HeadPointerMC.cc

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#include "HeadPointerMC.h"
#include "Kinematics.h"
#include "Shared/debuget.h"
#include "Shared/WorldState.h"
#include "MotionManager.h"
#include "Shared/Config.h"
#include "Wireless/Socket.h"
#include "Shared/ERS7Info.h"
#include "Shared/ERS210Info.h"
#include "Motion/IKSolver.h"
#include "Shared/get_time.h"
#include "Events/EventBase.h"
#include "DualCoding/VRmixin.h"
#include "Crew/MapBuilder.h"
#include "DualCoding/Point.h"

#include <memory>
#include <cmath>

HeadPointerMC::HeadPointerMC()
  : MotionCommand(), dirty(true), hold(true), tolerance(.05f), // if change default tolerance, update documentation in header
    targetReached(true), targetTimestamp(0), timeout(2000)
{
  setWeight(1);
  defaultMaxSpeed();
  takeSnapshot();
}

void HeadPointerMC::freezeMotion() {
#ifdef TGT_HAS_HEAD
  for(unsigned int i=0; i<NumHeadJoints; i++)
    headTargets[i]=headCmds[i].value;
  dirty=false;
#endif
}

void HeadPointerMC::takeSnapshot() {
#ifdef TGT_HAS_HEAD
  for(unsigned int i=0; i<NumHeadJoints; i++)
    headTargets[i]=headCmds[i].value=state->outputs[HeadOffset+i];
  dirty=true;
#endif
}

void HeadPointerMC::defaultMaxSpeed(float x/*=1*/) {
#ifdef TGT_HAS_HEAD
  const char* n = ERS7Info::outputNames[ERS7Info::HeadOffset+ERS7Info::TiltOffset];
  unsigned int i = capabilities.findOutputOffset(n);
  if(i!=-1U)
    maxSpeed[i-HeadOffset]=config->motion.max_head_tilt_speed*FrameTime*x/1000;
  n = ERS7Info::outputNames[ERS7Info::HeadOffset+ERS7Info::PanOffset];
  i = capabilities.findOutputOffset(n);
  if(i!=-1U)
    maxSpeed[i-HeadOffset]=config->motion.max_head_pan_speed*FrameTime*x/1000;
  n = ERS7Info::outputNames[ERS7Info::HeadOffset+ERS7Info::NodOffset];
  i = capabilities.findOutputOffset(n);
  if(i!=-1U)
    maxSpeed[i-HeadOffset]=config->motion.max_head_roll_speed*FrameTime*x/1000;
  n = ERS210Info::outputNames[ERS210Info::HeadOffset+ERS210Info::RollOffset];
  i = capabilities.findOutputOffset(n);
  if(i!=-1U)
    maxSpeed[i-HeadOffset]=config->motion.max_head_roll_speed*FrameTime*x/1000;
#endif
}

void HeadPointerMC::setWeight(float w) {
#ifdef TGT_HAS_HEAD
  for(unsigned int x=0; x<NumHeadJoints; x++)
    headCmds[x].weight=w;
  markDirty();
#endif
}

void HeadPointerMC::setJoints(float tilt1, float pan, float tilt2) {
#ifdef TGT_HAS_HEAD
#ifdef TGT_IS_AIBO
  headTargets[TiltOffset]=clipAngularRange(HeadOffset+TiltOffset,tilt1);
  headTargets[PanOffset]=clipAngularRange(HeadOffset+PanOffset,pan);
  headTargets[NodOffset]=clipAngularRange(HeadOffset+NodOffset,tilt2);
#else
  const char* n = ERS7Info::outputNames[ERS7Info::HeadOffset+ERS7Info::TiltOffset];
  unsigned int i = capabilities.findOutputOffset(n);
  if(i!=-1U)
    headTargets[i-HeadOffset]=clipAngularRange(i,tilt1);
  n = ERS7Info::outputNames[ERS7Info::HeadOffset+ERS7Info::PanOffset];
  i = capabilities.findOutputOffset(n);
  if(i!=-1U)
    headTargets[i-HeadOffset]=clipAngularRange(i,pan);
  n = ERS7Info::outputNames[ERS7Info::HeadOffset+ERS7Info::NodOffset];
  i = capabilities.findOutputOffset(n);
  if(i!=-1U)
    headTargets[i-HeadOffset]=clipAngularRange(i,tilt2);
#endif
  markDirty();
#endif
}

void HeadPointerMC::setJoints(float pan, float shoulder, float elbow, float pitch) {
        setMaxSpeed(0, 0.2f);
        setMaxSpeed(1, 0.2f);
        setMaxSpeed(2, 0.2f);
        setMaxSpeed(3, 0.2f);
        setJointValue(0, pan);  
  setJointValue(1, shoulder); 
  setJointValue(2, elbow);  
  setJointValue(3, pitch);  
}

#include <iostream>
using namespace std;

bool HeadPointerMC::lookAtPoint(float x, float y, float z) {
#if !defined(TGT_HAS_HEAD) || !defined(TGT_HAS_CAMERA)
  return false;
#else
  const KinematicJoint * kinEff = kine->getKinematicJoint(CameraFrameOffset);
  if(kinEff==NULL) {// if that didn't work, give up
    cout<<"HeadPointerMC: Could not find CameraFrameOffset"<<endl;
    return false;
  }
  KinematicJoint * effector = kinEff->cloneBranch(); // make a local copy so we can do thread-safe IK
  std::auto_ptr<KinematicJoint> root(effector->getRoot()); // auto-free the cloned branch when leaving scope
  // kine already updated KinematicJoint positions during getKinematicJoint call, otherwise we'd need this:
  // effector->pullAncestorsQFromArray(state->outputs);
  
  // make the camera into a mobile prismatic joint
  effector->qmax = std::numeric_limits<float>::infinity();
  
  bool conv = effector->getIK().solve(IKSolver::Point(),*effector,IKSolver::Point(x,y,z));
  do {
    if(effector->outputOffset>=HeadOffset && effector->outputOffset<HeadOffset+NumHeadJoints)
      headTargets[effector->outputOffset - HeadOffset] = effector->getQ();
    effector = effector->getParent();
  } while(effector!=NULL);
  markDirty();
  
  return conv;
#endif

}

bool HeadPointerMC::lookAtPoint(const DualCoding::Point &p) {
  DualCoding::Point p2 = p;
  switch ( p2.getRefFrameType() ) {
    case DualCoding::camcentric:
      // technically we could probably do something here based on aligning camera z with ray through the specified point...
      cout << "Error:  HeadPointerMC::lookAtPoint cannot accept point " << p2 << " in camera-centric coordinates\n";
      return false;
    case DualCoding::allocentric: {
      if ( DualCoding::VRmixin::mapBuilder == NULL ) {
        cout << "Error: HeadPointerMC:lookAtPoint can't convert allocentric point " << p2
        << " to egocentric because MapBuilder is not running\n";
        return false;
      }
      fmat::Column<3> q = DualCoding::VRmixin::mapBuilder->worldToLocalRotateMatrix
      * (DualCoding::VRmixin::mapBuilder->worldToLocalTranslateMatrix * p2.getCoords());
      p2.setCoords(q[0], q[1], q[2]);
    }
      // fall through to next case
    case DualCoding::egocentric:
    case DualCoding::unspecified:  // assume egocentric
      return lookAtPoint(p2.coordX(), p2.coordY(), p2.coordZ());
  }
  cerr << "Error: HeadPointerMC::lookAtPoint given DualCoding::Point with invalid reference frame " << p2.getRefFrameType() << endl;
  return false; // only happens if invalid reference frame was set (compiler warning if we leave this off)
}

bool HeadPointerMC::lookAtPoint(float x, float y, float z, float d) {
#if !defined(TGT_HAS_HEAD) || !defined(TGT_HAS_CAMERA)
  return false;
#else
  const KinematicJoint * kinEff = kine->getKinematicJoint(CameraFrameOffset);
  if(kinEff==NULL) {// if that didn't work, give up
    cout<<"HeadPointerMC: Could not find CameraFrameOffset"<<endl;
    return false;
  }
  KinematicJoint * effector = kinEff->cloneBranch(); // make a local copy so we can do thread-safe IK
  std::auto_ptr<KinematicJoint> root(effector->getRoot());
  // kine already updated KinematicJoint positions during getKinematicJoint call, otherwise we'd need this:
  // effector->pullAncestorsQFromArray(state->outputs);
  
  bool conv = effector->getIK().solve(IKSolver::Point(0,0,d),*effector,IKSolver::Point(x,y,z));
  do {
    if(effector->outputOffset>=HeadOffset && effector->outputOffset<HeadOffset+NumHeadJoints)
      headTargets[effector->outputOffset - HeadOffset] = effector->getQ();
    effector = effector->getParent();
  } while(effector!=NULL);
  markDirty();
  
  return conv;
#endif
}
  
bool HeadPointerMC::lookInDirection(float x, float y, float z) {
#if !defined(TGT_HAS_HEAD) || !defined(TGT_HAS_CAMERA)
  return false;
#else
  const KinematicJoint * kinEff = kine->getKinematicJoint(CameraFrameOffset);
  if(kinEff==NULL) {// if that didn't work, give up
    cout<<"HeadPointerMC: Could not find CameraFrameOffset"<<endl;
    return false;
  }
  KinematicJoint * effector = kinEff->cloneBranch(); // make a local copy so we can do thread-safe IK
  std::auto_ptr<KinematicJoint> root(effector->getRoot());
  // kine already updated KinematicJoint positions during getKinematicJoint call, otherwise we'd need this:
  // effector->pullAncestorsQFromArray(state->outputs);
  
  bool conv = effector->getIK().solve(IKSolver::Rotation(),*effector,IKSolver::Parallel(x,y,z));
  do {
    if(effector->outputOffset>=HeadOffset && effector->outputOffset<HeadOffset+NumHeadJoints)
      headTargets[effector->outputOffset - HeadOffset] = effector->getQ();
    effector = effector->getParent();
  } while(effector!=NULL);
  markDirty();
  
  return conv;
#endif
}


int HeadPointerMC::updateOutputs() {
  int tmp=isDirty();
  if(tmp || hold) {
    dirty=false;
#ifdef TGT_HAS_HEAD
    for(unsigned int i=0; i<NumHeadJoints; i++) {
      if(maxSpeed[i]<=0) {
        headCmds[i].value=headTargets[i];
        motman->setOutput(this,i+HeadOffset,headCmds[i]);
      } else { // we may be trying to exceeded maxSpeed
        unsigned int f=0;
        while(headTargets[i]>headCmds[i].value+maxSpeed[i] && f<NumFrames) {
          headCmds[i].value+=maxSpeed[i];                                        
          motman->setOutput(this,i+HeadOffset,headCmds[i],f);
          f++;
        }
        while(headTargets[i]<headCmds[i].value-maxSpeed[i] && f<NumFrames) {
          headCmds[i].value-=maxSpeed[i];
                                        motman->setOutput(this,i+HeadOffset,headCmds[i],f);
          f++;
        }
        if(f<NumFrames) { //we reached target value, fill in rest of frames
          headCmds[i].value=headTargets[i];
          for(;f<NumFrames;f++)
            motman->setOutput(this,i+HeadOffset,headCmds[i],f);
        } else // we didn't reach target value, still dirty
          dirty=true;
      }
    }
#endif
    if(!dirty && !targetReached) {
      postEvent(EventBase(EventBase::motmanEGID, getID(),EventBase::statusETID));
      targetReached=true;
      targetTimestamp=get_time();
    }
  }
  return tmp;
}

int HeadPointerMC::isAlive() {
#ifndef TGT_HAS_HEAD
  return false;
#else
  if(dirty || !targetReached)
    return true;
  if(targetReached && (!hold || get_time()-targetTimestamp>timeout)) { //prevents a conflicted HeadPointerMC's from fighting forever
    if(get_time()-targetTimestamp>timeout && getAutoPrune())
      serr->printf("WARNING: HeadPointerMC (mcid %d) timed out - possible joint conflict or out-of-range target\n",getID());
    return false;
  }
  float maxdiff=0;
  for(unsigned int i=0; i<NumHeadJoints; i++) {
    float diff=fabsf(state->outputs[HeadOffset+i]-headTargets[i]);
    if(diff>maxdiff)
      maxdiff=diff;
  }
  return (maxdiff>tolerance);
#endif
}

void HeadPointerMC::markDirty() {
  dirty=true;
  targetReached=false;
#ifdef TGT_HAS_HEAD
  for(unsigned int i=0; i<NumHeadJoints; i++)
    headCmds[i].value=motman->getOutputCmd(HeadOffset+i).value; //not state->outputs[HeadOffset+i]; - see function documentation
#endif
}

bool HeadPointerMC::ensureValidJoint(unsigned int& i) {
#ifndef TGT_HAS_HEAD
  serr->printf("ERROR: HeadPointerMC received a joint index of %d on headless target.\n",i);
#else
  if(i<NumHeadJoints)
    return true;
  if(i>=HeadOffset && i<HeadOffset+NumHeadJoints) {
    i-=HeadOffset;
    serr->printf("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");
#endif
  return false;
}

/*! @file
 * @brief Implements HeadPointerMC, a class for various ways to control where the head is looking
 * @author ejt (Creator)
 *
 */