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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 "IPC/ListMemBuf.h" #include "PostureEngine.h" //! A handy class for storing a sequence of keyframed movements /*! Each outputs is 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, if you want to pan the head left to right while * moving the right leg up and down several times, you won't have to * specify the intermediary 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 from ::state. 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, if #hold is set (the default) it will hold its last value * until the MotionSequence is reset or stopped. If #hold is false, * then the joint is treated as 0 weight once it reaches its last frame. * * 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 can be a posture or another motion sequence (if MS, leaves playhead at end of the motion sequence); see setPose() and overlayMotion() * - '<tt>loadExplicit </tt><i>filename</i>' - file must be a posture, sets position for all outputs, including zero-weighted ones; see setExplicitPose() * - '<tt>degrees</tt>' - all following <i>value</i>s will be interpreted as degrees [default] * - '<tt>radians</tt>' - all 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. * * Example 1: This motion sequence will straighten out the head, panning from right to left.\n <table align="center"><tr><td align=left><pre> \#MSq degrees <i>\# Straighten head</i> advanceTime 50 NECK:tilt 15 NECK:nod 0 <i>\# Pan right</i> advanceTime 850 NECK:pan~ -45 <i>\# Pan left</i> advanceTime 900 NECK:pan~ 45 NECK:tilt 15 NECK:nod 0 \#END </pre></td></tr></table> * * This graph illustrates the motion of the tilt and pan joints in example 1: * <img src="MotionSequenceGraph1.png"> * Notice how the joint will move from wherever it is initally to the first * keyframe <i>for that joint</i>. Specifying the tilt joint a second time * at the end of the motion forces the tilt joint to be held at that position * throughout the motion, regardless of the #hold setting at the time * the sequence is run. * * Example 2: This example will straighten the head and the tail, pan the * head left to right, and @e then pan the tail left to right.\n <table align="center"><tr><td align=left><pre> \#MSq degrees <i>\# Bring head and tail to neural positions</i> advanceTime 50 NECK:pan~ 0 NECK:tilt 0 TAIL:pan~ 0 TAIL:tilt 0 <i>\# Pan left</i> advanceTime 1000 NECK:pan~ 90 <i>\# Pan right</i> advanceTime 1000 NECK:pan~ -90 <i>\# Center head</i> <i>\# Update tail time index</i> advanceTime 500 NECK:pan~ 0 <i>\# Note this respecification of TAIL:pan~ at 0 -- see graph below</i> TAIL:pan~ 0 <i>\# Wag left</i> advanceTime 500 TAIL:pan~ 90 <i>\# Wag right</i> advanceTime 500 TAIL:pan~ -90 \#END </pre></td></tr></table> * * These graphs illustrate the motion of the pan joint for the head and the tail: * <img src="MotionSequenceGraph2-head.png"> * <img src="MotionSequenceGraph2-tail.png"> * The head's motion should be straightforward. The thing to note in the tail's * graph is why the second <code>TAIL:pan~ 0</code> is necessary at time * 2550. If it were not specified, the tail would slowly move to the left over the * course of the head's movement. We want it to stay still until the head is done, * so it must be respecified at the same position to hold it at that value in the * intervening time. * * 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")); * // could also use standSit->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->addPrunableMotion(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 * @see <a href="http://www.cs.cmu.edu/~dst/Tekkotsu/Tutorial/postures.shtml">David Touretzky's "Postures and Motion Sequences" Chapter</a> * @see <a href="http://www.cs.cmu.edu/afs/cs/academic/class/15494-s06/www/lectures/postures.pdf">CMU's Cognitive Robotics posture slides</a> * @todo We should also have an insertMotion() */ class MotionSequenceEngine : public LoadSave { public: //!constructor, will start playing immediately MotionSequenceEngine(); //!destructor virtual ~MotionSequenceEngine() {} //! 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 for all non-zero weighted OutputCmds in @a pose (if you wish to set from a file, use loadFile) void setExplicitPose(const PostureEngine& pose); //!< calls setOutputCmd on each of the OutputCmds in @a pose, even if they are zero-weight (can be used to fade joints in/out with other conflicting motions) 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) __attribute__((__deprecated__)); //!< deprecated, use setPose instead (what setPose used to do is now setExplicitPose) unsigned int overlayMotion(const std::string& msFile); //!< loads @a msFile from disk and calls overlayMotion(const MotionSequenceEngine&) with it, returns the duration of @a msFile (0 if there was an error) void overlayMotion(const MotionSequenceEngine& ms); //!< applies each keyframe of @a ms to this, leaves playhead at the end (in other words, advances playhead to end of @a ms) 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 //@} protected: // TYPES: typedef unsigned short Move_idx_t; //!< type for indexes to move structures in subclass's storage 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, return true if there was a change virtual bool 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); }; /*! @file * @brief Describes MotionSequenceEngine, abstract code for smoothly transitioning between a sequence of postures * @author ejt (Creator) * * $Author: ejt $ * $Name: tekkotsu-3_0 $ * $Revision: 1.18 $ * $State: Exp $ * $Date: 2006/10/03 23:01:28 $ */ #endif

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