseCalled=false; ControlBase::refresh(); } void PostureEditor::pause() { - //cout << "paused" << endl; + refresh(); //one last time, in case this pause is due to un-estop putting Controller into low-profile mode pauseCalled=true; erouter->removeListener(this,EventBase::timerEGID); } @@ -91,26 +100,18 @@ ControlBase::deactivate(); } -ControlBase* -PostureEditor::doSelect() { - // record the option that is being selected, in case it's the load or save - lastSlot=options[hilights.front()]; - // but do what we'd normally do (select that option) - return ControlBase::doSelect(); -} - void PostureEditor::processEvent(const EventBase& e) { if(e.getGeneratorID()==EventBase::estopEGID) { if(e.getTypeID()==EventBase::deactivateETID) { - MMAccessor(reachID)->play(); + MMAccessor(reachID)->play(); erouter->removeListener(this,EventBase::timerEGID); if(!pauseCalled) refresh(); } else { if(!pauseCalled) { - erouter->addTimer(this,0,500); - processEvent(EventBase(EventBase::timerEGID,0,EventBase::statusETID)); + erouter->addTimer(this,0,500); // timer to allow updates on joint positions + processEvent(EventBase(EventBase::timerEGID,0,EventBase::statusETID)); // but also do one right now } } } else if(e.getGeneratorID()==EventBase::timerEGID) { @@ -131,11 +132,11 @@ void PostureEditor::updatePose(unsigned int delay) { bool paused=isEStopped(); - MMAccessor reach_acc(reachID); + MMAccessor reach_acc(reachID); reach_acc->clear(); - reach_acc->setPlayTime(delay); + reach_acc->setTime(delay); reach_acc->setPose(pose); - reach_acc->setPlayTime(delay+100); + reach_acc->advanceTime(100); reach_acc->setPose(pose); if(paused) reach_acc->pause(); @@ -149,8 +150,8 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/PostureEditor.h ./Behaviors/Controls/PostureEditor.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/PostureEditor.h Mon Oct 18 15:53:02 2004 +++ ./Behaviors/Controls/PostureEditor.h Thu Dec 2 13:48:56 2004 @@ -6,8 +6,6 @@ #include "Shared/SharedObject.h" #include "Motion/PostureEngine.h" #include "Motion/MotionManager.h" -#include "StringInputControl.h" -#include "FileInputControl.h" #include "Events/EventListener.h" //! allows logging of events to the console or a file @@ -16,14 +14,14 @@ //! constructor explicit PostureEditor(MotionManager::MC_ID estop_ID); + //! destructor + virtual ~PostureEditor(); + virtual ControlBase * activate(MotionManager::MC_ID disp_id, Socket * gui); virtual void refresh(); //!< if we're back from a child slot, it's either load or save, so we need to handle it virtual void pause(); virtual void deactivate(); - //! opens a custom (embedded) menu edit outputs - virtual ControlBase* doSelect(); - //! listens for the EStop to be turned off before moving virtual void processEvent(const EventBase& e); @@ -32,9 +30,9 @@ MotionManager::MC_ID reachID; //!< id of motion sequence used to slow "snapping" to positions MotionManager::MC_ID estopID; //!< so we can check if the estop is active - ControlBase* lastSlot; //!< the last accessed slot - FileInputControl* loadPose; //!< the control for loading postures - StringInputControl* savePose; //!< the control for saving postures + class FileInputControl* loadPose; //!< the control for loading postures + class NullControl* disabledLoadPose; //!< a message to display instead of loadPose when EStop is on + class StringInputControl* savePose; //!< the control for saving postures bool pauseCalled; //!< true if refresh hasn't been called since pause static const unsigned int moveTime=1500; //!< number of milliseconds to take to load a posture - individual joint changes will be done in half the time @@ -52,10 +50,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/ProfilerCheckControl.h ./Behaviors/Controls/ProfilerCheckControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/ProfilerCheckControl.h Thu Nov 11 15:34:59 2004 +++ ./Behaviors/Controls/ProfilerCheckControl.h Thu Nov 11 15:34:59 2004 @@ -24,7 +24,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/RebootControl.cc ./Behaviors/Controls/RebootControl.cc --- ../Tekkotsu_2.2.1/Behaviors/Controls/RebootControl.cc Thu Sep 25 11:26:11 2003 +++ ./Behaviors/Controls/RebootControl.cc Thu Sep 25 11:26:11 2003 @@ -12,7 +12,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/RebootControl.h ./Behaviors/Controls/RebootControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/RebootControl.h Thu Sep 25 11:26:11 2003 +++ ./Behaviors/Controls/RebootControl.h Thu Sep 25 11:26:11 2003 @@ -23,7 +23,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/RunSequenceControl.h ./Behaviors/Controls/RunSequenceControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/RunSequenceControl.h Mon Oct 18 13:01:38 2004 +++ ./Behaviors/Controls/RunSequenceControl.h Mon Oct 18 13:01:38 2004 @@ -77,7 +77,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/SavePostureControl.h ./Behaviors/Controls/SavePostureControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/SavePostureControl.h Thu Jan 29 20:29:41 2004 +++ ./Behaviors/Controls/SavePostureControl.h Thu Dec 2 16:29:45 2004 @@ -16,6 +16,8 @@ virtual ControlBase * takeInput(const std::string& msg) { if(msg.size()>0) { std::string filename; + if(filename.find(".")==std::string::npos) + filename+=".pos"; filename=config->motion.makePath(msg); PostureEngine post; post.takeSnapshot(); @@ -30,10 +32,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/SaveWalkControl.h ./Behaviors/Controls/SaveWalkControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/SaveWalkControl.h Thu Mar 25 19:28:41 2004 +++ ./Behaviors/Controls/SaveWalkControl.h Thu Dec 2 16:29:45 2004 @@ -19,6 +19,8 @@ virtual ControlBase * takeInput(const std::string& msg) { if(msg.size()>0) { std::string filename=config->motion.makePath(msg); + if(filename.find(".")==std::string::npos) + filename+=".prm"; MotionManager::MC_ID id = (thewalk==NULL ? walk_id : thewalk->getID() ); WalkMC* walk=thewalk; if(id!=MotionManager::invalid_MC_ID) @@ -47,9 +49,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/SensorObserverControl.cc ./Behaviors/Controls/SensorObserverControl.cc --- ../Tekkotsu_2.2.1/Behaviors/Controls/SensorObserverControl.cc Wed Nov 3 22:01:32 2004 +++ ./Behaviors/Controls/SensorObserverControl.cc Wed Nov 3 22:01:32 2004 @@ -133,7 +133,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/SensorObserverControl.h ./Behaviors/Controls/SensorObserverControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/SensorObserverControl.h Sun Jan 18 05:16:56 2004 +++ ./Behaviors/Controls/SensorObserverControl.h Sun Jan 18 05:16:56 2004 @@ -53,7 +53,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/ShutdownControl.cc ./Behaviors/Controls/ShutdownControl.cc --- ../Tekkotsu_2.2.1/Behaviors/Controls/ShutdownControl.cc Thu Sep 25 11:26:11 2003 +++ ./Behaviors/Controls/ShutdownControl.cc Thu Sep 25 11:26:11 2003 @@ -12,7 +12,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/ShutdownControl.h ./Behaviors/Controls/ShutdownControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/ShutdownControl.h Thu Sep 25 11:26:11 2003 +++ ./Behaviors/Controls/ShutdownControl.h Thu Sep 25 11:26:11 2003 @@ -23,7 +23,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/StringInputControl.cc ./Behaviors/Controls/StringInputControl.cc --- ../Tekkotsu_2.2.1/Behaviors/Controls/StringInputControl.cc Mon Jul 28 01:54:32 2003 +++ ./Behaviors/Controls/StringInputControl.cc Mon Jul 28 01:54:32 2003 @@ -42,7 +42,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/StringInputControl.h ./Behaviors/Controls/StringInputControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/StringInputControl.h Mon Mar 22 19:55:01 2004 +++ ./Behaviors/Controls/StringInputControl.h Mon Mar 22 19:55:01 2004 @@ -44,7 +44,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/ToggleControl.h ./Behaviors/Controls/ToggleControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/ToggleControl.h Mon Mar 22 19:55:01 2004 +++ ./Behaviors/Controls/ToggleControl.h Mon Mar 22 19:55:01 2004 @@ -141,7 +141,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/ValueEditControl.h ./Behaviors/Controls/ValueEditControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/ValueEditControl.h Thu Oct 7 15:07:04 2004 +++ ./Behaviors/Controls/ValueEditControl.h Wed Dec 15 23:50:48 2004 @@ -133,6 +133,7 @@ virtual ControlBase * takeInput(const std::string& str) { cur = (T)atof(str.c_str()); + StringInputControl::takeInput(str); return doSelect(); } @@ -166,10 +167,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/ValueSetControl.h ./Behaviors/Controls/ValueSetControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/ValueSetControl.h Sun Jan 18 05:16:56 2004 +++ ./Behaviors/Controls/ValueSetControl.h Sun Jan 18 05:16:56 2004 @@ -50,7 +50,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/WalkCalibration.cc ./Behaviors/Controls/WalkCalibration.cc --- ../Tekkotsu_2.2.1/Behaviors/Controls/WalkCalibration.cc Wed Nov 3 22:01:32 2004 +++ ./Behaviors/Controls/WalkCalibration.cc Wed Nov 3 22:01:32 2004 @@ -913,7 +913,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/WalkCalibration.h ./Behaviors/Controls/WalkCalibration.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/WalkCalibration.h Thu Oct 7 15:07:04 2004 +++ ./Behaviors/Controls/WalkCalibration.h Thu Oct 7 15:07:04 2004 @@ -124,7 +124,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/WaypointWalkControl.cc ./Behaviors/Controls/WaypointWalkControl.cc --- ../Tekkotsu_2.2.1/Behaviors/Controls/WaypointWalkControl.cc Wed Nov 3 22:01:32 2004 +++ ./Behaviors/Controls/WaypointWalkControl.cc Thu Dec 2 16:29:45 2004 @@ -41,8 +41,11 @@ void WaypointWalkControl::refresh() { if(saveCtl->getLastInput().size()>0) { - sout->printf("Attempting save to %s...\n",saveCtl->getLastInput().c_str()); - std::string path=config->motion.makePath(saveCtl->getLastInput()); + std::string filename=saveCtl->getLastInput(); + if(filename.find(".")==std::string::npos) + filename+=".wyp"; + std::string path=config->motion.makePath(filename); + sout->printf("Attempting save to %s...\n",path.c_str()); MMAccessor(walk_id)->SaveWaypointFile(path.c_str()); saveCtl->clearLastInput(); } @@ -244,9 +247,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Controls/WaypointWalkControl.h ./Behaviors/Controls/WaypointWalkControl.h --- ../Tekkotsu_2.2.1/Behaviors/Controls/WaypointWalkControl.h Tue Jul 27 10:33:28 2004 +++ ./Behaviors/Controls/WaypointWalkControl.h Tue Jul 27 10:33:28 2004 @@ -75,7 +75,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/ASCIIVisionBehavior.cc ./Behaviors/Demos/ASCIIVisionBehavior.cc --- ../Tekkotsu_2.2.1/Behaviors/Demos/ASCIIVisionBehavior.cc Tue Oct 19 12:37:00 2004 +++ ./Behaviors/Demos/ASCIIVisionBehavior.cc Fri Dec 3 19:10:24 2004 @@ -4,7 +4,7 @@ #include "Wireless/Socket.h" const char ASCIIVisionBehavior::charMap[ASCIIVisionBehavior::charMapSize] = { - ' ','.','\'','`','^','"',',',':',';','~','-','!','i','l','I','>','<','+','?',')', + ' ','.',',','\'','~','-','"','^',':',';','!','i','l','I','>','+','?',')', '1',']','|','/','t','f','j','r','n','u','v','c','z','x','Y','U','J','C','L','Q', '0','O','Z','X','m','w','q','p','d','b','k','h','a','o','*','#','M','W','&','8', '%','B','$','@' diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/ASCIIVisionBehavior.h ./Behaviors/Demos/ASCIIVisionBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/ASCIIVisionBehavior.h Wed Nov 10 20:45:35 2004 +++ ./Behaviors/Demos/ASCIIVisionBehavior.h Wed Dec 22 20:47:06 2004 @@ -15,8 +15,8 @@ //! constructor ASCIIVisionBehavior() : BehaviorBase("ASCIIVisionBehavior") {} - static const unsigned int charMapSize=64; - static const char charMap[charMapSize]; + static const unsigned int charMapSize=62; //!< the number of available characters for levels of "gray" + static const char charMap[charMapSize]; //!< the included characters sorted in order of darkness - could be improved... (less is more sometimes) virtual void DoStart() { BehaviorBase::DoStart(); // do this first @@ -42,10 +42,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/AlanBehavior.h ./Behaviors/Demos/AlanBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/AlanBehavior.h Wed Nov 10 20:45:35 2004 +++ ./Behaviors/Demos/AlanBehavior.h Wed Nov 10 20:45:35 2004 @@ -115,7 +115,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/AutoGetupBehavior.h ./Behaviors/Demos/AutoGetupBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/AutoGetupBehavior.h Wed Nov 10 20:45:35 2004 +++ ./Behaviors/Demos/AutoGetupBehavior.h Tue Dec 21 15:29:07 2004 @@ -52,7 +52,7 @@ gu=config->motion.makePath("gu_back.mot"); else gu=config->motion.makePath("gu_front.mot"); - SharedObject< MotionSequenceMC > getup(gu.c_str()); + SharedObject getup(gu.c_str()); MotionManager::MC_ID id=motman->addPrunableMotion(getup,MotionManager::kHighPriority); erouter->addListener(this,EventBase::motmanEGID,id,EventBase::deactivateETID); waiting=true; @@ -74,10 +74,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/BanditMachine.h ./Behaviors/Demos/BanditMachine.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/BanditMachine.h Thu Nov 11 16:32:14 2004 +++ ./Behaviors/Demos/BanditMachine.h Tue Dec 21 16:49:50 2004 @@ -21,14 +21,14 @@ public: //!constructor BanditMachine() - : StateNode("BanditMachine","BanditMachine",NULL), stare(NULL), start(NULL), liedown(MotionManager::invalid_MC_ID), bandit(2) + : StateNode("BanditMachine","BanditMachine"), stare(NULL), start(NULL), liedown(MotionManager::invalid_MC_ID), bandit(2) { stare=new StareAtBallBehavior(); stare->AddReference(); } //!constructor - BanditMachine(const char* n, StateNode* p=NULL) - : StateNode(n,p), stare(), start(NULL), liedown(MotionManager::invalid_MC_ID), bandit(2) + BanditMachine(const char* n) + : StateNode("BanditMachine",n), stare(), start(NULL), liedown(MotionManager::invalid_MC_ID), bandit(2) { stare=new StareAtBallBehavior(); stare->AddReference(); @@ -42,12 +42,12 @@ virtual std::string getDescription() const { return getClassDescription(); } virtual void setup() { - StateNode *wait=start=addNode(new WaitNode("Wait",this,bandit)); - StateNode *left=addNode(new PressNode("Left",this,LFrLegOffset+KneeOffset)); - StateNode *right=addNode(new PressNode("Right",this,RFrLegOffset+KneeOffset)); - StateNode *decide=addNode(new DecideNode("Decide",this,bandit,left,right)); - StateNode *recoverl=addNode(new OutputNode("\nBadPressLeft",this,std::cout,wait)); - StateNode *recoverr=addNode(new OutputNode("\nBadPressRight",this,std::cout,wait)); + StateNode *wait=start=addNode(new WaitNode("Wait",bandit)); + StateNode *left=addNode(new PressNode("Left",LFrLegOffset+KneeOffset)); + StateNode *right=addNode(new PressNode("Right",RFrLegOffset+KneeOffset)); + StateNode *decide=addNode(new DecideNode("Decide",bandit,left,right)); + StateNode *recoverl=addNode(new OutputNode("\nBadPressLeft",std::cout,wait)); + StateNode *recoverr=addNode(new OutputNode("\nBadPressRight",std::cout,wait)); left->addTransition(new SmoothCompareTrans(wait,&state->pidduties[LFrLegOffset+RotatorOffset],CompareTrans::LT,-.07,EventBase(EventBase::sensorEGID,SensorSourceID::UpdatedSID,EventBase::statusETID),.7)); right->addTransition(new SmoothCompareTrans(wait,&state->pidduties[RFrLegOffset+RotatorOffset],CompareTrans::LT,-.07,EventBase(EventBase::sensorEGID,SensorSourceID::UpdatedSID,EventBase::statusETID),.7)); wait->addTransition(new TimeOutTrans(decide,2000)); @@ -81,18 +81,17 @@ public: //! constructor /*! @param n name of the node - * @param p the parent node * @param idx the joint index of the paw to move */ - PressNode(const char* n, StateNode* p, unsigned int idx) : StateNode("PressNode",n,p), press_id(MotionManager::invalid_MC_ID), index(idx) { - SharedObject > press; - press->setPlayTime(0); + PressNode(const char* n, unsigned int idx) : StateNode("PressNode",n), press_id(MotionManager::invalid_MC_ID), index(idx) { + SharedObject press; + press->setTime(0); press->setOutputCmd(idx,.6); - press->setPlayTime(1); + press->setTime(1); press->setOutputCmd(idx,.6); - press->setPlayTime(200); + press->setTime(200); press->setOutputCmd(idx,.3); - press->setPlayTime(1500); + press->setTime(1500); press->setOutputCmd(idx,outputRanges[idx][MinRange]); press_id=motman->addPersistentMotion(press,MotionManager::kStdPriority+1); } @@ -102,16 +101,16 @@ } virtual void DoStart() { StateNode::DoStart(); - MMAccessor > press(press_id); + MMAccessor press(press_id); press->play(); press->setOutputCmd(index,.6); - // press->setPlaySpeed(1); + // press->setSpeed(1); } virtual void DoStop() { - MMAccessor > press(press_id); - // press->setPlaySpeed(-1); + MMAccessor press(press_id); + // press->setSpeed(-1); press->pause(); - press->setPlayTime(0); + press->setTime(0); StateNode::DoStop(); } protected: @@ -124,13 +123,12 @@ public: //! constructor /*! @param n name of the node - * @param p the parent node * @param bandito the decision making algorithm to use (look in karmedbandit.h) * @param left the PressNode to go to if the left paw is chosen * @param right the PressNode to go to if the right paw is chosen */ - DecideNode(const char* n, StateNode* p, karmedbanditExp3_1& bandito, StateNode* left, StateNode* right) - : StateNode("DecideNode",n,p), b(bandito), l(left), r(right) + DecideNode(const char* n, karmedbanditExp3_1& bandito, StateNode* left, StateNode* right) + : StateNode("DecideNode",n), b(bandito), l(left), r(right) {} virtual void DoStart() { StateNode::DoStart(); @@ -159,11 +157,10 @@ public: //! constructor /* @param n name to use for the node - * @param p parent node * @param bandito the class to pass the reward to (if it comes) */ - WaitNode(const char* n, StateNode* p, karmedbanditExp3_1& bandito) - : StateNode("WaitNode",n,p), b(bandito), reward(false), leds_id(MotionManager::invalid_MC_ID) + WaitNode(const char* n, karmedbanditExp3_1& bandito) + : StateNode("WaitNode",n), b(bandito), reward(false), leds_id(MotionManager::invalid_MC_ID) { leds_id=motman->addPersistentMotion(SharedObject()); } @@ -217,10 +214,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/BatteryMonitorBehavior.h ./Behaviors/Demos/BatteryMonitorBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/BatteryMonitorBehavior.h Wed Nov 10 20:45:35 2004 +++ ./Behaviors/Demos/BatteryMonitorBehavior.h Wed Nov 10 20:45:35 2004 @@ -156,7 +156,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/CameraBehavior.cc ./Behaviors/Demos/CameraBehavior.cc --- ../Tekkotsu_2.2.1/Behaviors/Demos/CameraBehavior.cc Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/CameraBehavior.cc Sat Oct 16 21:16:10 2004 @@ -196,7 +196,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/CameraBehavior.h ./Behaviors/Demos/CameraBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/CameraBehavior.h Wed Nov 10 20:45:35 2004 +++ ./Behaviors/Demos/CameraBehavior.h Wed Nov 10 20:45:35 2004 @@ -61,7 +61,7 @@ * @author ejt (rewrite for new vision system) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/ChaseBallBehavior.cc ./Behaviors/Demos/ChaseBallBehavior.cc --- ../Tekkotsu_2.2.1/Behaviors/Demos/ChaseBallBehavior.cc Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/ChaseBallBehavior.cc Sat Oct 16 21:16:10 2004 @@ -64,7 +64,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/ChaseBallBehavior.h ./Behaviors/Demos/ChaseBallBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/ChaseBallBehavior.h Wed Nov 10 20:45:35 2004 +++ ./Behaviors/Demos/ChaseBallBehavior.h Wed Nov 10 20:45:35 2004 @@ -37,7 +37,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/CrashTestBehavior.h ./Behaviors/Demos/CrashTestBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/CrashTestBehavior.h Wed Nov 10 20:45:35 2004 +++ ./Behaviors/Demos/CrashTestBehavior.h Wed Nov 10 20:45:35 2004 @@ -37,7 +37,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/DriveMeBehavior.cc ./Behaviors/Demos/DriveMeBehavior.cc --- ../Tekkotsu_2.2.1/Behaviors/Demos/DriveMeBehavior.cc Wed Nov 10 20:45:35 2004 +++ ./Behaviors/Demos/DriveMeBehavior.cc Tue Dec 21 16:49:50 2004 @@ -25,7 +25,7 @@ last_dx(0), last_dy(0), last_da(0), last_time(5000) { // Construct the standing up motion that the aibo does after it's done moving - stand->setPlayTime(700); // 700 milliseconds to stand up + stand->setTime(700); // 700 milliseconds to stand up stand->setPose(PostureEngine("/ms/data/motion/stand.pos")); } @@ -60,7 +60,7 @@ using namespace std; WalkMC *walker; - MotionSequenceMC *standp; + SmallMotionSequenceMC *standp; // oh, OK, make sure it's a timer event if(event.getGeneratorID() != EventBase::timerEGID) return; @@ -71,7 +71,7 @@ motman->checkinMotion(walker_id); // Stand us up right now. - standp = (MotionSequenceMC*)motman->checkoutMotion(stand_id); + standp = (SmallMotionSequenceMC*)motman->checkoutMotion(stand_id); standp->play(); motman->checkinMotion(stand_id); @@ -109,9 +109,9 @@ * @author tss (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/DriveMeBehavior.h ./Behaviors/Demos/DriveMeBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/DriveMeBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/DriveMeBehavior.h Tue Dec 21 15:29:07 2004 @@ -26,7 +26,7 @@ protected: MotionManager::MC_ID walker_id; //!< walks MotionManager::MC_ID stand_id; //!< stands up first - SharedObject< MotionSequenceMC > stand; //!< for standing + SharedObject stand; //!< for standing double last_dx; //!< the last dx received double last_dy; //!< the last dy received @@ -39,10 +39,10 @@ * @author tss (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/ExploreMachine.cc ./Behaviors/Demos/ExploreMachine.cc --- ../Tekkotsu_2.2.1/Behaviors/Demos/ExploreMachine.cc Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Demos/ExploreMachine.cc Fri Dec 3 19:10:38 2004 @@ -0,0 +1,79 @@ +#include "ExploreMachine.h" +#include "Behaviors/Nodes/WalkNode.h" +#include "Behaviors/Transitions/SmoothCompareTrans.h" +#include "Behaviors/Transitions/TimeOutTrans.h" +#include "Shared/ERS210Info.h" +#include "Shared/ERS220Info.h" +#include "Shared/ERS7Info.h" +#include "Wireless/Socket.h" +#include "Shared/WorldState.h" + +void ExploreMachine::setup() { + //cout << "Explore SETUP " << issetup << "..."; + unsigned int IRDistOffset; + if(state->robotDesign&WorldState::ERS210Mask) + IRDistOffset=ERS210Info::IRDistOffset; + else if(state->robotDesign&WorldState::ERS220Mask) + IRDistOffset=ERS220Info::IRDistOffset; + else if(state->robotDesign&WorldState::ERS7Mask) + IRDistOffset=ERS7Info::NearIRDistOffset; + else { + serr->printf("ExploreMachine: Unsupported model!\n"); + return; + } + + SharedObject walk; + walkid=motman->addPersistentMotion(walk); + + WalkNode * move=NULL; + addNode(move=new WalkNode(getName()+"::move",150,0,0)); + move->setWalkID(walkid); + start=addNode(turn=new WalkNode(getName()+"::turn",0,0,0.5f)); + turn->setWalkID(walkid); + + move->addTransition(new SmoothCompareTrans(turn,&state->sensors[IRDistOffset],CompareTrans::LT,350,EventBase(EventBase::sensorEGID,SensorSourceID::UpdatedSID,EventBase::statusETID),.7)); + turn->addTransition(new TimeOutTrans(move,2000)); + + StateNode::setup(); + //cout << issetup << endl; +} + +void ExploreMachine::DoStart() { + StateNode::DoStart(); + start->DoStart(); + //erouter->addListener(this,EventBase::sensorEGID,SensorSourceID::UpdatedSID); + erouter->addListener(this,EventBase::stateMachineEGID,(unsigned int)turn,EventBase::activateETID); +} + +void ExploreMachine::DoStop() { + erouter->removeListener(this); + StateNode::DoStop(); +} + +void ExploreMachine::teardown() { + //cout << "Explore TEARDOWN " << issetup << "..."; + motman->removeMotion(walkid); + StateNode::teardown(); + //cout << issetup << endl; +} + +void ExploreMachine::processEvent(const EventBase& /*e*/) { + //sout->printf("IR: %g\n",state->sensors[IRDistOffset]); + float vel=rand()/(float)RAND_MAX*2.0f-1; + if(vel<0) + vel-=.25; + if(vel>0) + vel+=.25; + turn->setAVelocity(vel); +} + +/*! @file + * @brief Describes ExploreMachine, a state machine for exploring an environment (or searching for an object) + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/12/23 08:41:24 $ + */ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/ExploreMachine.h ./Behaviors/Demos/ExploreMachine.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/ExploreMachine.h Thu Nov 11 16:32:14 2004 +++ ./Behaviors/Demos/ExploreMachine.h Fri Dec 3 19:10:38 2004 @@ -3,13 +3,7 @@ #define INCLUDED_ExploreMachine_h_ #include "Behaviors/StateNode.h" -#include "Behaviors/Nodes/WalkNode.h" -#include "Behaviors/Transitions/SmoothCompareTrans.h" -#include -#include "Shared/ERS210Info.h" -#include "Shared/ERS220Info.h" -#include "Shared/ERS7Info.h" -#include "Wireless/Socket.h" +#include "Motion/MotionManager.h" //! A state machine for exploring an environment (or searching for an object) class ExploreMachine : public StateNode { @@ -17,79 +11,24 @@ //!constructor ExploreMachine() : StateNode("ExploreMachine","ExploreMachine"), start(NULL), turn(NULL), walkid(MotionManager::invalid_MC_ID) - { - setRetain(false); - } + {} //!constructor - ExploreMachine(const std::string& nm, StateNode* p=NULL) - : StateNode("ExploreMachine",nm,p), start(NULL), turn(NULL), walkid(MotionManager::invalid_MC_ID) - { - setRetain(false); - } - - virtual void setup() { - //cout << "Explore SETUP " << issetup << "..."; - unsigned int IRDistOffset; - if(state->robotDesign&WorldState::ERS210Mask) - IRDistOffset=ERS210Info::IRDistOffset; - else if(state->robotDesign&WorldState::ERS220Mask) - IRDistOffset=ERS220Info::IRDistOffset; - else if(state->robotDesign&WorldState::ERS7Mask) - IRDistOffset=ERS7Info::NearIRDistOffset; - else { - serr->printf("ExploreMachine: Unsupported model!\n"); - return; - } - - SharedObject walk; - walkid=motman->addPersistentMotion(walk); - WalkNode * move=NULL; - start=addNode(turn=new WalkNode(0,0,0.5f,this)); - turn->setName(getName()+"::turn"); - addNode(move=new WalkNode(150,0,0,this)); - move->setName(getName()+"::move"); - turn->addTransition(new TimeOutTrans(move,2000)); - move->addTransition(new SmoothCompareTrans(turn,&state->sensors[IRDistOffset],CompareTrans::LT,350,EventBase(EventBase::sensorEGID,SensorSourceID::UpdatedSID,EventBase::statusETID),.7)); - turn->setWalkID(walkid); - move->setWalkID(walkid); - StateNode::setup(); - - //cout << issetup << endl; - } - - virtual void DoStart() { - StateNode::DoStart(); - start->DoStart(); - //erouter->addListener(this,EventBase::sensorEGID,SensorSourceID::UpdatedSID); - erouter->addListener(this,EventBase::stateMachineEGID,(unsigned int)turn); - } - - virtual void DoStop() { - erouter->removeListener(this); - StateNode::DoStop(); - } + ExploreMachine(const std::string& nm) + : StateNode("ExploreMachine",nm), start(NULL), turn(NULL), walkid(MotionManager::invalid_MC_ID) + {} - virtual void teardown() { - //cout << "Explore TEARDOWN " << issetup << "..."; - motman->removeMotion(walkid); - StateNode::teardown(); - //cout << issetup << endl; - } + virtual void setup(); + virtual void DoStart(); + virtual void DoStop(); + virtual void teardown(); - virtual void processEvent(const EventBase& /*e*/) { - //sout->printf("IR: %g\n",state->sensors[IRDistOffset]); - float vel=rand()/(float)RAND_MAX*2.0f-1; - if(vel<0) - vel-=.25; - if(vel>0) - vel+=.25; - turn->setAVelocity(vel); - } + //! called each time the turn node is activated, sets a new random turn direction and speed + virtual void processEvent(const EventBase& /*e*/); protected: StateNode * start; //!< the node to begin within on DoStart() (turn) - WalkNode * turn; //!< walk node to use when turning + class WalkNode * turn; //!< walk node to use when turning MotionManager::MC_ID walkid; //!< we want to share a walk between turning and walking nodes private: @@ -102,10 +41,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/FollowHeadBehavior.h ./Behaviors/Demos/FollowHeadBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/FollowHeadBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/FollowHeadBehavior.h Wed Nov 10 20:45:36 2004 @@ -54,7 +54,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/FreezeTestBehavior.h ./Behaviors/Demos/FreezeTestBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/FreezeTestBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/FreezeTestBehavior.h Wed Nov 10 20:45:36 2004 @@ -42,7 +42,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/GroundPlaneBehavior.h ./Behaviors/Demos/GroundPlaneBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/GroundPlaneBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/GroundPlaneBehavior.h Wed Dec 22 20:47:06 2004 @@ -75,7 +75,9 @@ virtual std::string getDescription() const { return getClassDescription(); } protected: - EventBase head_release, head_lock, clock; + EventBase head_release; //!< event template to match to signal the head's PID joints should be relaxed + EventBase head_lock; //!< event template to match to signal the head's PID joints should be powered up again + EventBase clock; //!< event template to match to signal a new round of calculations should be performed }; /*! @file @@ -83,10 +85,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/HeadLevelBehavior.h ./Behaviors/Demos/HeadLevelBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/HeadLevelBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/HeadLevelBehavior.h Wed Nov 10 20:45:36 2004 @@ -85,7 +85,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/HelloWorldBehavior.h ./Behaviors/Demos/HelloWorldBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/HelloWorldBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/HelloWorldBehavior.h Wed Nov 10 20:45:36 2004 @@ -50,7 +50,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/KinematicSampleBehavior.h ./Behaviors/Demos/KinematicSampleBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/KinematicSampleBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/KinematicSampleBehavior.h Wed Dec 22 20:47:06 2004 @@ -87,8 +87,8 @@ } //If you would like to verify the positiions of the back toes... (relative to body center) - //cout << "L: " << kine->getFrameInterestPoint(BaseFrameOffset,"ToeLBkPaw").t(); - //cout << "R: " << kine->getFrameInterestPoint(BaseFrameOffset,"ToeRBkPaw").t(); + //cout << "L: " << kine->getJointInterestPoint(BaseFrameOffset,"ToeLBkPaw").t(); + //cout << "R: " << kine->getJointInterestPoint(BaseFrameOffset,"ToeRBkPaw").t(); } else { serr->printf("KinematicSampleBehavior: Unhandled event %s\n",e.getName().c_str()); @@ -99,12 +99,13 @@ virtual std::string getDescription() const { return getClassDescription(); } protected: + //! returns the index of the knee for the requested @a leg unsigned int getIndex(LegOrder_t leg) { //or try: return PawFrameOffset+leg; return LegOffset+leg*JointsPerLeg+KneeOffset; } - LegOrder_t lastLeg; - MotionManager::MC_ID poseID; + LegOrder_t lastLeg; //!< the last leg to have its button pressed, i.e. the "source" + MotionManager::MC_ID poseID; //!< the PostureMC which does all the computation }; /*! @file @@ -112,10 +113,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/KinematicSampleBehavior2.h ./Behaviors/Demos/KinematicSampleBehavior2.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/KinematicSampleBehavior2.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/KinematicSampleBehavior2.h Wed Dec 22 20:47:06 2004 @@ -66,13 +66,13 @@ NEWMAT::ColumnVector obj(4); switch(lastLeg) { case LFrLegOrder: - obj=kine->getFrameInterestPoint(BaseFrameOffset,"LowerInnerBackLFrThigh,LowerOuterBackLFrThigh"); break; + obj=kine->getJointInterestPoint(BaseFrameOffset,"LowerInnerBackLFrThigh,LowerOuterBackLFrThigh"); break; case RFrLegOrder: - obj=kine->getFrameInterestPoint(BaseFrameOffset,"LowerInnerBackRFrThigh,LowerOuterBackRFrThigh"); break; + obj=kine->getJointInterestPoint(BaseFrameOffset,"LowerInnerBackRFrThigh,LowerOuterBackRFrThigh"); break; case LBkLegOrder: - obj=kine->getFrameInterestPoint(BaseFrameOffset,"LowerInnerFrontLBkThigh"); break; + obj=kine->getJointInterestPoint(BaseFrameOffset,"LowerInnerFrontLBkThigh"); break; case RBkLegOrder: - obj=kine->getFrameInterestPoint(BaseFrameOffset,"LowerInnerFrontRBkThigh"); break; + obj=kine->getJointInterestPoint(BaseFrameOffset,"LowerInnerFrontRBkThigh"); break; } if(obj(4)!=1) return; @@ -108,13 +108,13 @@ NEWMAT::ColumnVector obj(4); switch(lastLeg) { case LFrLegOrder: - obj=kine->getFrameInterestPoint(BaseFrameOffset,"LowerLeftBackLFrShin,LowerRightBackLFrShin"); break; + obj=kine->getJointInterestPoint(BaseFrameOffset,"LowerLeftBackLFrShin,LowerRightBackLFrShin"); break; case RFrLegOrder: - obj=kine->getFrameInterestPoint(BaseFrameOffset,"LowerLeftBackRFrShin,LowerRightBackRFrShin"); break; + obj=kine->getJointInterestPoint(BaseFrameOffset,"LowerLeftBackRFrShin,LowerRightBackRFrShin"); break; case LBkLegOrder: - obj=kine->getFrameInterestPoint(BaseFrameOffset,"ToeLBkPaw"); break; + obj=kine->getJointInterestPoint(BaseFrameOffset,"ToeLBkPaw"); break; case RBkLegOrder: - obj=kine->getFrameInterestPoint(BaseFrameOffset,"ToeRBkPaw"); break; + obj=kine->getJointInterestPoint(BaseFrameOffset,"ToeRBkPaw"); break; } if(obj(4)!=1) return; @@ -139,11 +139,11 @@ pose_acc->solveLinkPosition(obj,solveLink,link); //If you would like to verify the positiions of the back toes... (relative to body center) - //cout << "L: " << kine->getFrameInterestPoint(BaseFrameOffset,"ToeLBkPaw").t(); - //cout << "R: " << kine->getFrameInterestPoint(BaseFrameOffset,"ToeRBkPaw").t(); - //cout << "Toe: " << pose_acc->getFrameInterestPoint(BaseFrameOffset,"ToeLBkPaw").t(); - //cout << "PawA: " << pose_acc->getFrameInterestPoint(BaseFrameOffset,"LBkPaw").t(); - //cout << "PawB: " << (pose_acc->frameToFrame(PawFrameOffset+LBkLegOrder,BaseFrameOffset)*Kinematics::pack(0,0,0)).t(); + //cout << "L: " << kine->getJointInterestPoint(BaseFrameOffset,"ToeLBkPaw").t(); + //cout << "R: " << kine->getJointInterestPoint(BaseFrameOffset,"ToeRBkPaw").t(); + //cout << "Toe: " << pose_acc->getJointInterestPoint(BaseFrameOffset,"ToeLBkPaw").t(); + //cout << "PawA: " << pose_acc->getJointInterestPoint(BaseFrameOffset,"LBkPaw").t(); + //cout << "PawB: " << (pose_acc->jointToJoint(PawFrameOffset+LBkLegOrder,BaseFrameOffset)*Kinematics::pack(0,0,0)).t(); } else { serr->printf("KinematicSampleBehavior2: Unhandled event %s\n",e.getName().c_str()); @@ -154,8 +154,8 @@ virtual std::string getDescription() const { return getClassDescription(); } protected: - LegOrder_t lastLeg; - MotionManager::MC_ID poseID; + LegOrder_t lastLeg; //!< the last leg to have its button pressed, i.e. the "source" + MotionManager::MC_ID poseID; //!< the PostureMC which does all the computation }; /*! @file @@ -163,10 +163,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/LookForSoundBehavior.h ./Behaviors/Demos/LookForSoundBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/LookForSoundBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/LookForSoundBehavior.h Wed Dec 22 20:47:06 2004 @@ -62,11 +62,22 @@ } } - static std::string getClassDescription() { return "Looking for Sound Behavior Class"; } + static std::string getClassDescription() { return "Turns head to sound source, estimated by average volume difference between left and right ears"; } virtual std::string getDescription() const { return getClassDescription(); } protected: - MotionManager::MC_ID mc_id; + MotionManager::MC_ID mc_id; //!< the id of the HeadPointerMC which does the looking }; + +/*! @file + * @brief Defines LookForSoundBehavior, which turns head to sound source, estimated by average volume difference between left and right ears + * @author Paris Smaragdis (paris AT media mit edu) (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/12/23 08:41:24 $ + */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/MCRepeater.h ./Behaviors/Demos/MCRepeater.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/MCRepeater.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/MCRepeater.h Wed Nov 10 20:45:36 2004 @@ -46,7 +46,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/MotionStressTestBehavior.h ./Behaviors/Demos/MotionStressTestBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/MotionStressTestBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/MotionStressTestBehavior.h Wed Dec 22 20:47:07 2004 @@ -17,8 +17,8 @@ virtual void DoStart() { BehaviorBase::DoStart(); // do this first - SharedObject > ms; - ms->setPlayTime(3000); + SharedObject ms; + ms->setTime(3000); ms->setOutputCmd(LFrLegOffset+ElevatorOffset,outputRanges[LFrLegOffset+ElevatorOffset][MaxRange]); ms->setOutputCmd(RFrLegOffset+ElevatorOffset,outputRanges[RFrLegOffset+ElevatorOffset][MaxRange]); ms->setOutputCmd(LBkLegOffset+ElevatorOffset,outputRanges[LBkLegOffset+ElevatorOffset][MaxRange]); @@ -62,12 +62,12 @@ void addMS(LegOrder_t leg,unsigned int delay=0) { unsigned int index=leg*JointsPerLeg+RotatorOffset; - SharedObject > ms; - ms->setPlayTime(delay); + SharedObject ms; + ms->setTime(delay); ms->setOutputCmd(index,outputRanges[index][MaxRange]); - ms->setPlayTime(delay+2000); + ms->advanceTime(2000); ms->setOutputCmd(index,outputRanges[index][MinRange]); - ms->setPlayTime(delay+4000); + ms->advanceTime(4000); ms->setOutputCmd(index,outputRanges[index][MaxRange]); MotionManager::MC_ID id=motman->addPrunableMotion(ms); curMotions.push(id); @@ -78,8 +78,8 @@ virtual std::string getDescription() const { return getClassDescription(); } protected: - LegOrder_t nextLeg; - std::queue curMotions; + LegOrder_t nextLeg; //!< the next leg to start moving + std::queue curMotions; //!< a queue of IDs of SmallMotionSequenceMC's }; /*! @file @@ -87,10 +87,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/PaceTargetsMachine.cc ./Behaviors/Demos/PaceTargetsMachine.cc --- ../Tekkotsu_2.2.1/Behaviors/Demos/PaceTargetsMachine.cc Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/PaceTargetsMachine.cc Tue Dec 21 15:29:07 2004 @@ -1,6 +1,6 @@ #include "PaceTargetsMachine.h" #include "Behaviors/Transition.h" -#include "WalkToTargetMachine.h" +#include "Behaviors/Nodes/WalkToTargetNode.h" #include "Behaviors/Nodes/WalkNode.h" #include "ExploreMachine.h" #include "Behaviors/Transitions/TimeOutTrans.h" @@ -13,20 +13,20 @@ void PaceTargetsMachine::setup() { StateNode::setup(); - WalkNode * turnAround = new WalkNode(0,0,1,this); + WalkNode * turnAround = new WalkNode(0,0,1); turnAround->setName(getName()+"::TurnAround"); addNode(turnAround); - GroupNode * explGrp = new GroupNode(getName()+"::ExplGroup",this); + GroupNode * explGrp = new GroupNode(getName()+"::ExplGroup"); addNode(explGrp); { - ExploreMachine * explore = new ExploreMachine(explGrp->getName()+"::Explore",explGrp); + ExploreMachine * explore = new ExploreMachine(explGrp->getName()+"::Explore"); explGrp->addNode(explore); - PlayMotionSequenceNode * panhead = new PlayMotionSequenceNode(explGrp->getName()+"::PanHead",explGrp,"/ms/data/motion/pan_head.mot",true); + SmallPlayMotionSequenceNode * panhead = new SmallPlayMotionSequenceNode(explGrp->getName()+"::PanHead","/ms/data/motion/pan_head.mot",true); explGrp->addNode(panhead); } - WalkToTargetMachine * chase = new WalkToTargetMachine(ProjectInterface::visPinkBallSID,turnAround,explGrp,this); + WalkToTargetNode * chase = new WalkToTargetNode(ProjectInterface::visPinkBallSID); chase->setName(getName()+"::Chase"); addNode(chase); @@ -39,16 +39,18 @@ explGrp->addTransition(tmptrans=new VisualTargetTrans(chase,ProjectInterface::visPinkBallSID)); tmptrans->setSound("cutey.wav"); + //if you lose it, explore some more + chase->addTransition(tmptrans=chase->newDefaultLostTrans(explGrp)); + tmptrans->setSound("whimper.wav"); + + //if you get there, turn around + chase->addTransition(tmptrans=chase->newDefaultCloseTrans(turnAround)); + tmptrans->setSound("fart.wav"); + //once you've turned around, explore turnAround->addTransition(tmptrans=new TimeOutTrans(explGrp,3500)); tmptrans->setSound("barkmed.wav"); - - //add some more sounds - //!@todo extract these transitions from within chase - i don't like this way of doing things anymore... - chase->setup(); - chase->getLostTrans()->setSound("whimper.wav"); - chase->getCloseTrans()->setSound("fart.wav"); - + //preload the sounds so we don't pause on tranisitions sndman->LoadFile("cutey.wav"); sndman->LoadFile("barkmed.wav"); @@ -75,9 +77,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/PaceTargetsMachine.h ./Behaviors/Demos/PaceTargetsMachine.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/PaceTargetsMachine.h Thu Nov 11 16:32:14 2004 +++ ./Behaviors/Demos/PaceTargetsMachine.h Thu Nov 11 16:32:14 2004 @@ -29,7 +29,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/RelaxBehavior.h ./Behaviors/Demos/RelaxBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/RelaxBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/RelaxBehavior.h Wed Nov 10 20:45:36 2004 @@ -50,7 +50,7 @@ * @author ejt (Modifications) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/SimpleChaseBallBehavior.h ./Behaviors/Demos/SimpleChaseBallBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/SimpleChaseBallBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/SimpleChaseBallBehavior.h Wed Nov 10 20:45:36 2004 @@ -58,7 +58,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/SoundTestBehavior.h ./Behaviors/Demos/SoundTestBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/SoundTestBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/SoundTestBehavior.h Wed Nov 10 20:45:36 2004 @@ -121,7 +121,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/StareAtBallBehavior.h ./Behaviors/Demos/StareAtBallBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/StareAtBallBehavior.h Thu Nov 11 19:05:03 2004 +++ ./Behaviors/Demos/StareAtBallBehavior.h Thu Nov 11 19:05:03 2004 @@ -36,7 +36,7 @@ * @author tss (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/StareAtPawBehavior.h ./Behaviors/Demos/StareAtPawBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/StareAtPawBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/StareAtPawBehavior.h Wed Dec 22 20:47:07 2004 @@ -10,7 +10,8 @@ #include "Shared/SharedObject.h" -//! Uses kinematics to track the paw which last received a button press with the camera +//! Uses CMPack kinematics to track the paw which last received a button press with the camera +/*! This is the "old" way of doing things, using CMPack kinematics... compare to StareAtPawBehavior2 for new-style kinematics */ class StareAtPawBehavior : public BehaviorBase { public: //! constructor @@ -82,20 +83,20 @@ virtual std::string getDescription() const { return getClassDescription(); } protected: - LegOrder_t lastLeg; - MotionManager::MC_ID pointID; - double head_angles[JointsPerLeg]; + LegOrder_t lastLeg; //!< last leg to have it's button pressed, i.e. the one we are looking at + MotionManager::MC_ID pointID; //!< the HeadPointerMC we are using to do the looking + double head_angles[JointsPerLeg]; //!< temporary storage of the head angles we desire }; /*! @file - * @brief Defines StareAtPawBehavior, which uses kinematics to track the paw which last received a button press with the camera + * @brief Defines StareAtPawBehavior, which uses CMPack kinematics to track the paw which last received a button press with the camera * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/StareAtPawBehavior2.h ./Behaviors/Demos/StareAtPawBehavior2.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/StareAtPawBehavior2.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/StareAtPawBehavior2.h Wed Dec 22 20:47:07 2004 @@ -13,7 +13,7 @@ #include "Motion/Kinematics.h" -//! Uses kinematics to track the paw which last received a button press with the camera +//! Uses new-style ROBOOP kinematics to track the paw which last received a button press with the camera class StareAtPawBehavior2 : public BehaviorBase { public: //! constructor @@ -27,10 +27,10 @@ erouter->addListener(this,EventBase::sensorEGID); erouter->addListener(this,EventBase::buttonEGID); if(state->robotDesign == WorldState::ERS7Mask) - cout << "NOTICE: The ERS-7 has a rather \"sticky\" nod joint\n" - << "(the upper tilt joint). This can cause it to hesitate\n" - << "or altogether fail to precisely center the target position\n" - << "vertically in the center of the image...\n" << endl; + sout->printf("NOTICE: The ERS-7 has a rather \"sticky\" nod joint\n" + "(the upper tilt joint). This can cause it to hesitate\n" + "or altogether fail to precisely center the target position\n" + "vertically in the center of the image...\n"); } virtual void DoStop() { @@ -61,18 +61,17 @@ } else if(e.getGeneratorID()==EventBase::sensorEGID) { - //Find paw location - const char * ipname=(lastLeg==LFrLegOrder?"ToeLFrPaw":"ToeRFrPaw"); - NEWMAT::ColumnVector Pobj=kine->getFrameInterestPoint(BaseFrameOffset,ipname); + //Which paw do we want? + const char * ipname= (lastLeg==LFrLegOrder) ? "ToeLFrPaw" : "ToeRFrPaw"; + + //Ask kinematics for current location of that paw (this is the "objective" aka target) + NEWMAT::ColumnVector Pobj=kine->getJointInterestPoint(BaseFrameOffset,ipname); + + //Now point the head there + MMAccessor(pointID)->lookAtPoint(Pobj(1),Pobj(2),Pobj(3)); //keep head as far away as possible + //Alternative method: + // MMAccessor(pointID)->lookAtPoint(Pobj(1),Pobj(2),Pobj(3),80); //keep head 80mm away - //Compute neck angles - PostureEngine pose; - NEWMAT::ColumnVector Plink=Kinematics::pack(0,0,1,0); //infinite ray along z axis - maximize distance from paw - //NEWMAT::ColumnVector Plink=Kinematics::pack(0,0,80,1); //or, keep head 8cm away from paw - pose.solveLinkVector(Pobj,CameraFrameOffset,Plink); - - //Set joint values - MMAccessor(pointID)->setJoints(pose(HeadOffset+0).value,pose(HeadOffset+1).value,pose(HeadOffset+2).value); } else { serr->printf("StareAtPawBehavior2: Unhandled event %s\n",e.getName().c_str()); } @@ -82,19 +81,19 @@ virtual std::string getDescription() const { return getClassDescription(); } protected: - LegOrder_t lastLeg; - MotionManager::MC_ID pointID; + LegOrder_t lastLeg; //!< last leg to have it's button pressed, i.e. the one we are looking at + MotionManager::MC_ID pointID; //!< the HeadPointerMC we are using to do the looking }; /*! @file - * @brief Defines StareAtPawBehavior2, which uses kinematics to track the paw which last received a button press with the camera + * @brief Defines StareAtPawBehavior2, which uses new-style ROBOOP kinematics to track the paw which last received a button press with the camera * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/ToggleHeadLightBehavior.h ./Behaviors/Demos/ToggleHeadLightBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/ToggleHeadLightBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Demos/ToggleHeadLightBehavior.h Wed Nov 10 20:45:36 2004 @@ -39,7 +39,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/WalkToTargetMachine.cc ./Behaviors/Demos/WalkToTargetMachine.cc --- ../Tekkotsu_2.2.1/Behaviors/Demos/WalkToTargetMachine.cc Sat Oct 16 21:16:10 2004 +++ ./Behaviors/Demos/WalkToTargetMachine.cc Wed Dec 31 19:00:00 1969 @@ -1,90 +0,0 @@ -#include "WalkToTargetMachine.h" -#include "Motion/HeadPointerMC.h" -#include "Motion/WalkMC.h" -#include "Events/VisionObjectEvent.h" -#include "Shared/WorldState.h" - -//! Converts degrees to radians -inline double DtoR(double deg) { return (deg/180.0*M_PI); } - -void WalkToTargetMachine::setup() { - StateNode::setup(); - if(close!=NULL) - addTransition(closeTrans=new VisualTargetCloseTrans(close,tracking)); - if(lost!=NULL) - addTransition(timeout=new TimeOutTrans(lost,500)); -} - - -void WalkToTargetMachine::DoStart() { - StateNode::DoStart(); - - headpointer_id = motman->addPersistentMotion(SharedObject()); - walker_id = motman->addPersistentMotion(SharedObject()); - - erouter->addListener(this,EventBase::visObjEGID,tracking); -} - -void WalkToTargetMachine::DoStop() { - erouter->removeListener(this); - - motman->removeMotion(headpointer_id); - headpointer_id=MotionManager::invalid_MC_ID; - motman->removeMotion(walker_id); - walker_id=MotionManager::invalid_MC_ID; - - StateNode::DoStop(); -} - -void WalkToTargetMachine::teardown() { - closeTrans=NULL; - timeout=NULL; -} - -//this could be cleaned up event-wise (only use a timer when out of view) -void WalkToTargetMachine::processEvent(const EventBase& event) { - if(timeout) - timeout->resetTimer(); - static float horiz=0,vert=0; - const VisionObjectEvent *ve = dynamic_cast(&event); - if(ve!=NULL && event.getTypeID()==EventBase::statusETID) { - horiz=ve->getCenterX(); - vert=ve->getCenterY(); - } else - return; - - //cout << "Pos: " << horiz << ' ' << vert << endl; - - double tilt=state->outputs[HeadOffset+TiltOffset]-vert*M_PI/6; - double pan=state->outputs[HeadOffset+PanOffset]-horiz*M_PI/7.5; - if(tilt>outputRanges[HeadOffset+TiltOffset][MaxRange]) - tilt=outputRanges[HeadOffset+TiltOffset][MaxRange]; - if(tiltoutputRanges[HeadOffset+PanOffset][MaxRange]*2/3) - pan=outputRanges[HeadOffset+PanOffset][MaxRange]*2/3; - if(pancheckoutMotion(headpointer_id); - headpointer->setJoints(tilt,pan,0); - motman->checkinMotion(headpointer_id); - - WalkMC * walker = (WalkMC*)motman->checkoutMotion(walker_id); - if(pan<-.05 || pan>.05) - walker->setTargetVelocity(100,0,pan); - else - walker->setTargetVelocity(160,0,0); - motman->checkinMotion(walker_id); -} - -/*! @file - * @brief Implements WalkToTargetMachine, a state machine for walking towards a visual target - * @author ejt (Creator) - * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ - * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ - */ - diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/WalkToTargetMachine.h ./Behaviors/Demos/WalkToTargetMachine.h --- ../Tekkotsu_2.2.1/Behaviors/Demos/WalkToTargetMachine.h Thu Nov 11 16:32:14 2004 +++ ./Behaviors/Demos/WalkToTargetMachine.h Wed Dec 31 19:00:00 1969 @@ -1,61 +0,0 @@ -//-*-c++-*- -#ifndef INCLUDED_WalkToTargetMachine_h_ -#define INCLUDED_WalkToTargetMachine_h_ - -#include "Behaviors/StateNode.h" -#include "Behaviors/Transitions/TimeOutTrans.h" -#include "Behaviors/Transitions/VisualTargetCloseTrans.h" -#include "Motion/MotionManager.h" - -//! a state machine for walking towards a visual target -class WalkToTargetMachine : public StateNode { -public: - //!constructor, pass success (close), failure (lost), and parent nodes, and VisionObjectSourceID_t - WalkToTargetMachine(unsigned int obj,StateNode* c=NULL, StateNode* l=NULL,StateNode* p=NULL) - : StateNode("WalkToTarget","WalkToTarget",p),tracking(obj),timeout(NULL),closeTrans(NULL),close(c),lost(l), - walker_id(MotionManager::invalid_MC_ID), headpointer_id(MotionManager::invalid_MC_ID) - {} - - virtual void setup(); - - virtual void DoStart(); - virtual void DoStop(); - - virtual void teardown(); - - static std::string getClassDescription() { return "walks towards a visual target until it gets \"close\""; } - virtual std::string getDescription() const { return getClassDescription(); } - - //uses head to watch ball, walks towards it - virtual void processEvent(const EventBase& event); - - virtual Transition* getLostTrans() { return timeout; } //!< returns the transition controlling "lost" designation - virtual Transition* getCloseTrans() { return closeTrans; } //!< returns the transition controlling "close to target" designation - - -protected: - unsigned int tracking; //!< the object being tracked - TimeOutTrans* timeout; //!< transition in case we lose the target - Transition* closeTrans; //!< transition in case we get close - StateNode* close; //!< dest if we get close to the object - StateNode* lost; //!< dest if we get lost - MotionManager::MC_ID walker_id; //!< so we can walk - MotionManager::MC_ID headpointer_id; //!< so we can point the head at the object - -private: - WalkToTargetMachine(const WalkToTargetMachine&); //!< don't call this - WalkToTargetMachine operator=(const WalkToTargetMachine&); //!< don't call this -}; - -/*! @file - * @brief Describes WalkToTargetMachine, a state machine for walking towards a visual target - * @author ejt (Creator) - * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ - * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ - */ - -#endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Demos/WallTestBehavior.cc ./Behaviors/Demos/WallTestBehavior.cc --- ../Tekkotsu_2.2.1/Behaviors/Demos/WallTestBehavior.cc Tue Nov 16 14:22:42 2004 +++ ./Behaviors/Demos/WallTestBehavior.cc Tue Dec 21 18:51:15 2004 @@ -13,21 +13,21 @@ WallTestBehavior::DoStart() { BehaviorBase::DoStart(); // do this first int startrec,stoprec; - SharedObject > pan; - pan->setPlayTime(startrec=reposTime); + SharedObject pan; + pan->setTime(startrec=reposTime); pan->setPose(PostureEngine(config->motion.makePath("stand.pos").c_str())); pan->setOutputCmd(HeadOffset+TiltOffset,0); pan->setOutputCmd(HeadOffset+PanOffset,outputRanges[HeadOffset+PanOffset][MaxRange]); pan->setOutputCmd(HeadOffset+RollOffset,0); - pan->setPlayTime(stoprec=pan->getPlayTime()+panTime); + stoprec=pan->advanceTime(panTime); pan->setOutputCmd(HeadOffset+TiltOffset,0); pan->setOutputCmd(HeadOffset+PanOffset,outputRanges[HeadOffset+PanOffset][MinRange]); pan->setOutputCmd(HeadOffset+RollOffset,0); - pan->setPlayTime(pan->getPlayTime()+reposTime); + pan->advanceTime(reposTime); pan->setOutputCmd(HeadOffset+TiltOffset,0); pan->setOutputCmd(HeadOffset+PanOffset,0); pan->setOutputCmd(HeadOffset+RollOffset,0); - pan->setPlayTime(pan->getPlayTime()+reposTime); + pan->advanceTime(reposTime); pan->setOutputCmd(HeadOffset+TiltOffset,0); pan->setOutputCmd(HeadOffset+PanOffset,0); pan->setOutputCmd(HeadOffset+RollOffset,0); @@ -68,7 +68,7 @@ PostureEngine pose; pose.clear(); - //float legheight=NEWMAT::ColumnVector(pose.getFrameInterestPoint(BaseFrameOffset,"LFrPaw"))(3); + //float legheight=NEWMAT::ColumnVector(pose.getJointInterestPoint(BaseFrameOffset,"LFrPaw"))(3); cout << "Logging Non-Kinematic calculations to /data/raw_xy.txt" << endl; { @@ -91,14 +91,14 @@ } else { #ifdef TGT_ERS7 cout << "Columns are:\tx\ty\tz\tis_using_near" << endl; - float off=NEWMAT::ColumnVector(pose.getFrameInterestPoint(CameraFrameOffset,"NearIR"))(3); + float off=NEWMAT::ColumnVector(pose.getJointInterestPoint(CameraFrameOffset,"NearIR"))(3); #else //not TGT_ERS7 cout << "Columns are:\tx\ty\tz" << endl; - float off=NEWMAT::ColumnVector(pose.getFrameInterestPoint(CameraFrameOffset,"IR"))(3); + float off=NEWMAT::ColumnVector(pose.getJointInterestPoint(CameraFrameOffset,"IR"))(3); #endif //not TGT_ERS7 for(unsigned int i=0; isocket(SocketNS::SOCK_STREAM, 1024, 1024*10); + wireless->setDaemon(cmdsock,true); + wireless->setReceiver(cmdsock->sock, callback); + wireless->listen(cmdsock->sock, port); + erouter->addListener(this,EventBase::stateMachineEGID); + erouter->addListener(this,EventBase::stateTransitionEGID); +} + +void SpiderMachineBehavior::DoStop() { + erouter->removeListener(this); + expected.clear(); + while(!queuedEvents.empty()) + queuedEvents.pop(); + // Close socket; turn wireless off + wireless->setDaemon(cmdsock,false); + wireless->close(cmdsock); + if(theOne==this) + theOne=NULL; + BehaviorBase::DoStop(); // do this last +} + +void SpiderMachineBehavior::processEvent(const EventBase& e) { + if(!wireless->isConnected(cmdsock->sock) || listen.size()==0) + return; + + if(e.getGeneratorID()==EventBase::stateTransitionEGID) { + bool care=false; + const Transition * trans = reinterpret_cast(e.getSourceID()); + const std::vector& incoming=trans->getSources(); + const std::vector& outgoing=trans->getDestinations(); + for(std::vector::const_iterator it=incoming.begin(); it!=incoming.end() && !care; it++) + care=isListening(*it); + for(std::vector::const_iterator it=outgoing.begin(); it!=outgoing.end() && !care; it++) + care=isListening(*it); + if(!care) + return; + + if(expected.size()!=0) { + queuedEvents.push(e); + } else { + cmdsock->printf("\n"); + indent(1); + cmdsock->printf("\n",trans->getName().c_str(),e.getTimeStamp()); + expected.insert(incoming.begin(),incoming.end()); + expected.insert(outgoing.begin(),outgoing.end()); + while(queuedEvents.size()>0) { + EventBase qe=queuedEvents.front(); + queuedEvents.pop(); + processEvent(qe); + } + } + + } else if(e.getGeneratorID()==EventBase::stateMachineEGID) { + if(e.getTypeID()==EventBase::statusETID) + return; + const StateNode * beh=reinterpret_cast(e.getSourceID()); + expected_t::iterator it=expected.find(beh); + char * format; + if(isListening(beh)) { + if(it==expected.end()) { //if not found + if(queuedEvents.size()==0) + format="\n"; // unexpected + else { + queuedEvents.push(e); + return; + } + } else + format=" \n"; // expected as part of transition + if(e.getTypeID()==EventBase::activateETID) + cmdsock->printf(format,"start",beh->getName().c_str(),e.getTimeStamp()); + else if(e.getTypeID()==EventBase::deactivateETID) + cmdsock->printf(format,"stop",beh->getName().c_str(),e.getTimeStamp()); + else + serr->printf("WARNING: Unrecognized TypeID %d\n",e.getTypeID()); + } + if(it!=expected.end()) { //was found + expected.erase(it); + if(expected.size()==0) { + cmdsock->printf("\n"); + while(queuedEvents.size()>0) { + EventBase qe=queuedEvents.front(); + queuedEvents.pop(); + processEvent(qe); + } + } + } + + } else { + serr->printf("WARNING: Unknown event %s (%s)\n",e.getName().c_str(),e.getDescription().c_str()); + } +} + +void SpiderMachineBehavior::spider(const StateNode* n, unsigned int depth/*=0*/) { + if(n==NULL) + return; + + const std::vector& subnodes=n->getNodes(); + if(subnodes.size()==0) { + // it's a leaf node, no subnodes or transitions between them + indent(depth); + cmdsock->printf("\n", n->getClassName().c_str(), n->getName().c_str()); + } else { + + // first output current node's info + indent(depth); + cmdsock->printf("\n", n->getClassName().c_str(), n->getName().c_str()); + + std::set transitions; + // now recurse on sub-nodes, extracting all of the subnodes transitions + for(unsigned int i=0; i& curt=subnodes[i]->getTransitions(); + transitions.insert(curt.begin(),curt.end()); + } + + // now output transitions between subnodes we collected in previous step + for(std::set::const_iterator it=transitions.begin(); it!=transitions.end(); it++) { + indent(depth+1); + cmdsock->printf("\n", (*it)->getClassName().c_str(), (*it)->getName().c_str()); + const std::vector& incoming=(*it)->getSources(); + for(unsigned int i=0; iprintf("%s\n",incoming[i]->getName().c_str()); + } + const std::vector& outgoing=(*it)->getDestinations(); + for(unsigned int i=0; iprintf("%s\n",outgoing[i]->getName().c_str()); + } + indent(depth+1); + cmdsock->printf("\n"); + } + + indent(depth); + cmdsock->printf("\n"); + } +} + +bool SpiderMachineBehavior::isListening(const StateNode* n) { + while(n!=NULL) { + if(listen.find(n->getName())!=listen.end()) + return true; + n=n->getParent(); + } + return false; +} + +void SpiderMachineBehavior::indent(unsigned int level) { + for(unsigned int i=0; iprintf(" "); +} + +const StateNode * SpiderMachineBehavior::find(const std::string& name) { + for(registry_t::const_iterator it=registry.begin(); it!=registry.end(); it++) { + const StateNode * cur=dynamic_cast(*it); + if(cur!=NULL && cur->getName()==name) + return cur; + } + //serr->printf("WARNING: SpiderMachineBehavior Could not find StateNode named `%s'\n",name.c_str()); + return NULL; +} + +void SpiderMachineBehavior::runCommand(const std::string& s) { + if(s==std::string("list")) { + unsigned int numstate=0; + for(registry_t::const_iterator it=registry.begin(); it!=registry.end(); it++) { + const StateNode * cur=dynamic_cast(*it); + if(cur!=NULL) + numstate++; + } + cmdsock->printf("%d\n",numstate); + for(registry_t::const_iterator it=registry.begin(); it!=registry.end(); it++) { + const StateNode * cur=dynamic_cast(*it); + if(cur!=NULL) + cmdsock->printf("%s\n",cur->getName().c_str()); + } + + } else if(s.find("spider ")==0) { + const StateNode * n=find(s.substr(7)); + if(n==NULL) { + serr->printf("WARNING: SpiderMachineBehavior could not find \"%s\" for spidering\n",s.substr(7).c_str()); + cmdsock->printf("\n"); + } else { + cmdsock->printf("\n"); + spider(n); + cmdsock->printf("\n"); + } + + } else if(s.find("listen ")==0) { + listen.insert(s.substr(7)); + + } else if(s.find("ignore ")==0) { + listen.erase(s.substr(7)); + + } else if(s=="clear") { + listen.clear(); + + } else { + serr->printf("SpiderMachineBehavior::runCommand() - bad message: '%s'\n",s.c_str()); + } +} + +// The command packet reassembly mechanism +int SpiderMachineBehavior::callback(char *buf, int bytes) { + if(SpiderMachineBehavior::theOne==NULL) + return 0; + static std::string cmd; + for(int i=0; irunCommand(cmd); + cmd.clear(); + } else if(buf[i]!='\r') + cmd+=buf[i]; + } + return 0; +} + +/*! @file + * @brief Implements SpiderMachineBehavior, which when active, active and connected over network socket, outputs structure of requested state machine(s) + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/12/23 08:41:24 $ + */ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Mon/SpiderMachineBehavior.h ./Behaviors/Mon/SpiderMachineBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Mon/SpiderMachineBehavior.h Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Mon/SpiderMachineBehavior.h Wed Dec 22 20:47:07 2004 @@ -0,0 +1,136 @@ +//-*-c++-*- +#ifndef INCLUDED_SpiderMachineBehavior_h_ +#define INCLUDED_SpiderMachineBehavior_h_ + +#include "Behaviors/BehaviorBase.h" +#include + +class StateNode; + +//! When active and connected over network socket, outputs structure of requested state machine(s) +/*! The protocol is: + * - 'list' - send list of all instantiated StateNodes + * - 'spider name' - spider the current structure of StateNode named name + * - 'listen name' - send updates regarding the activation status of name and its subnodes; you can specify a state which is not yet running + * - 'ignore name' - cancels a previous listen command + * - 'clear' - cancels all previous listen commands; should be called at the beginning or end of each connection, preferably both + * + * Each of those commands should be terminated with a newline - + * i.e. one command per line + * + * After a list command, the first line will be the number + * of StateNodes, followed by that number of lines, one StateNode + * name per line. + * + * After a spider command, an XML description of the model + * will be sent. If no matching StateNode is found, an warning will + * be displayed on #serr, and an empty model + * ("") returned over the network + * connection. + * + * All other commands give no direct response - listen can be + * executed before the specified StateNode is yet running, and ignore + * doesn't care whether or not the specified StateNode was actually + * being listened for. + * + * The format of the model is: + @verbatim + + + + + + + + + + + ]>@endverbatim + * + * The format of status updates following a listen command is: + @verbatim + + + + + + + + + + + + ]>@endverbatim +*/ +class SpiderMachineBehavior : public BehaviorBase { +public: + //! Points to the one SpiderMachineBehavior object that the input command stream is talking to. + /*! A kludge. Dunno how you're gonna make sure you're not using this uninitialized. */ + static SpiderMachineBehavior * theOne; + static unsigned int port; //!< the port to listen on (10080 by default) + static int callback(char *buf, int bytes); //!< called by wireless when there's new data + +public: + //! constructor + SpiderMachineBehavior() : BehaviorBase("SpiderMachineBehavior"), cmdsock(NULL), expected(), listen(), queuedEvents() {} + + virtual void DoStart(); + virtual void DoStop(); + virtual void processEvent(const EventBase& e); + + //! dumps all of the transitions and subnodes of a given statenode + void spider(const StateNode* n, unsigned int depth=0); + + //! returns true iff @a n or one of its parents is found in #listen + bool isListening(const StateNode* n); + + static std::string getClassDescription() { + char tmp[20]; + sprintf(tmp,"%d",port); + return std::string("When active and connected over network socket on port ")+tmp + +std::string(", outputs structure of requested state machine(s)"); + } + virtual std::string getDescription() const { return getClassDescription(); } + + //! parses commands sent from callback() + void runCommand(const std::string& s); + +protected: + //!just to prettify the data sent out - probably should make this a null-op to save bandwidth after debugging is done + void indent(unsigned int level); + + //!searches currently instantiated StateNodes to find the one named @a name + const StateNode * find(const std::string& name); + + class Socket *cmdsock; //!< the socket for communication + + typedef std::set registry_t; //!< the type of the behavior registry (BehaviorBase::registry) + typedef std::multiset expected_t; //!< the type of #ignore + typedef std::set listen_t; //!< the type of #listen + typedef std::queue queuedEvents_t; //!< the type of #queuedEvents + + expected_t expected; //!< a set of behaviors which are involved with an impending transition - their next stateMachineEGID event should be ignored + + listen_t listen; //!< a set of state machine names which should have their subnodes monitored + + queuedEvents_t queuedEvents; //!< used if a transition causes other transitions, those transitions need to be remembered + +private: + SpiderMachineBehavior(const SpiderMachineBehavior&); //!< don't call + SpiderMachineBehavior operator=(const SpiderMachineBehavior&); //!< don't call +}; + +/*! @file + * @brief Defines SpiderMachineBehavior, which active and connected over network socket, outputs structure of requested state machine(s) + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/12/23 08:41:24 $ + */ + +#endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Mon/ViewWMVarsBehavior.h ./Behaviors/Mon/ViewWMVarsBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Mon/ViewWMVarsBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Mon/ViewWMVarsBehavior.h Wed Nov 10 20:45:36 2004 @@ -38,7 +38,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Mon/WMMonitorBehavior.cc ./Behaviors/Mon/WMMonitorBehavior.cc --- ../Tekkotsu_2.2.1/Behaviors/Mon/WMMonitorBehavior.cc Fri Apr 16 16:17:22 2004 +++ ./Behaviors/Mon/WMMonitorBehavior.cc Fri Apr 16 16:17:22 2004 @@ -146,7 +146,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Mon/WMMonitorBehavior.h ./Behaviors/Mon/WMMonitorBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Mon/WMMonitorBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Mon/WMMonitorBehavior.h Wed Nov 10 20:45:36 2004 @@ -136,7 +136,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Mon/WalkControllerBehavior.cc ./Behaviors/Mon/WalkControllerBehavior.cc --- ../Tekkotsu_2.2.1/Behaviors/Mon/WalkControllerBehavior.cc Wed Nov 3 22:01:32 2004 +++ ./Behaviors/Mon/WalkControllerBehavior.cc Wed Nov 3 22:01:32 2004 @@ -158,7 +158,7 @@ * @author PA Gov. School for the Sciences 2003 Team Project - Haoqian Chen, Yantian Martin, Jon Stahlman (modifications) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Mon/WalkControllerBehavior.h ./Behaviors/Mon/WalkControllerBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Mon/WalkControllerBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Mon/WalkControllerBehavior.h Wed Nov 10 20:45:36 2004 @@ -103,7 +103,7 @@ * @author PA Gov. School for the Sciences 2003 Team Project - Haoqian Chen, Yantian Martin, Jon Stahlman (modifications) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Mon/WorldStateSerializerBehavior.cc ./Behaviors/Mon/WorldStateSerializerBehavior.cc --- ../Tekkotsu_2.2.1/Behaviors/Mon/WorldStateSerializerBehavior.cc Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Mon/WorldStateSerializerBehavior.cc Wed Nov 10 20:45:36 2004 @@ -53,7 +53,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Mon/WorldStateSerializerBehavior.h ./Behaviors/Mon/WorldStateSerializerBehavior.h --- ../Tekkotsu_2.2.1/Behaviors/Mon/WorldStateSerializerBehavior.h Wed Nov 10 20:45:36 2004 +++ ./Behaviors/Mon/WorldStateSerializerBehavior.h Wed Nov 10 20:45:36 2004 @@ -55,7 +55,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Nodes/GroupNode.h ./Behaviors/Nodes/GroupNode.h --- ../Tekkotsu_2.2.1/Behaviors/Nodes/GroupNode.h Thu Nov 11 16:32:14 2004 +++ ./Behaviors/Nodes/GroupNode.h Fri Dec 3 19:10:42 2004 @@ -16,13 +16,19 @@ * In essence, this is a fork - one transition can activate several * states, which are then separate branches of execution. (Although * only one is actually being executed at a time) + * + * Another (probably better) way to do this is with a + * multi-destination transition - after the initialization of the + * transition (usually specifying the first transition) you can call + * the Transition::addDestination() function to add addition + * destinations, replicating the functionality of this class. */ class GroupNode : public StateNode { public: //!constructor GroupNode() : StateNode("GroupNode","GroupNode") {} //!constructor - explicit GroupNode(const std::string& nm, StateNode* p=NULL) : StateNode("GroupNode",nm,p) {} + explicit GroupNode(const std::string& nm) : StateNode("GroupNode",nm) {} //! activates all of the sub nodes virtual void DoStart() { @@ -42,10 +48,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Nodes/HeadPointerNode.h ./Behaviors/Nodes/HeadPointerNode.h --- ../Tekkotsu_2.2.1/Behaviors/Nodes/HeadPointerNode.h Tue Nov 16 20:31:06 2004 +++ ./Behaviors/Nodes/HeadPointerNode.h Fri Dec 3 19:10:42 2004 @@ -14,7 +14,7 @@ public: //! constructor - HeadPointerNode(std::string nodename="HeadPointerNode") : + HeadPointerNode(const std::string & nodename="HeadPointerNode") : StateNode("HeadPointerNode",nodename), head_mc(), head_id(MotionManager::invalid_MC_ID) {} //! activate the node @@ -45,7 +45,7 @@ protected: //! constructor - HeadPointerNode(std::string &classname, std::string &nodename) : + HeadPointerNode(const std::string &classname, const std::string &nodename) : StateNode(classname,nodename), head_mc(), head_id(MotionManager::invalid_MC_ID) {} @@ -55,11 +55,11 @@ * @brief Defines HeadPointerNode, a simple StateNode that runs a HeadPointerMC motion command and throws a status event upon completion * @author dst (Creator) * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Nodes/LedNode.h ./Behaviors/Nodes/LedNode.h --- ../Tekkotsu_2.2.1/Behaviors/Nodes/LedNode.h Tue Nov 16 20:31:06 2004 +++ ./Behaviors/Nodes/LedNode.h Tue Nov 16 20:31:06 2004 @@ -56,7 +56,7 @@ * @author dst (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Nodes/OutputNode.h ./Behaviors/Nodes/OutputNode.h --- ../Tekkotsu_2.2.1/Behaviors/Nodes/OutputNode.h Thu Nov 11 15:35:00 2004 +++ ./Behaviors/Nodes/OutputNode.h Fri Dec 3 19:10:42 2004 @@ -7,14 +7,15 @@ #include //! A very simple StateNode that outputs its name to a given ostream upon activation, handy for debugging +/*! The Event Logger controller item (Status Reports menu) is a much better tool for debugging */ class OutputNode : public StateNode { public: //!constructor, sets name and ostream to use for output - OutputNode(const char* nm, StateNode* par, ostream& output) : StateNode("OutputNode",nm,par), next(NULL), out(output), msg(nm) {} + OutputNode(const char* nm, ostream& output) : StateNode("OutputNode",nm), next(NULL), out(output), msg(nm) {} //!constructor, sets name and another state which will immediately be transitioned to upon activation - OutputNode(const char* nm, StateNode* par, ostream& output, StateNode * nextstate) : StateNode("OutputNode",nm,par), next(nextstate), out(output), msg(nm) {} + OutputNode(const char* nm, ostream& output, StateNode * nextstate) : StateNode("OutputNode",nm), next(nextstate), out(output), msg(nm) {} //!constructor, sets name, message, and another state which will immediately be transitioned to upon activation - OutputNode(const char* nm, const std::string& mg, StateNode* par, ostream& output, StateNode * nextstate) : StateNode("OutputNode",nm,par), next(nextstate), out(output), msg(mg) {} + OutputNode(const char* nm, const std::string& mg, ostream& output, StateNode * nextstate) : StateNode("OutputNode",nm), next(nextstate), out(output), msg(mg) {} //!outputs this state's name, will transition to #next if non-NULL /*!if #next is NULL, the state will simply stay active until some other transition causes it to leave*/ @@ -42,10 +43,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Nodes/PlayMotionSequenceNode.h ./Behaviors/Nodes/PlayMotionSequenceNode.h --- ../Tekkotsu_2.2.1/Behaviors/Nodes/PlayMotionSequenceNode.h Thu Nov 11 16:32:14 2004 +++ ./Behaviors/Nodes/PlayMotionSequenceNode.h Tue Dec 21 16:49:50 2004 @@ -18,8 +18,8 @@ {} //!constructor - PlayMotionSequenceNode(const std::string& nm, StateNode* par, const std::string& file, bool loop=false) - : StateNode("PlayMotionSequenceNode",nm,par), msid(MotionManager::invalid_MC_ID), msidIsMine(false), looping(false), filename(file) + PlayMotionSequenceNode(const std::string& nm, const std::string& file, bool loop=false) + : StateNode("PlayMotionSequenceNode",nm), msid(MotionManager::invalid_MC_ID), msidIsMine(false), looping(false), filename(file) { setLooping(loop); } @@ -104,7 +104,7 @@ MMAccessor > ms(msid); ms->clear(); ms->LoadFile(file.c_str()); - ms->setPlayTime(1); + ms->setTime(1); } filename=file; } @@ -115,15 +115,21 @@ std::string filename; //!< filename of current motion sequence }; +typedef PlayMotionSequenceNode TinyPlayMotionSequenceNode; //!< streamlined access to the standard template sizes +typedef PlayMotionSequenceNode SmallPlayMotionSequenceNode; //!< streamlined access to the standard template sizes +typedef PlayMotionSequenceNode MediumPlayMotionSequenceNode; //!< streamlined access to the standard template sizes +typedef PlayMotionSequenceNode LargePlayMotionSequenceNode; //!< streamlined access to the standard template sizes +typedef PlayMotionSequenceNode XLargePlayMotionSequenceNode; //!< streamlined access to the standard template sizes + /*! @file * @brief Describes PlayMotionSequenceNode, a StateNode for playing a MotionSequence (and looping it if desired) * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Nodes/SoundNode.h ./Behaviors/Nodes/SoundNode.h --- ../Tekkotsu_2.2.1/Behaviors/Nodes/SoundNode.h Tue Nov 16 20:31:06 2004 +++ ./Behaviors/Nodes/SoundNode.h Fri Dec 3 19:10:42 2004 @@ -7,31 +7,48 @@ #include "SoundPlay/SoundManager.h" //! A simple StateNode that plays a sound upon startup and throws a status event on completion +/*! Doesn't automatically preload the sound buffer - if you want the sound file + * to be preloaded, you'll have to make the + * SoundManager::LoadFile() / SoundManager::ReleaseFile() calls yourself. + * + * By default, sound playback will continue even after this node has been deactivated. + * If this is not the behavior you desire, set the #autostop flag (through setAutoStop()) + */ class SoundNode : public StateNode { protected: - std::string filename; - SoundManager::Play_ID curplay_id; + std::string filename; //!< filename of sound to play, accessed through setFileName() and getFileName() + SoundManager::Play_ID curplay_id; //!< holds the playback identification so it can be halted any time + bool autostop; //!< if set to true by setAutoStop(), when this node is deactivated, playback will be halted. Otherwise, playback will continue even after the node is deactivated public: - //! constructor - SoundNode(std::string nodename="SoundNode", std::string soundfilename="") : - StateNode("SoundNode",nodename), filename(soundfilename), curplay_id(SoundManager::invalid_Play_ID) {} + //! constructor, specify a sound file to play + SoundNode(const std::string& soundfilename="") : + StateNode("SoundNode","SoundNode"), filename(soundfilename), curplay_id(SoundManager::invalid_Play_ID), autostop(false) {} - //! activate the node + //! constructor, specify instance name and sound file to play + SoundNode(const std::string& nodename, const std::string& soundfilename) : + StateNode("SoundNode",nodename), filename(soundfilename), curplay_id(SoundManager::invalid_Play_ID), autostop(false) {} + + //! activate the node, starts playing the sound virtual void DoStart() { - curplay_id = sndman->PlayFile(filename); - erouter->addListener(this,EventBase::audioEGID,curplay_id,EventBase::deactivateETID); StateNode::DoStart(); // don't activate transitions until our listener has been added + if(filename.size()>0) { + curplay_id = sndman->PlayFile(filename); + erouter->addListener(this,EventBase::audioEGID,curplay_id,EventBase::deactivateETID); + } } - //! deactivate the node + //! deactivate the node, doesn't stop the sound playback unless the #autostop flag has been set virtual void DoStop() { + if(autostop) + StopPlay(); erouter->removeListener(this); StateNode::DoStop(); } //! receive audioEGID status event and throw stateMachineEGID status event virtual void processEvent(const EventBase&) { + curplay_id = SoundManager::invalid_Play_ID; erouter->postEvent(EventBase::stateMachineEGID,reinterpret_cast(this),EventBase::statusETID,0,getName(),1); } @@ -47,24 +64,27 @@ //! sets the name of the sound file associated with this node void setFileName(std::string &soundfilename) { filename = soundfilename; } -protected: - //! constructor - SoundNode(std::string &classname, std::string &nodename, std::string &soundfilename) : - StateNode(classname,nodename), filename(soundfilename), curplay_id(SoundManager::invalid_Play_ID) {} - + //! returns the current status of the #autostop flag + bool getAutoStop() { return autostop; } + //! sets the #autostop flag + void setAutoStop(bool stop) { autostop=stop; } +protected: + //! constructor + SoundNode(const std::string &classname, const std::string &nodename, const std::string &soundfilename) : + StateNode(classname,nodename), filename(soundfilename), curplay_id(SoundManager::invalid_Play_ID), autostop(false) {} }; /*! @file * @brief Defines SoundNode, a simple StateNode that plays a sound and throws a status event upon completion * @author dst (Creator) * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Nodes/TailWagNode.h ./Behaviors/Nodes/TailWagNode.h --- ../Tekkotsu_2.2.1/Behaviors/Nodes/TailWagNode.h Mon Nov 15 17:22:36 2004 +++ ./Behaviors/Nodes/TailWagNode.h Mon Nov 15 17:22:36 2004 @@ -51,7 +51,7 @@ * @author dst, ejt (Creators) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Nodes/WalkNode.h ./Behaviors/Nodes/WalkNode.h --- ../Tekkotsu_2.2.1/Behaviors/Nodes/WalkNode.h Thu Nov 11 15:35:00 2004 +++ ./Behaviors/Nodes/WalkNode.h Fri Dec 3 19:10:42 2004 @@ -11,25 +11,19 @@ class WalkNode : public StateNode { public: //!constructor - WalkNode(StateNode * p=NULL) - : StateNode("WalkNode",p), walkid(MotionManager::invalid_MC_ID), walkidIsMine(true), x(0), y(0), a(0) - { - setRetain(false); - } + WalkNode() + : StateNode("WalkNode"), walkid(MotionManager::invalid_MC_ID), walkidIsMine(true), x(0), y(0), a(0) + {} //!constructor, positive @a yvel is counter-clockwise from above (to match coordinate system) - WalkNode(float xvel, float yvel, float avel, StateNode * p=NULL) - : StateNode("WalkNode",p), walkid(MotionManager::invalid_MC_ID), walkidIsMine(true), x(xvel), y(yvel), a(avel) - { - setRetain(false); - } + WalkNode(float xvel, float yvel, float avel) + : StateNode("WalkNode"), walkid(MotionManager::invalid_MC_ID), walkidIsMine(true), x(xvel), y(yvel), a(avel) + {} //!constructor, positive @a yvel is counter-clockwise from above (to match coordinate system) - WalkNode(const std::string& name, float xvel, float yvel, float avel, StateNode * p=NULL) - : StateNode("WalkNode",name,p), walkid(MotionManager::invalid_MC_ID), walkidIsMine(true), x(xvel), y(yvel), a(avel) - { - setRetain(false); - } + WalkNode(const std::string& name, float xvel, float yvel, float avel) + : StateNode("WalkNode",name), walkid(MotionManager::invalid_MC_ID), walkidIsMine(true), x(xvel), y(yvel), a(avel) + {} //! sets the velocity of the walk void setVelocity(float xvel, float yvel, float avel) { @@ -117,10 +111,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Nodes/WalkToTargetNode.cc ./Behaviors/Nodes/WalkToTargetNode.cc --- ../Tekkotsu_2.2.1/Behaviors/Nodes/WalkToTargetNode.cc Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Nodes/WalkToTargetNode.cc Sat Dec 4 23:47:53 2004 @@ -0,0 +1,82 @@ +#include "WalkToTargetNode.h" +#include "Motion/HeadPointerMC.h" +#include "Motion/WalkMC.h" +#include "Motion/MMAccessor.h" +#include "Events/VisionObjectEvent.h" +#include "Shared/WorldState.h" +#include "Behaviors/Transitions/TimeOutTrans.h" +#include "Behaviors/Transitions/VisualTargetCloseTrans.h" + +void WalkToTargetNode::DoStart() { + StateNode::DoStart(); + + headpointer_id = motman->addPersistentMotion(SharedObject()); + walker_id = motman->addPersistentMotion(SharedObject()); + + erouter->addListener(this,EventBase::visObjEGID,tracking); +} + +void WalkToTargetNode::DoStop() { + erouter->removeListener(this); + + motman->removeMotion(headpointer_id); + headpointer_id=MotionManager::invalid_MC_ID; + motman->removeMotion(walker_id); + walker_id=MotionManager::invalid_MC_ID; + + StateNode::DoStop(); +} + +//this could be cleaned up event-wise (only use a timer when out of view) +void WalkToTargetNode::processEvent(const EventBase& event) { + static float horiz=0,vert=0; + const VisionObjectEvent *ve = dynamic_cast(&event); + if(ve!=NULL && event.getTypeID()==EventBase::statusETID) { + horiz=ve->getCenterX(); + vert=ve->getCenterY(); + } else + return; + + //cout << "Pos: " << horiz << ' ' << vert << endl; + + double tilt=state->outputs[HeadOffset+TiltOffset]-vert*M_PI/6; + double pan=state->outputs[HeadOffset+PanOffset]-horiz*M_PI/7.5; + if(tilt>outputRanges[HeadOffset+TiltOffset][MaxRange]) + tilt=outputRanges[HeadOffset+TiltOffset][MaxRange]; + if(tiltoutputRanges[HeadOffset+PanOffset][MaxRange]*2/3) + pan=outputRanges[HeadOffset+PanOffset][MaxRange]*2/3; + if(pan(headpointer_id)->setJoints(tilt,pan,0);} //note use of {}'s to limit scope + + { + MMAccessor walker(walker_id); + if(pan<-.05 || pan>.05) + walker->setTargetVelocity(100,0,pan); + else + walker->setTargetVelocity(160,0,0); + } +} + +Transition* WalkToTargetNode::newDefaultLostTrans(StateNode* dest) { + return new TimeOutTrans(dest,1500,EventBase::visObjEGID,tracking); +} + +Transition* WalkToTargetNode::newDefaultCloseTrans(StateNode* dest) { + return new VisualTargetCloseTrans(dest,tracking); +} + + +/*! @file + * @brief Implements WalkToTargetNode, a state node for walking towards a visual target + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/12/23 08:41:24 $ + */ + diff -urdN ../Tekkotsu_2.2.1/Behaviors/Nodes/WalkToTargetNode.h ./Behaviors/Nodes/WalkToTargetNode.h --- ../Tekkotsu_2.2.1/Behaviors/Nodes/WalkToTargetNode.h Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Nodes/WalkToTargetNode.h Wed Dec 8 14:05:50 2004 @@ -0,0 +1,63 @@ +//-*-c++-*- +#ifndef INCLUDED_WalkToTargetNode_h_ +#define INCLUDED_WalkToTargetNode_h_ + +#include "Behaviors/StateNode.h" +#include "Motion/MotionManager.h" + +//! a state node for walking towards a visual target +class WalkToTargetNode : public StateNode { +public: + //!constructor, pass VisionObjectSourceID_t + WalkToTargetNode(unsigned int obj) + : StateNode("WalkToTargetNode","WalkToTarget"),tracking(obj), + walker_id(MotionManager::invalid_MC_ID), headpointer_id(MotionManager::invalid_MC_ID) + {} + + //!constructor, pass instance name and VisionObjectSourceID_t + WalkToTargetNode(const std::string& nodename, unsigned int obj) + : StateNode("WalkToTargetNode",nodename),tracking(obj), + walker_id(MotionManager::invalid_MC_ID), headpointer_id(MotionManager::invalid_MC_ID) + {} + + virtual void DoStart(); + virtual void DoStop(); + + static std::string getClassDescription() { return "walks towards a visual target, using some basic logic for moving the head to track it"; } + virtual std::string getDescription() const { return getClassDescription(); } + + //uses head to watch ball, walks towards it + virtual void processEvent(const EventBase& event); + + virtual Transition* newDefaultLostTrans(StateNode* dest); //!< returns a suggested transition for detecting "lost" condition, but you don't have to use it + virtual Transition* newDefaultCloseTrans(StateNode* dest); //!< returns a suggested transition for detecting "close to target" condition, but you don't have to use it + + +protected: + //!constructor, pass class name, instance name, and VisionObjectSourceID_t + WalkToTargetNode(const std::string& classname, const std::string& nodename, unsigned int obj) + : StateNode(classname,nodename),tracking(obj), + walker_id(MotionManager::invalid_MC_ID), headpointer_id(MotionManager::invalid_MC_ID) + {} + + unsigned int tracking; //!< the object being tracked + MotionManager::MC_ID walker_id; //!< so we can walk + MotionManager::MC_ID headpointer_id; //!< so we can point the head at the object + +private: + WalkToTargetNode(const WalkToTargetNode&); //!< don't call this + WalkToTargetNode operator=(const WalkToTargetNode&); //!< don't call this +}; + +/*! @file + * @brief Describes WalkToTargetNode, a state node for walking towards a visual target + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/12/23 08:41:24 $ + */ + +#endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/StateNode.cc ./Behaviors/StateNode.cc --- ../Tekkotsu_2.2.1/Behaviors/StateNode.cc Wed Nov 10 20:45:31 2004 +++ ./Behaviors/StateNode.cc Fri Dec 17 00:50:56 2004 @@ -15,10 +15,11 @@ } } -void StateNode::addTransition(Transition* trans) { +Transition* StateNode::addTransition(Transition* trans) { transitions.push_back(trans); trans->AddReference(); trans->addSource(this); + return trans; } StateNode* StateNode::addNode(StateNode* node) { @@ -76,9 +77,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ diff -urdN ../Tekkotsu_2.2.1/Behaviors/StateNode.h ./Behaviors/StateNode.h --- ../Tekkotsu_2.2.1/Behaviors/StateNode.h Mon Nov 15 17:46:19 2004 +++ ./Behaviors/StateNode.h Fri Dec 17 00:50:56 2004 @@ -14,24 +14,30 @@ //! deprecated, behavior constructors should take a name argument (which by default should be the name of the type of the class) StateNode() __attribute__((deprecated)); - //!constructor, pass a name to use and the parent node if applicable (usually 'this' within setup()) - StateNode(const std::string& name, StateNode* p=NULL) : BehaviorBase("StateNode",name), parent(p), transitions(), issetup(false), retain(true), nodes() {} + //!constructor, pass a name to use + StateNode(const std::string& name) : BehaviorBase("StateNode",name), parent(NULL), transitions(), issetup(false), retain(true), nodes() {} //!destructor, removes references to its outgoing transitions (be careful of incoming ones - they're still around!), and calls RemoveReference() on subnodes virtual ~StateNode(); //!Adds the specified StateTransition to the transition table - virtual void addTransition(Transition* trans); + virtual Transition* addTransition(Transition* trans); //!Returns the std::vector of transitions so you can modify them yourself if need be std::vector& getTransitions() { return transitions; } + //!Returns the const std::vector of transitions so you can read through them if need be + const std::vector& getTransitions() const { return transitions; } + //!Adds a StateNode to #nodes so it can be automatically dereferenced later, returns what it's passed (for convenience), calls AddReference() on @a node. Also sets the node's parent to #this if it is null. virtual StateNode* addNode(StateNode* node); - //!Returns the std::vector of nodes so you can modify them yourself if need be + //!Returns the std::vector of sub-nodes so you can modify them yourself if need be std::vector& getNodes() { return nodes; } + //!Returns the const std::vector of sub-nodes so you can read through them if need be + const std::vector& getNodes() const { return nodes; } + //!Sets the retain flag - if not retained, will RemoveReference() subnodes upon DoStop() and recreate them on DoStart (by calling setup()) - may be too expensive to be worth saving memory... void setRetain(bool f) { retain=f; } @@ -47,9 +53,12 @@ //!This is called by DoStop() when you should destruct subnodes virtual void teardown() { issetup=false; /*std::cout << "Teardown!!!!!!!!" << std::endl;*/ } + //!returns #parent + virtual StateNode* getParent() const { return parent; } + protected: - //!constructor, pass a name to use and the parent node if applicable (usually 'this' within setup()) - StateNode(const std::string& classname, const std::string& name, StateNode* p=NULL) : BehaviorBase(classname,name), parent(p), transitions(), issetup(false), retain(true), nodes() {} + //!constructor, pass the class name and instance name to use + StateNode(const std::string& classname, const std::string& name) : BehaviorBase(classname,name), parent(NULL), transitions(), issetup(false), retain(true), nodes() {} //!called by a subnode when it is being DoStart()'ed virtual void transitionTo(StateNode* n); @@ -81,10 +90,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Transition.cc ./Behaviors/Transition.cc --- ../Tekkotsu_2.2.1/Behaviors/Transition.cc Thu Nov 11 15:34:59 2004 +++ ./Behaviors/Transition.cc Fri Dec 17 00:51:32 2004 @@ -2,6 +2,7 @@ #include "StateNode.h" #include "Wireless/Wireless.h" #include "SoundPlay/SoundManager.h" +#include "Events/EventRouter.h" /*! @deprecated, use the version of the constructor where you can pass a name */ Transition::Transition() : BehaviorBase("Transition"), srcs(), dsts(), sound() {} @@ -28,6 +29,8 @@ if(sound.size()!=0) sndman->PlayFile(sound); + erouter->postEvent(EventBase::stateTransitionEGID,reinterpret_cast(this),EventBase::statusETID,0,getName(),1); + for(unsigned int i=0; iisActive()) //It's usually a bad idea to call DoStop/DoStart when it's already stopped/started... srcs[i]->DoStop(); @@ -60,9 +63,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Transition.h ./Behaviors/Transition.h --- ../Tekkotsu_2.2.1/Behaviors/Transition.h Mon Nov 15 17:46:19 2004 +++ ./Behaviors/Transition.h Mon Nov 15 17:46:19 2004 @@ -95,7 +95,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Transitions/CompareTrans.h ./Behaviors/Transitions/CompareTrans.h --- ../Tekkotsu_2.2.1/Behaviors/Transitions/CompareTrans.h Mon Nov 15 17:46:19 2004 +++ ./Behaviors/Transitions/CompareTrans.h Mon Nov 15 17:46:19 2004 @@ -95,7 +95,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Transitions/CompletionTrans.h ./Behaviors/Transitions/CompletionTrans.h --- ../Tekkotsu_2.2.1/Behaviors/Transitions/CompletionTrans.h Mon Nov 15 17:46:19 2004 +++ ./Behaviors/Transitions/CompletionTrans.h Wed Dec 22 20:47:07 2004 @@ -9,13 +9,15 @@ //! causes a transition when at least @e n sources have signalled completion; @e n = 0 means "all" (default) class CompletionTrans : public Transition { protected: - int minsrcs; + int minsrcs; //!< the minimum number of sources which must signal completion before this transition will fire bool *completions; //!< pointer to array for recording completion events for all sources public: + //! constructor, pass @a destination and the minimum number of sources which must signal completion before this transition will fire CompletionTrans(StateNode* destination, int n=0) : Transition("CompletionTrans",destination), minsrcs(n), completions(NULL) {}; + //! constructor, pass @a name, @a destination and the minimum number of times the source must signal completion beyond the first (@a n) CompletionTrans(const std::string& name, StateNode* destination, int n=0) : Transition("CompletionTrans",name,destination), minsrcs(n), completions(NULL) {}; @@ -70,10 +72,10 @@ * @author dst (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Transitions/EventTrans.h ./Behaviors/Transitions/EventTrans.h --- ../Tekkotsu_2.2.1/Behaviors/Transitions/EventTrans.h Mon Nov 15 17:46:19 2004 +++ ./Behaviors/Transitions/EventTrans.h Wed Dec 22 20:47:07 2004 @@ -9,12 +9,14 @@ class EventTrans : public Transition { private: - int argcount; - EventBase::EventGeneratorID_t egid; - unsigned int esid; - EventBase::EventTypeID_t etid; + int argcount; //!< the number of arguments which were supplied to the constructor (granularity of filtering) + EventBase::EventGeneratorID_t egid; //!< the requested generator + unsigned int esid; //!< the requested source + EventBase::EventTypeID_t etid; //!< the requested type public: + //!@name Constructors + //! follows general pattern of EventRouter::addListener() EventTrans(StateNode* destination, EventBase::EventGeneratorID_t gid) : Transition("EventTrans",destination), argcount(1), egid(gid), esid(0), etid(EventBase::statusETID) {} @@ -38,6 +40,7 @@ EventTrans(const std::string& name, StateNode* destination, EventBase::EventGeneratorID_t gid, unsigned int sid, EventBase::EventTypeID_t tid) : Transition("EventTrans",name,destination), argcount(3), egid(gid), esid(sid), etid(tid) {} + //@} //! starts listening virtual void DoStart() { @@ -65,10 +68,10 @@ * @author dst (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Transitions/LostTargetTrans.h ./Behaviors/Transitions/LostTargetTrans.h --- ../Tekkotsu_2.2.1/Behaviors/Transitions/LostTargetTrans.h Tue Nov 16 21:51:49 2004 +++ ./Behaviors/Transitions/LostTargetTrans.h Wed Dec 22 20:47:07 2004 @@ -49,6 +49,7 @@ virtual void set_minframes(int minframes) { minf = minframes; } protected: + //! constructor, only to be called by subclasses (which need to specify their own @a classname) LostTargetTrans(const std::string &classname, const std::string &instancename, StateNode* destination, unsigned int source_id, unsigned int delay, int minframes=5) : @@ -57,7 +58,7 @@ private: - unsigned int sid; + unsigned int sid; //!< the source id from the detector of the object which is being monitored int minf; //!< number of frames that target must be seen before resetting the timer int counter; //!< number of frames target has been seen so far }; diff -urdN ../Tekkotsu_2.2.1/Behaviors/Transitions/NullTrans.h ./Behaviors/Transitions/NullTrans.h --- ../Tekkotsu_2.2.1/Behaviors/Transitions/NullTrans.h Mon Nov 15 17:46:19 2004 +++ ./Behaviors/Transitions/NullTrans.h Wed Dec 22 20:47:07 2004 @@ -12,7 +12,8 @@ NullTrans(StateNode* destination) : Transition("NullTrans",destination) {} //! constructor - NullTrans(const std::string& name, StateNode* destination) : Transition("NullTrans",name,destination) {} + NullTrans(const std::string& name, StateNode* destination) : + Transition("NullTrans",name,destination) {} //!starts 0 msec timer, so transition will occur very soon virtual void DoStart() { @@ -25,6 +26,13 @@ //!when timer event is received, fire() the transition virtual void processEvent(const EventBase&) { fire(); } + +protected: + //! constructor, only to be called by subclasses (which need to specify their own @a classname) + NullTrans(const std::string &classname, const std::string &instancename, + StateNode* destination) : + Transition(classname,instancename,destination) {} + }; /*! @file @@ -32,10 +40,10 @@ * @author dst (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Transitions/RandomTrans.cc ./Behaviors/Transitions/RandomTrans.cc --- ../Tekkotsu_2.2.1/Behaviors/Transitions/RandomTrans.cc Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Transitions/RandomTrans.cc Sun Nov 28 00:58:38 2004 @@ -0,0 +1,61 @@ +#include +#include + +#include "../BehaviorBase.h" +#include "../../SoundPlay/SoundManager.h" +#include "../StateNode.h" +#include "RandomTrans.h" + +// Constructors + +RandomTrans::RandomTrans(StateNode* destination, float weight) : + NullTrans("RandomTrans",destination), weights() + { if (destination!=NULL) addWeight(weight); } + +RandomTrans::RandomTrans(const std::string& name, StateNode* destination, float weight) : + NullTrans("RandomTrans",name,destination), weights() + { if (destination!=NULL) addWeight(weight); } + +RandomTrans::RandomTrans(const std::string &classname, const std::string &instancename, + StateNode* destination, float weight) : + NullTrans(classname,instancename,destination), weights() + { if (destination!=NULL) + addWeight(weight>0 ? weight : 0); } + +void RandomTrans::addDestination(StateNode* destination, float weight) { + NullTrans::addDestination(destination); + addWeight(weight); +} + +void RandomTrans::addWeight(float weight) { + weights.push_back(weight); +} + +void RandomTrans::fire() { + AddReference(); // for safety + if ( sound.size()!=0 ) + sndman->PlayFile(sound); + + for(size_t i=0; iisActive()) // don't deactivate a non-active node + srcs[i]->DoStop(); + + float weightsum = 0; + for (size_t i = 0; i < dsts.size(); i++) + weightsum += weights[i]; // could check if not in history list, if we had one + if (weightsum == 0) + std::cerr << getName() << " has no non-zero-weighted destinations!" << std::endl; + else { + const float randval = weightsum * (rand()/(RAND_MAX+1.0)); + float s = weights[0]; + for (size_t i = 0; i < dsts.size(); s+=weights[++i]) + if (randval <= s) { + if (!dsts[i]->isActive()) + dsts[i]->DoStart(); + break; + }; + } + + RemoveReference(); +} + diff -urdN ../Tekkotsu_2.2.1/Behaviors/Transitions/RandomTrans.h ./Behaviors/Transitions/RandomTrans.h --- ../Tekkotsu_2.2.1/Behaviors/Transitions/RandomTrans.h Wed Dec 31 19:00:00 1969 +++ ./Behaviors/Transitions/RandomTrans.h Wed Dec 22 20:47:07 2004 @@ -0,0 +1,44 @@ +//-*-c++-*- +#ifndef INCLUDED_RandomTrans_h_ +#define INCLUDED_RandomTrans_h_ + +#include "Behaviors/Transitions/NullTrans.h" +#include "Events/EventRouter.h" + +//! A transition that fires immediately, randomly choosing one destination node to activate. + +/*! This class should be extended in the following way: + * + * setHistoryLength(int n) to maintain a history of recent choices that are + * not to be reused, i.e., drawing without replacement + */ + +class RandomTrans : public NullTrans { +public: + //! constructor + RandomTrans(StateNode* destination, float weight=1); + + //! constructor + RandomTrans(const std::string& name, StateNode* destination, float weight=1); + + //! Add a destination node with an optional weight. + virtual void RandomTrans::addDestination(StateNode* destination) { + addDestination(destination,1); } + + void addDestination(StateNode* destination, float weight); + + //! Firing this type of transition activates one destination node at random, + //! instead of all nodes. + virtual void fire(); + +protected: + //! constructor, only to be called by subclasses (which need to specify their own @a classname) + RandomTrans(const std::string &classname, const std::string &instancename, + StateNode* destination, float weight=1); + +private: + std::vector weights; //!< the probably of selection for each source + void addWeight(float weight); //!< adds a weight entry to the back of the queue +}; + +#endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Transitions/SmoothCompareTrans.h ./Behaviors/Transitions/SmoothCompareTrans.h --- ../Tekkotsu_2.2.1/Behaviors/Transitions/SmoothCompareTrans.h Mon Nov 15 17:46:19 2004 +++ ./Behaviors/Transitions/SmoothCompareTrans.h Mon Dec 13 22:24:57 2004 @@ -16,7 +16,7 @@ public: //! constructor, see SmoothCompareTrans class notes for information SmoothCompareTrans(StateNode* destination, const T* monitor, typename SmoothCompareTrans::Test_t test, const T& value, const EventBase& poll, float gammap=0) - : CompareTrans("SmoothCompareTrans",destination,&avg,test,value,poll), avg(*monitor), realmon(monitor), + : CompareTrans("SmoothCompareTrans","SmoothCompareTrans",destination,&avg,test,value,poll), avg(*monitor), realmon(monitor), burnin((unsigned int)(1/(1-gammap))), tests(0), g(gammap) { } @@ -73,10 +73,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Transitions/TimeOutTrans.h ./Behaviors/Transitions/TimeOutTrans.h --- ../Tekkotsu_2.2.1/Behaviors/Transitions/TimeOutTrans.h Mon Nov 15 17:46:19 2004 +++ ./Behaviors/Transitions/TimeOutTrans.h Fri Dec 3 19:11:19 2004 @@ -6,22 +6,47 @@ #include "Events/EventRouter.h" //! causes a transition after a specified amount of time has passed +/*! If any event parameters are specified, this transition will listen + * for matching events, and if any are received, it will reset the + * timer */ class TimeOutTrans : public Transition { public: //! constructor, specify delay in milliseconds - TimeOutTrans(StateNode* destination, unsigned int delay) : Transition("TimeOutTrans",destination), d(delay) {} + TimeOutTrans(StateNode* destination, unsigned int delay) + : Transition("TimeOutTrans","TimeOutTrans",destination), d(delay), + eventargcount(0), egid(EventBase::unknownEGID), esid(0), etid(EventBase::statusETID) {} - //! constructor, specify delay in milliseconds - TimeOutTrans(const std::string& name, StateNode* destination, unsigned int delay) : Transition("TimeOutTrans",name,destination), d(delay) {} + //! constructor, specify delay in milliseconds, if any events matching given parameters are received, the timer will be reset + TimeOutTrans(StateNode* destination, unsigned int delay, EventBase::EventGeneratorID_t gid) + : Transition("TimeOutTrans","TimeOutTrans",destination), d(delay), + eventargcount(1), egid(gid), esid(0), etid(EventBase::statusETID) {} + + //! constructor, specify delay in milliseconds, if any events matching given parameters are received, the timer will be reset + TimeOutTrans(StateNode* destination, unsigned int delay, EventBase::EventGeneratorID_t gid, unsigned int sid) + : Transition("TimeOutTrans","TimeOutTrans",destination), d(delay), + eventargcount(2), egid(gid), esid(sid), etid(EventBase::statusETID) {} + + //! constructor, specify delay in milliseconds, if any events matching given parameters are received, the timer will be reset + TimeOutTrans(StateNode* destination, unsigned int delay, EventBase::EventGeneratorID_t gid, unsigned int sid, EventBase::EventTypeID_t tid) + : Transition("TimeOutTrans","TimeOutTrans",destination), d(delay), + eventargcount(3), egid(gid), esid(sid), etid(tid) {} //!starts timer virtual void DoStart() { Transition::DoStart(); + switch (eventargcount) { + case 1: erouter->addListener(this,egid); break; + case 2: erouter->addListener(this,egid,esid); break; + case 3: erouter->addListener(this,egid,esid,etid); break; + }; resetTimer(); } //!stops timer - virtual void DoStop() { erouter->removeListener(this); Transition::DoStop(); } + virtual void DoStop() { + erouter->removeListener(this); + Transition::DoStop(); + } //!resets timer void resetTimer() { @@ -30,17 +55,30 @@ } //!if we receive the timer event, fire() - virtual void processEvent(const EventBase&) { + virtual void processEvent(const EventBase& e) { // std::cout << "Timeout @ " << get_time() << " from " << event.getName() << ' ' << this << std::endl; - fire(); + if(e.getGeneratorID()==EventBase::timerEGID) + fire(); + else + resetTimer(); } protected: - //! constructor, specify delay in milliseconds - TimeOutTrans(const std::string& classname, const std::string& instancename, StateNode* destination, unsigned int delay) : Transition(classname,instancename,destination), d(delay) {} + //! constructor, specify delay in milliseconds - use assignment in your subclass's constructor if you want set #egid,#esid,#etid (don't forget #eventargcount!) + TimeOutTrans(const std::string& classname, const std::string& instancename, StateNode* destination, unsigned int delay) + : Transition(classname,instancename,destination), d(delay), + eventargcount(0), egid(EventBase::unknownEGID), esid(0), etid(EventBase::statusETID) {} //!amount to delay (in milliseconds) before transition unsigned int d; + + //!level of specificity of events to listen for + unsigned int eventargcount; + + EventBase::EventGeneratorID_t egid; //!< the event generator to listen for + unsigned int esid; //!< the source to listen for + EventBase::EventTypeID_t etid; //!< the type to listen for + }; /*! @file @@ -48,10 +86,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Behaviors/Transitions/VisualTargetCloseTrans.h ./Behaviors/Transitions/VisualTargetCloseTrans.h --- ../Tekkotsu_2.2.1/Behaviors/Transitions/VisualTargetCloseTrans.h Mon Nov 15 17:46:19 2004 +++ ./Behaviors/Transitions/VisualTargetCloseTrans.h Mon Nov 15 17:46:19 2004 @@ -54,7 +54,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Behaviors/Transitions/VisualTargetTrans.h ./Behaviors/Transitions/VisualTargetTrans.h --- ../Tekkotsu_2.2.1/Behaviors/Transitions/VisualTargetTrans.h Mon Nov 15 17:46:19 2004 +++ ./Behaviors/Transitions/VisualTargetTrans.h Mon Nov 15 17:46:19 2004 @@ -62,7 +62,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Events/ButtonEvent.cc ./Events/ButtonEvent.cc --- ../Tekkotsu_2.2.1/Events/ButtonEvent.cc Thu Sep 16 16:39:53 2004 +++ ./Events/ButtonEvent.cc Wed Dec 31 19:00:00 1969 @@ -1,86 +0,0 @@ -#include "ButtonEvent.h" -#include - -std::string -ButtonEvent::getDescription(bool /*showTypeSpecific=true*/, unsigned int verbosity/*=0*/) const { - std::ostringstream logdata; - logdata << getName(); - char hexstring[30]; - snprintf(hexstring,sizeof(hexstring),"0x%x",getSourceID()); - logdata << '\t' << hexstring; - switch(getTypeID()) { - case EventBase::activateETID: - logdata << "\tA"; break; - case EventBase::statusETID: - logdata << "\tS"; break; - case EventBase::deactivateETID: - logdata << "\tD"; break; - case EventBase::numETIDs: - logdata << "\tU"; break; //UNKNOWN TYPE - } - if(verbosity>=1) - logdata << '\t' << getDuration() << '\t' << getTimeStamp(); - if(verbosity>=2) - logdata << '\t' << getMagnitude(); - return logdata.str(); -} - -unsigned int -ButtonEvent::getBinSize() const { - unsigned int used=0; - used+=creatorSize("ButtonEvent"); - used+=EventBase::getBinSize(); - return used; -} - -unsigned int -ButtonEvent::LoadBuffer(const char buf[], unsigned int len) { - unsigned int origlen=len; - unsigned int used=0; - if(0==(used=checkCreator("ButtonEvent",buf,len,true))) return 0; - len-=used; buf+=used; - if(0==(used=EventBase::LoadBuffer(buf,len))) return 0; - len-=used; buf+=used; - return origlen-len; -} - -unsigned int -ButtonEvent::SaveBuffer(char buf[], unsigned int len) const { - unsigned int origlen=len; - unsigned int used=0; - if(0==(used=saveCreator("ButtonEvent",buf,len))) return 0; - len-=used; buf+=used; - if(0==(used=EventBase::SaveBuffer(buf,len))) return 0; - len-=used; buf+=used; - return origlen-len; -} - -void -ButtonEvent::genName() { - if(!nameisgen) - return; - if(genID=1) - logdata << '\t' << getDuration() << '\t' << getTimeStamp(); + logdata << '\t' << getGeneratorID() << '\t' << getSourceID() << '\t' << getTypeID(); if(verbosity>=2) + logdata << '\t' << getDuration() << '\t' << getTimeStamp(); + if(verbosity>=3) logdata << '\t' << getMagnitude(); return logdata.str(); } @@ -150,17 +169,10 @@ EventBase::genName() { if(!nameisgen) return; - if(genID for every camera image received from the system; SID and duration are always 0 (This is generated by the MainObj instantiation of MMCombo) @@ -98,8 +99,8 @@ //@} /*! @name Methods */ - virtual const std::string& getName() const { return stim_id; } //!< gets the name of the event - useful for debugging, outputs - virtual EventBase& setName(const std::string& n) { nameisgen=false; stim_id=n; return *this; } //!< sets name to a given string, prevents overwriting by generated names + virtual const std::string& getName() const { return stim_id; } //!< gets the name of the event - useful for debugging output, see also getDescription() + virtual EventBase& setName(const std::string& n); //!< sets name to a given string, prevents overwriting by generated names virtual float getMagnitude() const { return magnitude; } //!< gets "strength" of event - by default 1 for activate and status events, 0 for deactivate events virtual EventBase& setMagnitude(float m) { magnitude=m; return *this; }//!< sets "strength" of event - you may want to override the default values (see getMagnitude()) @@ -122,11 +123,12 @@ virtual bool isCustomName() const { return !nameisgen; } //!< returns true if not using the generated name //! generates a description of the event with variable verbosity - /*! @param showTypeSpecific will signal subclasses to add additional information + /*! @param showTypeSpecific should be read by subclasses to add additional information * @param verbosity can be one of the following values: - * - 0 - the name and type - * - 1 - the name, type, duration, and timestamp - * - 2 and above - the name, type, duration, and magnitude + * - 0 - Basic: event_name \\t generator_id \\t source_id \\t type_id + * - 1 - Numerics: event_name \\t generator_id \\t source_id \\t type_id + * - 2 - Timing: event_name \\t generator_id \\t source_id \\t type_id \\t duration \\t timestamp + * - 3 and above - Full: event_name \\t generator_id \\t source_id \\t type_id \\t duration \\t timestamp \\t magnitude * if showTypeSpecific, additional fields will be added after the common fields listed above. */ virtual std::string getDescription(bool showTypeSpecific=true, unsigned int verbosity=0) const; @@ -156,8 +158,8 @@ float magnitude; //!< the current "strength" of the event/stimuli... MAKE SURE this gets set to ZERO IF event is DEACTIVATE unsigned int timestamp; //!< the time the event was created - set automatically by constructor - bool nameisgen; //!< tracks whether the current name (stim_id) is generated or set - virtual void genName(); //!< This does the actual generation of names based on genID, sourceID, and typeID + bool nameisgen; //!< tracks whether the current name (stim_id) was generated by genName() (true) or setName() (false) + virtual void genName(); //!< calls setName() with a string version of sourceID, decimal notation EventGeneratorID_t genID; //!< generator ID, see EventGeneratorID_t EventTypeID_t typeID; //!< type ID, see EventTypeID_t @@ -176,10 +178,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Events/EventGeneratorBase.cc ./Events/EventGeneratorBase.cc --- ../Tekkotsu_2.2.1/Events/EventGeneratorBase.cc Tue Nov 9 15:01:49 2004 +++ ./Events/EventGeneratorBase.cc Tue Nov 9 15:01:49 2004 @@ -73,7 +73,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Events/EventGeneratorBase.h ./Events/EventGeneratorBase.h --- ../Tekkotsu_2.2.1/Events/EventGeneratorBase.h Wed Nov 10 20:45:37 2004 +++ ./Events/EventGeneratorBase.h Mon Dec 20 16:47:59 2004 @@ -20,15 +20,8 @@ */ class EventGeneratorBase : public BehaviorBase { public: - //!@name Constructors - //! - EventGeneratorBase(const std::string& name, EventBase::EventGeneratorID_t mgid, unsigned int msid) - : BehaviorBase(name), myGenID(mgid), mySourceID(msid), autoListen(false), isListening(false), srcGenID(EventBase::unknownEGID), srcSourceID(0) - {} - EventGeneratorBase(const std::string& name, EventBase::EventGeneratorID_t mgid, unsigned int msid,EventBase::EventGeneratorID_t srcgid, unsigned int srcsid) - : BehaviorBase(name), myGenID(mgid), mySourceID(msid), autoListen(true), isListening(false), srcGenID(srcgid), srcSourceID(srcsid) - {} - //@} + // Constructors are all protected - doesn't make sense to + // instantiate this class directly, you want to use a subclass //! destructor - does nothing virtual ~EventGeneratorBase() {} @@ -65,6 +58,22 @@ virtual void unsetAutoListen(); protected: + //!@name Constructors + //! + EventGeneratorBase(const std::string& name, EventBase::EventGeneratorID_t mgid, unsigned int msid) + : BehaviorBase(name), myGenID(mgid), mySourceID(msid), autoListen(false), isListening(false), srcGenID(EventBase::unknownEGID), srcSourceID(0) + {} + EventGeneratorBase(const std::string& name, EventBase::EventGeneratorID_t mgid, unsigned int msid,EventBase::EventGeneratorID_t srcgid, unsigned int srcsid) + : BehaviorBase(name), myGenID(mgid), mySourceID(msid), autoListen(true), isListening(false), srcGenID(srcgid), srcSourceID(srcsid) + {} + EventGeneratorBase(const std::string& classname, const std::string& instancename, EventBase::EventGeneratorID_t mgid, unsigned int msid) + : BehaviorBase(classname,instancename), myGenID(mgid), mySourceID(msid), autoListen(false), isListening(false), srcGenID(EventBase::unknownEGID), srcSourceID(0) + {} + EventGeneratorBase(const std::string& classname, const std::string& instancename, EventBase::EventGeneratorID_t mgid, unsigned int msid,EventBase::EventGeneratorID_t srcgid, unsigned int srcsid) + : BehaviorBase(classname,instancename), myGenID(mgid), mySourceID(msid), autoListen(true), isListening(false), srcGenID(srcgid), srcSourceID(srcsid) + {} + //@} + EventBase::EventGeneratorID_t myGenID; //!< the generator ID to broadcast on unsigned int mySourceID; //!< the source ID to broadcast on bool autoListen; //!< if true, will automatically start listening for EventBase(genID,sourceID) events @@ -78,10 +87,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Events/EventListener.h ./Events/EventListener.h --- ../Tekkotsu_2.2.1/Events/EventListener.h Thu Sep 25 11:27:10 2003 +++ ./Events/EventListener.h Thu Sep 25 11:27:10 2003 @@ -20,7 +20,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Events/EventRouter.cc ./Events/EventRouter.cc --- ../Tekkotsu_2.2.1/Events/EventRouter.cc Thu Oct 7 18:14:17 2004 +++ ./Events/EventRouter.cc Wed Dec 22 18:12:59 2004 @@ -99,26 +99,26 @@ bool hadListener=hasListeners(egid); listeners.addMapping(el,egid); if(!hadListener) - postEvent(new EventBase(EventBase::erouterEGID,egid,EventBase::activateETID)); + postEvent(new EventBase(EventBase::erouterEGID,egid,EventBase::activateETID,0,EventBase::EventGeneratorNames[egid],1)); else - postEvent(new EventBase(EventBase::erouterEGID,egid,EventBase::statusETID)); + postEvent(new EventBase(EventBase::erouterEGID,egid,EventBase::statusETID,0,EventBase::EventGeneratorNames[egid],1)); } void EventRouter::addListener(EventListener* el, EventBase::EventGeneratorID_t egid, unsigned int sid) { bool hadListener=hasListeners(egid); for(unsigned int et=0; etcounts both listeners and trappers, so stuff can tell if it even needs to bother generating an event...*/ /* ... if a tree falls in a forest, and there's no one around to see it, does it make a sound?\n ... if Vision sees a ball in an image, and there's no listeners, does it make an event? ;) */ - bool hasListeners(EventBase::EventGeneratorID_t egid) { return trappers.hasMapping(egid) || listeners.hasMapping(egid); } - bool hasListeners(EventBase::EventGeneratorID_t egid, unsigned int sid) { return trappers.hasMapping(egid,sid) || listeners.hasMapping(egid,sid); } - bool hasListeners(EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid) { return trappers.hasMapping(egid,sid,etid) || listeners.hasMapping(egid,sid,etid); } - bool hasListeners(const EventBase& e) { return hasListeners(e.getGeneratorID(),e.getSourceID(),e.getTypeID()); } + bool hasListeners(EventBase::EventGeneratorID_t egid) { return (egid==EventBase::timerEGID) ? timers.size()>0 : trappers.hasMapping(egid) || listeners.hasMapping(egid); } + bool hasListeners(EventBase::EventGeneratorID_t egid, unsigned int sid) { return (egid==EventBase::timerEGID) ? timers.size()>0 : trappers.hasMapping(egid,sid) || listeners.hasMapping(egid,sid); } + bool hasListeners(EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid) { return (egid==EventBase::timerEGID) ? timers.size()>0 : trappers.hasMapping(egid,sid,etid) || listeners.hasMapping(egid,sid,etid); } + bool hasListeners(const EventBase& e) { return (e.getGeneratorID()==EventBase::timerEGID) ? timers.size()>0 : hasListeners(e.getGeneratorID(),e.getSourceID(),e.getTypeID()); } //@} //!@name Timer Management @@ -299,10 +299,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Events/EventTranslator.cc ./Events/EventTranslator.cc --- ../Tekkotsu_2.2.1/Events/EventTranslator.cc Thu Oct 14 19:02:35 2004 +++ ./Events/EventTranslator.cc Thu Oct 14 19:02:35 2004 @@ -86,7 +86,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Events/EventTranslator.h ./Events/EventTranslator.h --- ../Tekkotsu_2.2.1/Events/EventTranslator.h Thu Sep 16 14:35:12 2004 +++ ./Events/EventTranslator.h Thu Sep 16 14:35:12 2004 @@ -62,7 +62,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Events/EventTrapper.h ./Events/EventTrapper.h --- ../Tekkotsu_2.2.1/Events/EventTrapper.h Thu Sep 25 11:27:10 2003 +++ ./Events/EventTrapper.h Thu Sep 25 11:27:10 2003 @@ -26,7 +26,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Events/FilterBankEvent.h ./Events/FilterBankEvent.h --- ../Tekkotsu_2.2.1/Events/FilterBankEvent.h Sun Jan 18 05:16:57 2004 +++ ./Events/FilterBankEvent.h Wed Dec 22 18:12:59 2004 @@ -10,7 +10,7 @@ public: //! constructor FilterBankEvent(FilterBankGenerator* creator,EventBase::EventGeneratorID_t gid,unsigned int sid) - : EventBase(gid,sid,EventBase::statusETID), src(creator) + : EventBase(gid,sid,EventBase::statusETID,0,creator->getName(),1), src(creator) {} //! Gives access to underlying generator @@ -58,10 +58,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Events/LocomotionEvent.cc ./Events/LocomotionEvent.cc --- ../Tekkotsu_2.2.1/Events/LocomotionEvent.cc Wed Sep 1 17:30:57 2004 +++ ./Events/LocomotionEvent.cc Wed Sep 1 17:30:57 2004 @@ -60,7 +60,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Events/LocomotionEvent.h ./Events/LocomotionEvent.h --- ../Tekkotsu_2.2.1/Events/LocomotionEvent.h Wed Sep 1 17:30:57 2004 +++ ./Events/LocomotionEvent.h Wed Sep 1 17:30:57 2004 @@ -45,7 +45,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Events/SegmentedColorFilterBankEvent.h ./Events/SegmentedColorFilterBankEvent.h --- ../Tekkotsu_2.2.1/Events/SegmentedColorFilterBankEvent.h Sun Jan 18 05:16:57 2004 +++ ./Events/SegmentedColorFilterBankEvent.h Sun Jan 18 05:16:57 2004 @@ -69,7 +69,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Events/TextMsgEvent.cc ./Events/TextMsgEvent.cc --- ../Tekkotsu_2.2.1/Events/TextMsgEvent.cc Wed Sep 1 17:30:57 2004 +++ ./Events/TextMsgEvent.cc Wed Sep 1 17:30:57 2004 @@ -54,7 +54,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Events/TextMsgEvent.h ./Events/TextMsgEvent.h --- ../Tekkotsu_2.2.1/Events/TextMsgEvent.h Wed Sep 1 17:30:57 2004 +++ ./Events/TextMsgEvent.h Wed Sep 1 17:30:57 2004 @@ -35,7 +35,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Events/VisionObjectEvent.h ./Events/VisionObjectEvent.h --- ../Tekkotsu_2.2.1/Events/VisionObjectEvent.h Wed Sep 1 17:30:57 2004 +++ ./Events/VisionObjectEvent.h Wed Sep 1 17:30:57 2004 @@ -46,7 +46,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/MMCombo/MMCombo.cc ./MMCombo/MMCombo.cc --- ../Tekkotsu_2.2.1/MMCombo/MMCombo.cc Fri Nov 12 17:07:39 2004 +++ ./MMCombo/MMCombo.cc Wed Nov 17 19:04:25 2004 @@ -105,8 +105,8 @@ //Setup wireless wireless = new Wireless(); - sout=wireless->socket(SocketNS::SOCK_STREAM,Wireless::WIRELESS_DEF_RECV_SIZE,Wireless::WIRELESS_DEF_SEND_SIZE*6); - serr=wireless->socket(SocketNS::SOCK_STREAM,Wireless::WIRELESS_DEF_RECV_SIZE,Wireless::WIRELESS_DEF_SEND_SIZE*2); + sout=wireless->socket(SocketNS::SOCK_STREAM,Wireless::WIRELESS_DEF_RECV_SIZE,Wireless::WIRELESS_DEF_SEND_SIZE*12); + serr=wireless->socket(SocketNS::SOCK_STREAM,Wireless::WIRELESS_DEF_RECV_SIZE,Wireless::WIRELESS_DEF_SEND_SIZE*4); wireless->setDaemon(sout); wireless->setDaemon(serr); serr->setFlushType(SocketNS::FLUSH_BLOCKING); @@ -769,10 +769,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ diff -urdN ../Tekkotsu_2.2.1/MMCombo/MMCombo.h ./MMCombo/MMCombo.h --- ../Tekkotsu_2.2.1/MMCombo/MMCombo.h Tue Sep 28 19:07:04 2004 +++ ./MMCombo/MMCombo.h Tue Sep 28 19:07:04 2004 @@ -141,7 +141,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Makefile ./Makefile --- ../Tekkotsu_2.2.1/Makefile Wed Sep 8 15:21:28 2004 +++ ./Makefile Tue Dec 21 18:53:12 2004 @@ -1,3 +1,8 @@ +############### FRAMEWORK MAKEFILE ################ +############# $Name: HEAD $ ############### +############### $Revision: 1.1 $ ################# +########## $Date: 2004/12/23 08:41:24 $ ########### + all: @echo INSTALLATION INSTRUCTIONS: @cat INSTALL @@ -7,6 +12,6 @@ @echo Nothing to be done here. dox docs doc: - docs/builddocs --all --update --tree --search --detailed + docs/builddocs --update --tree --search --detailed .PHONY: all update install dox docs doc diff -urdN ../Tekkotsu_2.2.1/Motion/DynamicMotionSequence.h ./Motion/DynamicMotionSequence.h --- ../Tekkotsu_2.2.1/Motion/DynamicMotionSequence.h Thu Sep 25 11:27:22 2003 +++ ./Motion/DynamicMotionSequence.h Tue Dec 21 17:39:01 2004 @@ -2,17 +2,18 @@ #ifndef INCLUDED_DynamicMotionSequenceMC_h_ #define INCLUDED_DynamicMotionSequenceMC_h_ -#include "MotionSequenceMC.h" +#include "MotionSequenceEngine.h" +#include "MotionCommand.h" #include //! Uses STL's vector for dynamic memory allocation - don't use this as a motion command, pointers in shared memory regions can be invalid in other processes -/*! See MotionSequenceMC for documentation on its members */ -class DynamicMotionSequence : public MotionSequence { +/*! See MotionSequenceEngine for documentation on its members */ +class DynamicMotionSequence : public MotionCommand, public MotionSequenceEngine { public: //!constructor - DynamicMotionSequence() : MotionSequence(), moves(), erased() {clear();} + DynamicMotionSequence() : MotionCommand(), MotionSequenceEngine(), moves(), erased() {clear();} //!constructor, loads from a file and then resets the playtime to beginning and begins to play - explicit DynamicMotionSequence(const char* filename) : MotionSequence(), moves(), erased() {clear();LoadFile(filename);setPlayTime(1);} + explicit DynamicMotionSequence(const char* filename) : MotionCommand(), MotionSequenceEngine(), moves(), erased() {clear();LoadFile(filename);setPlayTime(1);} //!destructor virtual ~DynamicMotionSequence() {} @@ -30,8 +31,11 @@ }*/ + virtual int isDirty() { return isPlaying(); } + virtual int isAlive() { return (playspeed>0) ? (playtime<=endtime) : (playtime>0); } + virtual int updateOutputs() { - MotionSequence::updateOutputs(); + MotionSequenceEngine::updateOutputs(); if(!isPlaying()) { for(unsigned int i=0; isetOutput(this,i,getOutputCmd(i)); @@ -112,10 +116,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ - * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Motion/EmergencyStopMC.cc ./Motion/EmergencyStopMC.cc --- ../Tekkotsu_2.2.1/Motion/EmergencyStopMC.cc Mon Aug 30 16:26:45 2004 +++ ./Motion/EmergencyStopMC.cc Mon Aug 30 16:26:45 2004 @@ -209,7 +209,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/EmergencyStopMC.h ./Motion/EmergencyStopMC.h --- ../Tekkotsu_2.2.1/Motion/EmergencyStopMC.h Mon Aug 30 16:26:45 2004 +++ ./Motion/EmergencyStopMC.h Mon Aug 30 16:26:45 2004 @@ -62,7 +62,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/Geometry.h ./Motion/Geometry.h --- ../Tekkotsu_2.2.1/Motion/Geometry.h Thu Sep 25 11:27:22 2003 +++ ./Motion/Geometry.h Thu Sep 25 11:27:22 2003 @@ -51,7 +51,7 @@ * @verbinclude CMPack_license.txt * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/HeadPointerMC.cc ./Motion/HeadPointerMC.cc --- ../Tekkotsu_2.2.1/Motion/HeadPointerMC.cc Thu Oct 14 17:59:23 2004 +++ ./Motion/HeadPointerMC.cc Wed Dec 22 19:59:03 2004 @@ -4,6 +4,7 @@ #include "MotionManager.h" #include #include "Shared/Config.h" +#include "Wireless/Socket.h" HeadPointerMC::HeadPointerMC() : MotionCommand(), dirty(true), targetReached(false), @@ -40,6 +41,22 @@ Plink=0; Plink(3)=1; bool conv=false; NEWMAT::ColumnVector q=headkin.inv_kin_pos(Pobj,0,headkin.get_dof(),Plink,conv); + + NEWMAT::ColumnVector poE=headkin.convertLink(0,headkin.get_dof())*Pobj; + poE=poE.SubMatrix(1,3,1,1); + NEWMAT::ColumnVector plE=Plink.SubMatrix(1,3,1,1); + float plE2=plE.SumSquare(); + float plE_len=sqrt(plE2); + float obj_comp_link=NEWMAT::DotProduct(plE,poE)/plE_len; + if(obj_comp_link=HeadOffset && iprintf("WARNING: HeadPointerMC received a joint index of %d (HeadOffset+%d).\n",i+HeadOffset,i); + serr->printf(" Since all parameters are assumed to be relative to HeadOffset,\n"); + serr->printf(" you should just pass %d directly.\n",i); + serr->printf("WARNING: Assuming you meant %d...\n",i); + return true; + } + serr->printf("ERROR: HeadPointerMC received a joint index of %d (HeadOffset%+d).\n",i,i-HeadOffset); + serr->printf("ERROR: This does not appear to be a head joint. HeadPointerMC only controls\n"); + serr->printf(" head joints, and assumes its arguments are relative to HeadOffset\n",i); + return false; +} + /*! @file * @brief Implements HeadPointerMC, a class for various ways to control where the head is looking * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ diff -urdN ../Tekkotsu_2.2.1/Motion/HeadPointerMC.h ./Motion/HeadPointerMC.h --- ../Tekkotsu_2.2.1/Motion/HeadPointerMC.h Thu Oct 14 19:02:53 2004 +++ ./Motion/HeadPointerMC.h Wed Dec 22 19:59:03 2004 @@ -50,27 +50,42 @@ //! Directly set a single neck joint value /*! @param i joint offset relative to HeadOffset (i.e. one of TPROffset_t) * @param value the value to be assigned to join @a i, in radians */ - void setJointValue(unsigned int i, float value) { headTargets[i]=clipAngularRange(HeadOffset+i,value); markDirty(); } + void setJointValue(unsigned int i, float value) { + if(!ensureValidJoint(i)) + return; + headTargets[i]=clipAngularRange(HeadOffset+i,value); + markDirty(); + } //! Returns the target value of joint @a i. Use this if you want to know the current @b commanded joint value; To get the current joint @b position, look in WorldState::outputs /*! @param i joint offset relative to HeadOffset (i.e. one of TPROffset_t) */ - float getJointValue(unsigned int i) const { return headTargets[i]; } + float getJointValue(unsigned int i) const { + if(ensureValidJoint(i)) + return headTargets[i]; + else + return 0; + } //! Centers the camera on a point in space, attempting to keep the camera as far away from the point as possible - /*! @param x location in millimeters + /*! Point should be relative to the body reference frame (see ::BaseFrameOffset) + * @param x location in millimeters * @param y location in millimeters - * @param z location in millimeters */ + * @param z location in millimeters + * + * @todo this method is an approximation, could be more precise, and perhaps faster, although this is pretty good. */ bool lookAtPoint(float x, float y, float z); //! Centers the camera on a point in space, attempting to move the camera @a d millimeters away from the point - /*! @param x location in millimeters + /*! Point should be relative to the body reference frame (see ::BaseFrameOffset) + * @param x location in millimeters * @param y location in millimeters * @param z location in millimeters * @param d target distance from point in millimeters */ bool lookAtPoint(float x, float y, float z, float d); //! Points the camera in a given direction - /*! @param x component of the direction vector + /*! Vector should be relative to the body reference frame (see ::BaseFrameOffset) + * @param x component of the direction vector * @param y component of the direction vector * @param z component of the direction vector */ bool lookInDirection(float x, float y, float z); @@ -108,6 +123,12 @@ * the head isn't where it's supposed to be, it won't jerk around */ void markDirty(); + //! Makes sure @a i is in the range (0,NumHeadJoints). If it is instead in the range (HeadOffset,HeadOffset+NumHeadJoints), output a warning and reset @a i to the obviously intended value. + /*! @param[in] i joint offset relative to either HeadOffset (i.e. one of TPROffset_t) or 0 + * @param[out] i joint offset relative to HeadOffset (i.e. one of TPROffset_t) + * @return true if the intended joint could be ascertained, false otherwise */ + static bool ensureValidJoint(unsigned int& i); + bool dirty; //!< true if a change has been made since last call to updateJointCmds() bool targetReached; //!< false if the head is still moving towards its target float headTargets[NumHeadJoints]; //!< stores the target value of each joint @@ -121,10 +142,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Motion/Kinematics.cc ./Motion/Kinematics.cc --- ../Tekkotsu_2.2.1/Motion/Kinematics.cc Thu Oct 28 19:06:10 2004 +++ ./Motion/Kinematics.cc Tue Dec 21 18:51:18 2004 @@ -54,8 +54,10 @@ tkout+=NumOutputs; if((unsigned int)tkout>=NumReferenceFrames) serr->printf("WARNING Kinematics::init(): invalid tekkotsu_frame %d on chain %d (%s), link %d (%s)\n",tkout,i,section.c_str(),l,link.c_str()); - else + else { jointMaps[tkout]=JointMap(i,l); + chainMaps[i][l]=tkout; + } } } } @@ -97,7 +99,7 @@ } NEWMAT::ReturnMatrix -Kinematics::frameToBase(unsigned int j) { +Kinematics::jointToBase(unsigned int j) { unsigned int c=-1U,l=-1U; if(!lookup(j,c,l)) { NEWMAT::Matrix A(4,4); @@ -121,7 +123,7 @@ } NEWMAT::ReturnMatrix -Kinematics::baseToFrame(unsigned int j) { +Kinematics::baseToJoint(unsigned int j) { unsigned int c=-1U,l=-1U; if(!lookup(j,c,l)) { NEWMAT::Matrix A(4,4); @@ -145,7 +147,7 @@ } NEWMAT::ReturnMatrix -Kinematics::frameToFrame(unsigned int ij, unsigned int oj) { +Kinematics::jointToJoint(unsigned int ij, unsigned int oj) { unsigned int ci=-1U,li=-1U,co=-1U,lo=-1U; if(ij==oj || !lookup(ij,ci,li) || !lookup(oj,co,lo)) { NEWMAT::Matrix A(4,4); @@ -170,9 +172,9 @@ } NEWMAT::ReturnMatrix -Kinematics::frameToLink(unsigned int ij, unsigned int oj) { +Kinematics::jointToLink(unsigned int ij, unsigned int oj) { unsigned int ci=-1U,li=-1U,co=-1U,lo=-1U; - if(ij==oj || !lookup(ij,ci,li) || !lookup(oj,co,lo)) { + if(!lookup(ij,ci,li) || !lookup(oj,co,lo)) { NEWMAT::Matrix A(4,4); A<frameToBase(HeadOffset+TiltOffset); @endcode + * Thus, wherever a reference frame index is requested, you can + * simply supply one of the output indexes in the usual manner: + * @code kine->jointToBase(HeadOffset+TiltOffset); @endcode * * However, there are also a number of points on the body which are * not joints, but should have their own reference frames, such as * the base frame, or the camera. These frames have their own * indices, listed in the robot info file for the model in question * (such as ERS7Info.h), with names ending in @c FrameOffset. - * @code kine->frameToBase(CameraFrameOffset); @endcode + * @code kine->jointToBase(CameraFrameOffset); @endcode + * Note that for these non-joint-associated reference frames, the + * link and joint frames are always identical, so you can use either + * version of the corresponding functions. * * Since newmat matrix library is used by ROBOOP, you will need to - * pass and receive information in newmat matrices. This class - * provides #pack and #unpack functions which can convert individual - * x,y,z variables into a NEWMAT::ColumnVector, and vice versa. - * However, for readability of your code and long-term ease of use, - * we recommend embracing the newmat data structures directly when - * appropriate. + * pass and receive information in newmat matrices. Kinematics class + * provides static #pack and #unpack functions which can convert + * individual x,y,z variables into a NEWMAT::ColumnVector, and vice + * versa. However, for readability of your code and long-term ease + * of use, we recommend embracing the newmat data structures directly + * when appropriate. * @code * // Find the ray from the camera to whatever the near-field IR is hitting: - * // x and y will be in the range -1 to 1 for resolution layer independence - * // This ignores lens distortion - just proof of concept - * NEWMAT::Matrix T = kine->frameToFrame(NearIRFrameOffset,CameraFrameOffset); + * NEWMAT::Matrix T = kine->jointToJoint(NearIRFrameOffset,CameraFrameOffset); * NEWMAT::ColumnVector camera_ray = T*Kinematics::pack(0,0,state->sensors[NearIRDistOffset]); - * float x=atan(camera_ray(1),camera_ray(3))/config->vision.horizFOV/2; - * float y=atan(camera_ray(2),camera_ray(3))/config->vision.vertFOV/2; + * float x,y; // x and y will be in the range -1 to 1 for resolution layer independence + * config->vision.computePixel(x,y,camera_ray(1),camera_ray(2),camera_ray(3)); * @endcode * - * Finally, for each model we have created a database of "interest points", + * Finally, for each model we have created a database of "interest points" -- * locations of notable interest on the body of the robot. These may be of * use to people attempting to use the limbs to manipulate objects. - * To access these interest points, simply call either #getLinkInterestPoint - * or #getFrameInterestPoint with the name of the interest point, obtained + * To access these interest points, call either #getLinkInterestPoint + * or #getJointInterestPoint with the name of the interest point, obtained * from the diagrams. * * Note that you can pass a comma separated list of interest point names @@ -79,6 +80,37 @@ * @code kine->getLinkInterestPoint(BaseFrameOffset,"LowerInnerFrontLFrShin,LowerOuterFrontLFrShin"); @endcode * * @see PostureEngine for inverse kinematics + * + * + * + *

Configuration File Format

+ * + * The file is actually read by ROBOOP::Config, and thus the syntax + * of the file is defined by that class. However, Tekkotsu will look + * for some additional sections beyond what is expected by ROBOOP. + * + * In any give link section, a tekkotsu_output field may + * appear, which specifies the index (aka offset) of the + * corresponding joint in Tekkotsu, as defined by the model's Info.h + * file (e.g. ERS7Info.h). Alternatively, tekkotsu_frame + * may be specified, which should specify the offset of an abstract + * reference frame, which does not correspond to any joint. + * Typically this is used for things such as the camera, or + * un-actuated joints, such as the spring-loaded ankles. + * + * Additionally, Kinematics will look for an custom + * InterestPoints section, which should contain a + * Length field for specifying the number of interest + * points. Kinematics will then attempt to read + * %InterestPointN for 1 through Length. + * + * Each %InterestPointN section should contain: + * - name - (string) name which will be passed to get*InterestPoint() to retrieve this IP + * - chain - (string) name of the chain the IP is in, must match one of the kinematic chains loaded from the file + * - link - (unsigned int) the index of the link the IP is connected to + * - x - (float) the x location of the point, in link-relative coordinates + * - y - (float) the y location of the point, in link-relative coordinates + * - z - (float) the z location of the point, in link-relative coordinates */ class Kinematics { public: @@ -92,66 +124,66 @@ - //! Returns a matrix for transforming from link @a j to base frame - /*! @param[in] j the link number, see class notes for values */ - NEWMAT::ReturnMatrix linkToBase(unsigned int j); + //! Returns a matrix for transforming from link frame @a j to base frame + /*! @param[in] link the output offset, see class notes for values */ + NEWMAT::ReturnMatrix linkToBase(unsigned int link); - //! Returns a matrix for transforming from frame @a j to base frame - /*! @param[in] j the frame number, see class notes for values */ - NEWMAT::ReturnMatrix frameToBase(unsigned int j); + //! Returns a matrix for transforming from joint frame @a j to base frame + /*! @param[in] joint the output offset, see class notes for values */ + NEWMAT::ReturnMatrix jointToBase(unsigned int joint); - //! Returns a matrix for transforming from the base frame to link @a j - /*! @param[in] j the link number, see class notes for values */ - NEWMAT::ReturnMatrix baseToLink(unsigned int j); + //! Returns a matrix for transforming from the base frame to link @a j frame + /*! @param[in] link the output offset, see class notes for values */ + NEWMAT::ReturnMatrix baseToLink(unsigned int link); - //! Returns a matrix for transforming from the base frame to frame @a j - /*! @param[in] j the frame number, see class notes for values */ - NEWMAT::ReturnMatrix baseToFrame(unsigned int j); + //! Returns a matrix for transforming from the base frame to joint @a j frame + /*! @param[in] joint the output offset, see class notes for values */ + NEWMAT::ReturnMatrix baseToJoint(unsigned int joint); - //! Returns a matrix for transforming from link @a ij to link @a oj frame - /*! @param[in] ij the link number to convert from, see class notes for values - * @param[in] oj the link number to convert to, see class notes for values */ - NEWMAT::ReturnMatrix linkToLink(unsigned int ij, unsigned int oj); + //! Returns a matrix for transforming from link @a ij to link @a oj + /*! @param[in] iL the output offset to convert from, see class notes for values + * @param[in] oL the output offset to convert to, see class notes for values */ + NEWMAT::ReturnMatrix linkToLink(unsigned int iL, unsigned int oL); - //! Returns a matrix for transforming from link @a ij to frame @a oj - /*! @param[in] ij the link number to convert from, see class notes for values - * @param[in] oj the frame number to convert to, see class notes for values */ - NEWMAT::ReturnMatrix linkToFrame(unsigned int ij, unsigned int oj); + //! Returns a matrix for transforming from link frame @a ij to joint frame @a oj + /*! @param[in] iL the output offset to convert from, see class notes for values + * @param[in] oJ the output offset to convert to, see class notes for values */ + NEWMAT::ReturnMatrix linkToJoint(unsigned int iL, unsigned int oJ); - //! Returns a matrix for transforming from frame @a ij to link @a oj - /*! @param[in] ij the frame number to convert from, see class notes for values - * @param[in] oj the link number to convert to, see class notes for values */ - NEWMAT::ReturnMatrix frameToLink(unsigned int ij, unsigned int oj); + //! Returns a matrix for transforming from joint frame @a ij to link frame @a oj + /*! @param[in] iJ the output offset to convert from, see class notes for values + * @param[in] oL the output offset to convert to, see class notes for values */ + NEWMAT::ReturnMatrix jointToLink(unsigned int iJ, unsigned int oL); - //! Returns a matrix for transforming from frame @a ij to frame @a oj frame - /*! @param[in] ij the frame number to convert from, see class notes for values - * @param[in] oj the frame number to convert to, see class notes for values */ - NEWMAT::ReturnMatrix frameToFrame(unsigned int ij, unsigned int oj); + //! Returns a matrix for transforming from joint @a ij to joint @a oj + /*! @param[in] iJ the output offset to convert from, see class notes for values + * @param[in] oJ the output offset to convert to, see class notes for values */ + NEWMAT::ReturnMatrix jointToJoint(unsigned int iJ, unsigned int oJ); //! Returns the location of a named point and the link it is attached to /*! @param[in] name the name of the interest point; varies by model, see the diagrams for your model. - * @param[out] j on exit, joint index of the link, or -1U if not found - * @param[out] ip on exit, a homogenous column vector of the requested point + * @param[out] link on exit, offset of the link, or -1U if not found + * @param[out] ip on exit, a homogeneous column vector of the requested point, relative to the link frame returned in @a j * * If @a name is not found, j will be -1 and ip will be all 0's. */ - void getInterestPoint(const std::string& name, unsigned int& j, NEWMAT::Matrix& ip); + void getInterestPoint(const std::string& name, unsigned int& link, NEWMAT::Matrix& ip); - //! Returns the location of a named point, relative to any desired reference frame - /*! @param[in] frame the desired reference frame to give results in + //! Returns the location of a named point, relative to any desired joint reference frame + /*! @param[in] joint the desired joint reference frame to give results in * @param[in] name the name of the interest point; varies by model, see the diagrams for your model. * * You can pass a comma separated list of interest point names and the result will be the midpoint of those IPs */ - NEWMAT::ReturnMatrix getFrameInterestPoint(unsigned int frame, const std::string& name); + NEWMAT::ReturnMatrix getJointInterestPoint(unsigned int joint, const std::string& name); //! Returns the location of a named point, relative to any desired reference frame - /*! @param[in] link the desired link frame to give results in + /*! @param[in] link the desired link reference frame to give results in * @param[in] name the name of the interest point; varies by model, see the diagrams for your model. * * You can pass a comma separated list of interest point names and the result will be the midpoint of those IPs */ NEWMAT::ReturnMatrix getLinkInterestPoint(unsigned int link, const std::string& name) { - NEWMAT::ColumnVector p=frameToLink(link,link)*getFrameInterestPoint(link,name); + NEWMAT::ColumnVector p=jointToLink(link,link)*getJointInterestPoint(link,name); p.Release(); return p; } @@ -176,13 +208,13 @@ //! Find the point of intersection between a ray and a plane /*! @param j is the link number the ray is relative to - * @param r_j is the line through the origin, in homogenous coordinates + * @param r_j is the line through the origin, in homogeneous coordinates * @param b is the link number the plane is relative to (probably BaseFrameOffset) * @param p_b represents the plane to be intersected * @param f is the link number the results should be relative to * * @a p_b should be of the form @f$p_1x + p_2y + p_3z = p_4@f$ - * @return homogenous coordinate of intersection (may be infinity) */ + * @return homogeneous coordinate of intersection (may be infinity) */ NEWMAT::ReturnMatrix projectToPlane(unsigned int j, const NEWMAT::ColumnVector& r_j, unsigned int b, const NEWMAT::ColumnVector& p_b, unsigned int f); @@ -217,6 +249,7 @@ ox=m(1,1); oy=m(2,1); oz=m(3,1); oh=m(4,1); } + //! returns the global ROBOOP::Config object which Kinematics classes initialize themselves from (#roconfig) static ROBOOP::Config * getConfig() { return roconfig; } protected: @@ -227,7 +260,7 @@ /*! @param[in] name the name of the interest point; varies by model, see the diagrams for your model. * @param[out] c on exit, chain index the IP is on * @param[out] l on exit, link index the IP is on - * @param[out] ip on exit, a homogenous column vector of the requested point + * @param[out] ip on exit, a homogeneous column vector of the requested point * * If @a name is not found, @a c and @a l will be -1 and @a ip will be all 0's. * This internal version of the function allows us to use @a c and @a l, ourselves, @@ -263,14 +296,14 @@ //! A separate ROBOOP::Robot instantiation for each chain since ROBOOP package doesn't support branching chains (which would be rather difficult to implement well) std::vector chains; - //! holds mapping for each chain's links back to the tekkotsu outputs they represent + //! holds mapping for each chain's links back to the tekkotsu outputs and reference frames they represent std::vector< std::vector > chainMaps; //! Allows mapping from tekkotsu output index to chain and link indicies struct JointMap { JointMap() : chain(-1U), link(-1U) {} //!< constructor JointMap(unsigned int c, unsigned int l) : chain(c), link(l) {} //!< constructor - unsigned int chain; //! the chain index + unsigned int chain; //!< the chain index unsigned int link; //!< the link index }; //! holds the position and attached link of a given interest point @@ -317,10 +350,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Motion/LedEngine.cc ./Motion/LedEngine.cc --- ../Tekkotsu_2.2.1/Motion/LedEngine.cc Sun Sep 12 00:22:37 2004 +++ ./Motion/LedEngine.cc Sun Sep 12 00:22:37 2004 @@ -392,7 +392,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/LedEngine.h ./Motion/LedEngine.h --- ../Tekkotsu_2.2.1/Motion/LedEngine.h Mon Nov 15 19:29:47 2004 +++ ./Motion/LedEngine.h Mon Nov 15 19:29:47 2004 @@ -177,7 +177,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/LedMC.h ./Motion/LedMC.h --- ../Tekkotsu_2.2.1/Motion/LedMC.h Fri Sep 10 18:25:15 2004 +++ ./Motion/LedMC.h Fri Dec 17 00:52:36 2004 @@ -20,12 +20,17 @@ //! destructor virtual ~LedMC() {} + virtual void DoStart() { + MotionCommand::DoStart(); + dirty=true; + } + //! updates the cmds from LedEngine::updateLEDs() virtual int updateOutputs() { updateLEDFrames(cmds); for(unsigned int i=0; isetOutput(this,i+LEDOffset,cmds[i]); + motman->setOutput(this,i+LEDOffset,cmds[i]); if (nextFlashEnd < (unsigned int)-1) // do we have a flash in progress? notified=false; else if (notified == false) { // flash has ended (nextFlashEnd == -1), but notice not yet sent @@ -56,11 +61,11 @@ * @brief Defines LedMC, which provides a basic MotionCommand wrapper to LedEngine * @author ejt (Creator) * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Motion/MMAccessor.h ./Motion/MMAccessor.h --- ../Tekkotsu_2.2.1/Motion/MMAccessor.h Wed Feb 18 16:13:02 2004 +++ ./Motion/MMAccessor.h Wed Feb 18 16:13:02 2004 @@ -153,7 +153,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/MotionCommand.cc ./Motion/MotionCommand.cc --- ../Tekkotsu_2.2.1/Motion/MotionCommand.cc Thu Sep 25 11:27:23 2003 +++ ./Motion/MotionCommand.cc Thu Sep 25 11:27:23 2003 @@ -7,7 +7,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/MotionCommand.h ./Motion/MotionCommand.h --- ../Tekkotsu_2.2.1/Motion/MotionCommand.h Mon Feb 9 17:45:28 2004 +++ ./Motion/MotionCommand.h Mon Feb 9 17:45:28 2004 @@ -186,7 +186,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/MotionManager.cc ./Motion/MotionManager.cc --- ../Tekkotsu_2.2.1/Motion/MotionManager.cc Sat Oct 16 21:16:11 2004 +++ ./Motion/MotionManager.cc Fri Dec 3 19:11:34 2004 @@ -542,6 +542,7 @@ //cout << "addMotion()NOW: sm.getRegion()->NumberOfReference()==" << sm.getRegion()->NumberOfReference() << endl; cmdlist[mc_id].lastAccessor=_MMaccID; cmdlist[mc_id].priority=priority; + //cout << "setAdd(" << mc_id << ")" << endl; mc->setAdd(mc_id); OStatus err; /*{ @@ -551,10 +552,14 @@ } ASSERT((int)i==subjs[_MMaccID]->NumberOfObservers(),"did I miss an observer?"); }*/ - ASSERT((err=subjs[_MMaccID]->SetData(sm.getRegion()))==oSUCCESS,"*** ERROR MotionManager: SetData returned " << err); + //cout << "Sent at " << get_time() << flush; + err=subjs[_MMaccID]->SetData(sm.getRegion()); + ASSERT(err==oSUCCESS,"*** ERROR MotionManager: SetData returned " << err); //cout << "addMotion()afterSetData: sm.getRegion()->NumberOfReference()==" << sm.getRegion()->NumberOfReference() << endl; - ASSERT((err=subjs[_MMaccID]->NotifyObservers())==oSUCCESS,"*** ERROR MotionManager: NotifyObservers returned " << err); + err=subjs[_MMaccID]->NotifyObservers(); + ASSERT(err==oSUCCESS,"*** ERROR MotionManager: NotifyObservers returned " << err); // cout << "addMotion-done" << endl; + //cout << " - " << get_time() << endl; return func_end(mc_id); } @@ -563,6 +568,7 @@ // cout << "receivedMsg..." << flush; func_begin(); // cout << id << "..." << flush; + //cout << "Received at " << get_time() << endl; for(int x=0; x(rcr->Base()); @@ -575,13 +581,25 @@ cmdlist[mc_id].rcr[_MMaccID]=rcr; //should be able to do a nice dynamic cast instead of a static one // but it gives NULL for some reason - i blame having to do the fork trick + //cout << "Adding mc_id=="<< mc_id << " (and dynamic_cast is still " << dynamic_cast(mminfo) << ")" << endl; cmdlist[mc_id].baseaddrs[_MMaccID]=static_cast(mminfo); - erouter->postEvent(new EventBase(EventBase::motmanEGID,mc_id,EventBase::activateETID,0)); cmdlist[mc_id].baseaddrs[_MMaccID]->DoStart(); + erouter->postEvent(new EventBase(EventBase::motmanEGID,mc_id,EventBase::activateETID,0)); } break; case MotionManagerMsg::deleteMotion: { //cout << "deleteMotion(): cmdlist[mc_id].rcr[_MMaccID]->NumberOfReference()==" << cmdlist[mc_id].rcr[_MMaccID]->NumberOfReference() << endl; - cmdlist[mc_id].rcr[_MMaccID]->RemoveReference(); + //cout << "deleting mc_id=="<NumberOfReference()==" << cmdlist[mc_id].rcr[_MMaccID]->NumberOfReference() << endl; } break; default: @@ -636,20 +654,17 @@ if(mcid==invalid_MC_ID) return; func_begin(); - checkoutMotion(mcid,true); - cmdlist[mcid].baseaddrs[_MMaccID]->DoStop(); - erouter->postEvent(new EventBase(EventBase::motmanEGID,mcid,EventBase::deactivateETID,0)); #ifdef PLATFORM_APERIOS MotionManagerMsg dmsg; dmsg.setDelete(mcid); + //cout << "Remove at " << get_time() << flush; subjs[_MMaccID]->SetData(&dmsg,sizeof(dmsg)); subjs[_MMaccID]->NotifyObservers(); + //cout << " - " << get_time() << endl; //cout << "removeMotion(): cmdlist[mcid].rcr[_MMaccID]->NumberOfReference()==" << cmdlist[mcid].rcr[_MMaccID]->NumberOfReference() << endl; cmdlist[mcid].rcr[_MMaccID]->RemoveReference(); //cout << "removeMotion()NOW: cmdlist[mcid].rcr[_MMaccID]->NumberOfReference()==" << cmdlist[mcid].rcr[_MMaccID]->NumberOfReference() << endl; #endif //PLATFORM_APERIOS - push_free(mcid); - checkinMotion(mcid); func_end(); } @@ -748,10 +763,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ diff -urdN ../Tekkotsu_2.2.1/Motion/MotionManager.h ./Motion/MotionManager.h --- ../Tekkotsu_2.2.1/Motion/MotionManager.h Mon Oct 18 19:10:26 2004 +++ ./Motion/MotionManager.h Mon Oct 18 19:10:26 2004 @@ -259,7 +259,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/MotionManagerMsg.h ./Motion/MotionManagerMsg.h --- ../Tekkotsu_2.2.1/Motion/MotionManagerMsg.h Tue Sep 2 16:58:49 2003 +++ ./Motion/MotionManagerMsg.h Tue Sep 2 16:58:49 2003 @@ -52,7 +52,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/MotionSequenceEngine.cc ./Motion/MotionSequenceEngine.cc --- ../Tekkotsu_2.2.1/Motion/MotionSequenceEngine.cc Wed Dec 31 19:00:00 1969 +++ ./Motion/MotionSequenceEngine.cc Tue Dec 21 17:22:54 2004 @@ -0,0 +1,475 @@ +#include "MotionSequenceMC.h" +#include "Shared/get_time.h" +#include "Shared/WorldState.h" +#include "Shared/Config.h" +#include + +using std::cout; +using std::endl; + +MotionSequenceEngine::Move_idx_t MotionSequenceEngine::invalid_move=-1U; + +int MotionSequenceEngine::updateOutputs() { + if(isPlaying()) { + if(lasttime==0) + play(); + double diff=(get_time()-lasttime)*playspeed; + if(diff+playtime<0) + setTime(0); + else + setTime(static_cast(diff+playtime)); + lasttime=get_time(); + return 1; + } else { + lasttime=get_time(); + return 0; + } +} + +const OutputCmd& MotionSequenceEngine::getOutputCmd(unsigned int i) { + if(curstamps[i]!=playtime) { + if(nexts[i]!=invalid_move) + calcOutput(curs[i],playtime,getKeyFrame(prevs[i]),getKeyFrame(nexts[i])); + else + curs[i].unset(); + curstamps[i]=playtime; + } + return curs[i]; +} + +unsigned int MotionSequenceEngine::getBinSize() const { + char buf[128]; + unsigned int len=128; + unsigned int used=strlen("#MSq\n"); + used+=snprintf(buf,len,isSaveRadians()?"radians\n":"degrees\n"); + unsigned int t=0; + Move_idx_t tprevs[NumOutputs]; + Move_idx_t tnexts[NumOutputs]; + for(unsigned int i=0;i0) { + int written; + //printf("%d %.9s\n",linenum+1,buf); + if(buf[0]=='\r') { + buf++; len--; + if(buf[0]=='\n') { + buf++; len--; + } + linenum++; + continue; + } + if(buf[0]=='\n') { + buf++; len--; + linenum++; + continue; + } + if(buf[0]=='#') { + if(strncmp("#END\n",buf,5)==0 || strncmp("#END\r",buf,5)==0) { + return origlen-len+5; + } else if(strncmp("#END\r\n",buf,6)==0) { + return origlen-len+6; + } else { + while(len>0 && *buf!='\n' && *buf!='\r') {len--;buf++;} + if(*buf=='\n') { //in case of \r\n + buf++; + len--; + } + linenum++; + continue; + } + } + written=-1; + const unsigned int cmdlen=16, arglen=32; + char command[cmdlen]; + char arg1[arglen]; + char arg2[arglen]; + written=readWord(buf,&buf[len],command,cmdlen); + if(!ChkAdvance(written,&buf,&len,"*** ERROR MotionSequenceEngine load corrupted - line %d\n",linenum)) return 0; + written=readWord(buf,&buf[len],arg1,arglen); + if(written>0) + if(!ChkAdvance(written,&buf,&len,"*** ERROR MotionSequenceEngine load corrupted - line %d\n",linenum)) return 0; + written=readWord(buf,&buf[len],arg2,arglen); + if(written!=0) + if(!ChkAdvance(written,&buf,&len,"*** ERROR MotionSequenceEngine load corrupted - line %d\n",linenum)) return 0; + for(;len>0 && *buf!='\n' && *buf!='\r';buf++,len--) {} + if(*buf=='\n') { //in case of \r\n + buf++; + len--; + } + + if(strcasecmp(command,"delay")==0 || strcasecmp(command,"advanceTime")==0) { + char* used; + int delay = strtol(arg1,&used,0); + if(*used!='\0') { + cout << "*** WARNING illegal delay argument: " << arg1 << " - line " << linenum << endl; + } else { + setTime(playtime+delay); + } + } else if(strcasecmp(command,"settime")==0) { + char* used; + int newtime = strtol(arg1,&used,0); + if(*used!='\0') { + cout << "*** WARNING illegal settime argument: " << arg1 << " - line " << linenum << endl; + } else { + setTime(newtime); + } + } else if(strcasecmp(command,"load")==0) { + PostureEngine pose; + std::string f; + if(arg1[0]!='/') + f="/ms/data/motion/"; + f+=arg1; + if(pose.LoadFile(f.c_str())!=0) { + setPose(pose); + } else + cout << "*** WARNING could not read file " << arg1 << " for load - line " << linenum << endl; + } else if(strcasecmp(command,"overlay")==0) { + PostureEngine pose; + std::string f; + if(arg1[0]!='/') + f="/ms/data/motion/"; + f+=arg1; + if(pose.LoadFile(f.c_str())!=0) + overlayPose(pose); + else if(LoadFile(f.c_str())==0) + cout << "*** WARNING could not read file " << arg1 << " for overlay - line " << linenum << endl; + } else if(strcasecmp(command,"degrees")==0) { + setSaveDegrees(); + } else if(strcasecmp(command,"radians")==0) { + setSaveRadians(); + } else { + lastOutputIdx=getOutputIndex(command,lastOutputIdx+1); + if(lastOutputIdx==NumOutputs) + cout << "*** WARNING " << command << " is not a valid joint on this model." << endl; + else { + char* used; + double value=strtod(arg1,&used), weight=1; + if(*used!='\0') + cout << "*** WARNING illegal value argument: " << arg1 << " - line " << linenum << endl; + else { + if(arg2[0]!='\0') { + weight=strtod(arg2,&used); + if(*used!='\0') { + cout << "*** WARNING illegal weight argument: " << arg2 << " - line " << linenum << endl; + weight=1; + } + } + setOutputCmd(lastOutputIdx,OutputCmd(value*loadSaveMode,weight)); + } + } + } + + linenum++; + + } + cout << "*** WARNING MotionSequenceEngine load missing #END" << endl; + return origlen-len; +} + +unsigned int MotionSequenceEngine::SaveBuffer(char buf[], unsigned int len) const { + //std::cout << "SAVEBUFFER..." << std::flush; + unsigned int origlen=len; + int written=snprintf(buf,len,"#MSq\n"); + if(!ChkAdvance(written,(const char**)&buf,&len,"*** ERROR MotionSequenceEngine save failed on header\n")) return 0; if(len==0 || len>origlen) { + cout << "*** ERROR MotionSequenceEngine save overflow on header" << endl; + return 0; + } + written=snprintf(buf,len,isSaveRadians()?"radians\n":"degrees\n"); + if(!ChkAdvance(written,(const char**)&buf,&len,"*** ERROR MotionSequenceEngine save failed on mode\n")) return 0; if(len==0 || len>origlen) { + cout << "*** ERROR MotionSequenceEngine save overflow" << endl; + return 0; + } + unsigned int t=0; + Move_idx_t tprevs[NumOutputs]; + Move_idx_t tnexts[NumOutputs]; + for(unsigned int i=0;ioriglen) { + cout << "*** ERROR MotionSequenceEngine save overflow" << endl; + return 0; + } + } + } + unsigned int last=t; + t=setNextFrameTime(tprevs,tnexts); + if(t!=-1U) { + written=snprintf(buf,len,"delay\t%d\n",t-last); + if(!ChkAdvance(written,(const char**)&buf,&len,"*** ERROR MotionSequenceEngine save failed\n")) return 0; + if(len==0 || len>origlen) { + cout << "*** ERROR MotionSequenceEngine save overflow" << endl; + return 0; + } + } + } + written=snprintf(buf,len,"#END\n"); + if(!ChkAdvance(written,(const char**)&buf,&len,"*** ERROR MotionSequenceEngine save failed on #END\n")) return 0; + if(len==0 || len>origlen) { + cout << "*** ERROR MotionSequenceEngine save overflow on #END" << endl; + return 0; + } + return origlen-len; + cout << "SAVE-done!" << endl; +} + +unsigned int MotionSequenceEngine::LoadFile(const char filename[]) { + return LoadSave::LoadFile(config->motion.makePath(filename).c_str()); +} +unsigned int MotionSequenceEngine::SaveFile(const char filename[]) const { + return LoadSave::SaveFile(config->motion.makePath(filename).c_str()); +} + +void MotionSequenceEngine::setTime(unsigned int x) { + playtime=x; + for(unsigned int i=0; iendtime) + endtime=playtime; + } + prevs[i]=x; +// cout << "set " << i << ' ' << outputNames[i] << ' ' << cur.cmd.value << ' ' << cur.cmd.weight << ' ' << cur.starttime << " state: " << starts[i] <<' '<< prevs[i] <<' '<< prev_m.next <<' '<< nexts[i] << " new: " << cur.prev << ' ' << x << ' ' << cur.next << endl; + } +} + +void MotionSequenceEngine::setPose(const PostureEngine& pose) { + for(unsigned int i=0; i0) + setOutputCmd(i,pose.getOutputCmd(i)); +} + +void MotionSequenceEngine::compress() { + for(unsigned int i=0; icomps[i]) { + unsigned int delay=(unsigned int)(dv/comps[i])-dt; + for(unsigned int j=0; j0) ? (playtime<=endtime) : (playtime>0)); +} + + +void MotionSequenceEngine::play() { + if(playspeed>0) + setTime(0); + else + setTime(endtime); + resume(); +} + +void MotionSequenceEngine::resume() { + playing=true; + lasttime=get_time(); + for(unsigned int i=0; ioutputs[i]; + break; + } + cur=getKeyFrame(cur).next; + } + } +} + +unsigned int MotionSequenceEngine::setNextFrameTime(Move_idx_t p[NumOutputs], Move_idx_t n[NumOutputs]) const { + unsigned int ans=-1U; + for(unsigned int i=0; i=bufend) + return -1U; + return buf-origbuf; +} + +unsigned int MotionSequenceEngine::getOutputIndex(const char name[], unsigned int idx) { + if(idx' are not meant literally) + * - First line: '#MSq' + * - Followed by any series of:\n + * - 'advanceTime time-delta' - moves playhead forward, in milliseconds (synonym for delay) + * - 'delay time-delta' - moves playhead forward, in milliseconds (synonym for advanceTime) + * - 'setTime time' - sets play time to specified value, in ms + * - 'outputname value [weight]' - sets the specified output to the value - assumes 1 for weight; you can view the list of valid joint names in the outputNames array within the RobotInfo extension namespace for your model. (e.g. ERS210Info::outputNames[]) + * - 'load filename' - file is a posture, sets position + * - 'overlay filename' - file can be a posture or another motion sequence + * - 'degrees' - following values will be interpreted as degrees [default] + * - 'radians' - following values will be interpreted as radians + * - '#comment' - a comment line + * - Last line: '#END' + * + * Lines beginning with '#' are ignored as comments. Be aware if you + * load the file and then save it again, these comments will be lost. + * + * After loading a motion sequence, the playtime is left at the end. + * This is to make it easy to append/overlay motion sequences. + * However, the playhead will be reset to the beginning on the first + * call to updateOutputs() if isPlaying() returns true. + * + * You can also create a motion sequence dynamically at run time: + * \code + * //This code sample will stand up, point the head forward and up 0.1 radians, + * //and then autoprune + * + * //First declare the MotionSequence itself: + * SharedObject< MotionSequenceMC > stand; + * + * //Over the course of the first 700 milliseconds, go to standing posture: + * standSit->setTime(700); + * standSit->setPose(PostureEngine("stand.pos")); // can also use LoadFile("stand.pos") + * + * //Then take another 700 milliseconds to straighten out the head: + * standSit->advanceTime(700); + * //We'll set joints individually this time, instead of loading a posture file: + * standSit->setOutputCmd(HeadOffset+PanOffset,0); + * standSit->setOutputCmd(HeadOffset+RollOffset,0); + * standSit->setOutputCmd(HeadOffset+TiltOffset,0.1); //look up .1 radians + * + * //Add to MotionManager: + * motman->addPersistentMotion(standSit); + * //Playback will now begin automatically, and region deallocated when done + * \endcode + * + * By default, #playing is true. Thus, when you add a MotionSequenceMC + * to the MotionManager, it will begin executing automatically. If + * you do \e not want this behavior, simply call pause() before + * adding the sequence. + * + * When the sequence reaches the end, isAlive() will return false. + * If the motion was added with MotionManager::addPrunableMotion, the + * motion sequence will then autoprune itself from the MotionManager. + * However, you can either call MotionManager::addPersistentMotion() + * to add it, or call setAutoPrune(false), if you want to retain the + * same instantiation between executions. + * + * @see PostureEngine for information on the posture files + */ +class MotionSequenceEngine : public LoadSave { +public: + //!constructor, will start playing immediately + MotionSequenceEngine() : LoadSave(), playtime(1), lasttime(0), endtime(0), playspeed(1.0), playing(true), loadSaveMode(M_PI/180) {} + //!destructor + virtual ~MotionSequenceEngine() {} + + //!To avoid code bloat if there are a large number of different sized MotionSequences, use these sizes where possible. + /*!@deprecated use MotionSequenceMC typedefs (e.g. TinyMotionSequenceMC) in conjunction with MotionSequenceMC::CAPACITY() */ + //!@name Template Sizes (deprecated) + static const unsigned int SizeTiny __attribute__((deprecated)) =NumOutputs*2; //!< deprecated, use TinyMotionSequenceMC for type specification, or TinyMotionSequenceMC::CAPACITY if you need the actual value + static const unsigned int SizeSmall __attribute__((deprecated)) =NumOutputs*3; //!< deprecated, use SmallMotionSequenceMC for type specification, or SmallMotionSequenceMC::CAPACITY if you need the actual value + static const unsigned int SizeMedium __attribute__((deprecated)) =NumOutputs*6; //!< deprecated, use MediumMotionSequenceMC for type specification, or MediumMotionSequenceMC::CAPACITY if you need the actual value + static const unsigned int SizeLarge __attribute__((deprecated)) =NumOutputs*11; //!< deprecated, use LargeMotionSequenceMC for type specification, or LargeMotionSequenceMC::CAPACITY if you need the actual value + static const unsigned int SizeXLarge __attribute__((deprecated)) =NumOutputs*26; //!< deprecated, use XLargeMotionSequenceMC for type specification, or XLargeMotionSequenceMC::CAPACITY if you need the actual value + //@} + + //! similar to the MotionCommand::updateOutputs, although this isn't a motion command, and doesn't make any calls on MotionManager - merely updates #lasttime, expects subclasses to do the work of sending new commands to the system + virtual int updateOutputs(); + + //!@name LoadSave related + virtual unsigned int getBinSize() const; //!< inherited, returns the size used to save the sequence + virtual unsigned int LoadBuffer(const char buf[], unsigned int len); //!< inherited, doesn't clear before loading - call clear yourself if you want to reset, otherwise it will overlay. Leaves playtime at end of load. + virtual unsigned int SaveBuffer(char buf[], unsigned int len) const; //!< inherited, saves the motion sequence - will save a flat file - doesn't remember references to other files which were loaded + virtual unsigned int LoadFile(const char filename[]); //!< inherited, doesn't clear before loading - call clear yourself if you want to reset, otherwise it will overlay. Leaves playtime at end of load. + virtual unsigned int SaveFile(const char filename[]) const; //!< inherited, saves the motion sequence - will save a flat file - doesn't remember references to other files which were loaded + void setSaveDegrees() { loadSaveMode=M_PI/180; } //!< will store angles as degrees on future saves + bool isSaveDegrees() const { return loadSaveMode!=1; } //!< returns true if will store angles as degrees on future saves + void setSaveRadians() { loadSaveMode=1; } //!< will store angles as radians on future saves + bool isSaveRadians() const { return loadSaveMode==1; } //!< returns true if will store angles as degrees on future saves + //@} + + //!@name Sequence Construction + virtual void clear()=0; //!< empties out the sequence (constant time operation - faster than a series of pops) + void setTime(unsigned int x); //!< set the time for both playback and editing (in milliseconds) + unsigned int advanceTime(unsigned int x) {setTime(playtime+x); return playtime; } //!< advance the play/edit index by @a x milliseconds, and then returns the new getTime() + void setOutputCmd(unsigned int i, const OutputCmd& cmd); //!< will insert a keyframe for the given output, or change an existing one + const OutputCmd& getOutputCmd(unsigned int i); //!< gets the value of output @a i at the playhead + void setPose(const PostureEngine& pose); //!< calls setOutputCmd on each of the OutputCmds in @a pose + void overlayPose(const PostureEngine& pose); //!< calls setOutputCmd on non-zero weighted OutputCmds in @a pose + void compress(); //!< compresses the sequence by eliminating sequences of moves which are identical + virtual unsigned int getMaxFrames() const=0; //!< returns the maximum number of key frames (Move's) which can be stored, determined by the instantiating MotionSequenceMC's template parameter + virtual unsigned int getUsedFrames() const=0; //!< returns the number of used key frames (Move's) which have been stored by the instantiation MotionSequenceEngine subclass + void makeSafe(const float vels[NumOutputs], float margin); //!< will insert time into the motion where needed to keep the joint velocities at or below the speeds given in @a vels * @a margin + //@} + + //!@name Playback Control + bool isPlaying(); //! returns true if currently playing + void play(); //!< restarts playback from beginning + void pause() { playing=false; } //!< pauses playback until another call to play() or resume() + void resume(); //!< begins playback from the current playtime + unsigned int getTime() const { return playtime; } //!< returns the current position of the playback (in milliseconds), see setTime() + unsigned int getEndTime() const { return endtime; } //!< returns the length of the motion sequence (in milliseconds) + void setSpeed(float x) { playspeed=x; } //!< sets the playback speed (e.g. 1=regular, 0.5=half speed, -1=@b backwards) + float getSpeed() const { return playspeed; } //!< returns the playback speed + //@} + + //!@name Deprecated + void setPlayTime(unsigned int x) __attribute__((deprecated)); //!< deprecated, use setTime(unsigned int x) + unsigned int getPlayTime() const __attribute__((deprecated)); //!< deprecated, use getTime() + void setPlaySpeed(float x) __attribute__((deprecated)); //!< deprecated, use setSpeed(float x) + float getPlaySpeed() const __attribute__((deprecated)); //!< deprecated, use getSpeed() + //@} +protected: + // TYPES: + typedef unsigned short Move_idx_t; //!< type for indexes to move structures in #moves + static Move_idx_t invalid_move; //!< used to mark the ends of the Move linked lists + + //! This struct holds all the information needed about a frame for a particular output + struct Move { + //!constructor + Move() : cmd(), next(), prev(), starttime(0) {} + OutputCmd cmd; //!< the actual command to use + Move_idx_t next; //!< the next frame + Move_idx_t prev; //!< the previous frame + unsigned int starttime; //!< the time (relative to first frame) this frame should be expressed at + }; + + // MEMBERS: + Move_idx_t starts[NumOutputs]; //!< the beginning frame for each output animation + Move_idx_t prevs[NumOutputs]; //!< the previous frame (the starttime for this frame will always be less than or equal to playtime) + Move_idx_t nexts[NumOutputs]; //!< the upcoming frame (the starttime for this frame will always be greater than playtime) + OutputCmd curs[NumOutputs]; //!< merely a cache of current values (if computed, see #curstamps) + unsigned int curstamps[NumOutputs]; //!< timestamp of corresponding value in #curs + unsigned int playtime; //!< the current time of playback, 0 is start of sequence + unsigned int lasttime; //!< the time of the last update + unsigned int endtime; //!< max of #moves's Move::starttime's + float playspeed; //!< multiplies the difference between current time and starttime, negative will cause play backwards + bool playing; //!< true if playing, false if paused + + float loadSaveMode; //!< 1 to use radians, M_PI/180 for degrees during a save + + virtual Move& getKeyFrame(Move_idx_t x) =0; //!< returns the Move struct corresponding to @a x in the subclass's actual data structure + virtual const Move& getKeyFrame(Move_idx_t x) const=0; //!< returns the Move struct corresponding to @a x in the subclass's actual data structure + virtual Move_idx_t newKeyFrame()=0; //!< causes subclass to create a new Move structure, returns its index + virtual void eraseKeyFrame(Move_idx_t x)=0; //!< causes subclass to mark the corresponding Move structure as free + + //!Does the actual calculation of position information. Perhaps replace with a Bezier or spline or something? + void calcOutput(OutputCmd& ans, unsigned int t, const Move& prev, const Move& next) const { + float prevweight=(float)(next.starttime-t)/(float)(next.starttime-prev.starttime); + ans.set(prev.cmd,next.cmd,prevweight); + } + + //!Sets prev and next to the appropriate values for the given time and output index + virtual void setRange(unsigned int t,Move_idx_t& prev, Move_idx_t& next) const=0; + + //!sets playtime to next time for which any output has a keyframe, -1 if none exists + unsigned int setNextFrameTime(Move_idx_t p[NumOutputs], Move_idx_t n[NumOutputs]) const; + + //!reads a line from a file, parsing it into variables, returns ending position + static unsigned int readWord(const char buf[], const char * const buflen, char word[], const unsigned int wordlen); + + //!returns the index for the output named in the string or NumOutputs if not found, begins search through RobotInfo::outputName's at index @a i + static unsigned int getOutputIndex(const char name[], unsigned int i); +}; + +//! deprecated, use MotionSequenceEngine directly instead +/*! @deprecated, use MotionSequenceEngine directly instead */ +typedef MotionSequenceEngine MotionSequence __attribute__ ((deprecated)); + +/*! @file + * @brief Describes MotionSequenceEngine, abstract code for smoothly transitioning between a sequence of postures + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/12/23 08:41:24 $ + */ + +#endif diff -urdN ../Tekkotsu_2.2.1/Motion/MotionSequenceMC.cc ./Motion/MotionSequenceMC.cc --- ../Tekkotsu_2.2.1/Motion/MotionSequenceMC.cc Mon Nov 8 16:48:19 2004 +++ ./Motion/MotionSequenceMC.cc Wed Dec 31 19:00:00 1969 @@ -1,442 +0,0 @@ -#include "MotionSequenceMC.h" -#include "Shared/get_time.h" -#include "Shared/WorldState.h" -#include "Shared/Config.h" -#include - -using std::cout; -using std::endl; - -MotionSequence::Move_idx_t MotionSequence::invalid_move=-1U; - -int MotionSequence::updateOutputs() { - if(isPlaying()) { - if(lasttime==0) - play(); - double diff=(get_time()-lasttime)*playspeed; - if(diff+playtime<0) - setPlayTime(0); - else - setPlayTime(static_cast(diff+playtime)); - lasttime=get_time(); - return 1; - } else { - lasttime=get_time(); - return 0; - } -} - -const OutputCmd& MotionSequence::getOutputCmd(unsigned int i) { - if(curstamps[i]!=playtime) { - if(nexts[i]!=invalid_move) - calcOutput(curs[i],playtime,getKeyFrame(prevs[i]),getKeyFrame(nexts[i])); - else - curs[i].unset(); - curstamps[i]=playtime; - } - return curs[i]; -} - -unsigned int MotionSequence::getBinSize() const { - char buf[128]; - unsigned int len=128; - unsigned int used=strlen("#MSq\n"); - used+=snprintf(buf,len,isSaveRadians()?"radians\n":"degrees\n"); - unsigned int t=0; - Move_idx_t tprevs[NumOutputs]; - Move_idx_t tnexts[NumOutputs]; - for(unsigned int i=0;i0) { - int written; - //printf("%d %.9s\n",linenum+1,buf); - if(buf[0]=='\r') { - buf++; len--; - if(buf[0]=='\n') { - buf++; len--; - } - linenum++; - continue; - } - if(buf[0]=='\n') { - buf++; len--; - linenum++; - continue; - } - if(buf[0]=='#') { - if(strncmp("#END\n",buf,5)==0 || strncmp("#END\r",buf,5)==0) { - return origlen-len+5; - } else if(strncmp("#END\r\n",buf,6)==0) { - return origlen-len+6; - } else { - while(len>0 && *buf!='\n' && *buf!='\r') {len--;buf++;} - if(*buf=='\n') { //in case of \r\n - buf++; - len--; - } - linenum++; - continue; - } - } - written=-1; - const unsigned int cmdlen=16, arglen=32; - char command[cmdlen]; - char arg1[arglen]; - char arg2[arglen]; - written=readWord(buf,&buf[len],command,cmdlen); - if(!ChkAdvance(written,&buf,&len,"*** ERROR MotionSequence load corrupted - line %d\n",linenum)) return 0; - written=readWord(buf,&buf[len],arg1,arglen); - if(written>0) - if(!ChkAdvance(written,&buf,&len,"*** ERROR MotionSequence load corrupted - line %d\n",linenum)) return 0; - written=readWord(buf,&buf[len],arg2,arglen); - if(written!=0) - if(!ChkAdvance(written,&buf,&len,"*** ERROR MotionSequence load corrupted - line %d\n",linenum)) return 0; - for(;len>0 && *buf!='\n' && *buf!='\r';buf++,len--) {} - if(*buf=='\n') { //in case of \r\n - buf++; - len--; - } - - if(strcasecmp(command,"delay")==0) { - char* used; - int delay = strtol(arg1,&used,0); - if(*used!='\0') { - cout << "*** WARNING illegal delay argument: " << arg1 << " - line " << linenum << endl; - } else { - setPlayTime(playtime+delay); - } - } else if(strcasecmp(command,"settime")==0) { - char* used; - int newtime = strtol(arg1,&used,0); - if(*used!='\0') { - cout << "*** WARNING illegal settime argument: " << arg1 << " - line " << linenum << endl; - } else { - setPlayTime(newtime); - } - } else if(strcasecmp(command,"load")==0) { - PostureEngine pose; - std::string f; - if(arg1[0]!='/') - f="/ms/data/motion/"; - f+=arg1; - if(pose.LoadFile(f.c_str())!=0) { - setPose(pose); - } else - cout << "*** WARNING could not read file " << arg1 << " for load - line " << linenum << endl; - } else if(strcasecmp(command,"overlay")==0) { - PostureEngine pose; - std::string f; - if(arg1[0]!='/') - f="/ms/data/motion/"; - f+=arg1; - if(pose.LoadFile(f.c_str())!=0) - overlayPose(pose); - else if(LoadFile(f.c_str())==0) - cout << "*** WARNING could not read file " << arg1 << " for overlay - line " << linenum << endl; - } else if(strcasecmp(command,"degrees")==0) { - setSaveDegrees(); - } else if(strcasecmp(command,"radians")==0) { - setSaveRadians(); - } else { - lastOutputIdx=getOutputIndex(command,lastOutputIdx+1); - if(lastOutputIdx==NumOutputs) - cout << "*** WARNING " << command << " is not a valid joint on this model." << endl; - else { - char* used; - double value=strtod(arg1,&used), weight=1; - if(*used!='\0') - cout << "*** WARNING illegal value argument: " << arg1 << " - line " << linenum << endl; - else { - if(arg2[0]!='\0') { - weight=strtod(arg2,&used); - if(*used!='\0') { - cout << "*** WARNING illegal weight argument: " << arg2 << " - line " << linenum << endl; - weight=1; - } - } - setOutputCmd(lastOutputIdx,OutputCmd(value*loadSaveMode,weight)); - } - } - } - - linenum++; - - } - cout << "*** WARNING MotionSequence load missing #END" << endl; - return origlen-len; -} - -unsigned int MotionSequence::SaveBuffer(char buf[], unsigned int len) const { - //std::cout << "SAVEBUFFER..." << std::flush; - unsigned int origlen=len; - int written=snprintf(buf,len,"#MSq\n"); - if(!ChkAdvance(written,(const char**)&buf,&len,"*** ERROR MotionSequence save failed on header\n")) return 0; if(len==0 || len>origlen) { - cout << "*** ERROR MotionSequence save overflow on header" << endl; - return 0; - } - written=snprintf(buf,len,isSaveRadians()?"radians\n":"degrees\n"); - if(!ChkAdvance(written,(const char**)&buf,&len,"*** ERROR MotionSequence save failed on mode\n")) return 0; if(len==0 || len>origlen) { - cout << "*** ERROR MotionSequence save overflow" << endl; - return 0; - } - unsigned int t=0; - Move_idx_t tprevs[NumOutputs]; - Move_idx_t tnexts[NumOutputs]; - for(unsigned int i=0;ioriglen) { - cout << "*** ERROR MotionSequence save overflow" << endl; - return 0; - } - } - } - unsigned int last=t; - t=setNextFrameTime(tprevs,tnexts); - if(t!=-1U) { - written=snprintf(buf,len,"delay\t%d\n",t-last); - if(!ChkAdvance(written,(const char**)&buf,&len,"*** ERROR MotionSequence save failed\n")) return 0; - if(len==0 || len>origlen) { - cout << "*** ERROR MotionSequence save overflow" << endl; - return 0; - } - } - } - written=snprintf(buf,len,"#END\n"); - if(!ChkAdvance(written,(const char**)&buf,&len,"*** ERROR MotionSequence save failed on #END\n")) return 0; - if(len==0 || len>origlen) { - cout << "*** ERROR MotionSequence save overflow on #END" << endl; - return 0; - } - return origlen-len; - cout << "SAVE-done!" << endl; -} - -unsigned int MotionSequence::LoadFile(const char filename[]) { - return LoadSave::LoadFile(config->motion.makePath(filename).c_str()); -} -unsigned int MotionSequence::SaveFile(const char filename[]) const { - return LoadSave::SaveFile(config->motion.makePath(filename).c_str()); -} - -void MotionSequence::setPlayTime(unsigned int x) { - playtime=x; - for(unsigned int i=0; iendtime) - endtime=playtime; - } - prevs[i]=x; -// cout << "set " << i << ' ' << outputNames[i] << ' ' << cur.cmd.value << ' ' << cur.cmd.weight << ' ' << cur.starttime << " state: " << starts[i] <<' '<< prevs[i] <<' '<< prev_m.next <<' '<< nexts[i] << " new: " << cur.prev << ' ' << x << ' ' << cur.next << endl; - } -} - -void MotionSequence::setPose(const PostureEngine& pose) { - for(unsigned int i=0; i0) - setOutputCmd(i,pose.getOutputCmd(i)); -} - -void MotionSequence::compress() { - for(unsigned int i=0; icomps[i]) { - unsigned int delay=(unsigned int)(dv/comps[i])-dt; - for(unsigned int j=0; j0) - setPlayTime(0); - else - setPlayTime(endtime); - resume(); -} - -void MotionSequence::resume() { - playing=true; - lasttime=get_time(); - for(unsigned int i=0; ioutputs[i]; - break; - } - cur=getKeyFrame(cur).next; - } - } -} - -unsigned int MotionSequence::setNextFrameTime(Move_idx_t p[NumOutputs], Move_idx_t n[NumOutputs]) const { - unsigned int ans=-1U; - for(unsigned int i=0; i=bufend) - return -1U; - return buf-origbuf; -} - -unsigned int MotionSequence::getOutputIndex(const char name[], unsigned int idx) { - if(idx - -//! A handy little (or not so little) class for switching between a sequence of postures -/*! Outputs are handled independently. It's easy to add keyframes - * which modify all of the outputs, but since each output is tracked - * individually, OutputCmd's with 0 weight can be used to not affect - * other motions. For instance, pan the head left to right while - * moving the right leg up and down several times, you won't have to - * specify the position of the head in its motion at each of the leg - * motion keyframes. - * - * Be aware that the 0 time frame will be replaced on a call to - * play() with the current body posture. However, this only applies - * to outputs which have a non-zero weighted frame defined at some - * point. The weights, of the 0 time frame will remain unchanged. - * These weights are initially set to 0, so that it's - * possible to 'fade in' the first frame of the motion sequence from - * whereever the body happens to be (or already doing) - * - * To fade out at the end, set a frame with 0 weight for everything. - * Otherwise it will simply die suddenly. When a joint reaches its - * last keyframe, it will be set to 0 weight for all future - * updateOutputs() (unless of course the playhead is reset) - * - * Currently, MotionSequence's are intended mainly for building, - * not editing. It's easy to add keyframes, but hard/impossible to - * delete them. - * - * The MotionSequence base class is an abstract class so that you can - * create memory efficient motion sequences and simply refer to them - * by the common base class instead of having to worry about the - * actual size allocated in the template, MotionSequenceMC. - * - * @see MotionSequence::SizeSmall, MotionSequence::SizeMedium, MotionSequence::SizeLarge, MotionSequence::SizeXLarge, - * - * The file format used is as follows: ('<' and '>' are not meant literally) - * - First line: '#MSq' - * - Followed by any series of:\n - * - 'delay time-delta' - moves playhead forward, in milliseconds - * - 'settime time' - sets play time to specified value, in ms - * - 'outputname value [weight]' - sets the specified output to the value - assumes 1 for weight; you can view the list of valid joint names in the outputNames array within the RobotInfo extension namespace for your model. (e.g. ERS210Info::outputNames[]) - * - 'load filename' - file is a posture, sets position - * - 'overlay filename' - file can be a posture or another motion sequence - * - 'degrees' - following values will be interpreted as degrees [default] - * - 'radians' - following values will be interpreted as radians - * - '#comment' - a comment line - * - Last line: '#END' - * - * After loading a motion sequence, the playtime is left at the end. - * This is to make it easy to append/overlay motion sequences. - * However, the playhead will be reset to the beginning on the first - * call to updateOutputs() if isPlaying() returns true. - * - * You can also create a MotionSequence dynamically at run time: - * \code - * //This code sample will stand up, point the head forward and up 0.1 radians, - * //and then autoprune - * - * //First declare the MotionSequence itself: - * SharedObject< MotionSequenceMC > stand; - * - * //Over the course of 700 milliseconds, go to standing posture: - * standSit->setPlayTime(700); - * standSit->setPose(PostureEngine("/ms/data/motion/stand.pos")); - * - * //Then take another 700 milliseconds to straighten out the head: - * standSit->setPlayTime(700); - * //We'll set joints individually this time, instead of loading a posture file: - * standSit->setOutputCmd(HeadOffset+PanOffset,0); - * standSit->setOutputCmd(HeadOffset+RollOffset,0); - * standSit->setOutputCmd(HeadOffset+TiltOffset,0.1); //look up .1 radians - * - * //Add to MotionManager: - * motman->addMotion(standSit); - * //Playback will now begin automatically, and region deallocated when done - * \endcode - * - * By default, #playing is true. Thus, when you add a MotionSequence - * to the MotionManager, it will begin executing automatically. If - * you do \e not want this behavior, simply call pause() before - * adding the sequence. - * - * When the sequence reaches the end, isAlive() will return false. - * By default, the motion sequence will autoprune itself from the - * MotionManager. However, you can either pass \c false to - * MotionManager::addMotion(), or call setAutoPrune(false). - * - * Lines beginning with '#' are ignored as comments. Be aware if you - * load the file and then save it again, these comments will be lost. - * - * @see PostureEngine for information on the posture files - */ -class MotionSequence : public MotionCommand, public LoadSave { -public: - //!constructor, will start playing immediately - MotionSequence() : MotionCommand(), playtime(1), lasttime(0), endtime(0), playspeed(1.0), playing(true), loadSaveMode(M_PI/180) {} - //!destructor - virtual ~MotionSequence() {} - - //!To avoid code bloat if there are a large number of different sized MotionSequences, use these sizes where possible. - //!@name Template Sizes - static const unsigned int SizeTiny = NumOutputs*2; //!< Tiny, but enough to handle a transition into a full-body pose - static const unsigned int SizeSmall = NumOutputs*3; //!< Small, but still big enough to handle most of the included MS's (2 full-body frames ~ around 1KB) - static const unsigned int SizeMedium = NumOutputs*6; //!< Medium (5 full body frames ~ est 4KB) - static const unsigned int SizeLarge = NumOutputs*11; //!< Large (10 full body frames ~ est 8KB) - static const unsigned int SizeXLarge = NumOutputs*26; //!< eXtra Large (25 full body frames ~ est 16KB) - //@} - - //!@name Inherited from MotionCommand - virtual int updateOutputs(); - virtual int isDirty() { return isPlaying(); } - virtual int isAlive() { return (playspeed>0) ? (playtime<=endtime) : (playtime>0); } - //@} - - //!@name LoadSave related - virtual unsigned int getBinSize() const; //!< inherited, returns the size used to save the sequence - virtual unsigned int LoadBuffer(const char buf[], unsigned int len); //!< inherited, doesn't clear before loading - call clear yourself if you want to reset, otherwise it will overlay. Leaves playtime at end of load. - virtual unsigned int SaveBuffer(char buf[], unsigned int len) const; //!< inherited, saves the motion sequence - will save a flat file - doesn't remember references to other files which were loaded - virtual unsigned int LoadFile(const char filename[]); //!< inherited, doesn't clear before loading - call clear yourself if you want to reset, otherwise it will overlay. Leaves playtime at end of load. - virtual unsigned int SaveFile(const char filename[]) const; //!< inherited, saves the motion sequence - will save a flat file - doesn't remember references to other files which were loaded - void setSaveDegrees() { loadSaveMode=M_PI/180; } //!< will store angles as degrees on future saves - bool isSaveDegrees() const { return loadSaveMode!=1; } //!< returns true if will store angles as degrees on future saves - void setSaveRadians() { loadSaveMode=1; } //!< will store angles as radians on future saves - bool isSaveRadians() const { return loadSaveMode==1; } //!< returns true if will store angles as degrees on future saves - //@} - - //!@name Sequence Construction - virtual void clear()=0; //!< empties out the sequence (constant time operation - faster than a series of pops) - void setPlayTime(unsigned int x); //!< set the time for both playback and editing (in milliseconds) - void setOutputCmd(unsigned int i, const OutputCmd& cmd); //!< will insert a keyframe for the given output, or change an existing one - const OutputCmd& getOutputCmd(unsigned int i); //!< gets the value of output @a i at the playhead - void setPose(const PostureEngine& pose); //!< calls setOutputCmd on each of the OutputCmds in @a pose - void overlayPose(const PostureEngine& pose); //!< calls setOutputCmd on non-zero weighted OutputCmds in @a pose - void compress(); //!< compresses the sequence by eliminating sequences of moves which are identical - virtual unsigned int getMaxFrames() const=0; //!< returns the maximum number of key frames (Move's) which can be stored, determined by the instantiating MotionSequenceMC's template parameter - virtual unsigned int getUsedFrames() const=0; //!< returns the number of used key frames (Move's) which have been stored by the instantiation MotionSequence subclass - void makeSafe(const float vels[NumOutputs], float margin); //!< will insert time into the motion where needed to keep the joint velocities at or below the speeds given in @a vels * @a margin - //@} - - //!@name Playback Control - bool isPlaying() { return playing && isAlive(); } //!< returns true if currently playing - void play(); //!< restarts playback from beginning - void pause() { playing=false; } //!< pauses playback until another call to play() or resume() - void resume(); //!< begins playback from the current playtime - unsigned int getPlayTime() const { return playtime; } //!< returns the current position of the playback (in milliseconds), see setPlayTime() - unsigned int getEndTime() const { return endtime; } //!< returns the length of the motion sequence (in milliseconds) - void setPlaySpeed(float x) { playspeed=x; } //!< sets the playback speed (e.g. 1=regular, 0.5=half speed, -1=@b backwards) - float getPlaySpeed() const { return playspeed; } //!< returns the playback speed - //@} -protected: - // TYPES: - typedef unsigned short Move_idx_t; //!< type for indexes to move structures in #moves - static Move_idx_t invalid_move; //!< used to mark the ends of the Move linked lists - - //! This struct holds all the information needed about a frame for a particular output - struct Move { - //!constructor - Move() : cmd(), next(), prev(), starttime(0) {} - OutputCmd cmd; //!< the actual command to use - Move_idx_t next; //!< the next frame - Move_idx_t prev; //!< the previous frame - unsigned int starttime; //!< the time (relative to first frame) this frame should be expressed at - }; - - // MEMBERS: - Move_idx_t starts[NumOutputs]; //!< the beginning frame for each output animation - Move_idx_t prevs[NumOutputs]; //!< the previous frame (the starttime for this frame will always be less than or equal to playtime) - Move_idx_t nexts[NumOutputs]; //!< the upcoming frame (the starttime for this frame will always be greater than playtime) - OutputCmd curs[NumOutputs]; //!< merely a cache of current values (if computed, see #curstamps) - unsigned int curstamps[NumOutputs]; //!< timestamp of corresponding value in #curs - unsigned int playtime; //!< the current time of playback, 0 is start of sequence - unsigned int lasttime; //!< the time of the last update - unsigned int endtime; //!< max of #moves's Move::starttime's - float playspeed; //!< multiplies the difference between current time and starttime, negative will cause play backwards - bool playing; //!< true if playing, false if paused - - float loadSaveMode; //!< 1 to use radians, M_PI/180 for degrees during a save - - virtual Move& getKeyFrame(Move_idx_t x) =0; //!< returns the Move struct corresponding to @a x in the subclass's actual data structure - virtual const Move& getKeyFrame(Move_idx_t x) const=0; //!< returns the Move struct corresponding to @a x in the subclass's actual data structure - virtual Move_idx_t newKeyFrame()=0; //!< causes subclass to create a new Move structure, returns its index - virtual void eraseKeyFrame(Move_idx_t x)=0; //!< causes subclass to mark the corresponding Move structure as free - - //!Does the actual calculation of position information. Perhaps replace with a Bezier or spline or something? - void calcOutput(OutputCmd& ans, unsigned int t, const Move& prev, const Move& next) const { - float prevweight=(float)(next.starttime-t)/(float)(next.starttime-prev.starttime); - ans.set(prev.cmd,next.cmd,prevweight); - } - - //!Sets prev and next to the appropriate values for the given time and output index - virtual void setRange(unsigned int t,Move_idx_t& prev, Move_idx_t& next) const=0; - - //!sets playtime to next time for which any output has a keyframe, -1 if none exists - unsigned int setNextFrameTime(Move_idx_t p[NumOutputs], Move_idx_t n[NumOutputs]) const; - - //!reads a line from a file, parsing it into variables, returns ending position - static unsigned int readWord(const char buf[], const char * const buflen, char word[], const unsigned int wordlen); - - //!returns the index for the output named in the string or NumOutputs if not found, begins search through RobotInfo::outputName's at index @a i - static unsigned int getOutputIndex(const char name[], unsigned int i); -}; - -//! Instantiates MotionSequences - when you want to make a new MotionSequence, make one of these -/*! Allows a (compile-time) variable amount of data storage through its template parameter. - * See MotionSequence for documentation on its members - * @see MotionSequence - * @see MotionSequence::SizeSmall, MotionSequence::SizeMedium, MotionSequence::SizeLarge, MotionSequence::SizeXLarge, +//! Instantiates MotionSequenceEngines - when you want to run a motion sequence, make one of these +/*! Allows a compile-time variable amount of data storage through its template parameter. + * @see MotionSequenceEngine for the majority of the usage documentation + * @see TinyMotionSequenceMC, SmallMotionSequenceMC, MediumMotionSequenceMC, LargeMotionSequenceMC, XLargeMotionSequenceMC * */ template -class MotionSequenceMC : public MotionSequence { +class MotionSequenceMC : public MotionCommand, public MotionSequenceEngine { public: + static const unsigned int CAPACITY=MAXMOVE; //!< allows recovery of capacity in a general way (MAXMOVE may, and probably will, be obscured by a typedef) + //!constructor MotionSequenceMC() - : MotionSequence(), moves() + : MotionCommand(), MotionSequenceEngine(), moves() { clear(); } //!constructor, loads from a file and then resets the playtime to beginning and begins to play explicit MotionSequenceMC(const char* filename) - : MotionSequence(), moves() + : MotionSequenceEngine(), moves() { clear(); LoadFile(filename); - setPlayTime(1); + setTime(1); } //!destructor virtual ~MotionSequenceMC() {} + virtual int isDirty() { return isPlaying(); } + virtual int isAlive() { return (playspeed>0) ? (playtime<=endtime) : (playtime>0); } - /*struct logent { - logent(unsigned int t, unsigned int p, unsigned int i, OutputCmd f[NumFrames]) - : time(t), play(p), index(i) - { - for(unsigned int j=0;j log; - - virtual int isAlive() { - if(MotionSequenceMC::isAlive()) - return true; - cout << "LOG:" << endl; - for(unsigned int i=0; isetOutput(this,i,getOutputCmd(i)); @@ -300,8 +71,9 @@ moves.back().prev=invalid_move; nexts[i]=invalid_move; } - setPlayTime(1); + setTime(1); } + virtual unsigned int getMaxFrames() const { return moves.getMaxCapacity(); } virtual unsigned int getUsedFrames() const { return moves.size(); } @@ -336,15 +108,21 @@ } }; +typedef MotionSequenceMC TinyMotionSequenceMC; //!< Tiny, but enough to handle a transition into a full-body pose +typedef MotionSequenceMC SmallMotionSequenceMC;//!< Small, but still big enough to handle most of the included MS's (2 full-body frames ~ around 1KB) +typedef MotionSequenceMC MediumMotionSequenceMC;//!< Medium (5 full body frames ~ est 4KB) +typedef MotionSequenceMC LargeMotionSequenceMC;//!< Large (10 full body frames ~ est 8KB) +typedef MotionSequenceMC XLargeMotionSequenceMC;//!< eXtra Large (25 full body frames ~ est 16KB) + /*! @file - * @brief Describes MotionSequence and defines MotionSequenceMC, handy little (or not so little) classes for switching between a sequence of postures + * @brief Describes MotionSequenceEngine and defines MotionSequenceMC, handy little (or not so little) classes for switching between a sequence of postures * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Motion/OldHeadPointerMC.cc ./Motion/OldHeadPointerMC.cc --- ../Tekkotsu_2.2.1/Motion/OldHeadPointerMC.cc Thu Oct 14 16:23:50 2004 +++ ./Motion/OldHeadPointerMC.cc Thu Oct 14 16:23:50 2004 @@ -176,7 +176,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/OldHeadPointerMC.h ./Motion/OldHeadPointerMC.h --- ../Tekkotsu_2.2.1/Motion/OldHeadPointerMC.h Thu Oct 14 16:23:50 2004 +++ ./Motion/OldHeadPointerMC.h Thu Oct 14 16:23:50 2004 @@ -116,7 +116,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/OldKinematics.cc ./Motion/OldKinematics.cc --- ../Tekkotsu_2.2.1/Motion/OldKinematics.cc Thu Aug 5 16:29:04 2004 +++ ./Motion/OldKinematics.cc Thu Aug 5 16:29:04 2004 @@ -603,7 +603,7 @@ * @verbinclude CMPack_license.txt * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/OldKinematics.h ./Motion/OldKinematics.h --- ../Tekkotsu_2.2.1/Motion/OldKinematics.h Thu Aug 5 16:29:04 2004 +++ ./Motion/OldKinematics.h Thu Aug 5 16:29:04 2004 @@ -118,7 +118,7 @@ * @verbinclude CMPack_license.txt * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/OutputCmd.h ./Motion/OutputCmd.h --- ../Tekkotsu_2.2.1/Motion/OutputCmd.h Sun Sep 7 18:14:01 2003 +++ ./Motion/OutputCmd.h Sun Sep 7 18:14:01 2003 @@ -27,7 +27,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/OutputPID.h ./Motion/OutputPID.h --- ../Tekkotsu_2.2.1/Motion/OutputPID.h Sat Dec 13 00:01:40 2003 +++ ./Motion/OutputPID.h Sat Dec 13 00:01:40 2003 @@ -44,7 +44,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/PIDMC.h ./Motion/PIDMC.h --- ../Tekkotsu_2.2.1/Motion/PIDMC.h Wed Jan 14 15:45:01 2004 +++ ./Motion/PIDMC.h Mon Dec 20 19:42:21 2004 @@ -67,6 +67,7 @@ } virtual int isDirty() { return dirty; } virtual int isAlive() { return dirty; } + virtual void DoStart() { MotionCommand::DoStart(); dirty=true; } //!< marks this as dirty each time it is added //@} //!Sets the PIDs to the defaults specified in RobotInfo @@ -138,10 +139,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Motion/Path.h ./Motion/Path.h --- ../Tekkotsu_2.2.1/Motion/Path.h Thu Sep 25 11:27:23 2003 +++ ./Motion/Path.h Thu Sep 25 11:27:23 2003 @@ -107,7 +107,7 @@ * @endverbatim * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/PostureEngine.cc ./Motion/PostureEngine.cc --- ../Tekkotsu_2.2.1/Motion/PostureEngine.cc Mon Nov 15 16:43:54 2004 +++ ./Motion/PostureEngine.cc Wed Dec 22 19:59:03 2004 @@ -298,6 +298,7 @@ solveLinkPosition(Pobj,j,Plink); //This method is an approximation, not entirely precise or fast as it could be //Something to work on some more down the road! :) + //(this method is shared with HeadPointerMC::lookAtPoint(x,y,z)) NEWMAT::ColumnVector poE=baseToLink(j)*Pobj; if(poE.nrows()>3 && poE(4)!=0) { poE/=poE(4); @@ -333,9 +334,9 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ diff -urdN ../Tekkotsu_2.2.1/Motion/PostureEngine.h ./Motion/PostureEngine.h --- ../Tekkotsu_2.2.1/Motion/PostureEngine.h Mon Oct 18 15:53:33 2004 +++ ./Motion/PostureEngine.h Wed Dec 22 19:59:03 2004 @@ -67,10 +67,10 @@ //! NOT VIRTUAL! You should be able to call this to set outputs without checking out, just a peekMotion(). Theoretically. //!@name Output Accessors - inline PostureEngine& setOutputCmd(unsigned int i, const OutputCmd& c) { cmds[i]=c; return *this; } //!tolerance); } + virtual void DoStart() { MotionCommand::DoStart(); dirty=true; } //!< marks this as dirty each time it is added //@} //!Had to override stuff to manage a dirty flag @@ -92,10 +92,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Motion/RemoteControllerMC.h ./Motion/RemoteControllerMC.h --- ../Tekkotsu_2.2.1/Motion/RemoteControllerMC.h Wed Jan 7 17:52:26 2004 +++ ./Motion/RemoteControllerMC.h Mon Dec 20 19:42:21 2004 @@ -27,8 +27,9 @@ dirty=false; return tmp; } - virtual int isDirty() { return (dirty && active)?1:0; } //!< true if a change has been made since the last updateJointCmds() and we're active - virtual int isAlive() { return true; } //!< always true + virtual int isDirty() { return (dirty && active)?1:0; } //!< true if a change has been made since the last updateJointCmds() and we're active + virtual int isAlive() { return true; } //!< always true + virtual void DoStart() { MotionCommand::DoStart(); dirty=true; } //!< marks this as dirty each time it is added //@} void setDirty() { dirty=true; } //!< sets dirty flag to true @@ -44,10 +45,10 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Motion/Spline.h ./Motion/Spline.h --- ../Tekkotsu_2.2.1/Motion/Spline.h Thu Sep 25 11:27:23 2003 +++ ./Motion/Spline.h Thu Sep 25 11:27:23 2003 @@ -375,7 +375,7 @@ * @endverbatim * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Motion/TailWagMC.h ./Motion/TailWagMC.h --- ../Tekkotsu_2.2.1/Motion/TailWagMC.h Mon Nov 15 17:22:36 2004 +++ ./Motion/TailWagMC.h Wed Dec 22 20:47:07 2004 @@ -13,6 +13,7 @@ public: //!constructor TailWagMC() : period(500), magnitude(22*M_PI/180), active(true), tilt() { } + //!constructor TailWagMC(unsigned int cyc_period, float cyc_magnitude) : period(cyc_period), magnitude(cyc_magnitude), active(true), tilt() { } //!destructor virtual ~TailWagMC() {} @@ -60,10 +61,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Motion/WalkMC.cc ./Motion/WalkMC.cc --- ../Tekkotsu_2.2.1/Motion/WalkMC.cc Fri Jul 23 23:10:59 2004 +++ ./Motion/WalkMC.cc Mon Dec 20 16:26:24 2004 @@ -59,13 +59,7 @@ unsigned int checksum(const char *data,int num); //!< computes a file checksum WalkMC::WalkMC(const char* pfile/*=NULL*/) - // tss "SmoothWalk" modification follows - // : MotionCommand(), isPaused(false), wp(), body_loc(), body_angle(), - // pos_delta(0,0,0), angle_delta(0), travelTime(get_time()), - // time(get_time()), TimeStep(FrameTime), vel_xya(0,0,0), - // target_vel_xya(0,0,0) - - : MotionCommand(), isPaused(false), wp(), cp(), body_loc(), body_angle(), + : MotionCommand(), isPaused(false), wp(), cp(), body_loc(), body_angle(), acc_style(DEFAULT_ACCEL), step_count(-1), last_cycle(0), pos_delta(0,0,0), angle_delta(0), travelTime(get_time()), time(get_time()), TimeStep(FrameTime), slowmo(1.0f), CycleOffset(0), TimeOffset(0), NewCycleOffset(false), @@ -131,12 +125,14 @@ int WalkMC::isDirty() { if(isPaused) - return false; + return 0; + if(step_count==0) + return 0; if((target_vel_xya.x == 0) && (target_vel_xya.y == 0) && (target_vel_xya.z == 0)) { // we may stopping, but not stopped yet... return ((vel_xya.x != 0) || (vel_xya.y != 0) || (vel_xya.z != 0)); } - return true; + return JointsPerLeg*NumLegs; } // tss "SmoothWalk" addition ends @@ -251,7 +247,7 @@ return LoadSave::SaveFile(config->motion.makePath(filename).c_str()); } -void WalkMC::setTargetVelocity(double dx,double dy,double da) +void WalkMC::setTargetVelocity(double dx,double dy,double da,int n) { #ifdef BOUND_MOTION da = bound(da, -cp.rotate_max_vel, cp.rotate_max_vel); @@ -268,8 +264,21 @@ target_vel_xya.set(dx,dy,da); // we just modified the target velocity, but we'll hold off on generating // an event until the changes are actually picked up by the motion system + + step_count=n; } +void WalkMC::setTargetDisplacement(double dx, double dy, double da, unsigned int n) { + if(n==0) { + setTargetVelocity(0,0,0,0); + } else { + double vx=dx/(n*wp.period/1000.0); + double vy=dy/(n*wp.period/1000.0); + double va=da/(n*wp.period/1000.0); + setTargetVelocity(vx,vy,va,n); //apply new value + } +} + int WalkMC::updateOutputs() { // cout << "WalkMC,,," << flush; if(!isDirty()) @@ -304,13 +313,15 @@ else applyCalibration(cp.f_calibration,target_vel_xya,cal_target_vel_xya); - //software accel: - vel_xya.x = bound(cal_target_vel_xya.x, vel_xya.x-max_accel_xya.x*tm, vel_xya.x+max_accel_xya.x*tm); - vel_xya.y = bound(cal_target_vel_xya.y, vel_xya.y-max_accel_xya.y*tm, vel_xya.y+max_accel_xya.y*tm); - vel_xya.z = bound(cal_target_vel_xya.z, vel_xya.z-max_accel_xya.z*tm, vel_xya.z+max_accel_xya.z*tm); - //no software accel: - //vel_xya=cal_target_vel_xya; - // + if(step_count<0 && (acc_style==CALIBRATION_ACCEL || acc_style==DEFAULT_ACCEL && !config->motion.inf_walk_accel)) { + //software accel: + vel_xya.x = bound(cal_target_vel_xya.x, vel_xya.x-max_accel_xya.x*tm, vel_xya.x+max_accel_xya.x*tm); + vel_xya.y = bound(cal_target_vel_xya.y, vel_xya.y-max_accel_xya.y*tm, vel_xya.y+max_accel_xya.y*tm); + vel_xya.z = bound(cal_target_vel_xya.z, vel_xya.z-max_accel_xya.z*tm, vel_xya.z+max_accel_xya.z*tm); + } else { + //no software accel: + vel_xya=cal_target_vel_xya; + } BodyPosition delta; delta.loc.set(vel_xya.x*tm,vel_xya.y*tm,0); @@ -346,7 +357,36 @@ // tss "SmoothWalk" modification follows // double cycle = (double)(time % wp.period) / wp.period; + AdjustedTime = time + TimeOffset + (int)(frame*TimeStep*slowmo); double cycle = (double)(AdjustedTime % wp.period) / wp.period; + + if(step_count>0) { + float ncyc=cycle; + if(cycle " << step_count << endl; + if(step_count==0) { //we're done, copy out any completed frames + for(unsigned int f=0; fsetOutput(this,joint,cmds[joint][f],f); + CycleOffset = AdjustedTime % wp.period; + NewCycleOffset = true; + last_cycle=cycle; + // cout << "WalkMC-done" << endl; + return frame==0?0:NumLegs*JointsPerLeg; + } + break; //don't count legs moving in sync as two steps, only ever one step at a time + } + //cout << endl; + } + } + + double sway = wp.sway*cos(2*M_PI*cycle); double hop = wp.hop*sin(4*M_PI*cycle); double height = wp.body_height; @@ -385,15 +425,19 @@ */ tm = wp.period/1000.0 * 0.75; //wtf is the 0.75 based on? Don't ask me, i just work here! (ejt) vector3d vfp; - //software accel: - vfp.x = bound(cal_target_vel_xya.x, vel_xya.x-max_accel_xya.x*tm, vel_xya.x+max_accel_xya.x*tm); - vfp.y = bound(cal_target_vel_xya.y, vel_xya.y-max_accel_xya.y*tm, vel_xya.y+max_accel_xya.y*tm); - double vfa = bound(cal_target_vel_xya.z, vel_xya.z-max_accel_xya.z*tm, vel_xya.z+max_accel_xya.z*tm); - //no software accel: - //vfp.x=cal_target_vel_xya.x; - //vfp.y=cal_target_vel_xya.y; - //double vfa=cal_target_vel_xya.z; - // + double vfa; + if(step_count<0 && (acc_style==CALIBRATION_ACCEL || acc_style==DEFAULT_ACCEL && !config->motion.inf_walk_accel)) { + //software accel: + vfp.x = bound(cal_target_vel_xya.x, vel_xya.x-max_accel_xya.x*tm, vel_xya.x+max_accel_xya.x*tm); + vfp.y = bound(cal_target_vel_xya.y, vel_xya.y-max_accel_xya.y*tm, vel_xya.y+max_accel_xya.y*tm); + vfa = bound(cal_target_vel_xya.z, vel_xya.z-max_accel_xya.z*tm, vel_xya.z+max_accel_xya.z*tm); + } else { + //no software accel: + vfp.x=cal_target_vel_xya.x; + vfp.y=cal_target_vel_xya.y; + vfa=cal_target_vel_xya.z; + } + vfp.z = 0.0; double b = (wp.period/1000.0) * (1.0 - air_f) / 2.0; vector3d target; @@ -454,7 +498,12 @@ else { if(wp.useDiffDrive) { tm = wp.period/1000.0 * 0.75; //wtf is the 0.75 based on? Don't ask me, i just work here! (ejt) - double vfa = bound(cal_target_vel_xya.z, vel_xya.z-max_accel_xya.z*tm, vel_xya.z+max_accel_xya.z*tm); + double vfa; + if(step_count<0 && (acc_style==CALIBRATION_ACCEL || acc_style==DEFAULT_ACCEL && !config->motion.inf_walk_accel)) { + vfa = bound(cal_target_vel_xya.z, vel_xya.z-max_accel_xya.z*tm, vel_xya.z+max_accel_xya.z*tm); + } else { + vfa = cal_target_vel_xya.z; + } legpos[i] -= delta.loc*dir; float rot = vfa/cp.max_vel[CalibrationParam::rotate]*TimeStep * slowmo / 1000; if((i&1)==0) @@ -469,10 +518,10 @@ GetLegAngles(nextlegangles,legpos[i],nextpos,i); for(unsigned int j=0; j Conf_data; //! @brief Handle configuration files. +/*! The file syntax used is: + * - [section_name] + * - one or more entries for that section:
+ * field_name: value + * + * White space is ignored, but a newline must follow each section or field entry + * + * The minimal entries required to avoid warnings are (can be any order): + * - [chain_name]
+ * - Name: - a string identifier + * - DH: - whether or not the chain specification is standard Denavitt-Hartenberg (non-zero), or modified Denavitt-Hartenberg (0) + * - Fix: - ? + * - MinPara: - ? + * - dof: - number of links in the chain + * - Motor: - ? + * - Stl: - ? + * - For each link N: 1..dof
+ * [chain_name_LINKN] + * - joint_type: - revolute (0), prismatic (1) + * - theta: - DH theta parameter + * - d: - DH d parameter + * - a: - DH a parameter + * - alpha: - DH alpha parameter + * - theta_min: - minimum achievable joint position + * - theta_max: - maximum achievable joint position + * - m: - mass of link + * - cx: - x position of center of gravity for link + * - cy: - y position of center of gravity for link + * - cz: - z position of center of gravity for link + * - Ixx: - xx entry of inertia matrix + * - Ixy: - xy entry of inertia matrix + * - Ixz: - xz entry of inertia matrix + * - Iyy: - yy entry of inertia matrix + * - Iyz: - yz entry of inertia matrix + * - Izz: - zz entry of inertia matrix + * + * Additional entries may be defined, but will be silently ignored. + */ class Config { public: Config() : conf(), filename() {} diff -urdN ../Tekkotsu_2.2.1/Motion/roboop/kinemat.cpp ./Motion/roboop/kinemat.cpp --- ../Tekkotsu_2.2.1/Motion/roboop/kinemat.cpp Mon Oct 11 18:01:28 2004 +++ ./Motion/roboop/kinemat.cpp Tue Dec 21 18:51:22 2004 @@ -87,7 +87,7 @@ */ //! @brief RCS/CVS version. -static const char rcsid[] = "$Id: Tekkotsu_patch_2.2.1_to_2.2.2.diff,v 1.1 2004/12/23 08:41:24 ejt Exp $"; +static const char rcsid[] = "$Id: Tekkotsu_patch_2.2.1_to_2.2.2.diff,v 1.1 2004/12/23 08:41:24 ejt Exp $"; #include "robot.h" @@ -269,7 +269,7 @@ return pack4x4(R,p); } -/*! @brief converts vector(s) on link @a cur to be vector(s) on link @a dest +/*! @brief converts vector(s) on link @a cur to be vector(s) in joint reference frame @a dest * @param[out] R on return contains rotation matrix between @a cur and @a dest * @param[out] p on return contains vector from @a cur to @a dest * @param[in] cur the link vectors of @a A are currently relative to @@ -297,7 +297,7 @@ } } -/*! @brief Returns a matrix which can be used to convert from link @a cur to frame @a dest +/*! @brief Returns a matrix which can be used to convert from link frame @a cur to joint frame @a dest * @param cur the source link * @param dest the target frame * @@ -315,7 +315,7 @@ return pack4x4(R,p); } -/*! @brief converts vector(s) on link @a cur to be vector(s) on link @a dest +/*! @brief converts vector(s) in joint referenc frame @a cur to be vector(s) on link @a dest * @param[out] R on return contains rotation matrix between @a cur and @a dest * @param[out] p on return contains vector from @a cur to @a dest * @param[in] cur the link vectors of @a A are currently relative to @@ -344,7 +344,7 @@ } } -/*! @brief Returns a matrix which can be used to convert from link @a cur to link @a dest +/*! @brief Returns a matrix which can be used to convert from joint reference frame @a cur to link frame @a dest * @param cur the source link * @param dest the target link * diff -urdN ../Tekkotsu_2.2.1/Motion/roboop/robot.cpp ./Motion/roboop/robot.cpp --- ../Tekkotsu_2.2.1/Motion/roboop/robot.cpp Tue Oct 12 15:50:25 2004 +++ ./Motion/roboop/robot.cpp Fri Dec 10 18:49:35 2004 @@ -92,7 +92,7 @@ */ //! @brief RCS/CVS version. -static const char rcsid[] = "$Id: Tekkotsu_patch_2.2.1_to_2.2.2.diff,v 1.1 2004/12/23 08:41:24 ejt Exp $"; +static const char rcsid[] = "$Id: Tekkotsu_patch_2.2.1_to_2.2.2.diff,v 1.1 2004/12/23 08:41:24 ejt Exp $"; #include "robot.h" #include @@ -850,8 +850,8 @@ if(!robData.select_int(robotName, "dof", dof)) { - if(dof < 1) - error("Robot_basic::Robot_basic: dof is less then one."); + if(dof < 0) + error("Robot_basic::Robot_basic: dof is less then zero."); } else error("Robot_basic::Robot_basic: error in extracting dof from conf file."); diff -urdN ../Tekkotsu_2.2.1/RemoteProcess/RemoteProcess.cc ./RemoteProcess/RemoteProcess.cc --- ../Tekkotsu_2.2.1/RemoteProcess/RemoteProcess.cc Thu Sep 25 11:27:50 2003 +++ ./RemoteProcess/RemoteProcess.cc Thu Sep 25 11:27:50 2003 @@ -89,7 +89,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/RemoteProcess/RemoteProcess.h ./RemoteProcess/RemoteProcess.h --- ../Tekkotsu_2.2.1/RemoteProcess/RemoteProcess.h Thu Sep 25 11:27:50 2003 +++ ./RemoteProcess/RemoteProcess.h Thu Sep 25 11:27:50 2003 @@ -54,7 +54,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Shared/Buffer.cc ./Shared/Buffer.cc --- ../Tekkotsu_2.2.1/Shared/Buffer.cc Fri Nov 12 17:07:39 2004 +++ ./Shared/Buffer.cc Wed Dec 22 20:47:07 2004 @@ -105,3 +105,15 @@ return true; } } + +/*! @file + * @brief Describes Buffer, a general memory management data structure, featuring position, limit, and capacity marks + * @author Alexander Klyubin (A.Kljubin AT herts ac uk) (Creator) + * Submitted as part of "Full-duplex Audio Streaming" patch + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/12/23 08:41:24 $ + */ diff -urdN ../Tekkotsu_2.2.1/Shared/Buffer.h ./Shared/Buffer.h --- ../Tekkotsu_2.2.1/Shared/Buffer.h Fri Nov 12 17:07:39 2004 +++ ./Shared/Buffer.h Wed Dec 22 20:47:07 2004 @@ -45,11 +45,26 @@ //! Checks whether the buffer is full, that is position == limit. bool IsFull() const { return (position >= limit); } private: - char* data; - int capacity; - int limit; - int position; + char* data; //!< the buffer itself + int capacity; //!< the the real size of the underlying array. + int limit; //!< Position is the index of the current element in the buffer (used only by buffer filling operations at the moment) + int position; //!< Limit is the virtual size of the buffer. Operations such as filling up the buffer, seeking and so on never go over the limit mark of the buffer. + //! returns the lesser of @a or @b static int min(int a, int b) { return ((a < b) ? a : b); } }; + + +/*! @file + * @brief Describes Buffer, a general memory management data structure, featuring position, limit, and capacity marks + * @author Alexander Klyubin (A.Kljubin AT herts ac uk) (Creator) + * Submitted as part of "Full-duplex Audio Streaming" patch + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/12/23 08:41:24 $ + */ + #endif diff -urdN ../Tekkotsu_2.2.1/Shared/CommonInfo.h ./Shared/CommonInfo.h --- ../Tekkotsu_2.2.1/Shared/CommonInfo.h Tue Dec 23 01:33:43 2003 +++ ./Shared/CommonInfo.h Tue Dec 23 01:33:43 2003 @@ -34,7 +34,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Shared/Config.cc ./Shared/Config.cc --- ../Tekkotsu_2.2.1/Shared/Config.cc Fri Nov 12 17:07:39 2004 +++ ./Shared/Config.cc Mon Dec 20 16:27:11 2004 @@ -312,6 +312,9 @@ } else if (strncasecmp(key,"max_head_roll_speed",29)==0) { motion.max_head_roll_speed=atof(value); return &motion.max_head_roll_speed; + } else if (strncasecmp(key,"inf_walk_accel",29)==0) { + motion.inf_walk_accel = atoi(value); + return &motion.inf_walk_accel; } else if (strncasecmp(key,"console_port",29)==0) { motion.console_port = atoi(value); return &motion.console_port; @@ -530,9 +533,9 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ diff -urdN ../Tekkotsu_2.2.1/Shared/Config.h ./Shared/Config.h --- ../Tekkotsu_2.2.1/Shared/Config.h Fri Nov 12 17:07:39 2004 +++ ./Shared/Config.h Wed Dec 22 20:47:07 2004 @@ -92,6 +92,18 @@ r_z=1; } + //!provides a pixel hit in image by a ray going through the camera frame + /*! Hopefully we'll eventually upgrade this to account for lens distortion + * @param[in] r_x x value of the ray + * @param[in] r_y y value of the ray + * @param[in] r_z z value of the ray + * @param[out] x x position in range [-1,1] + * @param[out] y y position in range [-1,1] */ + void computePixel(float r_x, float r_y, float r_z, float& x, float& y) { + x=r_x/(r_z*tan(horizFOV/2)); + y=r_y/(r_z*tan(vertFOV/2)); + } + //!constructor vision_config() : white_balance(3), gain(2), shutter_speed(2), resolution(2), horizFOV(0), vertFOV(0), focal_length(0), thresh(), colors(), rawcam_port(0), rawcam_transport(0), rle_port(0), rle_transport(0), obj_port(0), restore_image(true), jpeg_dct_method(JDCT_IFAST), rawcam_encoding(ENCODE_COLOR), rawcam_channel(0), rawcam_compression(COMPRESS_NONE), rawcam_compress_quality(75), rawcam_y_skip(0), rawcam_uv_skip(0), rlecam_skip(1), rlecam_channel(0), rlecam_compression(COMPRESS_RLE) {} } vision; @@ -153,6 +165,7 @@ float max_head_tilt_speed; //!< max speed for the head joints, used by HeadPointerMC; rad/s float max_head_pan_speed; //!< max speed for the head joints, used by HeadPointerMC; rad/s float max_head_roll_speed; //!< max speed for the head joints, used by HeadPointerMC; rad/s + bool inf_walk_accel; //!< if true, walks should attempt to switch directions immediately; otherwise they should do some kind of software acceleration to more smoothly switch direction int console_port; //!< port to send/receive "console" information on (separate from system console) int stderr_port; //!< port to send error information to @@ -169,7 +182,7 @@ //!constructor motion_config() : root(), walk(), kinematics(), kinematic_chains(), max_head_tilt_speed(0), - max_head_pan_speed(0), max_head_roll_speed(0), console_port(0), stderr_port(0) + max_head_pan_speed(0), max_head_roll_speed(0), inf_walk_accel(false), console_port(0), stderr_port(0) { estop_on_snd[0]=estop_off_snd[0]='\0'; for(unsigned int i=0; i undefined - defaulting to TGT_ERS210" -# else +# elif TGT_ERS2xx # warning "TGT_ERS2xx can't be determined on non-Aperios - defaulting to TGT_ERS210" -# endif robotDesign=ERS210Mask; +# elif TGT_ERS7 + robotDesign=ERS7Mask; +# else +# warning "TGT_ undefined - defaulting to TGT_ERS7" + robotDesign=ERS7Mask; # endif //model selection #endif } @@ -306,7 +307,7 @@ for(unsigned int i=0; ipostEvent(evtBuf[i]); //we don't delete the events in evtBuf - we're handing them off to erouter, which will delete them itself - er->postEvent(EventBase::sensorEGID,SensorSourceID::UpdatedSID,EventBase::statusETID,dif); + er->postEvent(EventBase::sensorEGID,SensorSourceID::UpdatedSID,EventBase::statusETID,dif,"SensorSouceID::UpdatedSID",1); } /*! This will cause events to be posted */ @@ -379,7 +380,7 @@ powerFlags[i]=actmasks[i]; } - er->postEvent(EventBase::powerEGID,PowerSourceID::UpdatedSID,EventBase::statusETID,0); + er->postEvent(EventBase::powerEGID,PowerSourceID::UpdatedSID,EventBase::statusETID,0,"PowerSourceID::UpdatedSID",1); } #endif //PLATFORM_APERIOS @@ -409,8 +410,8 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ diff -urdN ../Tekkotsu_2.2.1/Shared/WorldState.h ./Shared/WorldState.h --- ../Tekkotsu_2.2.1/Shared/WorldState.h Tue Jul 27 10:36:50 2004 +++ ./Shared/WorldState.h Tue Jul 27 10:36:50 2004 @@ -214,7 +214,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Shared/debuget.h ./Shared/debuget.h --- ../Tekkotsu_2.2.1/Shared/debuget.h Thu Sep 25 11:31:53 2003 +++ ./Shared/debuget.h Thu Sep 25 11:31:53 2003 @@ -73,7 +73,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Shared/get_time.cc ./Shared/get_time.cc --- ../Tekkotsu_2.2.1/Shared/get_time.cc Fri Jul 25 16:18:07 2003 +++ ./Shared/get_time.cc Fri Jul 25 16:18:07 2003 @@ -19,7 +19,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Shared/get_time.h ./Shared/get_time.h --- ../Tekkotsu_2.2.1/Shared/get_time.h Fri Jul 25 16:18:08 2003 +++ ./Shared/get_time.h Fri Jul 25 16:18:08 2003 @@ -9,7 +9,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Shared/newmat/newmat9.cpp ./Shared/newmat/newmat9.cpp --- ../Tekkotsu_2.2.1/Shared/newmat/newmat9.cpp Wed Jun 16 17:16:41 2004 +++ ./Shared/newmat/newmat9.cpp Thu Dec 16 19:32:36 2004 @@ -37,7 +37,7 @@ ostream& operator<<(ostream& s, const GeneralMatrix& X) { - MatrixRow mr((GeneralMatrix*)&X, LoadOnEntry); + MatrixRow mr(const_cast(&X), LoadOnEntry); int w = s.width(); int nr = X.Nrows(); ios_format_flags f = s.flags(); s.setf(ios::fixed, ios::floatfield); for (int i=1; i<=nr; i++) @@ -51,6 +51,22 @@ } s << flush; s.flags(f); return s; } + +ostream& operator<<(ostream& s, const printmat& p) { + const int printwidth = s.width(); + s.width(0); + s << "["; + for (int i = 1; i <= p.mat.Nrows(); i++) { + if (i > 1) s << "; "; + for (int j = 1; j <= p.mat.Ncols(); j++) { + if ( j > 1 ) s << ", "; + s << setw(printwidth) << p.mat(i,j); + } + } + s << "]"; + return s; +} + // include this stuff if you are using an old version of G++ // with an incomplete io library diff -urdN ../Tekkotsu_2.2.1/Shared/newmat/newmatio.h ./Shared/newmat/newmatio.h --- ../Tekkotsu_2.2.1/Shared/newmat/newmatio.h Wed Jun 16 17:16:41 2004 +++ ./Shared/newmat/newmatio.h Tue Dec 14 22:56:28 2004 @@ -23,6 +23,17 @@ ostream& operator<<(ostream&, const GeneralMatrix&); +/**************************** Matlab-code printer *****************************/ + +class printmat { + public: + const Matrix &mat; + printmat(const Matrix &m) : mat(m) {} +}; + +ostream& operator<<(ostream&, const printmat&); + +/**************************** Old stuff *****************************/ /* Use in some old versions of G++ without complete iomanipulators diff -urdN ../Tekkotsu_2.2.1/Shared/string_util.cc ./Shared/string_util.cc --- ../Tekkotsu_2.2.1/Shared/string_util.cc Wed Jan 14 15:45:28 2004 +++ ./Shared/string_util.cc Wed Jan 14 15:45:28 2004 @@ -89,7 +89,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Shared/string_util.h ./Shared/string_util.h --- ../Tekkotsu_2.2.1/Shared/string_util.h Wed Jan 14 15:45:28 2004 +++ ./Shared/string_util.h Wed Dec 22 20:47:07 2004 @@ -5,6 +5,7 @@ #include #include +//! some common string processing functions, for std::string namespace string_util { //! returns lower case version of @a s std::string makeLower(const std::string& s); @@ -24,10 +25,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/SoundPlay/SoundManager.cc ./SoundPlay/SoundManager.cc --- ../Tekkotsu_2.2.1/SoundPlay/SoundManager.cc Thu Nov 4 00:24:03 2004 +++ ./SoundPlay/SoundManager.cc Wed Dec 22 18:13:04 2004 @@ -197,8 +197,13 @@ } // } - if(sndlist[id].rcr!=NULL) - erouter->postEvent(EventBase::audioEGID,playid,EventBase::activateETID,0); + if(sndlist[id].rcr!=NULL) { + const char * name=sndlist[playlist[playid].snd_id].name; + if(name[0]!='\0') + erouter->postEvent(EventBase::audioEGID,playid,EventBase::activateETID,0,name,1); + else + erouter->postEvent(EventBase::audioEGID,playid,EventBase::activateETID,0); + } } return playid; } @@ -273,12 +278,16 @@ //we start at the back (oldest) since these are the most likely to be removed... for(chanlist_t::index_t it=chanlist.prev(chanlist.end()); it!=chanlist.end(); it=chanlist.prev(it)) if(chanlist[it]==id) { + std::string name=sndlist[playlist[id].snd_id].name; Release(playlist[id].snd_id); playlist.erase(id); chanlist.erase(it); playlist[id].cumulative+=playlist[id].offset; unsigned int ms=playlist[id].cumulative/(config->sound.sample_bits/8)/(config->sound.sample_rate/1000); - erouter->postEvent(EventBase::audioEGID,id,EventBase::deactivateETID,ms); + if(name.size()>0) + erouter->postEvent(EventBase::audioEGID,id,EventBase::deactivateETID,ms,name,0); + else + erouter->postEvent(EventBase::audioEGID,id,EventBase::deactivateETID,ms); return; } cout << "SoundManager::StopPlay(): " << id << " does not seem to be playing" << endl; @@ -510,9 +519,14 @@ sndlist[msg->id].data=reinterpret_cast(rcr->Base()+SoundManagerMsg::MSG_SIZE); //look to see if there's any play's for the sound we just finished loading for(playlist_t::index_t it=playlist.begin();it!=playlist.end();it=playlist.next(it)) - if(playlist[it].snd_id==msg->id) + if(playlist[it].snd_id==msg->id) { //send an event if there are - erouter->postEvent(EventBase::audioEGID,it,EventBase::activateETID,0); + const char * name=sndlist[playlist[it].snd_id].name; + if(name[0]!='\0') + erouter->postEvent(EventBase::audioEGID,it,EventBase::activateETID,0,name,1); + else + erouter->postEvent(EventBase::audioEGID,it,EventBase::activateETID,0); + } } break; case SoundManagerMsg::del: { msg->region->RemoveReference(); @@ -655,7 +669,11 @@ playlist[id].next_id=playlist[next].next_id; playlist.erase(next); unsigned int ms=playlist[id].cumulative/(config->sound.sample_bits/8)/(config->sound.sample_rate/1000); - erouter->postEvent(EventBase::audioEGID,id,EventBase::statusETID,ms); + const char * name=sndlist[playlist[id].snd_id].name; + if(name[0]!='\0') + erouter->postEvent(EventBase::audioEGID,id,EventBase::statusETID,ms,name,1); + else + erouter->postEvent(EventBase::audioEGID,id,EventBase::statusETID,ms); return false; } } @@ -676,10 +694,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ diff -urdN ../Tekkotsu_2.2.1/SoundPlay/SoundManager.h ./SoundPlay/SoundManager.h --- ../Tekkotsu_2.2.1/SoundPlay/SoundManager.h Thu Nov 4 00:24:03 2004 +++ ./SoundPlay/SoundManager.h Thu Nov 4 00:24:03 2004 @@ -262,7 +262,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/SoundPlay/SoundManagerMsg.h ./SoundPlay/SoundManagerMsg.h --- ../Tekkotsu_2.2.1/SoundPlay/SoundManagerMsg.h Thu Sep 25 11:32:08 2003 +++ ./SoundPlay/SoundManagerMsg.h Thu Sep 25 11:32:08 2003 @@ -59,7 +59,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/SoundPlay/SoundPlay.cc ./SoundPlay/SoundPlay.cc --- ../Tekkotsu_2.2.1/SoundPlay/SoundPlay.cc Fri Jan 16 18:55:32 2004 +++ ./SoundPlay/SoundPlay.cc Thu Dec 16 17:46:21 2004 @@ -56,23 +56,21 @@ sndman=new ((SoundManager*)soundManagerMemRgn->Base()) SoundManager; sndman->InitAccess(subject[sbjSoundManagerComm]); for(unsigned int i=0; isound.preload.size(); i++) - sndman->LoadFile(config->sound.preload[i].c_str()); + sndman->LoadFile(config->sound.preload[i]); OpenSpeaker(); NewSoundVectorData(); SetPowerAndVolume(); - return oSUCCESS; } OStatus SoundPlay::DoStart(const OSystemEvent&) { - //OSYSDEBUG(("SoundPlay::DoStart()\n")); + //OSYSDEBUG(("SoundPlay::DoStart()\n")); ENABLE_ALL_SUBJECT; ASSERT_READY_TO_ALL_OBSERVER; - return oSUCCESS; } @@ -93,7 +91,7 @@ SoundPlay::DoDestroy(const OSystemEvent&) { for(unsigned int i=0; isound.preload.size(); i++) - sndman->ReleaseFile(config->sound.preload[i].c_str()); + sndman->ReleaseFile(config->sound.preload[i]); delete erouter; eventTranslatorQueueMemRgn->RemoveReference(); DELETE_ALL_SUBJECT_AND_OBSERVER; @@ -268,10 +266,10 @@ * either expressed or implied, including but not limited to the * implied warranties of fitness for a particular purpose. * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ diff -urdN ../Tekkotsu_2.2.1/SoundPlay/SoundPlay.h ./SoundPlay/SoundPlay.h --- ../Tekkotsu_2.2.1/SoundPlay/SoundPlay.h Tue Dec 23 01:33:44 2003 +++ ./SoundPlay/SoundPlay.h Tue Dec 23 01:33:44 2003 @@ -84,7 +84,7 @@ * implied warranties of fitness for a particular purpose. * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/SoundPlay/WAV.cc ./SoundPlay/WAV.cc --- ../Tekkotsu_2.2.1/SoundPlay/WAV.cc Fri Jul 25 16:18:08 2003 +++ ./SoundPlay/WAV.cc Fri Jul 25 16:18:08 2003 @@ -15,7 +15,7 @@ * implied warranties of fitness for a particular purpose. * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/SoundPlay/WAV.h ./SoundPlay/WAV.h --- ../Tekkotsu_2.2.1/SoundPlay/WAV.h Fri Jul 25 16:18:08 2003 +++ ./SoundPlay/WAV.h Fri Jul 25 16:18:08 2003 @@ -15,7 +15,7 @@ * implied warranties of fitness for a particular purpose. * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Vision/BallDetectionGenerator.cc ./Vision/BallDetectionGenerator.cc --- ../Tekkotsu_2.2.1/Vision/BallDetectionGenerator.cc Tue Nov 9 15:01:49 2004 +++ ./Vision/BallDetectionGenerator.cc Wed Dec 22 18:13:07 2004 @@ -247,7 +247,9 @@ void BallDetectionGenerator::createEvent(EventBase::EventTypeID_t etid, float centerX, float centerY) const { - erouter->postEvent(new VisionObjectEvent(etid,mySourceID,centerX,centerY)); + VisionObjectEvent * vo=new VisionObjectEvent(etid,mySourceID,centerX,centerY); + vo->setName(getName()); + erouter->postEvent(vo); } int @@ -276,8 +278,8 @@ * reviewed the code, so I guess it's all ours... * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ diff -urdN ../Tekkotsu_2.2.1/Vision/BallDetectionGenerator.h ./Vision/BallDetectionGenerator.h --- ../Tekkotsu_2.2.1/Vision/BallDetectionGenerator.h Mon Feb 9 17:45:28 2004 +++ ./Vision/BallDetectionGenerator.h Mon Feb 9 17:45:28 2004 @@ -89,7 +89,7 @@ * reviewed the code, so I guess it's all ours... * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Vision/CDTGenerator.cc ./Vision/CDTGenerator.cc --- ../Tekkotsu_2.2.1/Vision/CDTGenerator.cc Tue Nov 9 15:01:49 2004 +++ ./Vision/CDTGenerator.cc Tue Nov 9 15:01:49 2004 @@ -237,7 +237,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Vision/CDTGenerator.h ./Vision/CDTGenerator.h --- ../Tekkotsu_2.2.1/Vision/CDTGenerator.h Wed Feb 18 16:13:32 2004 +++ ./Vision/CDTGenerator.h Wed Feb 18 16:13:32 2004 @@ -97,7 +97,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Vision/FilterBankGenerator.cc ./Vision/FilterBankGenerator.cc --- ../Tekkotsu_2.2.1/Vision/FilterBankGenerator.cc Tue Nov 9 15:01:49 2004 +++ ./Vision/FilterBankGenerator.cc Tue Nov 9 15:01:49 2004 @@ -164,7 +164,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Vision/FilterBankGenerator.h ./Vision/FilterBankGenerator.h --- ../Tekkotsu_2.2.1/Vision/FilterBankGenerator.h Wed Nov 10 20:45:37 2004 +++ ./Vision/FilterBankGenerator.h Mon Dec 20 16:47:59 2004 @@ -111,10 +111,8 @@ */ class FilterBankGenerator : public EventGeneratorBase, public LoadSave { public: - //! constructor - FilterBankGenerator(const std::string& name,EventBase::EventGeneratorID_t srcgid, unsigned int srcsid, EventBase::EventGeneratorID_t mgid, unsigned int msid) - : EventGeneratorBase(name,mgid,msid,srcgid,srcsid), src(NULL), numLayers(0), numChannels(0), widths(NULL), heights(NULL), skips(NULL), strides(NULL), increments(NULL), images(NULL), imageValids(NULL), selectedSaveLayer(0), selectedSaveChannel(0), frameNumber(0), framesProcessed(0) - { } + // Constructors are all protected - doesn't make sense to + // instantiate this class directly, you want to use a subclass //! destructor /*! Your own subclasses should also have destructors which call @@ -205,6 +203,16 @@ protected: + //! constructor, @a name is both class and instance name + FilterBankGenerator(const std::string& name,EventBase::EventGeneratorID_t srcgid, unsigned int srcsid, EventBase::EventGeneratorID_t mgid, unsigned int msid) + : EventGeneratorBase(name,mgid,msid,srcgid,srcsid), src(NULL), numLayers(0), numChannels(0), widths(NULL), heights(NULL), skips(NULL), strides(NULL), increments(NULL), images(NULL), imageValids(NULL), selectedSaveLayer(0), selectedSaveChannel(0), frameNumber(0), framesProcessed(0) + { } + + //! constructor, separate class and instance names + FilterBankGenerator(const std::string& classname,const std::string& instancename,EventBase::EventGeneratorID_t srcgid, unsigned int srcsid, EventBase::EventGeneratorID_t mgid, unsigned int msid) + : EventGeneratorBase(classname,instancename,mgid,msid,srcgid,srcsid), src(NULL), numLayers(0), numChannels(0), widths(NULL), heights(NULL), skips(NULL), strides(NULL), increments(NULL), images(NULL), imageValids(NULL), selectedSaveLayer(0), selectedSaveChannel(0), frameNumber(0), framesProcessed(0) + { } + //! resizes the filter bank information storage area, you should override this to do your setup and call it from your constructor /*! In general, it isn't expected that FilterBankGenerator's should * necessarily be dynamically resizeable (although it would be @@ -280,10 +288,10 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Vision/InterleavedYUVGenerator.cc ./Vision/InterleavedYUVGenerator.cc --- ../Tekkotsu_2.2.1/Vision/InterleavedYUVGenerator.cc Tue Nov 9 15:01:49 2004 +++ ./Vision/InterleavedYUVGenerator.cc Tue Nov 9 15:01:49 2004 @@ -128,7 +128,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Vision/InterleavedYUVGenerator.h ./Vision/InterleavedYUVGenerator.h --- ../Tekkotsu_2.2.1/Vision/InterleavedYUVGenerator.h Wed Feb 18 16:13:32 2004 +++ ./Vision/InterleavedYUVGenerator.h Wed Feb 18 16:13:32 2004 @@ -78,7 +78,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Vision/JPEGGenerator.cc ./Vision/JPEGGenerator.cc --- ../Tekkotsu_2.2.1/Vision/JPEGGenerator.cc Tue Nov 9 15:01:49 2004 +++ ./Vision/JPEGGenerator.cc Tue Nov 9 15:01:49 2004 @@ -241,7 +241,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Vision/JPEGGenerator.h ./Vision/JPEGGenerator.h --- ../Tekkotsu_2.2.1/Vision/JPEGGenerator.h Wed Feb 18 16:13:32 2004 +++ ./Vision/JPEGGenerator.h Wed Feb 18 16:13:32 2004 @@ -107,7 +107,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Vision/RLEGenerator.cc ./Vision/RLEGenerator.cc --- ../Tekkotsu_2.2.1/Vision/RLEGenerator.cc Tue Nov 9 15:01:49 2004 +++ ./Vision/RLEGenerator.cc Tue Nov 9 15:01:49 2004 @@ -149,7 +149,7 @@ * @author ejt (reorganized) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Vision/RLEGenerator.h ./Vision/RLEGenerator.h --- ../Tekkotsu_2.2.1/Vision/RLEGenerator.h Wed Feb 18 16:13:32 2004 +++ ./Vision/RLEGenerator.h Wed Feb 18 16:13:32 2004 @@ -117,7 +117,7 @@ * @author ejt (reorganized) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Vision/RawCameraGenerator.cc ./Vision/RawCameraGenerator.cc --- ../Tekkotsu_2.2.1/Vision/RawCameraGenerator.cc Tue Nov 9 15:01:49 2004 +++ ./Vision/RawCameraGenerator.cc Tue Nov 9 15:01:49 2004 @@ -425,7 +425,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Vision/RawCameraGenerator.h ./Vision/RawCameraGenerator.h --- ../Tekkotsu_2.2.1/Vision/RawCameraGenerator.h Wed Feb 18 16:13:32 2004 +++ ./Vision/RawCameraGenerator.h Wed Feb 18 16:13:32 2004 @@ -115,7 +115,7 @@ * @author ejt (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Vision/RegionGenerator.cc ./Vision/RegionGenerator.cc --- ../Tekkotsu_2.2.1/Vision/RegionGenerator.cc Tue Nov 9 15:01:49 2004 +++ ./Vision/RegionGenerator.cc Tue Nov 9 15:01:49 2004 @@ -239,7 +239,7 @@ * @author ejt (reorganized) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Vision/RegionGenerator.h ./Vision/RegionGenerator.h --- ../Tekkotsu_2.2.1/Vision/RegionGenerator.h Wed Feb 18 16:13:32 2004 +++ ./Vision/RegionGenerator.h Wed Feb 18 16:13:32 2004 @@ -74,7 +74,7 @@ * @author ejt (reorganized) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Vision/SegmentedColorGenerator.cc ./Vision/SegmentedColorGenerator.cc --- ../Tekkotsu_2.2.1/Vision/SegmentedColorGenerator.cc Tue Nov 9 15:01:49 2004 +++ ./Vision/SegmentedColorGenerator.cc Tue Nov 9 15:01:49 2004 @@ -224,7 +224,7 @@ * @author ejt (reorganized) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Vision/SegmentedColorGenerator.h ./Vision/SegmentedColorGenerator.h --- ../Tekkotsu_2.2.1/Vision/SegmentedColorGenerator.h Fri Jul 16 23:29:24 2004 +++ ./Vision/SegmentedColorGenerator.h Wed Dec 22 20:47:07 2004 @@ -93,6 +93,7 @@ //! returns index of color corresponding to a string (uses a fast hash lookup) unsigned int getColorIndex(const std::string& name) const { return getColorIndex(name.c_str()); } + //! returns index of color corresponding to a specific rgb color unsigned int getColorIndex(const rgb color) const { for(unsigned int index = 0; index < getNumColors(); index++) if(getColorRGB((int)index) == color) @@ -160,11 +161,11 @@ * @author alokl (Creator) * @author ejt (reorganized) * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Wireless/DummySocket.h ./Wireless/DummySocket.h --- ../Tekkotsu_2.2.1/Wireless/DummySocket.h Sun Jan 18 05:16:59 2004 +++ ./Wireless/DummySocket.h Sun Jan 18 05:16:59 2004 @@ -42,7 +42,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Wireless/Socket.cc ./Wireless/Socket.cc --- ../Tekkotsu_2.2.1/Wireless/Socket.cc Mon Oct 4 16:38:05 2004 +++ ./Wireless/Socket.cc Mon Oct 4 16:38:05 2004 @@ -172,7 +172,7 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Wireless/Socket.h ./Wireless/Socket.h --- ../Tekkotsu_2.2.1/Wireless/Socket.h Mon Oct 4 16:38:05 2004 +++ ./Wireless/Socket.h Wed Dec 22 20:47:07 2004 @@ -8,7 +8,9 @@ #include #include +//! holds socket enumerations and constants namespace SocketNS { + //! Specifies transport type. TCP is usually a good idea enum TransportType_t { SOCK_STREAM=0, //!< TCP: guaranteed delivery, higher overhead @@ -228,10 +230,10 @@ * @author alokl (Creator) * * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.1 $ + * $Name: HEAD $ + * $Revision: 1.1 $ * $State: Exp $ - * $Date: 2004/12/23 08:41:24 $ + * $Date: 2004/12/23 08:41:24 $ */ #endif diff -urdN ../Tekkotsu_2.2.1/Wireless/Wireless.cc ./Wireless/Wireless.cc --- ../Tekkotsu_2.2.1/Wireless/Wireless.cc Tue Sep 28 18:12:35 2004 +++ ./Wireless/Wireless.cc Tue Sep 28 18:12:35 2004 @@ -495,7 +495,7 @@ * @verbinclude CMPack_license.txt * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/Wireless/Wireless.h ./Wireless/Wireless.h --- ../Tekkotsu_2.2.1/Wireless/Wireless.h Wed Mar 24 01:38:21 2004 +++ ./Wireless/Wireless.h Wed Mar 24 01:38:21 2004 @@ -155,7 +155,7 @@ * @verbinclude CMPack_license.txt * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/docs/doxygencfg ./docs/doxygencfg --- ../Tekkotsu_2.2.1/docs/doxygencfg Tue Nov 16 19:09:35 2004 +++ ./docs/doxygencfg Wed Dec 22 20:47:07 2004 @@ -23,7 +23,7 @@ # This could be handy for archiving the generated documentation or # if some version control system is used. -PROJECT_NUMBER = 2.2.1 +PROJECT_NUMBER = 2.2.2 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) # base path where the generated documentation will be put. diff -urdN ../Tekkotsu_2.2.1/docs/exthead.html ./docs/exthead.html --- ../Tekkotsu_2.2.1/docs/exthead.html Wed Dec 31 19:00:00 1969 +++ ./docs/exthead.html Wed Nov 24 16:30:39 2004 @@ -0,0 +1,36 @@ + + + + + $title + + + + + + + + + + + + + + + + + + + + + + + + + +
Homepage Demos Overview Downloads Tutorials Reference
Credits
+ + + +
\ No newline at end of file Binary files ../Tekkotsu_2.2.1/docs/html/favicon.ico and ./docs/html/favicon.ico differ diff -urdN ../Tekkotsu_2.2.1/docs/html/index.html ./docs/html/index.html --- ../Tekkotsu_2.2.1/docs/html/index.html Tue Nov 16 19:09:35 2004 +++ ./docs/html/index.html Wed Dec 22 20:47:07 2004 @@ -13,8 +13,8 @@ - +
-Main Page | -Namespace List | -Class Hierarchy | -Alphabetical List | -Class List | -Directories | -File List | -Namespace Members | -Class Members | -File Members | -Related Pages +Main Page | Namespace List | Class Hierarchy | Alphabetical List | Class List | Directories | File List | Namespace Members | Class Members | File Members | Related Pages

Tekkotsu Source Documentation

+ border="0" cellpadding="2" cellspacing="2">
@@ -98,12 +98,16 @@
  • Related Pages - Links to the todo and bug lists.
    • +
  • Local documentation of the included newmat and ROBOOP libraries
    +
  • You can also search the framework:
    -
    +
      • @@ -124,8 +128,8 @@ static copies of the documentation, there are two formats:

        -
      • HTML (v2.2.1, -5.9MB)
        • +
      • HTML +(v2.2.2)
      If you're using the most recent version from the CVS repository, @@ -135,21 +139,26 @@

      External Documentation:

      -

      -We make use of two independent libraries: the newmat matrix library +

      We make use of two independent +libraries: the newmat matrix library and the ROBOOP -kinematics library. We mirror their own doxygen documentation on our +kinematics library. We mirror their own doxygen documentation on our site so that our documentation can link to it. -

      -

      -You can directly access these libraries' documentation with these links: -

      -

      -

      +

      +

      You can directly access these +libraries' documentation with these links: +

      + +

      +

      This code is originally based on an early version of CMU's 2002 Legged RoboSoccer entry, WalkMC and the CMVision library -still fall under their license. +still fall under their license.  This license is also included in the files themselves.

      -

      Note that CMVision is not -documented in this project.  -There is some documentation as Note that although we include the +CMVision classes within our reference section, CMVision does not have +any inline doxygen documentation.  However, there is some external +documentation as compressed postscript and PDF.

      diff -urdN ../Tekkotsu_2.2.1/docs/newmat.doxycfg ./docs/newmat.doxycfg --- ../Tekkotsu_2.2.1/docs/newmat.doxycfg Tue Jul 20 13:56:10 2004 +++ ./docs/newmat.doxycfg Wed Nov 24 16:30:40 2004 @@ -12,5 +12,6 @@ HTML_OUTPUT = newmat SEARCHENGINE = YES GENERATE_TAGFILE = generated/newmat.tag +HTML_HEADER = exthead.html HTML_FOOTER = newmatfoot.html PREDEFINED += use_namespace diff -urdN ../Tekkotsu_2.2.1/docs/roboop.doxycfg ./docs/roboop.doxycfg --- ../Tekkotsu_2.2.1/docs/roboop.doxycfg Tue Jul 20 13:56:10 2004 +++ ./docs/roboop.doxycfg Wed Nov 24 16:30:40 2004 @@ -13,5 +13,6 @@ SEARCHENGINE = YES TAGFILES += generated/newmat.tag=../newmat GENERATE_TAGFILE = generated/roboop.tag +HTML_HEADER = exthead.html HTML_FOOTER = roboopfoot.html INCLUDE_PATH = ../Shared/newmat diff -urdN ../Tekkotsu_2.2.1/project/Environment.conf ./project/Environment.conf --- ../Tekkotsu_2.2.1/project/Environment.conf Tue Nov 16 14:02:46 2004 +++ ./project/Environment.conf Tue Nov 30 16:13:16 2004 @@ -1,4 +1,7 @@ -########### ENVIRONMENT VARIABLES ############### +############ ENVIRONMENT VARIABLES ############## +############# $Name: HEAD $ ############### +############### $Revision: 1.1 $ ################# +########## $Date: 2004/12/23 08:41:24 $ ########### # If you need to modify these, you should set them as environment # variables instead of changing them here - that way other tools (such # as mntmem and crashDebug) can use these as well. @@ -54,10 +57,10 @@ TEKKOTSU_BUILDDIR ?= $(TEKKOTSU_ROOT)/build PROJECT_BUILDDIR ?= build # or perhaps you would like one/both of these better: -# puts build directory in local tmp, but avoids conflicts between -# multiple frameworks or multiple projects -#TEKKOTSU_BUILDDIR ?= $(shell echo /tmp/`cd $(TEKKOTSU_ROOT); pwd | tr / _`_build_$(USER) | sed "s/ /\\ /g") -#PROJECT_BUILDDIR ?= $(shell echo /tmp/`pwd | tr / _`_build_$(USER) | sed "s/ /\\ /g") +# puts build directory in local tmp, but uses pathnames to avoids +# conflicts between multiple frameworks or multiple projects +#TEKKOTSU_BUILDDIR ?= $(shell echo /tmp/$(subst /,_,$(TEKKOTSU_ROOT))_build_$(USER) | sed "s/ /\\\ /g") +#PROJECT_BUILDDIR ?= $(shell echo /tmp/`pwd | tr / _`_build_$(USER) | sed "s/ /\\\ /g") ########## TOOL SELECTION VARIABLES ############# @@ -90,4 +93,7 @@ TK_BD:=$(TEKKOTSU_BUILDDIR)/$(TGT_BD) PROJ_BD:=$(PROJECT_BUILDDIR)/$(TGT_BD) $(shell mkdir -p $(TK_BD)) -$(shell mkdir -p $(PROJ_BD)) + +#test:=$(shell echo "TEKKOTSU_BUILDDIR: $(TEKKOTSU_BUILDDIR)" > /dev/tty) +#test:=$(shell echo "PROJECT_BUILDDIR: $(PROJECT_BUILDDIR)" > /dev/tty) +#$(error that's all folks) diff -urdN ../Tekkotsu_2.2.1/project/Makefile ./project/Makefile --- ../Tekkotsu_2.2.1/project/Makefile Tue Nov 16 21:52:45 2004 +++ ./project/Makefile Wed Dec 22 17:25:40 2004 @@ -1,3 +1,8 @@ +################ PROJECT MAKEFILE ################# +############# $Name: HEAD $ ############### +############### $Revision: 1.1 $ ################# +########## $Date: 2004/12/23 08:41:24 $ ########### + # Make sure the default target is 'all' by listing it first all: @@ -6,6 +11,7 @@ ################################################### TEKKOTSU_ENVIRONMENT_CONFIGURATION?=$(shell pwd | sed 's/ /\\ /g')/Environment.conf include $(TEKKOTSU_ENVIRONMENT_CONFIGURATION) +$(shell mkdir -p $(PROJ_BD)) ############# MAKEFILE VARIABLES ################ @@ -428,6 +434,23 @@ install: compile @echo "Installing files to memory stick at $(MEMSTICK_ROOT)" + $(TEKKOTSU_ROOT)/tools/mntmem $(MEMSTICK_ROOT) + @if [ \! -r $(MEMSTICK_ROOT)/open-r/version.txt -o \! -r $(MEMSTICK_ROOT)/open-r/system/objs/ipstack.bin -o \! -r $(MEMSTICK_ROOT)/open-r/system/objs/vr.bin -o \! -r $(MEMSTICK_ROOT)/open-r/system/objs/wlanenbl.bin ] ; then \ + echo "** ERROR: It looks like your memory stick is missing critical system files."; \ + echo "** You may want to 'make newstick' first to clear the memory stick"; \ + echo "** and copy the OPEN-R system files onto it."; \ + echo $(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT); \ + $(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT); \ + exit 1; \ + fi; + @if [ -z "`grep \"$(if $(findstring TGT_ERS7,$(TEKKOTSU_TARGET_MODEL)),ERS-7,ERS-210/220)\" \"$(MEMSTICK_ROOT)/open-r/version.txt\"`" ] ; then \ + echo "** ERROR: It looks like your memory stick has the system files for the wrong"; \ + echo "** model of AIBO. You may want to 'make newstick' first to clear the"; \ + echo "** memory stick and reinstall the OPEN-R system files onto it."; \ + echo $(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT); \ + $(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT); \ + exit 1; \ + fi; @$(TEKKOTSU_ROOT)/tools/cpymem --all --img $(MSIMGDIR) --tgt $(MEMSTICK_ROOT) --tools $(TEKKOTSU_ROOT)/tools @touch .copiedtomemstick.timestamp diff -urdN ../Tekkotsu_2.2.1/project/StartupBehavior.cc ./project/StartupBehavior.cc --- ../Tekkotsu_2.2.1/project/StartupBehavior.cc Wed Nov 10 20:45:37 2004 +++ ./project/StartupBehavior.cc Tue Dec 21 16:49:50 2004 @@ -80,10 +80,10 @@ if(state->robotDesign & WorldState::ERS7Mask) mouthOffset=ERS7Info::MouthOffset; if(mouthOffset!=-1U) { - SharedObject > closeMouth; - closeMouth->setPlayTime(3000); //take 3 seconds to close the mouth + SharedObject closeMouth; + closeMouth->advanceTime(3000); //take 3 seconds to close the mouth closeMouth->setOutputCmd(mouthOffset,outputRanges[mouthOffset][MaxRange]); - closeMouth->setPlayTime(3500); //and hold it for another .5 seconds + closeMouth->advanceTime(500); //and hold it for another .5 seconds closeMouth->setOutputCmd(mouthOffset,outputRanges[mouthOffset][MaxRange]); motman->addPrunableMotion(closeMouth,MotionManager::kEmergencyPriority+1); erouter->addTimer(this,1,3250,false); diff -urdN ../Tekkotsu_2.2.1/project/StartupBehavior_SetupFileAccess.cc ./project/StartupBehavior_SetupFileAccess.cc --- ../Tekkotsu_2.2.1/project/StartupBehavior_SetupFileAccess.cc Mon Oct 18 13:01:38 2004 +++ ./project/StartupBehavior_SetupFileAccess.cc Tue Dec 21 15:29:18 2004 @@ -14,7 +14,7 @@ startSubMenu(); { addItem(new PostureEditor(stop_id)); - addItem(new RunSequenceControl("Run Motion Sequence",stop_id)); + addItem(new RunSequenceControl("Run Motion Sequence",stop_id)); addItem(new PlaySoundControl("Play Sound")); addItem(new WaypointWalkControl()); SetupWalkEdit(); diff -urdN ../Tekkotsu_2.2.1/project/StartupBehavior_SetupModeSwitch.cc ./project/StartupBehavior_SetupModeSwitch.cc --- ../Tekkotsu_2.2.1/project/StartupBehavior_SetupModeSwitch.cc Tue Nov 16 19:01:14 2004 +++ ./project/StartupBehavior_SetupModeSwitch.cc Wed Dec 22 20:49:32 2004 @@ -6,7 +6,7 @@ #include "Behaviors/Demos/AlanBehavior.h" #include "Behaviors/Demos/ChaseBallBehavior.h" #include "Behaviors/Demos/FollowHeadBehavior.h" -#include "Behaviors/Demos/WalkToTargetMachine.h" +#include "Behaviors/Nodes/WalkToTargetNode.h" #include "Behaviors/Demos/HelloWorldBehavior.h" #include "Behaviors/Demos/BanditMachine.h" #include "Behaviors/Demos/SoundTestBehavior.h" @@ -46,7 +46,7 @@ addItem(new ControlBase("State Machine Demos","More fully developed demo applications")); startSubMenu(); { - addItem(new BehaviorSwitchControlBase(new WalkToTargetMachine(ProjectInterface::visPinkBallSID),bg)); + addItem(new BehaviorSwitchControlBase(new WalkToTargetNode("Walk To Target (ball)",ProjectInterface::visPinkBallSID),bg)); addItem(new BehaviorSwitchControl("Bandit State Machine",bg,false)); addItem(new BehaviorSwitchControl("Explore State Machine",bg,false)); addItem(new BehaviorSwitchControl("Pace Targets State Machine",bg,false)); diff -urdN ../Tekkotsu_2.2.1/project/StartupBehavior_SetupTekkotsuMon.cc ./project/StartupBehavior_SetupTekkotsuMon.cc --- ../Tekkotsu_2.2.1/project/StartupBehavior_SetupTekkotsuMon.cc Fri Nov 12 17:07:39 2004 +++ ./project/StartupBehavior_SetupTekkotsuMon.cc Mon Dec 13 21:54:01 2004 @@ -14,6 +14,7 @@ #include "Behaviors/Mon/WorldStateSerializerBehavior.h" #include "Behaviors/Mon/MicrophoneServer.h" #include "Behaviors/Mon/SpeakerServer.h" +#include "Behaviors/Mon/SpiderMachineBehavior.h" ControlBase* StartupBehavior::SetupTekkotsuMon() { @@ -31,6 +32,7 @@ addItem((new BehaviorSwitchControlBase(new EStopControllerBehavior(stop_id)))->start()); addItem(new BehaviorSwitchControlBase(MicrophoneServer::GetInstance())); addItem(new BehaviorSwitchControlBase(SpeakerServer::GetInstance())); + addItem((new BehaviorSwitchControl("Spider State Machines Server",false))); } return endSubMenu(); } diff -urdN ../Tekkotsu_2.2.1/project/StartupBehavior_SetupWalkEdit.cc ./project/StartupBehavior_SetupWalkEdit.cc --- ../Tekkotsu_2.2.1/project/StartupBehavior_SetupWalkEdit.cc Fri May 14 03:18:19 2004 +++ ./project/StartupBehavior_SetupWalkEdit.cc Fri May 14 03:18:19 2004 @@ -9,7 +9,7 @@ * @author PA Gov. School for the Sciences 2003 Team Project - Motion group: Haoqian Chen, Yantian Martin, Jon Stahlman (creators) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/project/ms/config/ers210.kin ./project/ms/config/ers210.kin --- ../Tekkotsu_2.2.1/project/ms/config/ers210.kin Fri Oct 29 19:25:11 2004 +++ ./project/ms/config/ers210.kin Wed Dec 22 21:21:00 2004 @@ -4,6 +4,15 @@ [Default] +[Body] +Name: Body +DH: 1 +Fix: 0 +MinPara: 0 +dof: 0 +Motor: 0 +Stl: 0 + [LFr] Name: LFr @@ -801,7 +810,7 @@ [InterestPoints] -Length: 109 +Length: 121 [InterestPoint1] name: LFr:elvtr @@ -965,601 +974,685 @@ y: 0 z: 0 [InterestPoint24] + name: UpperLChest + chain: Body + link: 0 + x: 95.979 + y: 31.609 + z: 0 +[InterestPoint25] + name: UpperRChest + chain: Body + link: 0 + x: 95.979 + y: -31.609 + z: 0 +[InterestPoint26] + name: LowerLChest + chain: Body + link: 0 + x: 88.298 + y: 26.664 + z: -28.809 +[InterestPoint27] + name: LowerRChest + chain: Body + link: 0 + x: 88.298 + y: -26.664 + z: -28.809 +[InterestPoint28] + name: LFrBelly + chain: Body + link: 0 + x: 53.402 + y: 25.995 + z: -51.758 +[InterestPoint29] + name: RFrBelly + chain: Body + link: 0 + x: 53.402 + y: -25.995 + z: -51.758 +[InterestPoint30] + name: LBkBelly + chain: Body + link: 0 + x: -60.487 + y: 15.015 + z: -51.758 +[InterestPoint31] + name: RBkBelly + chain: Body + link: 0 + x: -60.487 + y: -15.015 + z: -51.758 +[InterestPoint32] + name: LowerLRump + chain: Body + link: 0 + x: -91.844 + y: 26.664 + z: -32.354 +[InterestPoint33] + name: LowerRRump + chain: Body + link: 0 + x: -91.844 + y: -26.664 + z: -32.354 +[InterestPoint34] + name: UpperLRump + chain: Body + link: 0 + x: -101.324 + y: 31.609 + z: 0 +[InterestPoint35] + name: UpperRRump + chain: Body + link: 0 + x: -101.324 + y: -31.609 + z: 0 +[InterestPoint36] name: LowerLeftLowerLip chain: Mouth link: 5 x: 7.139 y: 37.069 z: 11.898 -[InterestPoint25] +[InterestPoint37] name: LowerRightLowerLip chain: Mouth link: 5 x: 7.139 y: 37.069 z: -11.898 -[InterestPoint26] +[InterestPoint38] name: UpperLeftLowerLip chain: Mouth link: 5 x: -1.827 y: 38.225 z: 11.630 -[InterestPoint27] +[InterestPoint39] name: UpperRightLowerLip chain: Mouth link: 5 x: -1.827 y: 38.225 z: -11.630 -[InterestPoint28] +[InterestPoint40] name: LowerLeftUpperLip chain: Mouth link: 4 x: -11.630 y: 19.327 z: 58.044 -[InterestPoint29] +[InterestPoint41] name: LowerRightUpperLip chain: Mouth link: 4 x: 11.630 y: 19.327 z: 58.044 -[InterestPoint30] +[InterestPoint42] name: LowerLeftSnout chain: Camera link: 4 x: -24.917 y: 19.968 z: 65.777 -[InterestPoint31] +[InterestPoint43] name: LowerRightSnout chain: Camera link: 4 x: 24.917 y: 19.968 z: 65.777 -[InterestPoint32] +[InterestPoint44] name: UpperLeftSnout chain: Camera link: 4 x: -20.338 y: -5.542 z: 71.216 -[InterestPoint33] +[InterestPoint45] name: UpperRightSnout chain: Camera link: 4 x: 20.338 y: -5.542 z: 71.216 -[InterestPoint34] +[InterestPoint46] name: LeftMicrophone chain: Camera link: 4 x: -36.515 y: -3.396 z: 21.030 -[InterestPoint35] +[InterestPoint47] name: RightMicrophone chain: Camera link: 4 x: 36.515 y: -3.396 z: 21.030 -[InterestPoint36] +[InterestPoint48] name: FrontHeadButton chain: Camera link: 4 x: 0 y: -44.415 z: 8.284 -[InterestPoint37] +[InterestPoint49] name: RearHeadButton chain: Camera link: 4 x: 0 y: -41.221 z: -6.880 -[InterestPoint38] +[InterestPoint50] name: ToeLFrPaw chain: LFr link: 5 x: 18.464 y: 31.529 z: 0 -[InterestPoint39] +[InterestPoint51] name: ToeRFrPaw chain: RFr link: 5 x: 18.464 y: 31.529 z: 0 -[InterestPoint40] +[InterestPoint52] name: ToeLBkPaw chain: LBk link: 5 x: -4.890 y: 36.210 z: 0 -[InterestPoint41] +[InterestPoint53] name: ToeRBkPaw chain: RBk link: 5 x: -4.890 y: 36.210 z: 0 -[InterestPoint42] +[InterestPoint54] name: LowerOuterFrontLFrShin chain: LFr link: 4 x: 45.272 y: 11.600 z: -15.843 -[InterestPoint43] +[InterestPoint55] name: LowerInnerFrontRFrShin chain: RFr link: 4 x: 45.272 y: 11.600 z: -14.684 -[InterestPoint44] +[InterestPoint56] name: LowerOuterFrontLBkShin chain: LBk link: 4 x: 31.457 y: -30.571 z: 15.843 -[InterestPoint45] +[InterestPoint57] name: LowerInnerFrontRBkShin chain: RBk link: 4 x: 31.457 y: -30.571 z: 14.684 -[InterestPoint46] +[InterestPoint58] name: LowerInnerFrontLFrShin chain: LFr link: 4 x: 45.272 y: 11.600 z: 14.684 -[InterestPoint47] +[InterestPoint59] name: LowerOuterFrontRFrShin chain: RFr link: 4 x: 45.272 y: 11.600 z: 15.843 -[InterestPoint48] +[InterestPoint60] name: LowerInnerFrontLBkShin chain: LBk link: 4 x: 31.457 y: -30.571 z: -14.684 -[InterestPoint49] +[InterestPoint61] name: LowerOuterFrontRBkShin chain: RBk link: 4 x: 31.457 y: -30.571 z: -15.843 -[InterestPoint50] +[InterestPoint62] name: LowerOuterBackLFrShin chain: LFr link: 4 x: 45.891 y: -26.126 z: -15.843 -[InterestPoint51] +[InterestPoint63] name: LowerInnerBackRFrShin chain: RFr link: 4 x: 45.891 y: -26.126 z: -14.684 -[InterestPoint52] +[InterestPoint64] name: LowerOuterBackLBkShin chain: LBk link: 4 x: 65.997 y: -8.442 z: 15.843 -[InterestPoint53] +[InterestPoint65] name: LowerInnerBackRBkShin chain: RBk link: 4 x: 65.997 y: -8.442 z: 14.684 -[InterestPoint54] +[InterestPoint66] name: LowerInnerBackLFrShin chain: LFr link: 4 x: 45.891 y: -26.126 z: 14.684 -[InterestPoint55] +[InterestPoint67] name: LowerOuterBackRFrShin chain: RFr link: 4 x: 45.891 y: -26.126 z: 15.843 -[InterestPoint56] +[InterestPoint68] name: LowerInnerBackLBkShin chain: LBk link: 4 x: 65.997 y: -8.442 z: -14.684 -[InterestPoint57] +[InterestPoint69] name: LowerOuterBackRBkShin chain: RBk link: 4 x: 65.997 y: -8.442 z: -15.843 -[InterestPoint58] +[InterestPoint70] name: MiddleOuterBackLBkShin chain: LBk link: 4 x: 43.912 y: 7.434 z: 15.843 -[InterestPoint59] +[InterestPoint71] name: MiddleInnerBackRBkShin chain: RBk link: 4 x: 43.912 y: 7.434 z: 14.684 -[InterestPoint60] +[InterestPoint72] name: MiddleInnerBackLBkShin chain: LBk link: 4 x: 43.912 y: 7.434 z: -14.684 -[InterestPoint61] +[InterestPoint73] name: MiddleOuterBackRBkShin chain: RBk link: 4 x: 43.912 y: 7.434 z: -15.843 -[InterestPoint62] +[InterestPoint74] name: UpperOuterFrontLFrShin chain: LFr link: 4 x: 11.839 y: 5.510 z: -15.843 -[InterestPoint63] +[InterestPoint75] name: UpperInnerFrontRFrShin chain: RFr link: 4 x: 11.839 y: 5.510 z: -14.684 -[InterestPoint64] +[InterestPoint76] name: UpperOuterFrontLBkShin chain: LBk link: 4 x: .931 y: -25.377 z: 15.843 -[InterestPoint65] +[InterestPoint77] name: UpperInnerFrontRBkShin chain: RBk link: 4 x: .931 y: -25.377 z: 14.684 -[InterestPoint66] +[InterestPoint78] name: UpperInnerFrontLFrShin chain: LFr link: 4 x: 11.839 y: 5.510 z: 14.684 -[InterestPoint67] +[InterestPoint79] name: UpperOuterFrontRFrShin chain: RFr link: 4 x: 11.839 y: 5.510 z: 15.843 -[InterestPoint68] +[InterestPoint80] name: UpperInnerFrontLBkShin chain: LBk link: 4 x: .931 y: -25.377 z: -14.684 -[InterestPoint69] +[InterestPoint81] name: UpperOuterFrontRBkShin chain: RBk link: 4 x: .931 y: -25.377 z: -15.843 -[InterestPoint70] +[InterestPoint82] name: UpperOuterBackLFrShin chain: LFr link: 4 x: -1.381 y: -23.945 z: -15.843 -[InterestPoint71] +[InterestPoint83] name: UpperInnerBackRFrShin chain: RFr link: 4 x: -1.381 y: -23.945 z: -14.684 -[InterestPoint72] +[InterestPoint84] name: UpperOuterBackLBkShin chain: LBk link: 4 x: 13.646 y: 4.905 z: 15.843 -[InterestPoint73] +[InterestPoint85] name: UpperInnerBackRBkShin chain: RBk link: 4 x: 13.646 y: 4.905 z: 14.684 -[InterestPoint74] +[InterestPoint86] name: UpperInnerBackLFrShin chain: LFr link: 4 x: -1.381 y: -23.945 z: 14.684 -[InterestPoint75] +[InterestPoint87] name: UpperOuterBackRFrShin chain: RFr link: 4 x: -1.381 y: -23.945 z: 15.843 -[InterestPoint76] +[InterestPoint88] name: UpperInnerBackLBkShin chain: LBk link: 4 x: 13.646 y: 4.905 z: -14.684 -[InterestPoint77] +[InterestPoint89] name: UpperOuterBackRBkShin chain: RBk link: 4 x: 13.646 y: 4.905 z: -15.843 -[InterestPoint78] +[InterestPoint90] name: LowerOuterFrontLFrThigh chain: LFr link: 3 x: 42.939 y: 14.898 z: 18.749 -[InterestPoint79] +[InterestPoint91] name: LowerInnerFrontRFrThigh chain: RFr link: 3 x: 42.939 y: -14.496 z: -18.749 -[InterestPoint80] +[InterestPoint92] name: LowerOuterFrontLBkThigh chain: LBk link: 3 x: 48.284 y: 14.898 z: 17.459 -[InterestPoint81] +[InterestPoint93] name: LowerInnerFrontRBkThigh chain: RBk link: 3 x: 48.284 y: -14.496 z: -17.459 -[InterestPoint82] +[InterestPoint94] name: LowerInnerFrontLFrThigh chain: LFr link: 3 x: 42.939 y: -14.496 z: 18.749 -[InterestPoint83] +[InterestPoint95] name: LowerOuterFrontRFrThigh chain: RFr link: 3 x: 42.939 y: 14.898 z: -18.749 -[InterestPoint84] +[InterestPoint96] name: LowerInnerFrontLBkThigh chain: LBk link: 3 x: 48.284 y: -14.496 z: 17.459 -[InterestPoint85] +[InterestPoint97] name: LowerOuterFrontRBkThigh chain: RBk link: 3 x: 48.284 y: 14.898 z: -17.459 -[InterestPoint86] +[InterestPoint98] name: LowerOuterBackLFrThigh chain: LFr link: 3 x: 48.284 y: 14.436 z: -17.459 -[InterestPoint87] +[InterestPoint99] name: LowerInnerBackRFrThigh chain: RFr link: 3 x: 48.284 y: -14.027 z: 17.459 -[InterestPoint88] +[InterestPoint100] name: LowerOuterBackLBkThigh chain: LBk link: 3 x: 42.939 y: 14.436 z: -18.749 -[InterestPoint89] +[InterestPoint101] name: LowerInnerBackRBkThigh chain: RBk link: 3 x: 42.939 y: -14.027 z: 18.749 -[InterestPoint90] +[InterestPoint102] name: LowerInnerBackLFrThigh chain: LFr link: 3 x: 48.284 y: -14.027 z: -17.459 -[InterestPoint91] +[InterestPoint103] name: LowerOuterBackRFrThigh chain: RFr link: 3 x: 48.284 y: 14.436 z: 17.459 -[InterestPoint92] +[InterestPoint104] name: LowerInnerBackLBkThigh chain: LBk link: 3 x: 42.939 y: -14.027 z: -18.749 -[InterestPoint93] +[InterestPoint105] name: LowerOuterBackRBkThigh chain: RBk link: 3 x: 42.939 y: 14.436 z: 18.749 -[InterestPoint94] +[InterestPoint106] name: UpperOuterFrontLFrThigh chain: LFr link: 3 x: 15.912 y: -14.492 z: 20.811 -[InterestPoint95] +[InterestPoint107] name: UpperInnerFrontRFrThigh chain: RFr link: 3 x: 0 y: 16.072 z: -20.811 -[InterestPoint96] +[InterestPoint108] name: UpperOuterFrontLBkThigh chain: LBk link: 3 x: 15.912 y: -14.492 z: 20.811 -[InterestPoint97] +[InterestPoint109] name: UpperInnerFrontRBkThigh chain: RBk link: 3 x: 0 y: 16.072 z: -20.811 -[InterestPoint98] +[InterestPoint110] name: UpperInnerFrontLFrThigh chain: LFr link: 3 x: 0 y: 16.072 z: 20.811 -[InterestPoint99] +[InterestPoint111] name: UpperOuterFrontRFrThigh chain: RFr link: 3 x: 15.912 y: -14.492 z: -20.811 -[InterestPoint100] +[InterestPoint112] name: UpperInnerFrontLBkThigh chain: LBk link: 3 x: 0 y: 16.072 z: 20.811 -[InterestPoint101] +[InterestPoint113] name: UpperOuterFrontRBkThigh chain: RBk link: 3 x: 15.912 y: -14.492 z: -20.811 -[InterestPoint102] +[InterestPoint114] name: UpperOuterBackLFrThigh chain: LFr link: 3 x: 15.912 y: -14.492 z: -20.811 -[InterestPoint103] +[InterestPoint115] name: UpperInnerBackRFrThigh chain: RFr link: 3 x: 0 y: 16.072 z: 20.811 -[InterestPoint104] +[InterestPoint116] name: UpperOuterBackLBkThigh chain: LBk link: 3 x: 15.912 y: -14.492 z: -20.811 -[InterestPoint105] +[InterestPoint117] name: UpperInnerBackRBkThigh chain: RBk link: 3 x: 0 y: 16.072 z: 20.811 -[InterestPoint106] +[InterestPoint118] name: UpperInnerBackLFrThigh chain: LFr link: 3 x: 0 y: 16.072 z: -20.811 -[InterestPoint107] +[InterestPoint119] name: UpperOuterBackRFrThigh chain: RFr link: 3 x: 15.912 y: -14.492 z: 20.811 -[InterestPoint108] +[InterestPoint120] name: UpperInnerBackLBkThigh chain: LBk link: 3 x: 0 y: 16.072 z: -20.811 -[InterestPoint109] +[InterestPoint121] name: UpperOuterBackRBkThigh chain: RBk link: 3 diff -urdN ../Tekkotsu_2.2.1/project/ms/config/ers220.kin ./project/ms/config/ers220.kin --- ../Tekkotsu_2.2.1/project/ms/config/ers220.kin Fri Oct 29 19:25:12 2004 +++ ./project/ms/config/ers220.kin Wed Dec 22 21:21:00 2004 @@ -4,6 +4,15 @@ [Default] +[Body] +Name: Body +DH: 1 +Fix: 0 +MinPara: 0 +dof: 0 +Motor: 0 +Stl: 0 + [LFr] Name: LFr @@ -691,7 +700,7 @@ [InterestPoints] -Length: 103 +Length: 115 [InterestPoint1] name: LFr:elvtr @@ -848,566 +857,650 @@ y: 0 z: 0 [InterestPoint23] + name: UpperLChest + chain: Body + link: 0 + x: 100.701 + y: 26.664 + z: -11.980 +[InterestPoint24] + name: UpperRChest + chain: Body + link: 0 + x: 100.701 + y: -26.664 + z: -11.980 +[InterestPoint25] + name: LowerLChest + chain: Body + link: 0 + x: 88.298 + y: 26.664 + z: -28.809 +[InterestPoint26] + name: LowerRChest + chain: Body + link: 0 + x: 88.298 + y: -26.664 + z: -28.809 +[InterestPoint27] + name: LFrBelly + chain: Body + link: 0 + x: 53.402 + y: 25.995 + z: -51.758 +[InterestPoint28] + name: RFrBelly + chain: Body + link: 0 + x: 53.402 + y: -25.995 + z: -51.758 +[InterestPoint29] + name: LBkBelly + chain: Body + link: 0 + x: -60.487 + y: 15.015 + z: -51.758 +[InterestPoint30] + name: RBkBelly + chain: Body + link: 0 + x: -60.487 + y: -15.015 + z: -51.758 +[InterestPoint31] + name: LowerLRump + chain: Body + link: 0 + x: -91.844 + y: 26.664 + z: -32.354 +[InterestPoint32] + name: LowerRRump + chain: Body + link: 0 + x: -91.844 + y: -26.664 + z: -32.354 +[InterestPoint33] + name: UpperLRump + chain: Body + link: 0 + x: -101.324 + y: 31.609 + z: 0 +[InterestPoint34] + name: UpperRRump + chain: Body + link: 0 + x: -101.324 + y: -31.609 + z: 0 +[InterestPoint35] name: LowerLeftSnout chain: Camera link: 4 x: -16.369 y: 14.469 z: 57.925 -[InterestPoint24] +[InterestPoint36] name: LowerRightSnout chain: Camera link: 4 x: 16.369 y: 14.469 z: 57.925 -[InterestPoint25] +[InterestPoint37] name: UpperLeftSnout chain: Camera link: 4 x: -27.545 y: -18.406 z: 57.925 -[InterestPoint26] +[InterestPoint38] name: UpperRightSnout chain: Camera link: 4 x: 27.545 y: -18.406 z: 57.925 -[InterestPoint27] +[InterestPoint39] name: LeftMicrophone chain: Camera link: 4 x: -42.574 y: -14.440 z: 0 -[InterestPoint28] +[InterestPoint40] name: RightMicrophone chain: Camera link: 4 x: 42.574 y: -14.440 z: 0 -[InterestPoint29] +[InterestPoint41] name: AntennaBase chain: Camera link: 4 x: 23.286 y: -36.059 z: -1.042 -[InterestPoint30] +[InterestPoint42] name: AntennaTip chain: Camera link: 4 x: 23.286 y: -67.273 z: -12.955 -[InterestPoint31] +[InterestPoint43] name: HeadLight chain: Camera link: 4 x: 0 y: -45.903 z: 37.769 -[InterestPoint32] +[InterestPoint44] name: ToeLFrPaw chain: LFr link: 5 x: 18.464 y: 31.529 z: 0 -[InterestPoint33] +[InterestPoint45] name: ToeRFrPaw chain: RFr link: 5 x: 18.464 y: 31.529 z: 0 -[InterestPoint34] +[InterestPoint46] name: ToeLBkPaw chain: LBk link: 5 x: -4.890 y: 36.210 z: 0 -[InterestPoint35] +[InterestPoint47] name: ToeRBkPaw chain: RBk link: 5 x: -4.890 y: 36.210 z: 0 -[InterestPoint36] +[InterestPoint48] name: LowerOuterFrontLFrShin chain: LFr link: 4 x: 52.075 y: 20.986 z: -15.843 -[InterestPoint37] +[InterestPoint49] name: LowerInnerFrontRFrShin chain: RFr link: 4 x: 52.075 y: 20.986 z: -14.684 -[InterestPoint38] +[InterestPoint50] name: LowerOuterFrontLBkShin chain: LBk link: 4 x: 23.361 y: -30.920 z: 15.843 -[InterestPoint39] +[InterestPoint51] name: LowerInnerFrontRBkShin chain: RBk link: 4 x: 23.361 y: -30.920 z: 14.684 -[InterestPoint40] +[InterestPoint52] name: LowerInnerFrontLFrShin chain: LFr link: 4 x: 52.075 y: 20.986 z: 14.684 -[InterestPoint41] +[InterestPoint53] name: LowerOuterFrontRFrShin chain: RFr link: 4 x: 52.075 y: 20.986 z: 15.843 -[InterestPoint42] +[InterestPoint54] name: LowerInnerFrontLBkShin chain: LBk link: 4 x: 23.361 y: -30.920 z: -14.684 -[InterestPoint43] +[InterestPoint55] name: LowerOuterFrontRBkShin chain: RBk link: 4 x: 23.361 y: -30.920 z: -15.843 -[InterestPoint44] +[InterestPoint56] name: LowerOuterBackLFrShin chain: LFr link: 4 x: 45.891 y: -26.126 z: -15.843 -[InterestPoint45] +[InterestPoint57] name: LowerInnerBackRFrShin chain: RFr link: 4 x: 45.891 y: -26.126 z: -14.684 -[InterestPoint46] +[InterestPoint58] name: LowerOuterBackLBkShin chain: LBk link: 4 x: 65.997 y: -8.442 z: 15.843 -[InterestPoint47] +[InterestPoint59] name: LowerInnerBackRBkShin chain: RBk link: 4 x: 65.997 y: -8.442 z: 14.684 -[InterestPoint48] +[InterestPoint60] name: LowerInnerBackLFrShin chain: LFr link: 4 x: 45.891 y: -26.126 z: 14.684 -[InterestPoint49] +[InterestPoint61] name: LowerOuterBackRFrShin chain: RFr link: 4 x: 45.891 y: -26.126 z: 15.843 -[InterestPoint50] +[InterestPoint62] name: LowerInnerBackLBkShin chain: LBk link: 4 x: 65.997 y: -8.442 z: -14.684 -[InterestPoint51] +[InterestPoint63] name: LowerOuterBackRBkShin chain: RBk link: 4 x: 65.997 y: -8.442 z: -15.843 -[InterestPoint52] +[InterestPoint64] name: MiddleOuterBackLBkShin chain: LBk link: 4 x: 43.912 y: 7.434 z: 15.843 -[InterestPoint53] +[InterestPoint65] name: MiddleInnerBackRBkShin chain: RBk link: 4 x: 43.912 y: 7.434 z: 14.684 -[InterestPoint54] +[InterestPoint66] name: MiddleInnerBackLBkShin chain: LBk link: 4 x: 43.912 y: 7.434 z: -14.684 -[InterestPoint55] +[InterestPoint67] name: MiddleOuterBackRBkShin chain: RBk link: 4 x: 43.912 y: 7.434 z: -15.843 -[InterestPoint56] +[InterestPoint68] name: UpperOuterFrontLFrShin chain: LFr link: 4 x: 11.839 y: 5.510 z: -15.843 -[InterestPoint57] +[InterestPoint69] name: UpperInnerFrontRFrShin chain: RFr link: 4 x: 11.839 y: 5.510 z: -14.684 -[InterestPoint58] +[InterestPoint70] name: UpperOuterFrontLBkShin chain: LBk link: 4 x: 8.036 y: -22.656 z: 15.843 -[InterestPoint59] +[InterestPoint71] name: UpperInnerFrontRBkShin chain: RBk link: 4 x: 8.036 y: -22.656 z: 14.684 -[InterestPoint60] +[InterestPoint72] name: UpperInnerFrontLFrShin chain: LFr link: 4 x: 11.839 y: 5.510 z: 14.684 -[InterestPoint61] +[InterestPoint73] name: UpperOuterFrontRFrShin chain: RFr link: 4 x: 11.839 y: 5.510 z: 15.843 -[InterestPoint62] +[InterestPoint74] name: UpperInnerFrontLBkShin chain: LBk link: 4 x: 8.036 y: -22.656 z: -14.684 -[InterestPoint63] +[InterestPoint75] name: UpperOuterFrontRBkShin chain: RBk link: 4 x: 8.036 y: -22.656 z: -15.843 -[InterestPoint64] +[InterestPoint76] name: UpperOuterBackLFrShin chain: LFr link: 4 x: -1.381 y: -23.945 z: -15.843 -[InterestPoint65] +[InterestPoint77] name: UpperInnerBackRFrShin chain: RFr link: 4 x: -1.381 y: -23.945 z: -14.684 -[InterestPoint66] +[InterestPoint78] name: UpperOuterBackLBkShin chain: LBk link: 4 x: 13.646 y: 4.905 z: 15.843 -[InterestPoint67] +[InterestPoint79] name: UpperInnerBackRBkShin chain: RBk link: 4 x: 13.646 y: 4.905 z: 14.684 -[InterestPoint68] +[InterestPoint80] name: UpperInnerBackLFrShin chain: LFr link: 4 x: -1.381 y: -23.945 z: 14.684 -[InterestPoint69] +[InterestPoint81] name: UpperOuterBackRFrShin chain: RFr link: 4 x: -1.381 y: -23.945 z: 15.843 -[InterestPoint70] +[InterestPoint82] name: UpperInnerBackLBkShin chain: LBk link: 4 x: 13.646 y: 4.905 z: -14.684 -[InterestPoint71] +[InterestPoint83] name: UpperOuterBackRBkShin chain: RBk link: 4 x: 13.646 y: 4.905 z: -15.843 -[InterestPoint72] +[InterestPoint84] name: LowerOuterFrontLFrThigh chain: LFr link: 3 x: 36.841 y: 15.300 z: 17.244 -[InterestPoint73] +[InterestPoint85] name: LowerInnerFrontRFrThigh chain: RFr link: 3 x: 36.841 y: -14.994 z: -17.244 -[InterestPoint74] +[InterestPoint86] name: LowerOuterFrontLBkThigh chain: LBk link: 3 x: 42.819 y: 15.300 z: 17.814 -[InterestPoint75] +[InterestPoint87] name: LowerInnerFrontRBkThigh chain: RBk link: 3 x: 42.819 y: -14.994 z: -17.814 -[InterestPoint76] +[InterestPoint88] name: LowerInnerFrontLFrThigh chain: LFr link: 3 x: 36.841 y: -14.994 z: 17.244 -[InterestPoint77] +[InterestPoint89] name: LowerOuterFrontRFrThigh chain: RFr link: 3 x: 36.841 y: 15.300 z: -17.244 -[InterestPoint78] +[InterestPoint90] name: LowerInnerFrontLBkThigh chain: LBk link: 3 x: 42.819 y: -14.994 z: 17.814 -[InterestPoint79] +[InterestPoint91] name: LowerOuterFrontRBkThigh chain: RBk link: 3 x: 42.819 y: 15.300 z: -17.814 -[InterestPoint80] +[InterestPoint92] name: LowerOuterBackLFrThigh chain: LFr link: 3 x: 42.819 y: 15.925 z: -17.814 -[InterestPoint81] +[InterestPoint93] name: LowerInnerBackRFrThigh chain: RFr link: 3 x: 42.819 y: -14.994 z: 17.814 -[InterestPoint82] +[InterestPoint94] name: LowerOuterBackLBkThigh chain: LBk link: 3 x: 36.841 y: 15.925 z: -17.244 -[InterestPoint83] +[InterestPoint95] name: LowerInnerBackRBkThigh chain: RBk link: 3 x: 36.841 y: -14.994 z: 17.244 -[InterestPoint84] +[InterestPoint96] name: LowerInnerBackLFrThigh chain: LFr link: 3 x: 42.819 y: -14.994 z: -17.814 -[InterestPoint85] +[InterestPoint97] name: LowerOuterBackRFrThigh chain: RFr link: 3 x: 42.819 y: 15.925 z: 17.814 -[InterestPoint86] +[InterestPoint98] name: LowerInnerBackLBkThigh chain: LBk link: 3 x: 36.841 y: -14.994 z: -17.244 -[InterestPoint87] +[InterestPoint99] name: LowerOuterBackRBkThigh chain: RBk link: 3 x: 36.841 y: 15.925 z: 17.244 -[InterestPoint88] +[InterestPoint100] name: UpperOuterFrontLFrThigh chain: LFr link: 3 x: 15.238 y: 14.844 z: 16.736 -[InterestPoint89] +[InterestPoint101] name: UpperInnerFrontRFrThigh chain: RFr link: 3 x: 15.238 y: -14.994 z: -16.736 -[InterestPoint90] +[InterestPoint102] name: UpperOuterFrontLBkThigh chain: LBk link: 3 x: 15.238 y: 14.844 z: 16.736 -[InterestPoint91] +[InterestPoint103] name: UpperInnerFrontRBkThigh chain: RBk link: 3 x: 15.238 y: -14.994 z: -16.736 -[InterestPoint92] +[InterestPoint104] name: UpperInnerFrontLFrThigh chain: LFr link: 3 x: 15.238 y: -14.994 z: 16.736 -[InterestPoint93] +[InterestPoint105] name: UpperOuterFrontRFrThigh chain: RFr link: 3 x: 15.238 y: 14.844 z: -16.736 -[InterestPoint94] +[InterestPoint106] name: UpperInnerFrontLBkThigh chain: LBk link: 3 x: 15.238 y: -14.994 z: 16.736 -[InterestPoint95] +[InterestPoint107] name: UpperOuterFrontRBkThigh chain: RBk link: 3 x: 15.238 y: 14.844 z: -16.736 -[InterestPoint96] +[InterestPoint108] name: UpperOuterBackLFrThigh chain: LFr link: 3 x: 15.238 y: 14.844 z: -16.736 -[InterestPoint97] +[InterestPoint109] name: UpperInnerBackRFrThigh chain: RFr link: 3 x: 15.238 y: -14.994 z: 16.736 -[InterestPoint98] +[InterestPoint110] name: UpperOuterBackLBkThigh chain: LBk link: 3 x: 15.238 y: 14.844 z: -16.736 -[InterestPoint99] +[InterestPoint111] name: UpperInnerBackRBkThigh chain: RBk link: 3 x: 15.238 y: -14.994 z: 16.736 -[InterestPoint100] +[InterestPoint112] name: UpperInnerBackLFrThigh chain: LFr link: 3 x: 15.238 y: -14.994 z: -16.736 -[InterestPoint101] +[InterestPoint113] name: UpperOuterBackRFrThigh chain: RFr link: 3 x: 15.238 y: 14.844 z: 16.736 -[InterestPoint102] +[InterestPoint114] name: UpperInnerBackLBkThigh chain: LBk link: 3 x: 15.238 y: -14.994 z: -16.736 -[InterestPoint103] +[InterestPoint115] name: UpperOuterBackRBkThigh chain: RBk link: 3 diff -urdN ../Tekkotsu_2.2.1/project/ms/config/ers7.kin ./project/ms/config/ers7.kin --- ../Tekkotsu_2.2.1/project/ms/config/ers7.kin Mon Oct 18 19:11:05 2004 +++ ./project/ms/config/ers7.kin Wed Dec 22 21:21:00 2004 @@ -4,6 +4,15 @@ [Default] +[Body] +Name: Body +DH: 1 +Fix: 0 +MinPara: 0 +dof: 0 +Motor: 0 +Stl: 0 + [LFr] Name: LFr @@ -1021,7 +1030,7 @@ [InterestPoints] -Length: 122 +Length: 134 [InterestPoint1] name: LFr:elvtr @@ -1199,678 +1208,762 @@ y: 0 z: 0 [InterestPoint26] + name: UpperLChest + chain: Body + link: 0 + x: 107.560 + y: 23.448 + z: 0 +[InterestPoint27] + name: UpperRChest + chain: Body + link: 0 + x: 107.560 + y: -23.448 + z: 0 +[InterestPoint28] + name: LowerLChest + chain: Body + link: 0 + x: 95.250 + y: 29.631 + z: -30.070 +[InterestPoint29] + name: LowerRChest + chain: Body + link: 0 + x: 95.250 + y: -29.631 + z: -30.070 +[InterestPoint30] + name: LFrBelly + chain: Body + link: 0 + x: 55.290 + y: 20.238 + z: -52.270 +[InterestPoint31] + name: RFrBelly + chain: Body + link: 0 + x: 55.290 + y: -20.238 + z: -52.270 +[InterestPoint32] + name: LBkBelly + chain: Body + link: 0 + x: -60.540 + y: 25.238 + z: -49.850 +[InterestPoint33] + name: RBkBelly + chain: Body + link: 0 + x: -60.540 + y: -25.238 + z: -49.850 +[InterestPoint34] + name: LowerLRump + chain: Body + link: 0 + x: -97.070 + y: 29.631 + z: -31.880 +[InterestPoint35] + name: LowerRRump + chain: Body + link: 0 + x: -97.070 + y: -29.631 + z: -31.880 +[InterestPoint36] + name: UpperLRump + chain: Body + link: 0 + x: -108.970 + y: 29.631 + z: 0 +[InterestPoint37] + name: UpperRRump + chain: Body + link: 0 + x: -108.970 + y: -29.631 + z: 0 +[InterestPoint38] name: LowerLeftLowerLip chain: Mouth link: 5 x: 40.851 y: 12.275 z: -16.128 -[InterestPoint27] +[InterestPoint39] name: LowerRightLowerLip chain: Mouth link: 5 x: 40.851 y: 12.275 z: 16.128 -[InterestPoint28] +[InterestPoint40] name: UpperLeftLowerLip chain: Mouth link: 5 x: 38.378 y: 11.203 z: -11.397 -[InterestPoint29] +[InterestPoint41] name: UpperRightLowerLip chain: Mouth link: 5 x: 38.378 y: 11.203 z: 11.397 -[InterestPoint30] +[InterestPoint42] name: LowerLeftUpperLip chain: Mouth link: 4 x: 79.518 y: -22.291 z: -11.397 -[InterestPoint31] +[InterestPoint43] name: LowerRightUpperLip chain: Mouth link: 4 x: 79.518 y: -22.291 z: 11.397 -[InterestPoint32] +[InterestPoint44] name: LowerLeftSnout chain: Camera link: 4 x: 54.223 y: -21.146 z: -37.291 -[InterestPoint33] +[InterestPoint45] name: LowerRightSnout chain: Camera link: 4 x: 54.223 y: -21.146 z: 37.291 -[InterestPoint34] +[InterestPoint46] name: UpperLeftSnout chain: Camera link: 4 x: 54.223 y: 7.605 z: -26.284 -[InterestPoint35] +[InterestPoint47] name: UpperRightSnout chain: Camera link: 4 x: 54.223 y: 7.605 z: 26.284 -[InterestPoint36] +[InterestPoint48] name: LeftMicrophone chain: Camera link: 4 x: -11.156 y: 14.897 z: -46.941 -[InterestPoint37] +[InterestPoint49] name: RightMicrophone chain: Camera link: 4 x: -11.156 y: 14.897 z: 46.941 -[InterestPoint38] +[InterestPoint50] name: HeadButton chain: Camera link: 4 x: -7.704 y: 41.192 z: 0 -[InterestPoint39] +[InterestPoint51] name: ToeLFrPaw chain: LFr link: 5 x: 7.180 y: 29.548 z: 0 -[InterestPoint40] +[InterestPoint52] name: ToeRFrPaw chain: RFr link: 5 x: 7.180 y: 29.548 z: 0 -[InterestPoint41] +[InterestPoint53] name: ToeLBkPaw chain: LBk link: 5 x: -6.414 y: 27.759 z: 0 -[InterestPoint42] +[InterestPoint54] name: ToeRBkPaw chain: RBk link: 5 x: -6.414 y: 27.759 z: 0 -[InterestPoint43] +[InterestPoint55] name: LowerOuterFrontLFrShin chain: LFr link: 4 x: 59.298 y: 21.239 z: -24.557 -[InterestPoint44] +[InterestPoint56] name: LowerInnerFrontRFrShin chain: RFr link: 4 x: 59.298 y: 21.239 z: -15.158 -[InterestPoint45] +[InterestPoint57] name: LowerOuterFrontLBkShin chain: LBk link: 4 x: 41.172 y: -33.863 z: 24.557 -[InterestPoint46] +[InterestPoint58] name: LowerInnerFrontRBkShin chain: RBk link: 4 x: 41.172 y: -33.863 z: 15.158 -[InterestPoint47] +[InterestPoint59] name: LowerInnerFrontLFrShin chain: LFr link: 4 x: 59.298 y: 21.239 z: 15.158 -[InterestPoint48] +[InterestPoint60] name: LowerOuterFrontRFrShin chain: RFr link: 4 x: 59.298 y: 21.239 z: 24.557 -[InterestPoint49] +[InterestPoint61] name: LowerInnerFrontLBkShin chain: LBk link: 4 x: 41.172 y: -33.863 z: -15.158 -[InterestPoint50] +[InterestPoint62] name: LowerOuterFrontRBkShin chain: RBk link: 4 x: 41.172 y: -33.863 z: -24.557 -[InterestPoint51] +[InterestPoint63] name: LowerOuterMiddleLFrShin chain: LFr link: 4 x: 63.011 y: -15.573 z: -24.557 -[InterestPoint52] +[InterestPoint64] name: LowerInnerMiddleRFrShin chain: RFr link: 4 x: 63.011 y: -15.573 z: -15.158 -[InterestPoint53] +[InterestPoint65] name: LowerOuterMiddleLBkShin chain: LBk link: 4 x: 75.203 y: -8.342 z: 24.557 -[InterestPoint54] +[InterestPoint66] name: LowerInnerMiddleRBkShin chain: RBk link: 4 x: 75.203 y: -8.342 z: 15.158 -[InterestPoint55] +[InterestPoint67] name: LowerInnerMiddleLFrShin chain: LFr link: 4 x: 63.011 y: -15.573 z: 15.158 -[InterestPoint56] +[InterestPoint68] name: LowerOuterMiddleRFrShin chain: RFr link: 4 x: 63.011 y: -15.573 z: 24.557 -[InterestPoint57] +[InterestPoint69] name: LowerInnerMiddleLBkShin chain: LBk link: 4 x: 75.203 y: -8.342 z: -15.158 -[InterestPoint58] +[InterestPoint70] name: LowerOuterMiddleRBkShin chain: RBk link: 4 x: 75.203 y: -8.342 z: -24.557 -[InterestPoint59] +[InterestPoint71] name: LowerOuterBackLFrShin chain: LFr link: 4 x: 40.581 y: -26.402 z: -24.557 -[InterestPoint60] +[InterestPoint72] name: LowerInnerBackRFrShin chain: RFr link: 4 x: 40.581 y: -26.402 z: -15.158 -[InterestPoint61] +[InterestPoint73] name: LowerOuterBackLBkShin chain: LBk link: 4 x: 71.133 y: 8.187 z: 24.557 -[InterestPoint62] +[InterestPoint74] name: LowerInnerBackRBkShin chain: RBk link: 4 x: 71.133 y: 8.187 z: 15.158 -[InterestPoint63] +[InterestPoint75] name: LowerInnerBackLFrShin chain: LFr link: 4 x: 40.581 y: -26.402 z: 15.158 -[InterestPoint64] +[InterestPoint76] name: LowerOuterBackRFrShin chain: RFr link: 4 x: 40.581 y: -26.402 z: 24.557 -[InterestPoint65] +[InterestPoint77] name: LowerInnerBackLBkShin chain: LBk link: 4 x: 71.133 y: 8.187 z: -15.158 -[InterestPoint66] +[InterestPoint78] name: LowerOuterBackRBkShin chain: RBk link: 4 x: 71.133 y: 8.187 z: -24.557 -[InterestPoint67] +[InterestPoint79] name: MiddleOuterMiddleLFrShin chain: LFr link: 4 x: 42.057 y: -10.714 z: -27.747 -[InterestPoint68] +[InterestPoint80] name: MiddleInnerMiddleRFrShin chain: RFr link: 4 x: 42.057 y: -10.714 z: -18.353 -[InterestPoint69] +[InterestPoint81] name: MiddleOuterMiddleLBkShin chain: LBk link: 4 x: 41.625 y: -11.335 z: 27.747 -[InterestPoint70] +[InterestPoint82] name: MiddleInnerMiddleRBkShin chain: RBk link: 4 x: 41.625 y: -11.335 z: 18.353 -[InterestPoint71] +[InterestPoint83] name: MiddleInnerMiddleLFrShin chain: LFr link: 4 x: 42.057 y: -10.714 z: 18.353 -[InterestPoint72] +[InterestPoint84] name: MiddleOuterMiddleRFrShin chain: RFr link: 4 x: 42.057 y: -10.714 z: 27.747 -[InterestPoint73] +[InterestPoint85] name: MiddleInnerMiddleLBkShin chain: LBk link: 4 x: 41.625 y: -11.335 z: -18.353 -[InterestPoint74] +[InterestPoint86] name: MiddleOuterMiddleRBkShin chain: RBk link: 4 x: 41.625 y: -11.335 z: -27.747 -[InterestPoint75] +[InterestPoint87] name: UpperOuterFrontLFrShin chain: LFr link: 4 x: 29.289 y: 14.743 z: -23.426 -[InterestPoint76] +[InterestPoint88] name: UpperInnerFrontRFrShin chain: RFr link: 4 x: 29.289 y: 14.743 z: -14.026 -[InterestPoint77] +[InterestPoint89] name: UpperOuterFrontLBkShin chain: LBk link: 4 x: 2.812 y: -22.417 z: 23.426 -[InterestPoint78] +[InterestPoint90] name: UpperInnerFrontRBkShin chain: RBk link: 4 x: 2.812 y: -22.417 z: 14.026 -[InterestPoint79] +[InterestPoint91] name: UpperInnerFrontLFrShin chain: LFr link: 4 x: 29.289 y: 14.743 z: 14.026 -[InterestPoint80] +[InterestPoint92] name: UpperOuterFrontRFrShin chain: RFr link: 4 x: 29.289 y: 14.743 z: 23.426 -[InterestPoint81] +[InterestPoint93] name: UpperInnerFrontLBkShin chain: LBk link: 4 x: 2.812 y: -22.417 z: -14.026 -[InterestPoint82] +[InterestPoint94] name: UpperOuterFrontRBkShin chain: RBk link: 4 x: 2.812 y: -22.417 z: -23.426 -[InterestPoint83] +[InterestPoint95] name: UpperOuterBackLFrShin chain: LFr link: 4 x: 6.397 y: -20.060 z: -23.426 -[InterestPoint84] +[InterestPoint96] name: UpperInnerBackRFrShin chain: RFr link: 4 x: 6.397 y: -20.060 z: -14.026 -[InterestPoint85] +[InterestPoint97] name: UpperOuterBackLBkShin chain: LBk link: 4 x: 32.869 y: 9.622 z: 23.426 -[InterestPoint86] +[InterestPoint98] name: UpperInnerBackRBkShin chain: RBk link: 4 x: 32.869 y: 9.622 z: 14.026 -[InterestPoint87] +[InterestPoint99] name: UpperInnerBackLFrShin chain: LFr link: 4 x: 6.397 y: -20.060 z: 14.026 -[InterestPoint88] +[InterestPoint100] name: UpperOuterBackRFrShin chain: RFr link: 4 x: 6.397 y: -20.060 z: 23.426 -[InterestPoint89] +[InterestPoint101] name: UpperInnerBackLBkShin chain: LBk link: 4 x: 32.869 y: 9.622 z: -14.026 -[InterestPoint90] +[InterestPoint102] name: UpperOuterBackRBkShin chain: RBk link: 4 x: 32.869 y: 9.622 z: -23.426 -[InterestPoint91] +[InterestPoint103] name: LowerOuterFrontLFrThigh chain: LFr link: 3 x: 47.947 y: 14.539 z: 17.189 -[InterestPoint92] +[InterestPoint104] name: LowerInnerFrontRFrThigh chain: RFr link: 3 x: 47.947 y: -5.043 z: -17.189 -[InterestPoint93] +[InterestPoint105] name: LowerOuterFrontLBkThigh chain: LBk link: 3 x: 47.947 y: 14.539 z: 17.189 -[InterestPoint94] +[InterestPoint106] name: LowerInnerFrontRBkThigh chain: RBk link: 3 x: 47.947 y: -5.043 z: -17.189 -[InterestPoint95] +[InterestPoint107] name: LowerInnerFrontLFrThigh chain: LFr link: 3 x: 47.947 y: -5.043 z: 17.189 -[InterestPoint96] +[InterestPoint108] name: LowerOuterFrontRFrThigh chain: RFr link: 3 x: 47.947 y: 14.539 z: -17.189 -[InterestPoint97] +[InterestPoint109] name: LowerInnerFrontLBkThigh chain: LBk link: 3 x: 47.947 y: -5.043 z: 17.189 -[InterestPoint98] +[InterestPoint110] name: LowerOuterFrontRBkThigh chain: RBk link: 3 x: 47.947 y: 14.539 z: -17.189 -[InterestPoint99] +[InterestPoint111] name: LowerOuterBackLFrThigh chain: LFr link: 3 x: 47.947 y: 14.539 z: -17.189 -[InterestPoint100] +[InterestPoint112] name: LowerInnerBackRFrThigh chain: RFr link: 3 x: 47.947 y: -5.043 z: 17.189 -[InterestPoint101] +[InterestPoint113] name: LowerOuterBackLBkThigh chain: LBk link: 3 x: 47.947 y: 14.539 z: -17.189 -[InterestPoint102] +[InterestPoint114] name: LowerInnerBackRBkThigh chain: RBk link: 3 x: 47.947 y: -5.043 z: 17.189 -[InterestPoint103] +[InterestPoint115] name: LowerInnerBackLFrThigh chain: LFr link: 3 x: 47.947 y: -5.043 z: -17.189 -[InterestPoint104] +[InterestPoint116] name: LowerOuterBackRFrThigh chain: RFr link: 3 x: 47.947 y: 14.539 z: 17.189 -[InterestPoint105] +[InterestPoint117] name: LowerInnerBackLBkThigh chain: LBk link: 3 x: 47.947 y: -5.043 z: -17.189 -[InterestPoint106] +[InterestPoint118] name: LowerOuterBackRBkThigh chain: RBk link: 3 x: 47.947 y: 14.539 z: 17.189 -[InterestPoint107] +[InterestPoint119] name: UpperOuterFrontLFrThigh chain: LFr link: 3 x: 0 y: 10.310 z: 17.189 -[InterestPoint108] +[InterestPoint120] name: UpperInnerFrontRFrThigh chain: RFr link: 3 x: 0 y: -5.043 z: -17.189 -[InterestPoint109] +[InterestPoint121] name: UpperOuterFrontLBkThigh chain: LBk link: 3 x: 0 y: 10.310 z: 17.189 -[InterestPoint110] +[InterestPoint122] name: UpperInnerFrontRBkThigh chain: RBk link: 3 x: 0 y: -5.043 z: -17.189 -[InterestPoint111] +[InterestPoint123] name: UpperInnerFrontLFrThigh chain: LFr link: 3 x: 0 y: -5.043 z: 17.189 -[InterestPoint112] +[InterestPoint124] name: UpperOuterFrontRFrThigh chain: RFr link: 3 x: 0 y: 10.310 z: -17.189 -[InterestPoint113] +[InterestPoint125] name: UpperInnerFrontLBkThigh chain: LBk link: 3 x: 0 y: -5.043 z: 17.189 -[InterestPoint114] +[InterestPoint126] name: UpperOuterFrontRBkThigh chain: RBk link: 3 x: 0 y: 10.310 z: -17.189 -[InterestPoint115] +[InterestPoint127] name: UpperOuterBackLFrThigh chain: LFr link: 3 x: 0 y: 10.310 z: -17.189 -[InterestPoint116] +[InterestPoint128] name: UpperInnerBackRFrThigh chain: RFr link: 3 x: 0 y: -5.043 z: 17.189 -[InterestPoint117] +[InterestPoint129] name: UpperOuterBackLBkThigh chain: LBk link: 3 x: 0 y: 10.310 z: -17.189 -[InterestPoint118] +[InterestPoint130] name: UpperInnerBackRBkThigh chain: RBk link: 3 x: 0 y: -5.043 z: 17.189 -[InterestPoint119] +[InterestPoint131] name: UpperInnerBackLFrThigh chain: LFr link: 3 x: 0 y: -5.043 z: -17.189 -[InterestPoint120] +[InterestPoint132] name: UpperOuterBackRFrThigh chain: RFr link: 3 x: 0 y: 10.310 z: 17.189 -[InterestPoint121] +[InterestPoint133] name: UpperInnerBackLBkThigh chain: LBk link: 3 x: 0 y: -5.043 z: -17.189 -[InterestPoint122] +[InterestPoint134] name: UpperOuterBackRBkThigh chain: RBk link: 3 diff -urdN ../Tekkotsu_2.2.1/project/ms/config/ers7pnts.kin ./project/ms/config/ers7pnts.kin --- ../Tekkotsu_2.2.1/project/ms/config/ers7pnts.kin Wed Dec 31 19:00:00 1969 +++ ./project/ms/config/ers7pnts.kin Wed Dec 22 21:21:00 2004 @@ -0,0 +1,1972 @@ +# ---------------------------------------------------------------- +# Robot configuration File +# ---------------------------------------------------------------- + +[Default] + +[Body] +Name: Body +DH: 1 +Fix: 0 +MinPara: 0 +dof: 0 +Motor: 0 +Stl: 0 + + +[LFr] +Name: LFr +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[LFr_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 65.0 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[LFr_LINK2] +joint_type: 0 +theta: -1.570796326794895 +d: -62.5 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -2.2689 +theta_max: 2.0071 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 0 + +[LFr_LINK3] +joint_type: 0 +theta: 0.0 +d: 9.0 +a: 69.5 +alpha: 1.570796326794895 +theta_min: -0.1745 +theta_max: 1.5359 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 1 + +[LFr_LINK4] +joint_type: 0 +theta: -0.07122 +d: -4.7 +a: 70.1646 +alpha: 0.0 +theta_min: -0.4363 +theta_max: 2.1293 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 2 + +[LFr_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 1 + + +[RFr] +Name: RFr +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[RFr_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 65.0 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[RFr_LINK2] +joint_type: 0 +theta: -1.570796326794895 +d: 62.5 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -2.2689 +theta_max: 2.0071 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 3 + +[RFr_LINK3] +joint_type: 0 +theta: 0.0 +d: -9.0 +a: 69.5 +alpha: -1.570796326794895 +theta_min: -0.1745 +theta_max: 1.5359 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 4 + +[RFr_LINK4] +joint_type: 0 +theta: -0.07122 +d: 4.7 +a: 70.1646 +alpha: 0.0 +theta_min: -0.4363 +theta_max: 2.1293 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 5 + +[RFr_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 2 + + +[LBk] +Name: LBk +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[LBk_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: -65.0 +alpha: -1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[LBk_LINK2] +joint_type: 0 +theta: 1.570796326794895 +d: 62.5 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -2.2689 +theta_max: 2.0071 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 6 + +[LBk_LINK3] +joint_type: 0 +theta: 0.0 +d: -9.0 +a: 69.5 +alpha: -1.570796326794895 +theta_min: -0.1745 +theta_max: 1.5359 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 7 + +[LBk_LINK4] +joint_type: 0 +theta: -0.26686 +d: 4.7 +a: 70.1646 +alpha: 3.1415926535897932385 +theta_min: -0.4363 +theta_max: 2.1293 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 8 + +[LBk_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 3 + + +[RBk] +Name: RBk +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[RBk_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: -65.0 +alpha: -1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[RBk_LINK2] +joint_type: 0 +theta: 1.570796326794895 +d: -62.5 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -2.2689 +theta_max: 2.0071 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 9 + +[RBk_LINK3] +joint_type: 0 +theta: 0.0 +d: 9.0 +a: 69.5 +alpha: 1.570796326794895 +theta_min: -0.1745 +theta_max: 1.5359 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 10 + +[RBk_LINK4] +joint_type: 0 +theta: -0.26686 +d: -4.7 +a: 70.1646 +alpha: 3.1415926535897932385 +theta_min: -0.4363 +theta_max: 2.1293 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 11 + +[RBk_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 4 + + +[Mouth] +Name: Mouth +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[Mouth_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 19.5 +a: 67.5 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Mouth_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.308996939 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 12 + +[Mouth_LINK3] +joint_type: 0 +theta: 0.0 +d: 80.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -1.53588974176 +theta_max: 1.53588974176 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 13 + +[Mouth_LINK4] +joint_type: 0 +theta: -0.41241 +d: 0.0 +a: 43.6606 +alpha: 0.0 +theta_min: -0.261799387799 +theta_max: 0.785398163397 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 14 + +[Mouth_LINK5] +joint_type: 0 +theta: 0.127935 +d: 0.0 +a: 42.0076 +alpha: -1.570796326794895 +theta_min: -0.959931088597 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 17 + + +[Camera] +Name: Camera +DH: 1 +Fix: 0 +MinPara: 0 +dof: 6 +Motor: 0 +Stl: 0 + +[Camera_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 19.5 +a: 67.5 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Camera_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.308996939 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 12 + +[Camera_LINK3] +joint_type: 0 +theta: 0.0 +d: 80.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -1.53588974176 +theta_max: 1.53588974176 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 13 + +[Camera_LINK4] +joint_type: 0 +theta: -1.570796326794895 +d: 0.0 +a: 14.6 +alpha: -1.570796326794895 +theta_min: -0.261799387799 +theta_max: 0.785398163397 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 14 + +[Camera_LINK5] +joint_type: 1 +immobile: 1 +theta: -1.570796326794895 +d: 81.06 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Camera_LINK6] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 5 + + +[NearIR] +Name: NearIR +DH: 1 +Fix: 0 +MinPara: 0 +dof: 6 +Motor: 0 +Stl: 0 + +[NearIR_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 19.5 +a: 67.5 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[NearIR_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.308996939 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 12 + +[NearIR_LINK3] +joint_type: 0 +theta: 0.0 +d: 80.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -1.53588974176 +theta_max: 1.53588974176 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 13 + +[NearIR_LINK4] +joint_type: 0 +theta: 0.0249189 +d: 2.79525 +a: 76.9239 +alpha: 0.0 +theta_min: -0.261799387799 +theta_max: 0.785398163397 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 14 + +[NearIR_LINK5] +joint_type: 0 +immobile: 1 +theta: 1.50041 +d: 0.0 +a: 0.0 +alpha: 1.55997 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[NearIR_LINK6] +joint_type: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 6 + + +[FarIR] +Name: FarIR +DH: 1 +Fix: 0 +MinPara: 0 +dof: 6 +Motor: 0 +Stl: 0 + +[FarIR_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 19.5 +a: 67.5 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[FarIR_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.308996939 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 12 + +[FarIR_LINK3] +joint_type: 0 +theta: 0.0 +d: 80.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -1.53588974176 +theta_max: 1.53588974176 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 13 + +[FarIR_LINK4] +joint_type: 0 +theta: 0.0136814 +d: -8.04682 +a: 76.9072 +alpha: 0.0 +theta_min: -0.261799387799 +theta_max: 0.785398163397 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 14 + +[FarIR_LINK5] +joint_type: 0 +immobile: 1 +theta: 1.52305 +d: 0.0 +a: 0.0 +alpha: 1.56055 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[FarIR_LINK6] +joint_type: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 7 + + +[ChestIR] +Name: ChestIR +DH: 1 +Fix: 0 +MinPara: 0 +dof: 3 +Motor: 0 +Stl: 0 + +[ChestIR_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: -3.38397459622 +a: 109.13620668 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[ChestIR_LINK2] +joint_type: 0 +immobile: 1 +theta: 1.0471975512 +d: 0.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[ChestIR_LINK3] +joint_type: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 8 + + +[InterestPoints] +Length: 134 + +[InterestPoint1] + name: LFr:elvtr + chain: LFr + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint2] + name: LFr:rotor + chain: LFr + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint3] + name: LFr:knee~ + chain: LFr + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint4] + name: RFr:elvtr + chain: RFr + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint5] + name: RFr:rotor + chain: RFr + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint6] + name: RFr:knee~ + chain: RFr + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint7] + name: LBk:elvtr + chain: LBk + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint8] + name: LBk:rotor + chain: LBk + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint9] + name: LBk:knee~ + chain: LBk + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint10] + name: RBk:elvtr + chain: RBk + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint11] + name: RBk:rotor + chain: RBk + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint12] + name: RBk:knee~ + chain: RBk + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint13] + name: NECK:tilt + chain: Camera + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint14] + name: NECK:pan~ + chain: Camera + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint15] + name: NECK:nod~ + chain: Camera + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint16] + name: MOUTH~~~~ + chain: Mouth + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint17] + name: Base + chain: Camera + link: 0 + x: 0 + y: 0 + z: 0 +[InterestPoint18] + name: LFrPaw + chain: LFr + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint19] + name: RFrPaw + chain: RFr + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint20] + name: LBkPaw + chain: LBk + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint21] + name: RBkPaw + chain: RBk + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint22] + name: Camera + chain: Camera + link: 6 + x: 0 + y: 0 + z: 0 +[InterestPoint23] + name: NearIR + chain: NearIR + link: 6 + x: 0 + y: 0 + z: 0 +[InterestPoint24] + name: FarIR + chain: FarIR + link: 6 + x: 0 + y: 0 + z: 0 +[InterestPoint25] + name: ChestIR + chain: ChestIR + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint26] + name: UpperLChest + chain: Body + link: 0 + x: 107.560 + y: 23.448 + z: 0 +[InterestPoint27] + name: UpperRChest + chain: Body + link: 0 + x: 107.560 + y: -23.448 + z: 0 +[InterestPoint28] + name: LowerLChest + chain: Body + link: 0 + x: 95.250 + y: 29.631 + z: -30.070 +[InterestPoint29] + name: LowerRChest + chain: Body + link: 0 + x: 95.250 + y: -29.631 + z: -30.070 +[InterestPoint30] + name: LFrBelly + chain: Body + link: 0 + x: 55.290 + y: 20.238 + z: -52.270 +[InterestPoint31] + name: RFrBelly + chain: Body + link: 0 + x: 55.290 + y: -20.238 + z: -52.270 +[InterestPoint32] + name: LBkBelly + chain: Body + link: 0 + x: -60.540 + y: 14.238 + z: -52.270 +[InterestPoint33] + name: RBkBelly + chain: Body + link: 0 + x: -60.540 + y: -14.238 + z: -52.270 +[InterestPoint34] + name: LowerLRump + chain: Body + link: 0 + x: -104.140 + y: 29.631 + z: -38.950 +[InterestPoint35] + name: LowerRRump + chain: Body + link: 0 + x: -104.140 + y: -29.631 + z: -38.950 +[InterestPoint36] + name: UpperLRump + chain: Body + link: 0 + x: -108.970 + y: 29.631 + z: 0 +[InterestPoint37] + name: UpperRRump + chain: Body + link: 0 + x: -108.970 + y: -29.631 + z: 0 +[InterestPoint38] + name: LowerLeftLowerLip + chain: Mouth + link: 5 + x: 40.851 + y: 12.275 + z: -16.128 +[InterestPoint39] + name: LowerRightLowerLip + chain: Mouth + link: 5 + x: 40.851 + y: 12.275 + z: 16.128 +[InterestPoint40] + name: UpperLeftLowerLip + chain: Mouth + link: 5 + x: 38.378 + y: 11.203 + z: -11.397 +[InterestPoint41] + name: UpperRightLowerLip + chain: Mouth + link: 5 + x: 38.378 + y: 11.203 + z: 11.397 +[InterestPoint42] + name: LowerLeftUpperLip + chain: Mouth + link: 4 + x: 79.518 + y: -22.291 + z: -11.397 +[InterestPoint43] + name: LowerRightUpperLip + chain: Mouth + link: 4 + x: 79.518 + y: -22.291 + z: 11.397 +[InterestPoint44] + name: LowerLeftSnout + chain: Camera + link: 4 + x: 54.223 + y: -21.146 + z: -37.291 +[InterestPoint45] + name: LowerRightSnout + chain: Camera + link: 4 + x: 54.223 + y: -21.146 + z: 37.291 +[InterestPoint46] + name: UpperLeftSnout + chain: Camera + link: 4 + x: 54.223 + y: 7.605 + z: -26.284 +[InterestPoint47] + name: UpperRightSnout + chain: Camera + link: 4 + x: 54.223 + y: 7.605 + z: 26.284 +[InterestPoint48] + name: LeftMicrophone + chain: Camera + link: 4 + x: -11.156 + y: 14.897 + z: -46.941 +[InterestPoint49] + name: RightMicrophone + chain: Camera + link: 4 + x: -11.156 + y: 14.897 + z: 46.941 +[InterestPoint50] + name: HeadButton + chain: Camera + link: 4 + x: -7.704 + y: 41.192 + z: 0 +[InterestPoint51] + name: ToeLFrPaw + chain: LFr + link: 5 + x: 7.180 + y: 29.548 + z: 0 +[InterestPoint52] + name: ToeRFrPaw + chain: RFr + link: 5 + x: 7.180 + y: 29.548 + z: 0 +[InterestPoint53] + name: ToeLBkPaw + chain: LBk + link: 5 + x: -6.414 + y: 27.759 + z: 0 +[InterestPoint54] + name: ToeRBkPaw + chain: RBk + link: 5 + x: -6.414 + y: 27.759 + z: 0 +[InterestPoint55] + name: LowerOuterFrontLFrShin + chain: LFr + link: 4 + x: 59.298 + y: 21.239 + z: -24.557 +[InterestPoint56] + name: LowerInnerFrontRFrShin + chain: RFr + link: 4 + x: 59.298 + y: 21.239 + z: -15.158 +[InterestPoint57] + name: LowerOuterFrontLBkShin + chain: LBk + link: 4 + x: 41.172 + y: -33.863 + z: 24.557 +[InterestPoint58] + name: LowerInnerFrontRBkShin + chain: RBk + link: 4 + x: 41.172 + y: -33.863 + z: 15.158 +[InterestPoint59] + name: LowerInnerFrontLFrShin + chain: LFr + link: 4 + x: 59.298 + y: 21.239 + z: 15.158 +[InterestPoint60] + name: LowerOuterFrontRFrShin + chain: RFr + link: 4 + x: 59.298 + y: 21.239 + z: 24.557 +[InterestPoint61] + name: LowerInnerFrontLBkShin + chain: LBk + link: 4 + x: 41.172 + y: -33.863 + z: -15.158 +[InterestPoint62] + name: LowerOuterFrontRBkShin + chain: RBk + link: 4 + x: 41.172 + y: -33.863 + z: -24.557 +[InterestPoint63] + name: LowerOuterMiddleLFrShin + chain: LFr + link: 4 + x: 63.011 + y: -15.573 + z: -24.557 +[InterestPoint64] + name: LowerInnerMiddleRFrShin + chain: RFr + link: 4 + x: 63.011 + y: -15.573 + z: -15.158 +[InterestPoint65] + name: LowerOuterMiddleLBkShin + chain: LBk + link: 4 + x: 75.203 + y: -8.342 + z: 24.557 +[InterestPoint66] + name: LowerInnerMiddleRBkShin + chain: RBk + link: 4 + x: 75.203 + y: -8.342 + z: 15.158 +[InterestPoint67] + name: LowerInnerMiddleLFrShin + chain: LFr + link: 4 + x: 63.011 + y: -15.573 + z: 15.158 +[InterestPoint68] + name: LowerOuterMiddleRFrShin + chain: RFr + link: 4 + x: 63.011 + y: -15.573 + z: 24.557 +[InterestPoint69] + name: LowerInnerMiddleLBkShin + chain: LBk + link: 4 + x: 75.203 + y: -8.342 + z: -15.158 +[InterestPoint70] + name: LowerOuterMiddleRBkShin + chain: RBk + link: 4 + x: 75.203 + y: -8.342 + z: -24.557 +[InterestPoint71] + name: LowerOuterBackLFrShin + chain: LFr + link: 4 + x: 40.581 + y: -26.402 + z: -24.557 +[InterestPoint72] + name: LowerInnerBackRFrShin + chain: RFr + link: 4 + x: 40.581 + y: -26.402 + z: -15.158 +[InterestPoint73] + name: LowerOuterBackLBkShin + chain: LBk + link: 4 + x: 71.133 + y: 8.187 + z: 24.557 +[InterestPoint74] + name: LowerInnerBackRBkShin + chain: RBk + link: 4 + x: 71.133 + y: 8.187 + z: 15.158 +[InterestPoint75] + name: LowerInnerBackLFrShin + chain: LFr + link: 4 + x: 40.581 + y: -26.402 + z: 15.158 +[InterestPoint76] + name: LowerOuterBackRFrShin + chain: RFr + link: 4 + x: 40.581 + y: -26.402 + z: 24.557 +[InterestPoint77] + name: LowerInnerBackLBkShin + chain: LBk + link: 4 + x: 71.133 + y: 8.187 + z: -15.158 +[InterestPoint78] + name: LowerOuterBackRBkShin + chain: RBk + link: 4 + x: 71.133 + y: 8.187 + z: -24.557 +[InterestPoint79] + name: MiddleOuterMiddleLFrShin + chain: LFr + link: 4 + x: 42.057 + y: -10.714 + z: -27.747 +[InterestPoint80] + name: MiddleInnerMiddleRFrShin + chain: RFr + link: 4 + x: 42.057 + y: -10.714 + z: -18.353 +[InterestPoint81] + name: MiddleOuterMiddleLBkShin + chain: LBk + link: 4 + x: 41.625 + y: -11.335 + z: 27.747 +[InterestPoint82] + name: MiddleInnerMiddleRBkShin + chain: RBk + link: 4 + x: 41.625 + y: -11.335 + z: 18.353 +[InterestPoint83] + name: MiddleInnerMiddleLFrShin + chain: LFr + link: 4 + x: 42.057 + y: -10.714 + z: 18.353 +[InterestPoint84] + name: MiddleOuterMiddleRFrShin + chain: RFr + link: 4 + x: 42.057 + y: -10.714 + z: 27.747 +[InterestPoint85] + name: MiddleInnerMiddleLBkShin + chain: LBk + link: 4 + x: 41.625 + y: -11.335 + z: -18.353 +[InterestPoint86] + name: MiddleOuterMiddleRBkShin + chain: RBk + link: 4 + x: 41.625 + y: -11.335 + z: -27.747 +[InterestPoint87] + name: UpperOuterFrontLFrShin + chain: LFr + link: 4 + x: 29.289 + y: 14.743 + z: -23.426 +[InterestPoint88] + name: UpperInnerFrontRFrShin + chain: RFr + link: 4 + x: 29.289 + y: 14.743 + z: -14.026 +[InterestPoint89] + name: UpperOuterFrontLBkShin + chain: LBk + link: 4 + x: 2.812 + y: -22.417 + z: 23.426 +[InterestPoint90] + name: UpperInnerFrontRBkShin + chain: RBk + link: 4 + x: 2.812 + y: -22.417 + z: 14.026 +[InterestPoint91] + name: UpperInnerFrontLFrShin + chain: LFr + link: 4 + x: 29.289 + y: 14.743 + z: 14.026 +[InterestPoint92] + name: UpperOuterFrontRFrShin + chain: RFr + link: 4 + x: 29.289 + y: 14.743 + z: 23.426 +[InterestPoint93] + name: UpperInnerFrontLBkShin + chain: LBk + link: 4 + x: 2.812 + y: -22.417 + z: -14.026 +[InterestPoint94] + name: UpperOuterFrontRBkShin + chain: RBk + link: 4 + x: 2.812 + y: -22.417 + z: -23.426 +[InterestPoint95] + name: UpperOuterBackLFrShin + chain: LFr + link: 4 + x: 6.397 + y: -20.060 + z: -23.426 +[InterestPoint96] + name: UpperInnerBackRFrShin + chain: RFr + link: 4 + x: 6.397 + y: -20.060 + z: -14.026 +[InterestPoint97] + name: UpperOuterBackLBkShin + chain: LBk + link: 4 + x: 32.869 + y: 9.622 + z: 23.426 +[InterestPoint98] + name: UpperInnerBackRBkShin + chain: RBk + link: 4 + x: 32.869 + y: 9.622 + z: 14.026 +[InterestPoint99] + name: UpperInnerBackLFrShin + chain: LFr + link: 4 + x: 6.397 + y: -20.060 + z: 14.026 +[InterestPoint100] + name: UpperOuterBackRFrShin + chain: RFr + link: 4 + x: 6.397 + y: -20.060 + z: 23.426 +[InterestPoint101] + name: UpperInnerBackLBkShin + chain: LBk + link: 4 + x: 32.869 + y: 9.622 + z: -14.026 +[InterestPoint102] + name: UpperOuterBackRBkShin + chain: RBk + link: 4 + x: 32.869 + y: 9.622 + z: -23.426 +[InterestPoint103] + name: LowerOuterFrontLFrThigh + chain: LFr + link: 3 + x: 47.947 + y: 14.539 + z: 17.189 +[InterestPoint104] + name: LowerInnerFrontRFrThigh + chain: RFr + link: 3 + x: 47.947 + y: -5.043 + z: -17.189 +[InterestPoint105] + name: LowerOuterFrontLBkThigh + chain: LBk + link: 3 + x: 47.947 + y: 14.539 + z: 17.189 +[InterestPoint106] + name: LowerInnerFrontRBkThigh + chain: RBk + link: 3 + x: 47.947 + y: -5.043 + z: -17.189 +[InterestPoint107] + name: LowerInnerFrontLFrThigh + chain: LFr + link: 3 + x: 47.947 + y: -5.043 + z: 17.189 +[InterestPoint108] + name: LowerOuterFrontRFrThigh + chain: RFr + link: 3 + x: 47.947 + y: 14.539 + z: -17.189 +[InterestPoint109] + name: LowerInnerFrontLBkThigh + chain: LBk + link: 3 + x: 47.947 + y: -5.043 + z: 17.189 +[InterestPoint110] + name: LowerOuterFrontRBkThigh + chain: RBk + link: 3 + x: 47.947 + y: 14.539 + z: -17.189 +[InterestPoint111] + name: LowerOuterBackLFrThigh + chain: LFr + link: 3 + x: 47.947 + y: 14.539 + z: -17.189 +[InterestPoint112] + name: LowerInnerBackRFrThigh + chain: RFr + link: 3 + x: 47.947 + y: -5.043 + z: 17.189 +[InterestPoint113] + name: LowerOuterBackLBkThigh + chain: LBk + link: 3 + x: 47.947 + y: 14.539 + z: -17.189 +[InterestPoint114] + name: LowerInnerBackRBkThigh + chain: RBk + link: 3 + x: 47.947 + y: -5.043 + z: 17.189 +[InterestPoint115] + name: LowerInnerBackLFrThigh + chain: LFr + link: 3 + x: 47.947 + y: -5.043 + z: -17.189 +[InterestPoint116] + name: LowerOuterBackRFrThigh + chain: RFr + link: 3 + x: 47.947 + y: 14.539 + z: 17.189 +[InterestPoint117] + name: LowerInnerBackLBkThigh + chain: LBk + link: 3 + x: 47.947 + y: -5.043 + z: -17.189 +[InterestPoint118] + name: LowerOuterBackRBkThigh + chain: RBk + link: 3 + x: 47.947 + y: 14.539 + z: 17.189 +[InterestPoint119] + name: UpperOuterFrontLFrThigh + chain: LFr + link: 3 + x: 0 + y: 10.310 + z: 17.189 +[InterestPoint120] + name: UpperInnerFrontRFrThigh + chain: RFr + link: 3 + x: 0 + y: -5.043 + z: -17.189 +[InterestPoint121] + name: UpperOuterFrontLBkThigh + chain: LBk + link: 3 + x: 0 + y: 10.310 + z: 17.189 +[InterestPoint122] + name: UpperInnerFrontRBkThigh + chain: RBk + link: 3 + x: 0 + y: -5.043 + z: -17.189 +[InterestPoint123] + name: UpperInnerFrontLFrThigh + chain: LFr + link: 3 + x: 0 + y: -5.043 + z: 17.189 +[InterestPoint124] + name: UpperOuterFrontRFrThigh + chain: RFr + link: 3 + x: 0 + y: 10.310 + z: -17.189 +[InterestPoint125] + name: UpperInnerFrontLBkThigh + chain: LBk + link: 3 + x: 0 + y: -5.043 + z: 17.189 +[InterestPoint126] + name: UpperOuterFrontRBkThigh + chain: RBk + link: 3 + x: 0 + y: 10.310 + z: -17.189 +[InterestPoint127] + name: UpperOuterBackLFrThigh + chain: LFr + link: 3 + x: 0 + y: 10.310 + z: -17.189 +[InterestPoint128] + name: UpperInnerBackRFrThigh + chain: RFr + link: 3 + x: 0 + y: -5.043 + z: 17.189 +[InterestPoint129] + name: UpperOuterBackLBkThigh + chain: LBk + link: 3 + x: 0 + y: 10.310 + z: -17.189 +[InterestPoint130] + name: UpperInnerBackRBkThigh + chain: RBk + link: 3 + x: 0 + y: -5.043 + z: 17.189 +[InterestPoint131] + name: UpperInnerBackLFrThigh + chain: LFr + link: 3 + x: 0 + y: -5.043 + z: -17.189 +[InterestPoint132] + name: UpperOuterBackRFrThigh + chain: RFr + link: 3 + x: 0 + y: 10.310 + z: 17.189 +[InterestPoint133] + name: UpperInnerBackLBkThigh + chain: LBk + link: 3 + x: 0 + y: -5.043 + z: -17.189 +[InterestPoint134] + name: UpperOuterBackRBkThigh + chain: RBk + link: 3 + x: 0 + y: 10.310 + z: 17.189 diff -urdN ../Tekkotsu_2.2.1/project/ms/config/tekkotsu.cfg ./project/ms/config/tekkotsu.cfg --- ../Tekkotsu_2.2.1/project/ms/config/tekkotsu.cfg Fri Nov 12 17:07:39 2004 +++ ./project/ms/config/tekkotsu.cfg Wed Dec 22 21:21:00 2004 @@ -1,9 +1,9 @@ ################################################################## ###################### Tekkotsu config ####################### ################################################################## -##################### $Name: HEAD $ ###################### -####################### $Revision: 1.1 $ ######################## -################## $Date: 2004/12/23 08:41:24 $ ################## +##################### $Name: HEAD $ ###################### +####################### $Revision: 1.1 $ ######################## +################## $Date: 2004/12/23 08:41:24 $ ################## ################################################################## # # Format: @@ -241,15 +241,18 @@ kinematics=/ms/config/ers210.kin +kinematic_chains=Body kinematic_chains=Mouth kinematics=/ms/config/ers220.kin +kinematic_chains=Body kinematic_chains=IR kinematics=/ms/config/ers7.kin +kinematic_chains=Body kinematic_chains=Mouth kinematic_chains=NearIR kinematic_chains=FarIR @@ -306,6 +309,10 @@ max_head_pan_speed=5.78140315 max_head_roll_speed=5.78140315 + +# If non-zero, robot should attempt to change directions instantaniously +# If zero, robot should change directions more fluidly (following some internal acceleration calibration) +inf_walk_accel=0 console_port=10003 stderr_port=10004 diff -urdN ../Tekkotsu_2.2.1/project/ms/data/motion/dance.mot ./project/ms/data/motion/dance.mot --- ../Tekkotsu_2.2.1/project/ms/data/motion/dance.mot Fri May 2 00:57:51 2003 +++ ./project/ms/data/motion/dance.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 803 +advanceTime 803 LFr:rotor -0.253956 LFr:elvtr -0.131986 LFr:knee~ 0.470636 @@ -16,7 +16,7 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 300 +advanceTime 300 LFr:rotor -0.263956 LFr:elvtr -0.141986 LFr:knee~ 0.484838 @@ -30,7 +30,7 @@ RBk:elvtr -0.162013 RBk:knee~ 2.27489 NECK:tilt 0 -delay 300 +advanceTime 300 LFr:rotor -0.853081 LFr:elvtr -0.133808 LFr:knee~ 0.237025 @@ -44,7 +44,7 @@ RBk:elvtr 0.412627 RBk:knee~ 2.56563 NECK:tilt -0.3 -delay 500 +advanceTime 500 LFr:rotor -0.848842 LFr:elvtr -0.133808 LFr:knee~ 0.231227 @@ -57,7 +57,7 @@ RBk:elvtr 0.415625 RBk:knee~ 2.56563 NECK:tilt -0.5 -delay 500 +advanceTime 500 LFr:rotor -1.24884 LFr:elvtr -0.193808 LFr:knee~ 0.231227 @@ -70,7 +70,7 @@ RBk:rotor -0.851249 RBk:elvtr 0.214532 RBk:knee~ 1.75006 -delay 1156 +advanceTime 1156 LFr:rotor 2.004 LFr:elvtr -0.005817 LFr:knee~ 0.007958 @@ -79,14 +79,14 @@ RFr:knee~ 0.005634 LBk:elvtr 0.215208 RBk:knee~ 1.75006 -delay 916 +advanceTime 916 LFr:rotor 0.05999 LFr:elvtr 0.005817 LFr:knee~ 2.60796 RFr:rotor 0.055711 RFr:elvtr 0.003084 RFr:knee~ 2.60563 -delay 916 +advanceTime 916 LFr:rotor 2.004 LFr:elvtr -0.005817 LFr:knee~ 0.007958 @@ -99,7 +99,7 @@ RBk:rotor -0.851249 RBk:elvtr 0.214532 RBk:knee~ 1.75006 -delay 914 +advanceTime 914 LFr:rotor 0 LFr:elvtr 0 LFr:knee~ 2.6 diff -urdN ../Tekkotsu_2.2.1/project/ms/data/motion/gu_back.mot ./project/ms/data/motion/gu_back.mot --- ../Tekkotsu_2.2.1/project/ms/data/motion/gu_back.mot Fri May 2 00:57:51 2003 +++ ./project/ms/data/motion/gu_back.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 746 +advanceTime 746 LFr:rotor 0 LFr:elvtr 0 LFr:knee~ 0 @@ -16,7 +16,7 @@ NECK:tilt -1.5708 NECK:pan~ 0 NECK:roll 0 -delay 881 +advanceTime 881 LFr:rotor 0 LFr:knee~ 0 RFr:rotor 0 @@ -25,7 +25,7 @@ LBk:knee~ 2.5 RBk:rotor -1.8 RBk:knee~ 2.5 -delay 500 +advanceTime 500 LFr:rotor 1 LFr:elvtr 0 LFr:knee~ 0.5 diff -urdN ../Tekkotsu_2.2.1/project/ms/data/motion/gu_front.mot ./project/ms/data/motion/gu_front.mot --- ../Tekkotsu_2.2.1/project/ms/data/motion/gu_front.mot Fri May 2 00:57:51 2003 +++ ./project/ms/data/motion/gu_front.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 501 +advanceTime 501 LFr:rotor 0 LFr:elvtr 0 LFr:knee~ 0 @@ -16,7 +16,7 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 881 +advanceTime 881 LFr:rotor 0 LFr:elvtr 1.6 RFr:rotor 0 @@ -25,7 +25,7 @@ LBk:knee~ 2.5 RBk:rotor 1 RBk:knee~ 2.5 -delay 994 +advanceTime 994 LFr:rotor 1.8 LFr:elvtr 1.6 LFr:knee~ 0 @@ -34,7 +34,7 @@ RFr:knee~ 0 LBk:rotor -1.8 RBk:rotor -1.8 -delay 881 +advanceTime 881 LFr:rotor 1.8 LFr:elvtr 0 LFr:knee~ 2.5 @@ -43,7 +43,7 @@ RFr:knee~ 2.5 LBk:rotor -1.8 RBk:rotor -1.8 -delay 705 +advanceTime 705 LFr:rotor 1 LFr:elvtr 0 LFr:knee~ 0.5 diff -urdN ../Tekkotsu_2.2.1/project/ms/data/motion/gu_side.mot ./project/ms/data/motion/gu_side.mot --- ../Tekkotsu_2.2.1/project/ms/data/motion/gu_side.mot Fri May 2 00:57:51 2003 +++ ./project/ms/data/motion/gu_side.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 501 +advanceTime 501 LFr:rotor 0 LFr:elvtr 0 LFr:knee~ 0 @@ -16,7 +16,7 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 881 +advanceTime 881 LFr:rotor 2 LFr:elvtr 0 LFr:knee~ 2.5 @@ -29,7 +29,7 @@ RBk:rotor 2 RBk:elvtr 0 RBk:knee~ 2.5 -delay 700 +advanceTime 700 LFr:rotor 2 LFr:elvtr 1.6 LFr:knee~ 2.5 @@ -40,7 +40,7 @@ LBk:elvtr 1.6 RBk:rotor 2 RBk:elvtr 1.6 -delay 1137 +advanceTime 1137 LFr:rotor 1 LFr:elvtr 0 LFr:knee~ 0.5 diff -urdN ../Tekkotsu_2.2.1/project/ms/data/motion/k_bump.mot ./project/ms/data/motion/k_bump.mot --- ../Tekkotsu_2.2.1/project/ms/data/motion/k_bump.mot Fri May 2 00:57:52 2003 +++ ./project/ms/data/motion/k_bump.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 652 +advanceTime 652 LFr:rotor 0.185475 LFr:elvtr 0.00453314 LFr:knee~ 1.80106 @@ -16,7 +16,7 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 262 +advanceTime 262 LFr:rotor 0.735959 LFr:elvtr 0.00266154 LFr:knee~ 1.05702 @@ -29,7 +29,7 @@ RBk:rotor -1.15181 RBk:elvtr 0.255151 RBk:knee~ 1.84981 -delay 540 +advanceTime 540 LFr:rotor -0.785992 LFr:elvtr 0.00638608 LFr:knee~ 2.07946 @@ -42,7 +42,7 @@ RBk:rotor 0.101941 RBk:elvtr 0.153667 RBk:knee~ 1.3203 -delay 400 +advanceTime 400 LFr:rotor -0.785992 LFr:elvtr 0.00638608 LFr:knee~ 2.07946 diff -urdN ../Tekkotsu_2.2.1/project/ms/data/motion/k_diag.mot ./project/ms/data/motion/k_diag.mot --- ../Tekkotsu_2.2.1/project/ms/data/motion/k_diag.mot Fri May 2 00:57:52 2003 +++ ./project/ms/data/motion/k_diag.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 644 +advanceTime 644 LFr:rotor -0.145629 LFr:elvtr 0.405273 LFr:knee~ 1.82849 @@ -16,7 +16,7 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 569 +advanceTime 569 LFr:rotor -1.14237 LFr:elvtr 1.56166 LFr:knee~ 1.96605 @@ -31,7 +31,7 @@ RBk:knee~ 1.34195 NECK:tilt -1.2 NECK:pan~ -1.5 -delay 996 +advanceTime 996 LFr:rotor 0 LFr:elvtr 0.5 LFr:knee~ 0 diff -urdN ../Tekkotsu_2.2.1/project/ms/data/motion/k_dive.mot ./project/ms/data/motion/k_dive.mot --- ../Tekkotsu_2.2.1/project/ms/data/motion/k_dive.mot Fri May 2 00:57:52 2003 +++ ./project/ms/data/motion/k_dive.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 613 +advanceTime 613 LFr:rotor 0.3 LFr:elvtr 0.4 LFr:knee~ 1.6 @@ -16,7 +16,7 @@ NECK:tilt 0.5 NECK:pan~ 1.5 NECK:roll 0 -delay 259 +advanceTime 259 LFr:rotor 1.03 LFr:elvtr 0.09 LFr:knee~ 0.9 @@ -29,7 +29,7 @@ RBk:rotor -1.17 RBk:elvtr 0.14 RBk:knee~ 1.74 -delay 215 +advanceTime 215 LFr:rotor 1.53 LFr:elvtr -0.11 LFr:knee~ 0.72 @@ -42,7 +42,7 @@ RBk:rotor -1.45 RBk:elvtr 0.54 RBk:knee~ 2.35 -delay 472 +advanceTime 472 LFr:rotor 0.2 LFr:elvtr 0.4 LFr:knee~ 1.5 @@ -55,7 +55,7 @@ RBk:rotor -1.13 RBk:elvtr 0.14 RBk:knee~ 1.74 -delay 542 +advanceTime 542 LFr:elvtr 0.15 LFr:knee~ 0 RFr:elvtr 0.15 @@ -66,7 +66,7 @@ RBk:rotor -0.2 RBk:elvtr 0.5 RBk:knee~ 0.2 -delay 50 +advanceTime 50 LFr:rotor 0.2 RFr:rotor 0.2 LBk:rotor -0.2 @@ -74,7 +74,7 @@ RBk:rotor -0.2 RBk:knee~ 0.2 NECK:pan~ 1.5 -delay 458 +advanceTime 458 LFr:rotor 0 LFr:elvtr 0.15 RFr:rotor 0 @@ -83,7 +83,7 @@ LBk:knee~ 1.5 RBk:rotor 0 RBk:knee~ 1.5 -delay 426 +advanceTime 426 LFr:rotor -1.2 LFr:elvtr 0.5 RFr:rotor -1.2 @@ -91,7 +91,7 @@ LBk:rotor 1.2 RBk:rotor 1.2 NECK:pan~ 1.5 -delay 100 +advanceTime 100 LFr:rotor -1.2 LFr:elvtr 0.5 RFr:rotor -1.2 @@ -100,7 +100,7 @@ LBk:elvtr 0.5 RBk:rotor 1.2 RBk:elvtr 0.5 -delay 426 +advanceTime 426 LFr:rotor 0 LFr:elvtr 1.5 LFr:knee~ 0 @@ -111,12 +111,12 @@ LBk:elvtr 1.5 RBk:rotor 0 RBk:elvtr 1.5 -delay 528 +advanceTime 528 LFr:knee~ 1.5 RFr:knee~ 1.5 LBk:knee~ 1.5 RBk:knee~ 1.5 -delay 500 +advanceTime 500 LFr:rotor 0 LFr:elvtr 1.5 LFr:knee~ 1.5 diff -urdN ../Tekkotsu_2.2.1/project/ms/data/motion/k_fwd.mot ./project/ms/data/motion/k_fwd.mot --- ../Tekkotsu_2.2.1/project/ms/data/motion/k_fwd.mot Fri May 2 00:57:52 2003 +++ ./project/ms/data/motion/k_fwd.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 355 +advanceTime 355 LFr:rotor 1 LFr:elvtr -0.2 LFr:knee~ 1 @@ -16,7 +16,7 @@ NECK:tilt -0.3 NECK:pan~ 0 NECK:roll 0 -delay 728 +advanceTime 728 LFr:elvtr -0.2 LFr:knee~ 0.5 RFr:elvtr -0.2 @@ -28,14 +28,14 @@ RBk:elvtr 0.5 RBk:knee~ 2.5 NECK:tilt -0.5 -delay 120 +advanceTime 120 LFr:rotor 1 LFr:elvtr 0.1 LFr:knee~ 0.5 RFr:rotor 1 RFr:elvtr 0.1 RFr:knee~ 0.5 -delay 390 +advanceTime 390 LFr:rotor 2.1 LFr:elvtr 0.1 LFr:knee~ 1.6 @@ -43,7 +43,7 @@ RFr:elvtr 0.1 RFr:knee~ 1.6 NECK:tilt -0.5 -delay 332 +advanceTime 332 LFr:rotor 2.1 LFr:elvtr -0.3 RFr:rotor 2.1 @@ -53,7 +53,7 @@ RBk:rotor -2 RBk:knee~ 2.5 NECK:tilt 0.2 -delay 355 +advanceTime 355 LFr:rotor 1.5 LFr:knee~ 1.6 RFr:rotor 1.5 @@ -62,7 +62,7 @@ LBk:knee~ 1.5 RBk:rotor -1 RBk:knee~ 1.5 -delay 564 +advanceTime 564 LFr:rotor 1 LFr:elvtr -0.3 LFr:knee~ 0 @@ -72,7 +72,7 @@ LBk:elvtr 0.5 RBk:elvtr 0.5 NECK:tilt 0.2 -delay 352 +advanceTime 352 LFr:rotor 1 LFr:elvtr -0.2 LFr:knee~ 1 diff -urdN ../Tekkotsu_2.2.1/project/ms/data/motion/k_grab.mot ./project/ms/data/motion/k_grab.mot --- ../Tekkotsu_2.2.1/project/ms/data/motion/k_grab.mot Fri May 2 00:57:52 2003 +++ ./project/ms/data/motion/k_grab.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 501 +advanceTime 501 LFr:rotor 1.2 LFr:elvtr -0.2 LFr:knee~ 0.5 @@ -16,7 +16,7 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 1314 +advanceTime 1314 LBk:rotor -2.5 LBk:elvtr 1 LBk:knee~ 2.5 @@ -25,31 +25,31 @@ RBk:knee~ 2.5 NECK:tilt 0.5 NECK:pan~ 1.5 -delay 881 +advanceTime 881 LBk:rotor -1 LBk:elvtr 0.5 LBk:knee~ 0 RBk:rotor -1 RBk:elvtr 0.5 RBk:knee~ 0 -delay 400 +advanceTime 400 LFr:elvtr -0.2 RFr:elvtr -0.2 -delay 200 +advanceTime 200 LFr:rotor 1.2 LFr:elvtr 0.1 LFr:knee~ 0.5 RFr:rotor 1.2 RFr:elvtr 0.1 RFr:knee~ 0.5 -delay 352 +advanceTime 352 LFr:rotor 1.9 LFr:elvtr 0.1 LFr:knee~ -0.5 RFr:rotor 1.9 RFr:elvtr 0.1 RFr:knee~ -0.5 -delay 800 +advanceTime 800 LFr:rotor 1.9 LFr:elvtr -0.2 LFr:knee~ -0.5 @@ -58,7 +58,7 @@ RFr:knee~ -0.5 LBk:rotor -1 RBk:rotor -1 -delay 852 +advanceTime 852 LFr:rotor -0.5 LFr:elvtr -0.1 LFr:knee~ 0 @@ -67,7 +67,7 @@ RFr:knee~ 0 LBk:rotor -0.2 RBk:rotor -0.2 -delay 100 +advanceTime 100 LFr:rotor -0.5 LFr:elvtr -0.1 LFr:knee~ 0 @@ -76,7 +76,7 @@ RFr:knee~ 0 LBk:rotor -0.2 RBk:rotor -0.2 -delay 710 +advanceTime 710 LFr:rotor 1.5 LFr:elvtr 1 LFr:knee~ 1.5 @@ -89,7 +89,7 @@ RBk:rotor -2 RBk:elvtr 0.5 RBk:knee~ 0 -delay 881 +advanceTime 881 LFr:rotor 1 LFr:elvtr 0 LFr:knee~ 0.5 @@ -103,10 +103,10 @@ RBk:elvtr 0 RBk:knee~ 2.5 NECK:pan~ 1.5 -delay 1000 +advanceTime 1000 LBk:rotor -1 RBk:rotor -1 -delay 1 +advanceTime 1 LFr:rotor 1 LFr:elvtr 0 LFr:knee~ 0.5 diff -urdN ../Tekkotsu_2.2.1/project/ms/data/motion/k_head.mot ./project/ms/data/motion/k_head.mot --- ../Tekkotsu_2.2.1/project/ms/data/motion/k_head.mot Fri May 2 00:57:52 2003 +++ ./project/ms/data/motion/k_head.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 644 +advanceTime 644 LFr:rotor -0.145629 LFr:elvtr 0.405273 LFr:knee~ 1.82849 @@ -16,7 +16,7 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 569 +advanceTime 569 LFr:rotor -1.14237 LFr:elvtr 1.56166 LFr:knee~ 1.96605 @@ -31,7 +31,7 @@ RBk:knee~ 1.34195 NECK:tilt -1.2 NECK:pan~ -1.5 -delay 996 +advanceTime 996 LFr:rotor -0.743775 LFr:elvtr -0.191986 LFr:knee~ 2.33428 diff -urdN ../Tekkotsu_2.2.1/project/ms/data/motion/k_heads.mot ./project/ms/data/motion/k_heads.mot --- ../Tekkotsu_2.2.1/project/ms/data/motion/k_heads.mot Fri May 2 00:57:52 2003 +++ ./project/ms/data/motion/k_heads.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 644 +advanceTime 644 LFr:rotor -0.145629 LFr:elvtr 0.405273 LFr:knee~ 1.82849 @@ -16,7 +16,7 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 569 +advanceTime 569 LFr:rotor -1.14237 LFr:elvtr 1.56166 LFr:knee~ 1.96605 @@ -31,7 +31,7 @@ RBk:knee~ 1.34195 NECK:tilt -1.2 NECK:pan~ -1.5 -delay 996 +advanceTime 996 LFr:rotor -0.743775 LFr:elvtr -0.191986 LFr:knee~ 2.33428 diff -urdN ../Tekkotsu_2.2.1/project/ms/data/motion/k_hold.mot ./project/ms/data/motion/k_hold.mot --- ../Tekkotsu_2.2.1/project/ms/data/motion/k_hold.mot Fri May 2 00:57:52 2003 +++ ./project/ms/data/motion/k_hold.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 553 +advanceTime 553 LFr:rotor 0.6 LFr:elvtr -0.1 LFr:knee~ 1.57 @@ -16,7 +16,7 @@ NECK:tilt 0.349066 NECK:pan~ 1.5708 NECK:roll 0 -delay 1042 +advanceTime 1042 LFr:rotor 0.6 LFr:elvtr -0.1 LFr:knee~ 1.57 diff -urdN ../Tekkotsu_2.2.1/project/ms/data/motion/k_punch.mot ./project/ms/data/motion/k_punch.mot --- ../Tekkotsu_2.2.1/project/ms/data/motion/k_punch.mot Fri May 2 00:57:52 2003 +++ ./project/ms/data/motion/k_punch.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 595 +advanceTime 595 LFr:rotor 0.183246 LFr:elvtr 0.556069 LFr:knee~ 1.36377 @@ -16,18 +16,18 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 500 +advanceTime 500 LFr:rotor 0 LFr:elvtr 0 LFr:knee~ 2.5 -delay 710 +advanceTime 710 LFr:rotor 2 LFr:knee~ 1 RFr:knee~ 1.68938 LBk:knee~ 1.30206 -delay 100 +advanceTime 100 LFr:rotor 2 -delay 500 +advanceTime 500 LFr:rotor 1 LFr:elvtr 0 LFr:knee~ 1 @@ -40,7 +40,7 @@ RBk:rotor -0.870673 RBk:elvtr -0.110773 RBk:knee~ 1.49363 -delay 500 +advanceTime 500 LFr:rotor 0.108853 LFr:elvtr 0.325006 LFr:knee~ 1.61054 diff -urdN ../Tekkotsu_2.2.1/project/ms/data/motion/pan_head.mot ./project/ms/data/motion/pan_head.mot --- ../Tekkotsu_2.2.1/project/ms/data/motion/pan_head.mot Sat Nov 22 15:34:39 2003 +++ ./project/ms/data/motion/pan_head.mot Wed Dec 22 21:21:00 2004 @@ -1,11 +1,11 @@ #MSq degrees -delay 50 +advanceTime 50 NECK:tilt 15 NECK:roll 0 -delay 850 +advanceTime 850 NECK:pan~ -45 -delay 900 +advanceTime 900 NECK:pan~ 45 NECK:tilt 15 NECK:roll 0 diff -urdN ../Tekkotsu_2.2.1/project/templates/behavior_header.h ./project/templates/behavior_header.h --- ../Tekkotsu_2.2.1/project/templates/behavior_header.h Thu Nov 11 15:35:00 2004 +++ ./project/templates/behavior_header.h Thu Nov 11 15:35:00 2004 @@ -41,7 +41,7 @@ * @author YOURNAMEHERE (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/project/templates/header.h ./project/templates/header.h --- ../Tekkotsu_2.2.1/project/templates/header.h Tue Aug 24 21:09:24 2004 +++ ./project/templates/header.h Tue Aug 24 21:09:24 2004 @@ -15,7 +15,7 @@ * @author YOURNAMEHERE (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/project/templates/implementation.cc ./project/templates/implementation.cc --- ../Tekkotsu_2.2.1/project/templates/implementation.cc Tue Aug 24 21:09:24 2004 +++ ./project/templates/implementation.cc Tue Aug 24 21:09:24 2004 @@ -5,7 +5,7 @@ * @author YOURNAMEHERE (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../Tekkotsu_2.2.1/tools/buildRelease ./tools/buildRelease --- ../Tekkotsu_2.2.1/tools/buildRelease Tue Nov 16 22:36:00 2004 +++ ./tools/buildRelease Wed Dec 22 20:52:13 2004 @@ -52,7 +52,7 @@ exit 1; fi; -if [ `grep -c "(v$1," docs/html/index.html` -eq 0 ] ; then +if [ `grep -c "(v$1)" docs/html/index.html` -eq 0 ] ; then echo "Version mismatch with docs/html/index.html - you forgot to update the documentation link's text"; exit 1; fi; @@ -86,6 +86,7 @@ echo "Building patch files..." cd ${tmp}; +rm -rf Tekkotsu_$2 cvs -q export -r ${oldtag} -d Tekkotsu_$2 Tekkotsu cd Tekkotsu_$1; diff -urdN ../Tekkotsu_$2 . > "${tmp}/Tekkotsu_patch_$2_to_$1.diff"; @@ -213,6 +214,7 @@ echo "Building TekkotsuMon tarball..." cd ${tmp}; +rm -rf Tekkotsu_mon_$1; cp -r Tekkotsu_$1/tools/mon Tekkotsu_mon_$1; tar -cvzf Tekkotsu_mon_$1.tar.gz Tekkotsu_mon_$1; @@ -235,4 +237,4 @@ echo "Done!" echo "" echo "If you disabled robot access on the staging website, don't forget to" -echo "turn it back on!" +echo "turn it back on for the real site when you copy up the files!" diff -urdN ../Tekkotsu_2.2.1/tools/convertmot/tekkotsu.cfg ./tools/convertmot/tekkotsu.cfg --- ../Tekkotsu_2.2.1/tools/convertmot/tekkotsu.cfg Mon Nov 8 16:48:19 2004 +++ ./tools/convertmot/tekkotsu.cfg Mon Nov 8 16:48:19 2004 @@ -1,7 +1,7 @@ ################################################################## ################ Tekkotsu::convertmot config ################# ################################################################## -##################### $Name: HEAD $ ###################### +##################### $Name: HEAD $ ###################### ####################### $Revision: 1.1 $ ######################## ################## $Date: 2004/12/23 08:41:24 $ ################## ################################################################## diff -urdN ../Tekkotsu_2.2.1/tools/makelowercase ./tools/makelowercase --- ../Tekkotsu_2.2.1/tools/makelowercase Tue Nov 16 18:52:32 2004 +++ ./tools/makelowercase Tue Nov 16 23:48:22 2004 @@ -11,11 +11,14 @@ for x in $* ; do dir=`echo "$x" | sed 's@\(.*\)/.*@\1@'`; file=`echo "$x" | sed 's@\(.*\)/@@'`; - pushd "$dir" > /dev/null; - if [ -r "$file" ] ; then - conv="`echo $file | tr '[A-Z]' '[a-z]'`"; - if [ "$file" != "$conv" ] ; then - if [ -e "$conv" -a ! "$file" -ef "$conv" ] ; then + if [ ! -r "$x" ] ; then + if [ "$file" != "*" ] ; then + echo "WARNING: Could not read '$x'"; + fi; + else + conv="$dir/`echo $file | tr '[A-Z]' '[a-z]'`"; + if [ "$dir/$file" != "$conv" ] ; then + if [ -e "$conv" -a ! "$dir/$file" -ef "$conv" ] ; then echo "ERROR: $conv already exists (from $x)"; echo "exiting..." exit 1; @@ -23,12 +26,11 @@ #wish i could do this: # mv "$x" "$conv"; #but cygwin doesn't like that... - mv "$file" "$file"_tmp; - mv "$file"_tmp "$conv"; + mv "$dir/$file" "$dir/$file"_tmp; + mv "$dir/$file"_tmp "$conv"; fi; if [ $recurse -gt 0 -a -d "$conv" ] ; then "$0" -r "$conv"/*; fi; fi; - popd > /dev/null; done; diff -urdN ../Tekkotsu_2.2.1/tools/makeuppercase ./tools/makeuppercase --- ../Tekkotsu_2.2.1/tools/makeuppercase Tue Nov 16 18:52:32 2004 +++ ./tools/makeuppercase Tue Nov 16 23:48:23 2004 @@ -11,11 +11,14 @@ for x in $* ; do dir=`echo "$x" | sed 's@\(.*\)/.*@\1@'`; file=`echo "$x" | sed 's@\(.*\)/@@'`; - pushd "$dir" > /dev/null; - if [ -r "$file" ] ; then - conv="`echo $file | tr '[a-z]' '[A-Z]'`"; - if [ "$file" != "$conv" ] ; then - if [ -e "$conv" -a ! "$file" -ef "$conv" ] ; then + if [ ! -r "$x" ] ; then + if [ "$file" != "*" ] ; then + echo "WARNING: Could not read '$x'"; + fi; + else + conv="$dir/`echo $file | tr '[a-z]' '[A-Z]'`"; + if [ "$dir/$file" != "$conv" ] ; then + if [ -e "$conv" -a ! "$dir/$file" -ef "$conv" ] ; then echo "ERROR: $conv already exists (from $x)"; echo "exiting..." exit 1; @@ -23,12 +26,11 @@ #wish i could do this: # mv "$x" "$conv"; #but cygwin doesn't like that... - mv "$file" "$file"_tmp; - mv "$file"_tmp "$conv"; + mv "$dir/$file" "$dir/$file"_tmp; + mv "$dir/$file"_tmp "$conv"; fi; if [ $recurse -gt 0 -a -d "$conv" ] ; then "$0" -r "$conv"/*; fi; fi; - popd > /dev/null; done; diff -urdN ../Tekkotsu_2.2.1/tools/mon/org/tekkotsu/mon/SketchGUI.java ./tools/mon/org/tekkotsu/mon/SketchGUI.java --- ../Tekkotsu_2.2.1/tools/mon/org/tekkotsu/mon/SketchGUI.java Tue Sep 28 14:56:12 2004 +++ ./tools/mon/org/tekkotsu/mon/SketchGUI.java Tue Dec 7 19:05:20 2004 @@ -24,7 +24,7 @@ import java.io.*; import java.util.StringTokenizer; -public class SketchGUI extends JFrame implements ActionListener,TreeSelectionListener { +public class SketchGUI extends JFrame implements ActionListener,TreeSelectionListener,VisionUpdatedListener { boolean isCam; // true if this GUI is displaying a camera space (not world) JFrame sketchFrame; @@ -48,7 +48,7 @@ // the socket over which listings are retrieved and Sketch commands are sent Socket listingSocket=null; PrintWriter netout = null; // network output - BufferedReader netin = null; // network input + BufferedReader netin = null; // network input public static void main(String args[]) { if(args.length<4) @@ -64,7 +64,7 @@ // gui.listingPort = _listingPort; // gui.sketchPort = Integer.parseInt(args[3]); gui.addWindowListener(new WindowAdapter() { - public void windowClosing(WindowEvent e) {}}); + public void windowClosing(WindowEvent e) {System.exit(0);}}); gui.show(); } @@ -95,21 +95,28 @@ }*/ TreePath[] paths = sketchTree.getSelectionPaths(); - for (int path_i = 0; path_i < paths.length; path_i++) { - DefaultMutableTreeNode node - =(DefaultMutableTreeNode)(paths[path_i].getLastPathComponent()); - - if (node == root) continue; - VisualObjectInfo vinfo = (VisualObjectInfo)(node.getUserObject()); - sketchPanel.scaleToVisualObject(vinfo); + if(paths!=null) { + for (int path_i = 0; path_i < paths.length; path_i++) { + DefaultMutableTreeNode node + =(DefaultMutableTreeNode)(paths[path_i].getLastPathComponent()); + + if (node == root) continue; + if(!(node.getUserObject() instanceof VisualObjectInfo)) { + System.out.println("placeholder text can't be selected"); + continue; + } + + VisualObjectInfo vinfo = (VisualObjectInfo)(node.getUserObject()); + sketchPanel.scaleToVisualObject(vinfo); + } } - Graphics2D g = sketchPanel._image.createGraphics(); - g.setBackground(Color.GRAY); - g.clearRect(0,0,176,144); - sketchPanel.repaint(); - valueChanged(null); // redraw - sketchPanel.repaint(); + //Graphics2D g = sketchPanel._image.createGraphics(); + //g.setBackground(Color.GRAY); + //g..clearRect(0,0,sketchPanel._image.getWidth(),sketchPanel._image.getHeight()); + //sketchPanel.repaint(); + //valueChanged(null); // redraw + //sketchPanel.repaint(); valueChanged(null); // redraw } else if(e.getActionCommand().compareTo("saveimg")==0) { File cursavepath = new File(prefs.get("cursavepath","")); @@ -136,6 +143,11 @@ } } else if(e.getActionCommand().compareTo("refreshlist")==0) { // send command to refresh the sketch tree list + if(netout==null) + reconnect(); + if(netout==null) + return; + netout.println("list"); // DefaultMutableTreeNode root = new DefaultMutableTreeNode("camspace"); root.removeAllChildren(); @@ -148,26 +160,26 @@ sketchPanel.bottomBound = 144; String inputLine; - System.out.println(inputLine = netin.readLine()); - while((inputLine=netin.readLine()).compareTo("list end") != 0) { + System.out.println(inputLine = readLine()); + while((inputLine=readLine()).compareTo("list end") != 0) { // parse type (sketch or shape) StringTokenizer st = new StringTokenizer(inputLine,": "); String type = st.nextToken(); // parse id - inputLine = netin.readLine(); + inputLine = readLine(); st = new StringTokenizer(inputLine,": "); st.nextToken(); int id = Integer.parseInt(st.nextToken()); //parse parentId - inputLine = netin.readLine(); + inputLine = readLine(); st = new StringTokenizer(inputLine,": "); st.nextToken(); int parentId = Integer.parseInt(st.nextToken()); // parse name - inputLine = netin.readLine(); + inputLine = readLine(); st = new StringTokenizer(inputLine,":\r\n"); st.nextToken(); String name = st.nextToken(); @@ -178,20 +190,20 @@ if(type.equals("sketch")) { oinfo = new SketchInfo(id, parentId, name); } else if (type.equals("shape")) { - inputLine = netin.readLine(); + inputLine = readLine(); st = new StringTokenizer(inputLine,": "); st.nextToken(); int shapetype = Integer.parseInt(st.nextToken()); System.out.println("shapetype:" + shapetype); // parse shape color - inputLine = netin.readLine(); + inputLine = readLine(); st = new StringTokenizer(inputLine,": "); st.nextToken(); int color = Integer.parseInt(st.nextToken()); System.out.println("color:" + color); - inputLine = netin.readLine(); + inputLine = readLine(); st = new StringTokenizer(inputLine,": "); st.nextToken(); float cx = Float.parseFloat(st.nextToken()); @@ -200,7 +212,7 @@ System.out.println("cxyz:" +cx+" "+cy+" "+cz); if(shapetype == 1) { // lineshape - inputLine = netin.readLine(); + inputLine = readLine(); st = new StringTokenizer(inputLine,": "); st.nextToken(); float e1x = Float.parseFloat(st.nextToken()); @@ -208,7 +220,7 @@ float e1v = Float.parseFloat(st.nextToken()); System.out.println("e1xyv:"+e1x+" "+e1y +" "+e1v); - inputLine = netin.readLine(); + inputLine = readLine(); st = new StringTokenizer(inputLine,": "); st.nextToken(); float e2x = Float.parseFloat(st.nextToken()); @@ -216,13 +228,13 @@ float e2v = Float.parseFloat(st.nextToken()); System.out.println("e1xyv:"+e1x+" "+e1y +" "+e1v); - inputLine = netin.readLine(); + inputLine = readLine(); st = new StringTokenizer(inputLine,": "); st.nextToken(); float r = Float.parseFloat(st.nextToken()); System.out.println("r:"+r); - inputLine = netin.readLine(); + inputLine = readLine(); st = new StringTokenizer(inputLine,": "); st.nextToken(); float theta = Float.parseFloat(st.nextToken()); @@ -232,14 +244,14 @@ cx,cy,cz, e1x, e1y, e1v, e2x, e2y, e2v, r, theta); } else if(shapetype == 2) { // ellipseshape - inputLine = netin.readLine(); + inputLine = readLine(); st = new StringTokenizer(inputLine,": "); st.nextToken(); float semimajor = Float.parseFloat(st.nextToken()); float semiminor = Float.parseFloat(st.nextToken()); System.out.println("axes:"+semimajor+" "+semiminor); - inputLine = netin.readLine(); + inputLine = readLine(); st = new StringTokenizer(inputLine,": "); st.nextToken(); float orientation = Float.parseFloat(st.nextToken()); @@ -249,7 +261,7 @@ cx,cy,cz, semimajor, semiminor, orientation); } else if (shapetype == 4) { // agentshape - inputLine = netin.readLine(); + inputLine = readLine(); st = new StringTokenizer(inputLine,": "); st.nextToken(); float orientation = Float.parseFloat(st.nextToken()); @@ -301,13 +313,13 @@ // display the first sketch SketchInfo firstinfo = (SketchInfo)(((DefaultMutableTreeNode)(root.getFirstChild())).getUserObject()); netout.println("get "+firstinfo.getId()); - while((inputLine=netin.readLine()).compareTo("get end") != 0) { + while((inputLine=readLine()).compareTo("get end") != 0) { System.out.println(inputLine); } - netout.println("get "+firstinfo.getId()); // why a 2nd time? - while((inputLine=netin.readLine()).compareTo("get end") != 0) { - System.out.println(inputLine); - } + //netout.println("get "+firstinfo.getId()); // why a 2nd time? + //while((inputLine=readLine()).compareTo("get end") != 0) { + //System.out.println(inputLine); + //} System.out.println(inputLine); @@ -318,51 +330,55 @@ // expand all the rows for (int i = 0; i < sketchTree.getRowCount(); i++) { sketchTree.expandRow(i); - sketchTree.updateUI(); +// sketchTree.updateUI(); } + sketchTree.clearSelection(); sketchTree.updateUI(); } catch(IOException ioe) { System.err.println("Transfer error"); + reconnect(); + actionPerformed(e); } } } - public SketchGUI(String host, int _listingPort, int _sketchPort, - boolean _isCam) { - super(); - this.host = host; - this.listingPort = _listingPort; - this.sketchPort = _sketchPort; - this.isCam = _isCam; - //this.port = port; + public SketchGUI(String host, int _listingPort, int _sketchPort, + boolean _isCam) { + super(); + this.host = host; + this.listingPort = _listingPort; + this.sketchPort = _sketchPort; + this.isCam = _isCam; + //this.port = port; + + if(isCam) + root = new DefaultMutableTreeNode("camspace"); + else root = new DefaultMutableTreeNode("worldspace"); - if(isCam) - root = new DefaultMutableTreeNode("camspace"); - else root = new DefaultMutableTreeNode("worldspace"); + init(); - // network setup - try { - System.out.println("Trying to open socket..."); - listingSocket = new Socket(host,listingPort); - netout = new PrintWriter(listingSocket.getOutputStream(), true); - netin = new BufferedReader(new InputStreamReader( - listingSocket.getInputStream())); - } catch (UnknownHostException e) { - System.err.println("Don't know about host:"+host); - System.exit(1); - } catch (IOException e) { - System.err.println("Couldn't get I/O for " - + "the connection to:" + host + "."); - System.exit(1); + // network setup + reconnect(); + /* + try { + System.out.println("Trying to open socket..."); + listingSocket = new Socket(host,listingPort); + netout = new PrintWriter(listingSocket.getOutputStream(), true); + netin = new BufferedReader(new InputStreamReader(listingSocket.getInputStream())); + } catch (UnknownHostException e) { + System.err.println("Don't know about host:"+host); + System.exit(1); + } catch (IOException e) { + System.err.println("Couldn't get I/O for " + + "the connection to:" + host + "."); + //System.exit(1); + }*/ } - - init(); - } - + public void init() { - enableEvents(AWTEvent.FOCUS_EVENT_MASK);// want to receive FocusEvents + //enableEvents(AWTEvent.FOCUS_EVENT_MASK);// want to receive FocusEvents int strutsize=10; int sepsize=5; @@ -377,7 +393,6 @@ sketchPanel.setMinimumSize(new Dimension(VisionListener.DEFAULT_WIDTH/2, VisionListener.DEFAULT_HEIGHT/2)); sketchPanel.setPreferredSize(new Dimension(VisionListener.DEFAULT_WIDTH*2, VisionListener.DEFAULT_HEIGHT*2)); sketchPanel.setLockAspectRatio(true); - //getContentPane().add(sketch,BorderLayout.NORTH); @@ -387,6 +402,8 @@ else sketchFrame = new JFrame("World Sketch/Shape Frame"); sketchFrame.getContentPane().add(sketchPanel); sketchFrame.pack(); + sketchFrame.setLocation(prefs.getInt("SketchPanel.location.x",50),prefs.getInt("SketchPanel.location.y",50)); + sketchFrame.show(); { @@ -471,11 +488,46 @@ String name="SketchGUI"+".location"; setLocation(prefs.getInt(name+".x",50),prefs.getInt(name+".y",50)); + addWindowListener(new CloseSketchGUIAdapter(this)); + sketchPanel.getListener().addListener(this); + // trigger some beginning events // actionPerformed(new ActionEvent(this, ActionEvent.ACTION_PERFORMED, "refreshlist")); } + class CloseSketchGUIAdapter extends WindowAdapter { + SketchGUI gui; + CloseSketchGUIAdapter(SketchGUI gui) {this.gui=gui;} + public void windowClosing(WindowEvent e) { + gui.close(); + } + } + + public void close() { + try { + if(listingSocket!=null && !listingSocket.isClosed()) + listingSocket.close(); + } catch (IOException ioe) { + System.err.println("close failed:"); + ioe.printStackTrace(); + } + prefs.putInt("SketchGUI.location.x",getLocation().x); + prefs.putInt("SketchGUI.location.y",getLocation().y); + sketchPanel.getListener().removeListener(this); + Component p=sketchPanel; + while(p.getParent()!=null) + p=p.getParent(); + if(p instanceof Window) { + Window w=(Window)p; + prefs.putInt("SketchPanel.location.x",w.getLocation().x); + prefs.putInt("SketchPanel.location.y",w.getLocation().y); + w.dispose(); + } else + System.out.println("That's weird - root container isn't window"); + dispose(); + } + public TreeNode initSketchTree(String host, int port) { // Just for demonstration: @@ -522,59 +574,118 @@ // gets called when a Sketch selection is clicked public void valueChanged(TreeSelectionEvent e) { - Graphics2D tempgraphics = sketchPanel._image.createGraphics(); - tempgraphics.setBackground(Color.GRAY); - tempgraphics.clearRect(0,0,176,144); - - Graphics2D g = sketchPanel._image.createGraphics(); - TreePath[] paths = sketchTree.getSelectionPaths(); - if (paths == null) return; + if (paths == null) { + renderSelectedInTree(null); + return; + } + int sketches=0; for (int path_i = 0; path_i < paths.length; path_i++) { DefaultMutableTreeNode node =(DefaultMutableTreeNode)(paths[path_i].getLastPathComponent()); if (node == root) continue; - if (node == null) return; + if (node == null) {System.err.println("node is null???"); return; } + if(!(node.getUserObject() instanceof VisualObjectInfo)) { + System.out.println("placeholder text can't be displayed"); + continue; + } + VisualObjectInfo vinfo = (VisualObjectInfo)(node.getUserObject()); - System.out.println(vinfo.toString()); + if(vinfo instanceof SketchInfo) + sketches++; if (!node.isRoot()) { System.out.println("id clicked:"+vinfo.id); netout.println("get "+vinfo.id); try { String inputLine; - while((inputLine=netin.readLine()).compareTo("get end") != 0) { + while((inputLine=readLine()).compareTo("get end") != 0) { System.out.println(inputLine); } } catch (IOException ioe) { System.err.println("Transfer error"); + reconnect(); + valueChanged(null); } + System.out.println("done with id:"+vinfo.id); } else { //displayURL(helpURL); } } - renderSelectedInTree(g); + if(sketches==0) + renderSelectedInTree(null); + } + + protected String readLine() throws java.io.IOException { + if(netin==null) + reconnect(); + if(netin==null) + throw new java.io.IOException("no connection"); + String ans=netin.readLine(); + if(ans==null) + throw new java.io.IOException("lost connection"); + return ans; + } + + public void reconnect() { + System.out.print(host+":"+listingPort+" reconnecting..."); + try { + if(listingSocket!=null && !listingSocket.isClosed()) + listingSocket.close(); + netin=null; + netout=null; + listingSocket = new Socket(host,listingPort); + netout = new PrintWriter(listingSocket.getOutputStream(), true); + netin = new BufferedReader(new InputStreamReader(listingSocket.getInputStream())); + } catch (UnknownHostException e) { + System.err.println("Don't know about host:"+host); + System.exit(1); + } catch (IOException ioe) { + System.err.println("reconnection failed:"); + //ioe.printStackTrace(); + return; + } + System.out.println("done"); + refreshListBut.doClick(); //auto refresh on reconnect } + public void visionUpdated(VisionListener l) { + renderSelectedInTree(l.getImage().createGraphics()); + l.removeListener(this); + l.fireVisionUpdate(); + l.addListener(this); + } + // called when the window receives focus - public void processFocusEvent(FocusEvent e) { - System.out.println("received focus"); + /*public void processFocusEvent(FocusEvent e) { repaint(); // keeps window from getting overwritten; bit of a hack - } + }*/ // renders all the currently selected elements in the tree public void renderSelectedInTree(Graphics2D g) { - g = sketchPanel._image.createGraphics(); + if(g==null) { + g = sketchPanel._image.createGraphics(); + g.setBackground(Color.GRAY); + g.clearRect(0,0,sketchPanel._image.getWidth(),sketchPanel._image.getHeight()); + } TreePath[] paths = sketchTree.getSelectionPaths(); - if (paths == null) return; + if (paths == null) { + sketchPanel.repaint(); + return; + } for (int path_i = 0; path_i < paths.length; path_i++) { DefaultMutableTreeNode node =(DefaultMutableTreeNode)(paths[path_i].getLastPathComponent()); - if (node == root) continue; + if (node == root) continue; if (node == null) return; - + + if(!(node.getUserObject() instanceof VisualObjectInfo)) { + System.out.println("placeholder text can't be displayed"); + continue; + } + VisualObjectInfo vinfo = (VisualObjectInfo)(node.getUserObject()); int cval = vinfo.getColor(); IndexColorModel cmodel = sketchPanel._listener.getColorModel(); diff -urdN ../Tekkotsu_2.2.1/tools/mon/org/tekkotsu/mon/SketchPanel.java ./tools/mon/org/tekkotsu/mon/SketchPanel.java --- ../Tekkotsu_2.2.1/tools/mon/org/tekkotsu/mon/SketchPanel.java Fri Nov 12 17:07:40 2004 +++ ./tools/mon/org/tekkotsu/mon/SketchPanel.java Wed Dec 1 18:18:30 2004 @@ -24,9 +24,13 @@ super(listener); gui = _gui; isCam = _isCam; - listener.run(); + //listener.run(); } + public void visionUpdated(VisionListener l) { + super.visionUpdated(l); + } + protected void drawImage(Graphics _g, BufferedImage img, int x, int y, int w, int h) { Graphics2D g2d = (Graphics2D)_g; @@ -68,19 +72,28 @@ } // redraw shapes if necessary - gui.renderSelectedInTree(g2d); + //gui.renderSelectedInTree(g2d); // draw coordinates if (isCam) { - g2d.drawString("("+String.valueOf((int)leftBound)+"," - +String.valueOf((int)topBound)+")", 0, 10); - g2d.drawString("("+String.valueOf((int)rightBound)+"," - +String.valueOf((int)bottomBound)+")", 145*2, 141*2); + g2d.setColor(getForeground()); + FontMetrics tmp=g2d.getFontMetrics(); + String msg="("+String.valueOf((int)leftBound)+","+String.valueOf((int)topBound)+")"; + int strw=tmp.stringWidth(msg); + g2d.drawString(msg,x,y+tmp.getAscent()); + msg="("+String.valueOf((int)rightBound)+","+String.valueOf((int)bottomBound)+")"; + strw=tmp.stringWidth(msg); + g2d.drawString(msg,x+w-strw,y+h-tmp.getDescent()); } else { - g2d.drawString("("+String.valueOf((int)leftBound)+"," - +String.valueOf((int)bottomBound)+")", 0, 10); - g2d.drawString("("+String.valueOf((int)rightBound)+"," - +String.valueOf((int)topBound)+")", 145*2, 141*2); + g2d.setColor(getForeground()); + FontMetrics tmp=g2d.getFontMetrics(); + int strh=tmp.getHeight(); + String msg="("+String.valueOf((int)leftBound)+","+String.valueOf((int)bottomBound)+")"; + int strw=tmp.stringWidth(msg); + g2d.drawString(msg,x,y+tmp.getAscent()); + msg="("+String.valueOf((int)rightBound)+","+String.valueOf((int)topBound)+")"; + strw=tmp.stringWidth(msg); + g2d.drawString(msg,x+w-strw,y+h-tmp.getDescent()); } } diff -urdN ../Tekkotsu_2.2.1/tools/mon/org/tekkotsu/mon/TCPVisionListener.java ./tools/mon/org/tekkotsu/mon/TCPVisionListener.java --- ../Tekkotsu_2.2.1/tools/mon/org/tekkotsu/mon/TCPVisionListener.java Fri Nov 12 17:07:40 2004 +++ ./tools/mon/org/tekkotsu/mon/TCPVisionListener.java Mon Nov 29 20:15:52 2004 @@ -20,13 +20,16 @@ Date timestamp; long frameNum=0; - Vector listeners = new Vector(); + protected Vector listeners = new Vector(); + protected boolean updating; + public void addListener(VisionUpdatedListener l) { listeners.add(l); } public void removeListener(VisionUpdatedListener l) { listeners.remove(l); } public void fireVisionUpdate() { - updatedFlag=true; - for(int i=0; i "$2$x.txt" +if [ ! -r "$1" ] ; then + echo "Could not read file '$1'"; + exit 1; +fi + +if [ ! -r "$2" ] ; then + echo "Could not read file '$2'"; + exit 1; +fi + +prefix="$3" + +lines=`cat "$1" | wc -l`; +exec 6< "$1" +line=1; + +rm -f `cut -f 2 "$1" | sort | uniq | sed "s/^/$prefix/" | sed "s/\$/.txt/"`; + +for ((line=1;lines-line+1;line++)) ; do + read -u 6 -d " " name; + read -u 6 -d " " chain; + read -u 6 -d " " link; + read -u 6 -d " " x; + read -u 6 -d " " y; + read -u 6 z; + scale=`grep $chain "$2" | sed "s/^[^0-9.]*//"` + x=`echo "scale=3; $x / $scale" | bc` + y=`echo "scale=3; $y / $scale" | bc` + z=`echo "scale=3; $z / $scale" | bc` + printf "$link\t$x\t$y\t$z\n" >> "$prefix$chain.txt" done + +exec 6<&-