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MotionSequenceEngine.h Go to the documentation of this file. //-*-c++-*- #ifndef INCLUDED_MotionSequenceEngine_h_ #define INCLUDED_MotionSequenceEngine_h_ #include "Shared/LoadSave.h" #include "Shared/ListMemBuf.h" #include "PostureEngine.h" //! 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, MotionSequenceEngine is intended mainly for building, * not editing. It's easy to add keyframes, but hard/impossible to * delete them. * * The MotionSequenceEngine 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 MotionSequenceEngine::SizeSmall, MotionSequenceEngine::SizeMedium, MotionSequenceEngine::SizeLarge, MotionSequenceEngine::SizeXLarge, * * The file format used is as follows: ('<' and '>' are not meant literally) * - First line: '<tt>#MSq</tt>' * - Followed by any series of:\n * - '<tt>advanceTime </tt><i>time-delta</i>' - moves playhead forward, in milliseconds (synonym for <tt>delay</tt>) * - '<tt>delay </tt><i>time-delta</i>' - moves playhead forward, in milliseconds (synonym for <tt>advanceTime</tt>) * - '<tt>setTime </tt><i>time</i>' - sets play time to specified value, in ms * - '<i>outputname</i><tt> </tt><i>value</i><tt> </tt>[<i>weight</i>]' - 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[]) * - '<tt>load </tt><i>filename</i>' - file is a posture, sets position * - '<tt>overlay </tt><i>filename</i>' - file can be a posture or another motion sequence * - '<tt>degrees</tt>' - following <i>value</i>s will be interpreted as degrees [default] * - '<tt>radians</tt>' - following <i>value</i>s will be interpreted as radians * - '<tt>#</tt><i>comment</i>' - a comment line * - Last line: '<tt>#END</tt>' * * 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<MotionSequenceEngine::SizeSmall> > 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), hold(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 PostureEngine getPose(); //!< returns the set of OutputCmd's at the current playhead as a PostureEngine void getPose(PostureEngine& pose); //!< stores the set of OutputCmd's at the current playhead into the specified PostureEngine 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 virtual void setHold(bool h=true) { hold=h; } //!< Sets #hold - if this is set to false, it will allow a persistent motion to behave the same as a pruned motion, without being pruned virtual bool getHold() { return hold; } //!< return #hold //@} //!@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 bool hold; //!< if set to true, the posture will be kept active; otherwise joints will be marked unused after each posture is achieved (as if the posture was pruned); set through setHold() 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: tekkotsu-2_3 $ * $Revision: 1.9 $ * $State: Exp $ * $Date: 2005/01/11 18:39:36 $ */ #endif

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