Reference

HeadPointerMC Class Reference

#include <HeadPointerMC.h>

Inheritance diagram for HeadPointerMC:

Detailed Description

This class gives some quick and easy functions to point the head at things.

Definition at line 10 of file HeadPointerMC.h.

Public Types

enum CoordFrame_t { BodyRelative, GravityRelative }

Various modes the head can be in. In the future may want to add ability to explicitly track an object or point in the world model. More...

Public Member Functions

HeadPointerMC ()

constructor, defaults to active, BodyRelative, all joints at 0

virtual ~HeadPointerMC ()

destructor

void setWeight (double w)

sets the weight values for all the neck joints

void setWeight (RobotInfo::TPROffset_t i, double weight)

set a specific head joint weight, pass one of RobotInfo::TPROffset_t, not a full offset!

void setActive (bool a)

sets active flag, see isDirty()

bool getActive () const

returns active flag, see isDirty()

void noMaxSpeed ()

sets maxSpeed to 0 (no maximum)

void defaultMaxSpeed ()

restores maxSpeed to default settings from Config::Motion_Config

void setMaxSpeed (TPROffset_t i, float x)

sets maxSpeed, pass it rad/sec

float getMaxSpeed (TPROffset_t i)

returns maxSpeed in rad/sec

double convert (RobotInfo::TPROffset_t i, double v, CoordFrame_t srcmode, CoordFrame_t tgtmode) const

converts a value v in srcmode to a value in tgtmode that would leave the joint angle for joint i constant (you probably won't need to call this directly)

Joint Accessors

Note that none of these are virtual, so you don't have to checkout to use them, you should be able to use MotionManager::peekMotion()

void setJoints (double tilt, double pan, double roll)

Directly sets the neck values, uses current mode.

void setMode (CoordFrame_t m, bool convert=true)

sets all the joints to the given mode, will convert the values to the new mode if convert is true

void setJointMode (RobotInfo::TPROffset_t i, CoordFrame_t m, bool convert=true)

set a specific head joint's mode, will convert from previous mode's value to next mode's value if convert is true. Pass one of RobotInfo::TPROffset_t, not a full offset!

void setJointValue (RobotInfo::TPROffset_t i, double value)

set a specific head joint's value (for whatever mode it's in), pass one of RobotInfo::TPROffset_t, not a full offset!

void setJointValueAndMode (RobotInfo::TPROffset_t i, double value, CoordFrame_t m)

set a specific head joint, pass one of RobotInfo::TPROffset_t, not a full offset!

void setJointValueFromMode (RobotInfo::TPROffset_t i, double value, CoordFrame_t m)

set a specific head joint auto converting value from mode m to the current mode, pass one of RobotInfo::TPROffset_t, not a full offset!

CoordFrame_t getJointMode (RobotInfo::TPROffset_t i) const

returns the current mode for joint i (use RobotInfo::TPROffset_t, not global offset)

double getJointValue (RobotInfo::TPROffset_t i) const

returns the current value (relative to the current mode) of joint i, use getOutputCmd() if you want to know the actual target joint value (to get the actual current joint position, look in WorldState

Inherited:

virtual int updateOutputs ()

Updates where the head is looking.

virtual const OutputCmd & getOutputCmd (unsigned int i)

returns one of the headJoints entries or ::unusedJoint if not a head joint

virtual int isDirty ()

true if a change has been made since the last updateJointCmds() and we're active

virtual int isAlive ()

Updates where the head is looking.

Protected Member Functions

double convToBodyRelative (TPROffset_t i, double v, CoordFrame_t mode) const

converts to a body relative measurement for joint i

double convFromBodyRelative (TPROffset_t i, double v, CoordFrame_t mode) const

converts from a body relative measurement for joint i

Protected Attributes

bool dirty

true if a change has been made since last call to updateJointCmds()

bool active

set by accessor functions, defaults to true

OutputCmd headJoints [NumHeadJoints]

stores the last values we sent from updateOutputs

float headValues [NumHeadJoints]

stores the target value of each joint, relative to headModes

CoordFrame_t headModes [NumHeadJoints]

stores the current mode of each joint, for instance so tilt can be GravityRelative while pan is static

float maxSpeed [NumHeadJoints]

initialized from Config::motion_config, but can be overridden by setMaxSpeed(); rad per frame

Member Enumeration Documentation

enum HeadPointerMC::CoordFrame_t

Various modes the head can be in. In the future may want to add ability to explicitly track an object or point in the world model.

Enumeration values:

BodyRelative holds neck at a specified position, like a PostureEngine, but neck specific

GravityRelative uses accelerometers to keep a level head, doesn't apply for pan joint, but in future could use localization for pan

Definition at line 18 of file HeadPointerMC.h.

Constructor & Destructor Documentation

HeadPointerMC::HeadPointerMC ( )

constructor, defaults to active, BodyRelative, all joints at 0

Definition at line 8 of file HeadPointerMC.cc.
References BodyRelative, defaultMaxSpeed(), headJoints, headModes, ERS210Info::HeadOffset, headValues, ERS210Info::NumHeadJoints, WorldState::outputs, setWeight(), state, and OutputCmd::value.

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virtual HeadPointerMC::~HeadPointerMC ( ) [inline, virtual]

destructor

Definition at line 15 of file HeadPointerMC.h.

Member Function Documentation

double HeadPointerMC::convert ( RobotInfo::TPROffset_t i,

double v,

CoordFrame_t srcmode,

CoordFrame_t tgtmode

) const [inline]

converts a value v in srcmode to a value in tgtmode that would leave the joint angle for joint i constant (you probably won't need to call this directly)

Definition at line 34 of file HeadPointerMC.h.
References convFromBodyRelative(), and convToBodyRelative().

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double HeadPointerMC::convFromBodyRelative ( TPROffset_t i,

double v,

CoordFrame_t mode

) const [protected]

converts from a body relative measurement for joint i

Todo:
this is perhaps a bit amateurish - could be more accurate

Definition at line 124 of file HeadPointerMC.cc.
References ASSERT, ERS210Info::BAccelOffset, BodyRelative, ERS210Info::DAccelOffset, GravityRelative, ERS210Info::LAccelOffset, ERS210Info::PanOffset, ERS210Info::RollOffset, WorldState::sensors, state, and ERS210Info::TiltOffset.

double HeadPointerMC::convToBodyRelative ( TPROffset_t i,

double v,

CoordFrame_t mode

) const [protected]

converts to a body relative measurement for joint i

Todo:
this is perhaps a bit amateurish - could be more accurate

Definition at line 98 of file HeadPointerMC.cc.
References ASSERT, ERS210Info::BAccelOffset, BodyRelative, ERS210Info::DAccelOffset, GravityRelative, ERS210Info::LAccelOffset, ERS210Info::PanOffset, ERS210Info::RollOffset, WorldState::sensors, state, and ERS210Info::TiltOffset.

void HeadPointerMC::defaultMaxSpeed ( )

restores maxSpeed to default settings from Config::Motion_Config

Definition at line 32 of file HeadPointerMC.cc.
References config, ERS210Info::FrameTime, Config::motion_config::max_head_pan_speed, Config::motion_config::max_head_roll_speed, Config::motion_config::max_head_tilt_speed, maxSpeed, Config::motion, ERS210Info::PanOffset, ERS210Info::RollOffset, and ERS210Info::TiltOffset.

bool HeadPointerMC::getActive ( ) const [inline]

returns active flag, see isDirty()

Definition at line 26 of file HeadPointerMC.h.
References active.

CoordFrame_t HeadPointerMC::getJointMode ( RobotInfo::TPROffset_t i ) const [inline]

returns the current mode for joint i (use RobotInfo::TPROffset_t, not global offset)

Definition at line 46 of file HeadPointerMC.h.
References CoordFrame_t, and headModes.

double HeadPointerMC::getJointValue ( RobotInfo::TPROffset_t i ) const [inline]

returns the current value (relative to the current mode) of joint i, use getOutputCmd() if you want to know the actual target joint value (to get the actual current joint position, look in WorldState

Definition at line 47 of file HeadPointerMC.h.
References headValues.

float HeadPointerMC::getMaxSpeed ( TPROffset_t i ) [inline]

returns maxSpeed in rad/sec

Definition at line 31 of file HeadPointerMC.h.
References ERS210Info::FrameTime, and maxSpeed.

const OutputCmd & HeadPointerMC::getOutputCmd ( unsigned int i ) [virtual]

returns one of the headJoints entries or ::unusedJoint if not a head joint

Definition at line 89 of file HeadPointerMC.cc.
References getActive(), headJoints, ERS210Info::HeadOffset, ERS210Info::NumHeadJoints, and OutputCmd::unused.

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virtual int HeadPointerMC::isAlive ( ) [inline, virtual]

Updates where the head is looking.

Implements MotionCommand.
Definition at line 54 of file HeadPointerMC.h.

virtual int HeadPointerMC::isDirty ( ) [inline, virtual]

true if a change has been made since the last updateJointCmds() and we're active

Implements MotionCommand.
Definition at line 53 of file HeadPointerMC.h.
References active, and dirty.

void HeadPointerMC::noMaxSpeed ( ) [inline]

sets maxSpeed to 0 (no maximum)

Definition at line 28 of file HeadPointerMC.h.
References maxSpeed, and ERS210Info::NumHeadJoints.

void HeadPointerMC::setActive ( bool a ) [inline]

sets active flag, see isDirty()

Definition at line 25 of file HeadPointerMC.h.
References active.

void HeadPointerMC::setJointMode ( RobotInfo::TPROffset_t i,

CoordFrame_t m,

bool convert = true

)

set a specific head joint's mode, will convert from previous mode's value to next mode's value if convert is true. Pass one of RobotInfo::TPROffset_t, not a full offset!

Definition at line 43 of file HeadPointerMC.cc.
References convert(), dirty, headModes, and headValues.

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void HeadPointerMC::setJoints ( double tilt,

double pan,

double roll

)

Directly sets the neck values, uses current mode.

Definition at line 19 of file HeadPointerMC.cc.
References dirty, headValues, ERS210Info::PanOffset, ERS210Info::RollOffset, and ERS210Info::TiltOffset.

void HeadPointerMC::setJointValue ( RobotInfo::TPROffset_t i,

double value

) [inline]

set a specific head joint's value (for whatever mode it's in), pass one of RobotInfo::TPROffset_t, not a full offset!

Definition at line 43 of file HeadPointerMC.h.
References dirty, and headValues.

void HeadPointerMC::setJointValueAndMode ( RobotInfo::TPROffset_t i,

double value,

CoordFrame_t m

) [inline]

set a specific head joint, pass one of RobotInfo::TPROffset_t, not a full offset!

Definition at line 44 of file HeadPointerMC.h.
References dirty, headModes, and headValues.

void HeadPointerMC::setJointValueFromMode ( RobotInfo::TPROffset_t i,

double value,

CoordFrame_t m

) [inline]

set a specific head joint auto converting value from mode m to the current mode, pass one of RobotInfo::TPROffset_t, not a full offset!

Definition at line 45 of file HeadPointerMC.h.
References convert(), dirty, headModes, and headValues.

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void HeadPointerMC::setMaxSpeed ( TPROffset_t i,

float x

) [inline]

sets maxSpeed, pass it rad/sec

Definition at line 30 of file HeadPointerMC.h.
References ERS210Info::FrameTime, and maxSpeed.

void HeadPointerMC::setMode ( CoordFrame_t m,

bool convert = true

)

sets all the joints to the given mode, will convert the values to the new mode if convert is true

Definition at line 38 of file HeadPointerMC.cc.
References ERS210Info::NumHeadJoints, and setJointMode().

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void HeadPointerMC::setWeight ( RobotInfo::TPROffset_t i,

double weight

) [inline]

set a specific head joint weight, pass one of RobotInfo::TPROffset_t, not a full offset!

Definition at line 24 of file HeadPointerMC.h.
References dirty, headJoints, and OutputCmd::weight.

void HeadPointerMC::setWeight ( double w )

sets the weight values for all the neck joints

Definition at line 26 of file HeadPointerMC.cc.
References dirty, headJoints, ERS210Info::NumHeadJoints, and OutputCmd::weight.

int HeadPointerMC::updateOutputs ( ) [virtual]

Updates where the head is looking.

Implements MotionCommand.
Definition at line 50 of file HeadPointerMC.cc.
References BodyRelative, convToBodyRelative(), dirty, headJoints, headModes, ERS210Info::HeadOffset, headValues, isDirty(), maxSpeed, motman, ERS210Info::NumFrames, ERS210Info::NumHeadJoints, MotionManager::setOutput(), and OutputCmd::value.

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Member Data Documentation

bool HeadPointerMC::active [protected]

set by accessor functions, defaults to true

Definition at line 62 of file HeadPointerMC.h.

bool HeadPointerMC::dirty [protected]

true if a change has been made since last call to updateJointCmds()

Definition at line 61 of file HeadPointerMC.h.

OutputCmd HeadPointerMC::headJoints[NumHeadJoints] [protected]

stores the last values we sent from updateOutputs

Definition at line 63 of file HeadPointerMC.h.

CoordFrame_t HeadPointerMC::headModes[NumHeadJoints] [protected]

stores the current mode of each joint, for instance so tilt can be GravityRelative while pan is static

Definition at line 65 of file HeadPointerMC.h.

float HeadPointerMC::headValues[NumHeadJoints] [protected]

stores the target value of each joint, relative to headModes

Definition at line 64 of file HeadPointerMC.h.

float HeadPointerMC::maxSpeed[NumHeadJoints] [protected]

initialized from Config::motion_config, but can be overridden by setMaxSpeed(); rad per frame

Definition at line 67 of file HeadPointerMC.h.

The documentation for this class was generated from the following files:

Tekkotsu v1.5

Generated Fri Oct 10 15:56:15 2003 by Doxygen 1.3.4


Public Types
enum	CoordFrame_t { BodyRelative, GravityRelative }
	Various modes the head can be in. In the future may want to add ability to explicitly track an object or point in the world model. More...
Public Member Functions
	HeadPointerMC ()
	constructor, defaults to active, BodyRelative, all joints at 0
virtual	~HeadPointerMC ()
	destructor
void	setWeight (double w)
	sets the weight values for all the neck joints
void	setWeight (RobotInfo::TPROffset_t i, double weight)
	set a specific head joint weight, pass one of RobotInfo::TPROffset_t, not a full offset!
void	setActive (bool a)
	sets active flag, see isDirty()
bool	getActive () const
	returns active flag, see isDirty()
void	noMaxSpeed ()
	sets maxSpeed to 0 (no maximum)
void	defaultMaxSpeed ()
	restores maxSpeed to default settings from Config::Motion_Config
void	setMaxSpeed (TPROffset_t i, float x)
	sets maxSpeed, pass it rad/sec
float	getMaxSpeed (TPROffset_t i)
	returns maxSpeed in rad/sec
double	convert (RobotInfo::TPROffset_t i, double v, CoordFrame_t srcmode, CoordFrame_t tgtmode) const
	converts a value v in srcmode to a value in tgtmode that would leave the joint angle for joint i constant (you probably won't need to call this directly)
Joint Accessors
Note that none of these are `virtual`, so you don't have to checkout to use them, you should be able to use MotionManager::peekMotion()
void	setJoints (double tilt, double pan, double roll)
	Directly sets the neck values, uses current mode.
void	setMode (CoordFrame_t m, bool convert=true)
	sets all the joints to the given mode, will convert the values to the new mode if convert is true
void	setJointMode (RobotInfo::TPROffset_t i, CoordFrame_t m, bool convert=true)
	set a specific head joint's mode, will convert from previous mode's value to next mode's value if convert is true. Pass one of RobotInfo::TPROffset_t, not a full offset!
void	setJointValue (RobotInfo::TPROffset_t i, double value)
	set a specific head joint's value (for whatever mode it's in), pass one of RobotInfo::TPROffset_t, not a full offset!
void	setJointValueAndMode (RobotInfo::TPROffset_t i, double value, CoordFrame_t m)
	set a specific head joint, pass one of RobotInfo::TPROffset_t, not a full offset!
void	setJointValueFromMode (RobotInfo::TPROffset_t i, double value, CoordFrame_t m)
	set a specific head joint auto converting value from mode m to the current mode, pass one of RobotInfo::TPROffset_t, not a full offset!
CoordFrame_t	getJointMode (RobotInfo::TPROffset_t i) const
	returns the current mode for joint i (use RobotInfo::TPROffset_t, not global offset)
double	getJointValue (RobotInfo::TPROffset_t i) const
	returns the current value (relative to the current mode) of joint i, use getOutputCmd() if you want to know the actual target joint value (to get the actual current joint position, look in WorldState
Inherited:
virtual int	updateOutputs ()
	Updates where the head is looking.
virtual const OutputCmd &	getOutputCmd (unsigned int i)
	returns one of the headJoints entries or ::unusedJoint if not a head joint
virtual int	isDirty ()
	true if a change has been made since the last updateJointCmds() and we're active
virtual int	isAlive ()
	Updates where the head is looking.
Protected Member Functions
double	convToBodyRelative (TPROffset_t i, double v, CoordFrame_t mode) const
	converts to a body relative measurement for joint i
double	convFromBodyRelative (TPROffset_t i, double v, CoordFrame_t mode) const
	converts from a body relative measurement for joint i
Protected Attributes
bool	dirty
	true if a change has been made since last call to updateJointCmds()
bool	active
	set by accessor functions, defaults to true
OutputCmd	headJoints [NumHeadJoints]
	stores the last values we sent from updateOutputs
float	headValues [NumHeadJoints]
	stores the target value of each joint, relative to headModes
CoordFrame_t	headModes [NumHeadJoints]
	stores the current mode of each joint, for instance so tilt can be GravityRelative while pan is static
float	maxSpeed [NumHeadJoints]
	initialized from Config::motion_config, but can be overridden by setMaxSpeed(); rad per frame