Tekkotsu: HeadPointerMC Class Reference

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

Member Function Documentation

void HeadPointerMC::defaultMaxSpeed ( float x = 1 )

Restores maxSpeed to default settings from Config::Motion_Config.

Parameters:

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().

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 177 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.

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:

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:

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.

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 91 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 58 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 103 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 170 of file HeadPointerMC.cc.

Referenced by DoStart(), setJoints(), setJointValue(), and setWeight().

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 48 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.

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().

HeadPointerMC Class Reference

Detailed Description

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Member Function Documentation