GT2004HeadPathPlanner Class Reference

Calculate a smooth series of head joint angles from a gives set of way points and an overall duration. More...

#include <GT2004HeadPathPlanner.h>

Collaboration diagram for GT2004HeadPathPlanner:

[legend]List of all members.

Public Member Functions
void	init (const Vector3< double > *vectors=0, long *durations=0, int numberOfVectors=0, bool optimizeTimings=true)
	Initializes a set of points to visit in a certain time.
void	oldInit (const Vector3< double > *vectors=0, int numberOfVectors=0, long duration=0)
	GT2004HeadPathPlanner (const SensorDataBuffer &sensorDataBuffer)
	default constructor
bool	getAngles (double &neckTilt, double &headPan, double &headTilt)
	Calculates the angles for tilt pan and roll.
bool	isLastPathFinished ()
	Return whether the last initialized path is already finished.
long	calculateHeadTiming (Vector3< double > &pos1, Vector3< double > &pos2)
bool	headPositionReached (Vector3< double > pos)
Public Attributes
double	lastNeckTilt
	The tilt calculated in the last frame.
double	lastHeadPan
	The pan calculated in the last frame.
double	lastHeadTilt
	The roll calculated in the last frame.
double	headPathSpeedNeckTilt
	the maximum speed of all angles
double	headPathSpeedHeadPan
	the maximum speed of all angles
double	headPathSpeedHeadTilt
	the maximum speed of all angles
const SensorDataBuffer &	sensorDataBuffer
	the sensordatabuffer
Static Public Attributes
const double	minimumHeadSpeed = 0.004
	The minimum head speed in rad per frame: 0.004 = 28.6°/s.
Private Types
enum	{ maxNumberOfPoints = 20 }
	maximum number of allowed points in head path More...
Private Member Functions
long	calculateDurationsSum (long *duration, int durations)
	Return the whole Duration of the Headpath.
Private Attributes
long	currentPoint
	index of the most recently reached point in head path, so the head is between points[currentPoint] and points[currentPoint+1]
long	currentFrame
	number of frames (a 8ms) since start of head path
long	numberOfFrames
	requested duration of head path in frames (a 8ms)
long	numberOfPoints
	number of points in requested path
Vector3< double >	points [maxNumberOfPoints]
	the points the head shall visit during the head path
double	firstFrame [maxNumberOfPoints]
	number of the first frame after head path start for a certain point in head path

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Detailed Description

Calculate a smooth series of head joint angles from a gives set of way points and an overall duration.

Author:

Uwe Düffert

Definition at line 23 of file GT2004HeadPathPlanner.h.

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Member Enumeration Documentation

anonymous enum [private]

maximum number of allowed points in head path Enumeration values: maxNumberOfPoints  Definition at line 124 of file GT2004HeadPathPlanner.h.

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Constructor & Destructor Documentation

GT2004HeadPathPlanner::GT2004HeadPathPlanner (  const SensorDataBuffer &  sensorDataBuffer  )  [inline]

default constructor Definition at line 62 of file GT2004HeadPathPlanner.h. References currentFrame, currentPoint, lastHeadPan, lastHeadTilt, lastNeckTilt, and numberOfFrames.

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Member Function Documentation

void GT2004HeadPathPlanner::init (  const Vector3< double > *  vectors = 0, long *  durations = 0, int  numberOfVectors = 0, bool  optimizeTimings = true )

Initializes a set of points to visit in a certain time. Parameters: vectors  set of arcs to visit durations  a set of timings which described the time between the arcs numberOfVectors  number of Vector3s in param vectors optimizeTimings  the timings will be optimized by the distance in angles for optimal moving speed Definition at line 16 of file GT2004HeadPathPlanner.cpp. References calculateDurationsSum(), calculateHeadTiming(), currentFrame, currentPoint, firstFrame, getRobotConfiguration(), RobotConfiguration::getRobotDimensions(), RobotDimensions::jointLimitHeadPanN, RobotDimensions::jointLimitHeadPanP, RobotDimensions::jointLimitHeadTiltN, RobotDimensions::jointLimitHeadTiltP, RobotDimensions::jointLimitNeckTiltN, RobotDimensions::jointLimitNeckTiltP, lastHeadPan, lastHeadTilt, lastNeckTilt, Range< T >::limit(), numberOfFrames, Vector3< double >::x, Vector3< double >::y, and Vector3< double >::z. Referenced by GT2004HeadControl::beginBallSearchAt(), GT2004HeadControl::calibrateHeadSpeed(), oldInit(), GT2004HeadControl::searchForBallLeft(), and GT2004HeadControl::searchForBallRight().

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void GT2004HeadPathPlanner::oldInit (  const Vector3< double > *  vectors = 0, int  numberOfVectors = 0, long  duration = 0 )  [inline]

Definition at line 34 of file GT2004HeadPathPlanner.h. References init().

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bool GT2004HeadPathPlanner::getAngles (  double &  neckTilt, double &  headPan, double &  headTilt )

Calculates the angles for tilt pan and roll. Returns: true if the last point is reached. Definition at line 101 of file GT2004HeadPathPlanner.cpp. References currentFrame, currentPoint, firstFrame, numberOfFrames, and Vector3< double >::x.

bool GT2004HeadPathPlanner::isLastPathFinished (   )  [inline]

Return whether the last initialized path is already finished. Returns: true if last path is finished. Definition at line 75 of file GT2004HeadPathPlanner.h. References currentFrame, and numberOfFrames. Referenced by GT2004HeadControl::calibrateHeadSpeed(), and GT2004HeadControlSymbols::getLastHeadPathIsFinished().

long GT2004HeadPathPlanner::calculateHeadTiming (  Vector3< double > &  pos1, Vector3< double > &  pos2 )

Definition at line 141 of file GT2004HeadPathPlanner.cpp. References headPathSpeedHeadPan, headPathSpeedHeadTilt, headPathSpeedNeckTilt, max, Vector3< V >::x, Vector3< V >::y, and Vector3< V >::z. Referenced by init().

bool GT2004HeadPathPlanner::headPositionReached (  Vector3< double >  pos  )

Definition at line 84 of file GT2004HeadPathPlanner.cpp. References SensorData::data, SensorDataBuffer::lastFrame(), pi, toMicroRad(), Vector3< V >::x, Vector3< V >::y, and Vector3< V >::z. Referenced by GT2004HeadControl::headPositionReached(), and GT2004HeadControl::setJoints().

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long GT2004HeadPathPlanner::calculateDurationsSum (  long *  duration, int  durations )  [private]

Return the whole Duration of the Headpath. Returns: the sum of duration of the headpath Definition at line 71 of file GT2004HeadPathPlanner.cpp. Referenced by init().

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Member Data Documentation

const double GT2004HeadPathPlanner::minimumHeadSpeed = 0.004 [static]

The minimum head speed in rad per frame: 0.004 = 28.6°/s. Definition at line 14 of file GT2004HeadPathPlanner.cpp.

double GT2004HeadPathPlanner::lastNeckTilt

The tilt calculated in the last frame. Definition at line 89 of file GT2004HeadPathPlanner.h. Referenced by GT2004HeadControl::execute(), GT2004HeadControl::GT2004HeadControl(), GT2004HeadPathPlanner(), init(), GT2004HeadControl::setJoints(), and GT2004HeadControl::setJointsDirect().

double GT2004HeadPathPlanner::lastHeadPan

The pan calculated in the last frame. Definition at line 92 of file GT2004HeadPathPlanner.h. Referenced by GT2004BasicBehaviorDirectedScanForLandmarks::execute(), GT2004HeadControl::execute(), GT2004HeadControl::GT2004HeadControl(), GT2004HeadPathPlanner(), init(), GT2004HeadControl::setJoints(), and GT2004HeadControl::setJointsDirect().

double GT2004HeadPathPlanner::lastHeadTilt

The roll calculated in the last frame. Definition at line 95 of file GT2004HeadPathPlanner.h. Referenced by GT2004HeadControl::execute(), GT2004HeadControl::GT2004HeadControl(), GT2004HeadPathPlanner(), init(), GT2004HeadControl::setJoints(), and GT2004HeadControl::setJointsDirect().

double GT2004HeadPathPlanner::headPathSpeedNeckTilt

the maximum speed of all angles Definition at line 98 of file GT2004HeadPathPlanner.h. Referenced by calculateHeadTiming(), GT2004HeadControl::calibrateHeadSpeed(), and GT2004HeadControl::GT2004HeadControl().

double GT2004HeadPathPlanner::headPathSpeedHeadPan

the maximum speed of all angles Definition at line 98 of file GT2004HeadPathPlanner.h. Referenced by calculateHeadTiming(), GT2004HeadControl::calibrateHeadSpeed(), and GT2004HeadControl::GT2004HeadControl().

double GT2004HeadPathPlanner::headPathSpeedHeadTilt

the maximum speed of all angles Definition at line 98 of file GT2004HeadPathPlanner.h. Referenced by calculateHeadTiming(), GT2004HeadControl::calibrateHeadSpeed(), and GT2004HeadControl::GT2004HeadControl().

const SensorDataBuffer& GT2004HeadPathPlanner::sensorDataBuffer

the sensordatabuffer Definition at line 101 of file GT2004HeadPathPlanner.h.

long GT2004HeadPathPlanner::currentPoint [private]

index of the most recently reached point in head path, so the head is between points[currentPoint] and points[currentPoint+1] Definition at line 114 of file GT2004HeadPathPlanner.h. Referenced by getAngles(), GT2004HeadPathPlanner(), and init().

long GT2004HeadPathPlanner::currentFrame [private]

number of frames (a 8ms) since start of head path Definition at line 117 of file GT2004HeadPathPlanner.h. Referenced by getAngles(), GT2004HeadPathPlanner(), init(), and isLastPathFinished().

long GT2004HeadPathPlanner::numberOfFrames [private]

requested duration of head path in frames (a 8ms) Definition at line 120 of file GT2004HeadPathPlanner.h. Referenced by getAngles(), GT2004HeadPathPlanner(), init(), and isLastPathFinished().

long GT2004HeadPathPlanner::numberOfPoints [private]

number of points in requested path Definition at line 127 of file GT2004HeadPathPlanner.h.

Vector3<double> GT2004HeadPathPlanner::points[maxNumberOfPoints] [private]

the points the head shall visit during the head path Definition at line 130 of file GT2004HeadPathPlanner.h.

double GT2004HeadPathPlanner::firstFrame[maxNumberOfPoints] [private]

number of the first frame after head path start for a certain point in head path Definition at line 133 of file GT2004HeadPathPlanner.h. Referenced by getAngles(), and init().

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The documentation for this class was generated from the following files:

• Modules/HeadControl/GT2004HeadControl/GT2004HeadPathPlanner.h
• Modules/HeadControl/GT2004HeadControl/GT2004HeadPathPlanner.cpp

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