Reference

OldHeadPointerMC Class Reference

#include <OldHeadPointerMC.h>

Inheritance diagram for OldHeadPointerMC:

Detailed Description

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

Definition at line 10 of file OldHeadPointerMC.h.

Public Types

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

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

OldHeadPointerMC ()

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

virtual ~OldHeadPointerMC ()

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 in 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 (radians), 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)

sets 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 (in radians, 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 (in radians), 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 (in radians) 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 target value (relative to the current mode) of joint i. Use getOutputCmd() if you want to know the current commanded joint value; To get the 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 headCmds 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.

virtual void DoStart ()

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

Static Protected Member Functions

static float normalizeAngle (float x)

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

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

bool targetReached

false if the head is still moving towards its target

OutputCmd headCmds [NumHeadJoints]

stores the last values we sent from updateOutputs

float headTargets [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 OldHeadPointerMC::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.

Enumerator:

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 19 of file OldHeadPointerMC.h.

Constructor & Destructor Documentation

OldHeadPointerMC::OldHeadPointerMC ( )

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

Definition at line 8 of file OldHeadPointerMC.cc.

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

destructor

Definition at line 16 of file OldHeadPointerMC.h.

Member Function Documentation

static float OldHeadPointerMC::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 91 of file OldHeadPointerMC.h.

Referenced by setJointValue(), and setJointValueAndMode().

double OldHeadPointerMC::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 42 of file OldHeadPointerMC.h.

Referenced by setJointMode(), and setJointValueFromMode().

double OldHeadPointerMC::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 140 of file OldHeadPointerMC.cc.

Referenced by convert().

double OldHeadPointerMC::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 106 of file OldHeadPointerMC.cc.

Referenced by convert(), and updateOutputs().

void OldHeadPointerMC::defaultMaxSpeed ( )

restores maxSpeed to default settings from Config::Motion_Config

Definition at line 31 of file OldHeadPointerMC.cc.

Referenced by OldHeadPointerMC().

virtual void OldHeadPointerMC::DoStart ( ) [inline, virtual]

Updates where the head is looking.

Reimplemented from MotionCommand.

Definition at line 83 of file OldHeadPointerMC.h.

bool OldHeadPointerMC::getActive ( ) const [inline]

returns active flag, see isDirty()

Definition at line 31 of file OldHeadPointerMC.h.

Referenced by getOutputCmd().

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

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

Definition at line 71 of file OldHeadPointerMC.h.

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

returns the target value (relative to the current mode) of joint i. Use getOutputCmd() if you want to know the current commanded joint value; To get the current joint position, look in WorldState

Definition at line 74 of file OldHeadPointerMC.h.

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

returns maxSpeed in rad/sec

Definition at line 39 of file OldHeadPointerMC.h.

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

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

Definition at line 97 of file OldHeadPointerMC.cc.

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

Updates where the head is looking.

Implements MotionCommand.

Definition at line 82 of file OldHeadPointerMC.h.

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

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

Implements MotionCommand.

Definition at line 81 of file OldHeadPointerMC.h.

Referenced by updateOutputs().

void OldHeadPointerMC::noMaxSpeed ( ) [inline]

sets maxSpeed to 0 (no maximum)

Definition at line 34 of file OldHeadPointerMC.h.

static float OldHeadPointerMC::normalizeAngle ( float x ) [inline, static, protected]

puts x in the range (-pi,pi)

Definition at line 89 of file OldHeadPointerMC.h.

Referenced by clipAngularRange().

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

sets active flag; see isDirty()

Definition at line 30 of file OldHeadPointerMC.h.

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

sets 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 42 of file OldHeadPointerMC.cc.

Referenced by setMode().

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

Directly sets the neck values (radians), uses current mode.

Definition at line 19 of file OldHeadPointerMC.cc.

void OldHeadPointerMC::setJointValue	(	RobotInfo::TPROffset_t	i,
		double	value
	)			`[inline]`

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

Definition at line 59 of file OldHeadPointerMC.h.

Referenced by setJoints().

void OldHeadPointerMC::setJointValueAndMode	(	RobotInfo::TPROffset_t	i,
		double	value,
		CoordFrame_t	m
	)			`[inline]`

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

Definition at line 63 of file OldHeadPointerMC.h.

void OldHeadPointerMC::setJointValueFromMode	(	RobotInfo::TPROffset_t	i,
		double	value,
		CoordFrame_t	m
	)			`[inline]`

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

Definition at line 67 of file OldHeadPointerMC.h.