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203 | /**
* @file HeadMotionEngine.h
*
* @author <a href="mailto:mellmann@informatik.hu-berlin.de">Heinrich Mellmann</a>
* @author Oliver Welter
*
* Created on 27. Januar 2009, 16:43
*/
#ifndef HeadMotionEngine_H
#define HeadMotionEngine_H
#include <Tools/Math/Vector2.h>
#include <Tools/Math/Vector3.h>
#include <vector>
#include <ModuleFramework/Module.h>
// representations
#include <Representations/Infrastructure/FrameInfo.h> // needed for debug plot
#include <Representations/Infrastructure/RobotInfo.h>
#include <Representations/Infrastructure/CameraInfo.h>
#include "Representations/Modeling/IMUData.h"
#include "Representations/Modeling/KinematicChain.h"
#include "Representations/Motion/Request/HeadMotionRequest.h"
#include <Representations/Infrastructure/JointData.h>
#include <Representations/Perception/CameraMatrix.h>
#include "Representations/Motion/MotionStatus.h"
#include <Representations/Modeling/CameraMatrixOffset.h>
#include "Tools/DataStructures/RingBufferWithSum.h"
#include "Tools/DataStructures/Spline.h"
// Debug
#include "Tools/Debug/DebugModify.h"
#include <Tools/Debug/DebugRequest.h>
#include <Tools/Debug/DebugPlot.h>
#include <Tools/Debug/DebugDrawings.h>
#include "Tools/Debug/DebugParameterList.h"
BEGIN_DECLARE_MODULE(HeadMotionEngine)
PROVIDE(DebugModify)
PROVIDE(DebugRequest)
PROVIDE(DebugDrawings)
PROVIDE(DebugParameterList)
PROVIDE(DebugPlot)
REQUIRE(RobotInfo)
REQUIRE(IMUData)
REQUIRE(KinematicChainSensor)
REQUIRE(KinematicChainMotor)
REQUIRE(HeadMotionRequest)
REQUIRE(SensorJointData)
REQUIRE(FrameInfo)
REQUIRE(CameraMatrix)
REQUIRE(CameraMatrixTop)
REQUIRE(CameraInfo)
REQUIRE(CameraInfoTop)
REQUIRE(CameraMatrixOffset)
PROVIDE(MotionStatus)
PROVIDE(MotorJointData)
END_DECLARE_MODULE(HeadMotionEngine)
class HeadMotionEngine: private HeadMotionEngineBase
{
public:
HeadMotionEngine();
~HeadMotionEngine();
void execute();
private:
struct Parameters: public ParameterList
{
Parameters() : ParameterList("HeadMotionEngine")
{
PARAMETER_ANGLE_REGISTER(max_head_velocity_stand) = 120; // deg/s
PARAMETER_ANGLE_REGISTER(max_head_velocity_walk_fast) = 90; // deg/s velocity when walking fast
PARAMETER_ANGLE_REGISTER(max_head_velocity_walk_slow) = 120; // deg/s velocity when walking slow
PARAMETER_REGISTER(walk_fast_speed_threshold) = 40; // ~mm/s walking speed of the robot. Faster than this is considered fast walking
PARAMETER_ANGLE_REGISTER(at_rest_threshold) = 0.3;
PARAMETER_ANGLE_REGISTER(at_rest_threshold_walking) = 10;
PARAMETER_ANGLE_REGISTER(at_target_threshold) = 3;
PARAMETER_REGISTER(stiffness) = 0.7;
PARAMETER_REGISTER(use_lookAtWorldPointCool) = true;
syncWithConfig();
}
double max_head_velocity_stand;
double max_head_velocity_walk_fast;
double max_head_velocity_walk_slow;
double walk_fast_speed_threshold;
double at_rest_threshold;
double at_rest_threshold_walking;
double at_target_threshold;
double stiffness;
bool use_lookAtWorldPointCool;
} params;
private:
// HACK: limits.
// TODO: make them parameters. (as soon as we have a config system that allows loading vectors :)
// NOTE: V4, V5, V6 have the same limits
// http://doc.aldebaran.com/2-8/family/nao_technical/joints_naov6.html#naov6-joints-head-joints
// http://doc.aldebaran.com/2-1/family/robots/joints_robot.html
std::vector<double> headLimitsHeadYaw =
{
-2.086017,
-1.526988,
-1.089958,
-0.903033,
-0.756077,
-0.486074,
0.000000,
0.486074,
0.756077,
0.903033,
1.089958,
1.526988,
2.086017
};
std::vector<double> headLimitsHeadPitchMin =
{
-0.449073,
-0.330041,
-0.430049,
-0.479965,
-0.548033,
-0.671951,
-0.671951,
-0.671951,
-0.548033,
-0.479965,
-0.430049,
-0.330041,
-0.449073
};
std::vector<double> headLimitsHeadPitchMax =
{
0.330041,
0.200015,
0.300022,
0.330041,
0.370010,
0.422021,
0.515047,
0.422021,
0.370010,
0.330041,
0.300022,
0.200015,
0.330041
};
tk::spline headLimitFunctionMin;
tk::spline headLimitFunctionMax;
// internal use
naoth::JointData theJointData;
KinematicChain theKinematicChain;
bool trajectoryHeadMove(const std::vector<Vector3d>& points);
//void gotoPointOnTheGround(const Vector2d& target);
void lookStraightAhead();
void lookStraightAheadWithStabilization();
void lookAtPoint();
void simpleLookAtPoint();
void hold();
void search();
void randomSearch();
void moveByAngle(const Vector2d& target);
void gotoAngle(const Vector2d& target);
void lookAtWorldPointCool(const Vector3d& target);<--- Function 'lookAtWorldPointCool' argument 1 names different: declaration 'target' definition 'origTarget'.
void lookAtWorldPoint(const Vector3d& target);<--- Function 'lookAtWorldPoint' argument 1 names different: declaration 'target' definition 'origTarget'.
void lookAtWorldPointSimple(const Vector3d& target);
Vector3d g(double yaw, double pitch, const Vector3d& pointInWorld);
void export_g();
// for providing head_target_reached and head_got_stuck
Vector2d motion_target, last_motion_target;
HeadMotionRequest::HeadMotionID last_id;
RingBufferWithSum<Vector2d, 10> absolute_velocity_buffer;
};
#endif /* HeadMotionEngine_H */
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