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 11 of file HeadPointerMC.h.
Public Member Functions | |
| HeadPointerMC () | |
| Constructor, defaults to all joints to current value in state (i.e. calls takeSnapshot() automatically). | |
| virtual | ~HeadPointerMC () |
| Destructor. | |
| virtual void | setHold (bool h=true) |
| 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 | |
| virtual void | setTolerance (float t) |
| sets tolerance | |
| virtual float | getTolerance () |
| returns tolerance | |
| virtual void | setTimeout (unsigned int delay) |
| sets timeout | |
| virtual unsigned int | getTimeout () |
| returns timeout | |
| virtual void | freezeMotion () |
| sets the target to last sent commands, and dirty to false; essentially freezes motion in place | |
| virtual void | takeSnapshot () |
| sets the target joint positions to current sensor values | |
Speed Control | |
| void | noMaxSpeed () |
| Sets maxSpeed to 0 (no maximum). | |
| void | defaultMaxSpeed (float x=1) |
| Restores maxSpeed to default settings from Config::Motion_Config. | |
| void | setMaxSpeed (unsigned int i, float x) |
| Sets maxSpeed in rad/sec. | |
| float | getMaxSpeed (unsigned int i) |
| Returns maxSpeed in rad/sec. | |
Joint Accessors | |
| void | setWeight (float w) |
| Sets the weight values for all the neck joints. | |
| void | setJoints (float j1, float j2, float j3) |
| Directly sets the neck values (all values in radians). | |
| void | setJointValue (unsigned int i, float value) |
| Directly set a single neck joint value. | |
| float | getJointValue (unsigned int i) const |
| Returns the target value of joint i. Use this if you want to know the current commanded joint value; To get the current joint position, look in WorldState::outputs. | |
| bool | lookAtPoint (float x, float y, float z) |
| Centers the camera on a point in space, attempting to keep the camera as far away from the point as possible. | |
| bool | lookAtPoint (float x, float y, float z, float d) |
| Centers the camera on a point in space, attempting to move the camera d millimeters away from the point. | |
| bool | lookInDirection (float x, float y, float z) |
| Points the camera in a given direction. | |
Inherited: | |
| virtual int | updateOutputs () |
| Updates where the head is looking. | |
| virtual int | isDirty () |
| true if a change has been made since the last updateJointCmds() and we're active | |
| virtual int | isAlive () |
| Alive while target is not reached. | |
| virtual void | DoStart () |
| marks this as dirty each time it is added | |
Protected Member Functions | |
| bool | isReachable (const NEWMAT::ColumnVector &Pobj) |
| checks if target point or direction is actually reachable | |
| void | markDirty () |
| if targetReached, reassigns headCmds from MotionManager::getOutputCmd(), then sets dirty to true and targetReached to false | |
Static Protected Member Functions | |
| static float | normalizeAngle (float x) |
| puts x in the range (-pi,pi) | |
| static float | clipAngularRange (unsigned int i, float x) |
| if x is outside of the range of joint i, it is set to either the min or the max, whichever is closer | |
| static bool | ensureValidJoint (unsigned int &i) |
| Makes sure i is in the range (0,NumHeadJoints). If it is instead in the range (HeadOffset,HeadOffset+NumHeadJoints), output a warning and reset i to the obviously intended value. | |
Protected Attributes | |
| bool | dirty |
| true if a change has been made since last call to updateJointCmds() | |
| 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 | tolerance |
| when autopruning, if the maxdiff() of this posture and the robot's current position is below this value, isAlive() will be false, defaults to 0.01 (5.7 degree error) | |
| bool | targetReached |
| false if the head is still moving towards its target | |
| unsigned int | targetTimestamp |
| time at which the targetReached flag was set | |
| unsigned int | timeout |
| number of milliseconds to wait before giving up on a target that should have already been reached, a value of -1U will try forever | |
| float | headTargets [NumHeadJoints] |
| stores the target value of each joint | |
| OutputCmd | headCmds [NumHeadJoints] |
| stores the last values we sent from updateOutputs | |
| float | maxSpeed [NumHeadJoints] |
| initialized from Config::motion_config, but can be overridden by setMaxSpeed(); rad per frame | |
| ROBOOP::Robot | headkin |
| provides kinematics computations, there's a small leak and safety issue here because ROBOOP::Robot contains pointers, and those pointers typically aren't freed because MotionCommand destructor isn't called when detaching shared region | |
Constructor & Destructor Documentation
| HeadPointerMC::HeadPointerMC | ( | ) |
Constructor, defaults to all joints to current value in state (i.e. calls takeSnapshot() automatically).
Definition at line 11 of file HeadPointerMC.cc.
| virtual HeadPointerMC::~HeadPointerMC | ( | ) | [inline, virtual] |
Member Function Documentation
| static float HeadPointerMC::clipAngularRange | ( | unsigned int | i, | |
| float | x | |||
| ) | [inline, static, protected] |
if x is outside of the range of joint i, it is set to either the min or the max, whichever is closer
Definition at line 139 of file HeadPointerMC.h.
Referenced by setJoints(), and setJointValue().
| void HeadPointerMC::defaultMaxSpeed | ( | float | x = 1 |
) |
Restores maxSpeed to default settings from Config::Motion_Config.
- Parameters:
-
x ratio of the max speed to use; so 0.5 would limit motion to half the recommended upper limit
Definition at line 33 of file HeadPointerMC.cc.
Referenced by HeadPointerMC().
| virtual void HeadPointerMC::DoStart | ( | ) | [inline, virtual] |
marks this as dirty each time it is added
Reimplemented from MotionCommand.
Definition at line 123 of file HeadPointerMC.h.
| bool HeadPointerMC::ensureValidJoint | ( | unsigned int & | i | ) | [static, protected] |
Makes sure i is in the range (0,NumHeadJoints). If it is instead in the range (HeadOffset,HeadOffset+NumHeadJoints), output a warning and reset i to the obviously intended value.
- Parameters:
-
[in] i joint offset relative to either HeadOffset (i.e. one of TPROffset_t) or 0 [out] i joint offset relative to HeadOffset (i.e. one of TPROffset_t)
- Returns:
- true if the intended joint could be ascertained, false otherwise
Definition at line 171 of file HeadPointerMC.cc.
Referenced by getJointValue(), and setJointValue().
| void HeadPointerMC::freezeMotion | ( | ) | [virtual] |
sets the target to last sent commands, and dirty to false; essentially freezes motion in place
This is very similar to takeSnapshot(), but will do the "right thing" (retain current position) when motion blending is involved. A status event will be generated if/when the joints reach the currently commanded position. Probably should use freezeMotion() if you want to stop a motion underway, but takeSnapshot() if you want to reset/intialize to the current joint positions.
Definition at line 21 of file HeadPointerMC.cc.
| virtual bool HeadPointerMC::getHold | ( | ) | [inline, virtual] |
| float HeadPointerMC::getJointValue | ( | unsigned int | i | ) | const [inline] |
Returns the target value of joint i. Use this if you want to know the current commanded joint value; To get the current joint position, look in WorldState::outputs.
- Parameters:
-
i joint offset relative to HeadOffset (i.e. one of TPROffset_t)
Definition at line 83 of file HeadPointerMC.h.
| float HeadPointerMC::getMaxSpeed | ( | unsigned int | i | ) | [inline] |
Returns maxSpeed in rad/sec.
- Parameters:
-
i joint offset relative to HeadOffset (i.e. one of TPROffset_t)
- Returns:
- the maximum speed of joint i in radians per second
Definition at line 56 of file HeadPointerMC.h.
| virtual unsigned int HeadPointerMC::getTimeout | ( | ) | [inline, virtual] |
| virtual float HeadPointerMC::getTolerance | ( | ) | [inline, virtual] |
| int HeadPointerMC::isAlive | ( | ) | [virtual] |
Alive while target is not reached.
Implements MotionCommand.
Definition at line 147 of file HeadPointerMC.cc.
| 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 121 of file HeadPointerMC.h.
Referenced by updateOutputs().
| bool HeadPointerMC::isReachable | ( | const NEWMAT::ColumnVector & | Pobj | ) | [inline, protected] |
checks if target point or direction is actually reachable
Definition at line 128 of file HeadPointerMC.h.
Referenced by lookAtPoint(), and lookInDirection().
| bool HeadPointerMC::lookAtPoint | ( | float | x, | |
| float | y, | |||
| float | z, | |||
| float | d | |||
| ) |
Centers the camera on a point in space, attempting to move the camera d millimeters away from the point.
Point should be relative to the body reference frame (see BaseFrameOffset). Returns true if the target is reachable.
- Parameters:
-
x location in millimeters y location in millimeters z location in millimeters d target distance from point in millimeters
Definition at line 85 of file HeadPointerMC.cc.
| bool HeadPointerMC::lookAtPoint | ( | float | x, | |
| float | y, | |||
| float | z | |||
| ) |
Centers the camera on a point in space, attempting to keep the camera as far away from the point as possible.
Point should be relative to the body reference frame (see BaseFrameOffset). Returns true if the target is reachable.
- Parameters:
-
x location in millimeters y location in millimeters z location in millimeters
- Todo:
- this method is an approximation, could be more precise, and perhaps faster, although this is pretty good.
Definition at line 52 of file HeadPointerMC.cc.
| bool HeadPointerMC::lookInDirection | ( | float | x, | |
| float | y, | |||
| float | z | |||
| ) |
Points the camera in a given direction.
Vector should be relative to the body reference frame (see BaseFrameOffset). Returns true if the target is reachable.
- Parameters:
-
x component of the direction vector y component of the direction vector z component of the direction vector
Definition at line 97 of file HeadPointerMC.cc.
| void HeadPointerMC::markDirty | ( | ) | [protected] |
if targetReached, reassigns headCmds from MotionManager::getOutputCmd(), then sets dirty to true and targetReached to false
should be called each time a joint value gets modified in case the head isn't where it's supposed to be, it won't jerk around
MotionManager::getOutputCmd() is called instead of WorldState::outputs[] because if this is being called rapidly (i.e. after every sensor reading) using the sensor values will cause problems with very slow acceleration due to sensor lag continually resetting the current position. Using the last value sent by the MotionManager fixes this.
Definition at line 164 of file HeadPointerMC.cc.
Referenced by DoStart(), setJoints(), setJointValue(), and setWeight().
| void HeadPointerMC::noMaxSpeed | ( | ) | [inline] |
| static float HeadPointerMC::normalizeAngle | ( | float | x | ) | [inline, static, protected] |
puts x in the range (-pi,pi)
Definition at line 136 of file HeadPointerMC.h.
Referenced by clipAngularRange().
| virtual void HeadPointerMC::setHold | ( | bool | h = true |
) | [inline, virtual] |
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.
Definition at line 20 of file HeadPointerMC.h.
| void HeadPointerMC::setJoints | ( | float | j1, | |
| float | j2, | |||
| float | j3 | |||
| ) |
Directly sets the neck values (all values in radians).
- Parameters:
-
j1 value for first neck joint (tilt on all ERS models) j2 value for second neck joint (pan on all ERS models) j3 value for third neck joint (nod on ERS-7, roll on ERS-2xx)
Definition at line 45 of file HeadPointerMC.cc.
| void HeadPointerMC::setJointValue | ( | unsigned int | i, | |
| float | value | |||
| ) | [inline] |
Directly set a single neck joint value.
- Parameters:
-
i joint offset relative to HeadOffset (i.e. one of TPROffset_t) value the value to be assigned to join i, in radians
Definition at line 74 of file HeadPointerMC.h.
Referenced by lookAtPoint(), and lookInDirection().
| void HeadPointerMC::setMaxSpeed | ( | unsigned int | i, | |
| float | x | |||
| ) | [inline] |
Sets maxSpeed in rad/sec.
- Parameters:
-
i joint offset relative to HeadOffset (i.e. one of TPROffset_t) x maximum radians per second to move
Definition at line 51 of file HeadPointerMC.h.
| virtual void HeadPointerMC::setTimeout | ( | unsigned int | delay | ) | [inline, virtual] |
| virtual void HeadPointerMC::setTolerance | ( | float | t | ) | [inline, virtual] |
| void HeadPointerMC::setWeight | ( | float | w | ) |
Sets the weight values for all the neck joints.
Definition at line 39 of file HeadPointerMC.cc.
Referenced by HeadPointerMC().
| void HeadPointerMC::takeSnapshot | ( | ) | [virtual] |
sets the target joint positions to current sensor values
Similar to freezeMotion() when a motion is underway, but only if no other MotionCommands are using neck joints. A status event will not be generated unless a motion was already underway. Probably should use freezeMotion() if you want to stop a motion underway, but takeSnapshot() if you want to reset/intialize to the current joint positions.
Definition at line 27 of file HeadPointerMC.cc.
Referenced by HeadPointerMC().
| int HeadPointerMC::updateOutputs | ( | ) | [virtual] |
Updates where the head is looking.
Implements MotionCommand.
Definition at line 110 of file HeadPointerMC.cc.
Member Data Documentation
bool HeadPointerMC::dirty [protected] |
true if a change has been made since last call to updateJointCmds()
Definition at line 170 of file HeadPointerMC.h.
Referenced by freezeMotion(), isAlive(), isDirty(), markDirty(), takeSnapshot(), and updateOutputs().
OutputCmd HeadPointerMC::headCmds[NumHeadJoints] [protected] |
stores the last values we sent from updateOutputs
Definition at line 177 of file HeadPointerMC.h.
Referenced by freezeMotion(), markDirty(), setWeight(), takeSnapshot(), and updateOutputs().
ROBOOP::Robot HeadPointerMC::headkin [protected] |
provides kinematics computations, there's a small leak and safety issue here because ROBOOP::Robot contains pointers, and those pointers typically aren't freed because MotionCommand destructor isn't called when detaching shared region
Definition at line 179 of file HeadPointerMC.h.
Referenced by isReachable(), lookAtPoint(), and lookInDirection().
float HeadPointerMC::headTargets[NumHeadJoints] [protected] |
stores the target value of each joint
Definition at line 176 of file HeadPointerMC.h.
Referenced by freezeMotion(), getJointValue(), isAlive(), setJoints(), setJointValue(), takeSnapshot(), and updateOutputs().
bool HeadPointerMC::hold [protected] |
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()
Definition at line 171 of file HeadPointerMC.h.
Referenced by getHold(), isAlive(), setHold(), and updateOutputs().
float HeadPointerMC::maxSpeed[NumHeadJoints] [protected] |
initialized from Config::motion_config, but can be overridden by setMaxSpeed(); rad per frame
Definition at line 178 of file HeadPointerMC.h.
Referenced by defaultMaxSpeed(), getMaxSpeed(), noMaxSpeed(), setMaxSpeed(), and updateOutputs().
bool HeadPointerMC::targetReached [protected] |
false if the head is still moving towards its target
Definition at line 173 of file HeadPointerMC.h.
Referenced by isAlive(), isDirty(), markDirty(), and updateOutputs().
unsigned int HeadPointerMC::targetTimestamp [protected] |
time at which the targetReached flag was set
Definition at line 174 of file HeadPointerMC.h.
Referenced by isAlive(), and updateOutputs().
unsigned int HeadPointerMC::timeout [protected] |
number of milliseconds to wait before giving up on a target that should have already been reached, a value of -1U will try forever
Definition at line 175 of file HeadPointerMC.h.
Referenced by getTimeout(), isAlive(), and setTimeout().
float HeadPointerMC::tolerance [protected] |
when autopruning, if the maxdiff() of this posture and the robot's current position is below this value, isAlive() will be false, defaults to 0.01 (5.7 degree error)
Definition at line 172 of file HeadPointerMC.h.
Referenced by getTolerance(), isAlive(), and setTolerance().
The documentation for this class was generated from the following files:
