PostureEngine Class Reference

A class for storing a set of positions and weights for all the outputs. More...

#include <PostureEngine.h>

Inheritance diagram for PostureEngine:

[legend]

Detailed Description

A class for storing a set of positions and weights for all the outputs.

File Format: ([..] indicates an optional parameter)

First line: '#POS'
Followed by a series of:
- 'specialize [regex]' - only robots whose model name matches the regular expression will attempt to parse lines between this and the next 'specialize' command. An empty (absent) regex matches all robots (equivalent to 'specialize .*')
- 'condensed model' - specifies model name for which condensed specifications will be interpreted
- 'verbose' - switches the load/save format back to "verbose" style, where each output/sensor value is listed individually
- '<section> ... </section>' - specifies a section for following "verbose" style lines (valid section values listed below)
- 'section value1 value2 value3 ...' - specify all values for a section in one line, "condensed" style (valid section values listed below). Must have a value for every item in the section (no extra or missing values)
- 'output-name value [weight]' - specifies an output value, with optional weighting value (if no weight specified, '1' is assumed)
Last line: '#END'

Note that '=' can be used to separate tokens as well as any whitespace character. All angle values should be specified in radians.

Valid section names are:

meta-info - only recognizes two fields: timestamp and framenumber
outputs - supports all output names (e.g. ERS7Info::outputNames)
buttons - supports all button names (e.g. ERS7Info::buttonNames)
sensors - supports all sensor names (e.g. ERS7Info::sensorNames)
pidduties - supports output names corresponding to PID joints (this is the "duty cycle" for the joint)

Additionally 'weights' can be used as a condensed section name (but not a verbose tag-style section, since weights are specified on each line). The 'weights' specification must follow the 'outputs' specification to be effective.

Data following '#' is ignored as comments. Be aware if you load the file and then save it again, these comments will be lost.

Example 1: Specifies only neck joints, looks forward and up a little

#POS 
NECK:tilt	0
NECK:pan	0
NECK:nod	0.2
#END

All other, unspecified, joints will be set to weight=0.

Example 2: Logged sensor data from an ERS-7 robot

 #POS

 condensed ERS-7

 meta-info = 1439041 178803

 outputs = -0.131722 0.148077 1.74592 -0.30276 0.341717 2.13361 -1.03935 0.091124 2.18958 -0.804097 0.034171 1.67458 -0.016362 -0.089143 0.125563 0.407243 -0.054399 -0.064704 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

 buttons = 0 0 0 0 0 0 0 0 0 1

 sensors = 500 860.139 425 -2.06456 -0.516139 -8.94642 0.99 30.63 2200 8.265 0

 pidduties = -0.164062 0.0878906 0.0957031 0.246094 -0.0195312 -0.0546875 -0.164062 -0.0195312 0.164062 0.0273438 0 -0.0683594 -0.00585938 -0.00390625 0.0820312 -0.0390625 0.015625 0.00390625

 #END

Condensed posture files can still be loaded on other models. For each entry, RobotInfo::Capabilities will be used to map from the model specified by the condensed command to the current host.

See also:: PostureMC; Tekkotsu's Kinematics page; David Touretzky's "Postures and Motion Sequences" Chapter; David Touretzky's "Forward Kinematics" Chapter; CMU's Cognitive Robotics posture slides; CMU's Cognitive Robotics kinematics slides

Definition at line 80 of file PostureEngine.h.

List of all members.

Classes
struct	SensorInfo
	used for storing sensor data loaded from file More...
Public Member Functions
Constructors

	PostureEngine ()
	constructor
	PostureEngine (const std::string &filename)
	constructor, loads a position from a file
	PostureEngine (const WorldState *st)
	constructor, initializes joint positions to the current state of the outputs as defined by state
	PostureEngine (const PostureEngine &pe)
	copy constructor
PostureEngine &	operator= (const PostureEngine &pe)
	assignment operator
virtual	~PostureEngine ()
	destructor
Output Value Access/Control
You should be able to call the non-virtual functions without checking out, just a MotionManager::peekMotion(). Theoretically.
virtual void	takeSnapshot ()
	sets the values of cmds to the current state of the outputs (doesn't change the weights)
virtual void	takeSnapshot (const WorldState &st)
	sets the values of cmds to the current state of the outputs as defined by state (doesn't change the weights)
virtual void	setWeights (float w)
	set the weights of all cmds
virtual void	setWeights (float w, unsigned int lowjoint, unsigned int highjoint)
	the the weights of a range of cmds
virtual void	clear ()
	sets all joints to unused
PostureEngine &	setOutputCmd (unsigned int i, const OutputCmd &c)
	sets output i to OutputCmd c, returns `*this` so you can chain them; also remember that OutputCmd support implicit conversion from floats (so you can just pass a float)
OutputCmd &	operator() (unsigned int i)
	returns output i, returns a reference so you can also set through an assignment to this call, e.g. pose(MouthOffset)=.1; (remember that OutputCmd support implicit conversion from floats)
const OutputCmd &	operator() (unsigned int i) const
	returns output i
OutputCmd &	getOutputCmd (unsigned int i)
	returns output i, returns a reference so you can also set through an assignment
const OutputCmd &	getOutputCmd (unsigned int i) const
	returns output i
LoadSave
Uses LoadSave interface so you can load/save to files, uses a human-readable storage format
virtual void	setSaveFormat (bool condensed, WorldState *ws)
	sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)
virtual unsigned int	getBinSize () const
	sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)
virtual unsigned int	loadBuffer (const char buf[], unsigned int len, const char *filename=NULL)
	sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)
virtual unsigned int	saveBuffer (char buf[], unsigned int len) const
	sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)
virtual unsigned int	loadFile (const char filename[])
	sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)
virtual unsigned int	saveFile (const char filename[]) const
	sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)
virtual void	setLoadedSensors (SensorInfo *si)
	if ws is non-NULL, any sensor values in loaded postures will be stored there (otherwise they are ignored)
virtual SensorInfo *	getLoadedSensors () const
	returns value previously stored by setLoadSensors()
Kinematics

virtual bool	solveLinkPosition (const fmat::SubVector< 3, const float > &Ptgt, unsigned int link, const fmat::SubVector< 3, const float > &Peff)
	Performs inverse kinematics to solve for positioning Peff on link j as close as possible to Ptgt (base coordinates in homogenous form); if solution found, stores result in this posture and returns true.
virtual bool	solveLinkPosition (float Ptgt_x, float Ptgt_y, float Ptgt_z, unsigned int link, float Peff_x, float Peff_y, float Peff_z)
	Performs inverse kinematics to solve for positioning Peff on link j as close as possible to Ptgt (base coordinates); if solution found, stores result in this posture and returns true.
virtual bool	solveLinkVector (const fmat::SubVector< 3, const float > &Ptgt, unsigned int link, const fmat::SubVector< 3, const float > &Peff)
	Performs inverse kinematics to solve for aligning the vector through Peff on link j and the link's origin to point at Ptgt (base coordinates in homogenous form); if solution found, stores result in this posture and returns true.
virtual bool	solveLinkVector (float Ptgt_x, float Ptgt_y, float Ptgt_z, unsigned int link, float Peff_x, float Peff_y, float Peff_z)
	Performs inverse kinematics to solve for aligning the vector through Peff on link j and the link's origin to point at Ptgt (base coordinates); if solution found, stores result in this posture and returns true.
virtual bool	solveLinkOrientation (const fmat::Quaternion &oriTgt, unsigned int link, const fmat::Quaternion &oriOffset)
	Performs inverse kinematics to solve for positioning Peff on link j as close as possible to Ptgt (base coordinates in homogenous form); if solution found, stores result in this posture and returns true.
virtual bool	solveLink (const fmat::SubVector< 3, const float > &posTgt, const fmat::Quaternion &oriTgt, unsigned int link, const fmat::SubVector< 3, const float > &posOffset, const fmat::Quaternion &oriOffset)
	Performs inverse kinematics to solve for both a position and orientation, bringing posOffset on link to posTgt, in the orientation specified.
Combining Postures

virtual PostureEngine &	setOverlay (const PostureEngine &pe)
	sets joints of this to all joints of pe which are not equal to unused (layers pe over this) stores into this
virtual PostureEngine	createOverlay (const PostureEngine &pe) const
	sets joints of this to all joints of pe which are not equal to unused (layers pe over this) returns new PostureEngine
virtual PostureEngine &	setUnderlay (const PostureEngine &pe)
	sets joints of this which are equal to unused to pe, (layers this over pe) stores into this
virtual PostureEngine	createUnderlay (const PostureEngine &pe) const
	sets joints of this which are equal to unused to pe, (layers this over pe) returns new PostureEngine
virtual PostureEngine &	setAverage (const PostureEngine &pe, float w=0.5)
	computes a weighted average of this vs. pe, w being the weight towards pe (so w==1 just copies pe)
virtual PostureEngine	createAverage (const PostureEngine &pe, float w=0.5) const
	computes a weighted average of this vs. pe, w being the weight towards pe (so w==1 just copies pe)
virtual PostureEngine &	setCombine (const PostureEngine &pe)
	computes a weighted average of this vs. pe, using the weight values of the joints, storing the total weight in the result's weight value
virtual PostureEngine	createCombine (const PostureEngine &pe) const
	computes a weighted average of this vs. pe, using the weight values of the joints, storing the total weight in the result's weight value
virtual float	diff (const PostureEngine &pe) const
	returns the sum squared error between this and pe's output values, but only between outputs which are both not unused
virtual float	avgdiff (const PostureEngine &pe) const
	returns the average sum squared error between this and pe's output values for outputs which are both not unused
virtual float	maxdiff (const PostureEngine &pe) const
	returns the max error between this and pe's output values for outputs which are both not unused
Protected Types
enum	section_t { SECTION_METAINFO, SECTION_OUTPUTS, SECTION_BUTTONS, SECTION_SENSORS, SECTION_PIDDUTIES }
	enumeration of the different section types that may be used as section tags in verbose mode More...
Protected Member Functions
virtual bool	loadLine (unsigned int linenum, const char filename, const std::map< std::string, section_t > &sectionMap, std::vector< std::string > &words, section_t &curSection, const Capabilities &caps, bool &filtered)
	helper function for loadBuffer, called for each individual line
void	stripTildes (std::string &str)
	helper function for loadLine, strips trailing '~'s from output names to provide backward compatability (note pass by reference, operates 'in-place' on word)
virtual void	update () const
	overriding Kinematics::update, make all updates come from this posture engine's own state, not WorldState
Protected Attributes
OutputCmd	cmds [NumOutputs]
	the table of outputs' values and weights, can be accessed through setOutputCmd() and getOutputCmd()
bool	saveFormatCondensed
	requests a condensed file format, smaller but less readable
WorldState *	saveSensors
	If non-null, saves will include sensor readings from here.
SensorInfo *	loadSensors
	if non-null, loads will store any included sensor information here

Member Enumeration Documentation

enum PostureEngine::section_t [protected]

enumeration of the different section types that may be used as section tags in verbose mode

Enumerator:

SECTION_METAINFO	includes timestamp and framenumber
SECTION_OUTPUTS	entries corresponding to NumOutputs
SECTION_BUTTONS	entries corresponding to NumButtons
SECTION_SENSORS	entries corresponding to NumSensors
SECTION_PIDDUTIES	entries corresponding to NumPIDJoints

Definition at line 286 of file PostureEngine.h.

Constructor & Destructor Documentation

PostureEngine::PostureEngine ( )

constructor

Definition at line 86 of file PostureEngine.h.

PostureEngine::PostureEngine ( const std::string & filename )

constructor, loads a position from a file

Todo:: might want to make a library stored in memory of common positions so they don't have to be loaded repeatedly from memstick

Definition at line 89 of file PostureEngine.h.

PostureEngine::PostureEngine ( const WorldState * st )

constructor, initializes joint positions to the current state of the outputs as defined by state

Definition at line 91 of file PostureEngine.h.

PostureEngine::PostureEngine ( const PostureEngine & pe )

copy constructor

Definition at line 94 of file PostureEngine.h.

PostureEngine::~PostureEngine ( ) [virtual]

destructor

Definition at line 14 of file PostureEngine.cc.

Member Function Documentation

float PostureEngine::avgdiff ( const PostureEngine & pe ) const [virtual]

returns the average sum squared error between this and pe's output values for outputs which are both not unused

Todo:: create a version which does weighted summing? This treats weights as all or nothing

Definition at line 113 of file PostureEngine.cc.

void PostureEngine::clear ( ) [virtual]

sets all joints to unused

Reimplemented in PostureMC.

Definition at line 30 of file PostureEngine.cc.

Referenced by loadBuffer().

PostureEngine PostureEngine::createAverage	(	const PostureEngine &	pe,
		float	w = `0.5`
	)			const `[virtual]`

computes a weighted average of this vs. pe, w being the weight towards pe (so w==1 just copies pe)

joints being averaged with weight<=0 have their weights averaged, but not their values (so an output can crossfade properly)

Parameters:

pe

the other PostureEngine

w

amount to weight towards pe

if w < .001, nothing is done
if w > .999, a straight copy of pe occurs (sets joints to unused properly at end of fade)
.001 and .999 is used instead of 0 and 1 to allow for slight addition errors in a loop (if using repeated additions of a delta value instead of repeated divisions)

Returns:: a new posture containing the results

Definition at line 87 of file PostureEngine.cc.

PostureEngine PostureEngine::createCombine ( const PostureEngine & pe ) const [virtual]

computes a weighted average of this vs. pe, using the weight values of the joints, storing the total weight in the result's weight value

Definition at line 98 of file PostureEngine.cc.

PostureEngine PostureEngine::createOverlay ( const PostureEngine & pe ) const [virtual]

sets joints of this to all joints of pe which are not equal to unused (layers pe over this) returns new PostureEngine

Definition at line 41 of file PostureEngine.cc.

PostureEngine PostureEngine::createUnderlay ( const PostureEngine & pe ) const [virtual]

sets joints of this which are equal to unused to pe, (layers this over pe) returns new PostureEngine

Definition at line 51 of file PostureEngine.cc.

float PostureEngine::diff ( const PostureEngine & pe ) const [virtual]

returns the sum squared error between this and pe's output values, but only between outputs which are both not unused

Todo:: create a version which does weighted summing? This treats weights as all or nothing

Definition at line 103 of file PostureEngine.cc.

unsigned int PostureEngine::getBinSize ( ) const [virtual]

sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)

Implements LoadSave.

Definition at line 141 of file PostureEngine.cc.

Referenced by CameraStreamBehavior::sendSensors().

virtual SensorInfo* PostureEngine::getLoadedSensors ( ) const [virtual]

returns value previously stored by setLoadSensors()

Definition at line 153 of file PostureEngine.h.

const OutputCmd& PostureEngine::getOutputCmd ( unsigned int i ) const

returns output i

Definition at line 129 of file PostureEngine.h.

OutputCmd& PostureEngine::getOutputCmd ( unsigned int i )

returns output i, returns a reference so you can also set through an assignment

Definition at line 128 of file PostureEngine.h.

Referenced by Grasper::PlanArmDeliver::doStart(), Grasper::ArmRaise::doStart(), Grasper::ArmNudge::doStart(), Grasper::PlanArmApproach::doStart(), MotionSequenceEngine::setExplicitPose(), MotionSequenceEngine::setPose(), and update().

unsigned int PostureEngine::loadBuffer	(	const char	buf[],
		unsigned int	len,
		const char *	filename = `NULL`
	)			`[virtual]`

sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)

Implements LoadSave.

Reimplemented in PostureMC.

Definition at line 214 of file PostureEngine.cc.

Referenced by MotionSequenceEngine::loadBuffer().

unsigned int PostureEngine::loadFile ( const char filename[] ) [virtual]

sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)

Definition at line 721 of file PostureEngine.cc.

Referenced by MotionSequenceEngine::loadBuffer(), PostureNode::loadFile(), PostureEngine(), PostureMC::PostureMC(), PostureNode::PostureNode(), and PostureEditor::refresh().

bool PostureEngine::loadLine	(	unsigned int	linenum,
		const char *	filename,
		const std::map< std::string, section_t > &	sectionMap,
		std::vector< std::string > &	words,
		section_t &	curSection,
		const Capabilities *&	caps,
		bool &	filtered
	)			`[protected, virtual]`

helper function for loadBuffer, called for each individual line

Definition at line 303 of file PostureEngine.cc.

Referenced by loadBuffer().

float PostureEngine::maxdiff ( const PostureEngine & pe ) const [virtual]

returns the max error between this and pe's output values for outputs which are both not unused

Todo:: create a version which does weighted summing? This treats weights as all or nothing

Definition at line 125 of file PostureEngine.cc.

const OutputCmd& PostureEngine::operator() ( unsigned int i ) const

returns output i

Definition at line 127 of file PostureEngine.h.

OutputCmd& PostureEngine::operator() ( unsigned int i )

returns output i, returns a reference so you can also set through an assignment to this call, e.g. pose(MouthOffset)=.1; (remember that OutputCmd support implicit conversion from floats)

Definition at line 126 of file PostureEngine.h.

PostureEngine& PostureEngine::operator= ( const PostureEngine & pe )

assignment operator

Definition at line 102 of file PostureEngine.h.

unsigned int PostureEngine::saveBuffer	(	char	buf[],
		unsigned int	len
	)			const `[virtual]`

sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)

Implements LoadSave.

Definition at line 620 of file PostureEngine.cc.

Referenced by CameraStreamBehavior::sendSensors().

unsigned int PostureEngine::saveFile ( const char filename[] ) const [virtual]

sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)

Definition at line 724 of file PostureEngine.cc.

Referenced by Kinematics::calculateGroundPlane(), PostureEditor::refresh(), and SavePostureControl::takeInput().

PostureEngine & PostureEngine::setAverage	(	const PostureEngine &	pe,
		float	w = `0.5`
	)			`[virtual]`

computes a weighted average of this vs. pe, w being the weight towards pe (so w==1 just copies pe)

joints being averaged with unused joints have their weights averaged, but not their values (so an output can crossfade properly)

Parameters:

pe

the other PostureEngine

w

amount to weight towards pe

if w < .001, nothing is done
if w > .999, a straight copy of pe occurs (sets joints to unused properly at end of fade)
.001 and .999 is used instead of 0 and 1 to allow for slight addition errors in a loop (if using repeated additions of a delta value instead of repeated divisions)

Returns:: *this, stores results into this

Reimplemented in PostureMC.

Definition at line 63 of file PostureEngine.cc.

Referenced by createAverage().

PostureEngine & PostureEngine::setCombine ( const PostureEngine & pe ) [virtual]

computes a weighted average of this vs. pe, using the weight values of the joints, storing the total weight in the result's weight value

Reimplemented in PostureMC.

Definition at line 91 of file PostureEngine.cc.

Referenced by createCombine().

virtual void PostureEngine::setLoadedSensors ( SensorInfo * si ) [virtual]

if ws is non-NULL, any sensor values in loaded postures will be stored there (otherwise they are ignored)

Definition at line 152 of file PostureEngine.h.

PostureEngine& PostureEngine::setOutputCmd	(	unsigned int	i,
		const OutputCmd &	c
	)

sets output i to OutputCmd c, returns *this so you can chain them; also remember that OutputCmd support implicit conversion from floats (so you can just pass a float)

Reimplemented in PostureMC.

Definition at line 125 of file PostureEngine.h.

Referenced by PostureEditor::activate(), Grasper::PlanBodyApproach::doStart(), MotionSequenceEngine::getPose(), ArmMC::setFingerGap(), solveLink(), solveLinkOrientation(), and solveLinkPosition().

PostureEngine & PostureEngine::setOverlay ( const PostureEngine & pe ) [virtual]

sets joints of this to all joints of pe which are not equal to unused (layers pe over this) stores into this

Reimplemented in PostureMC.

Definition at line 35 of file PostureEngine.cc.

Referenced by createOverlay().

void PostureEngine::setSaveFormat	(	bool	condensed,
		WorldState *	ws
	)			`[virtual]`

sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)

Definition at line 136 of file PostureEngine.cc.

Referenced by Kinematics::calculateGroundPlane(), CameraStreamBehavior::sendSensors(), and LogNode::writeSensor().

PostureEngine & PostureEngine::setUnderlay ( const PostureEngine & pe ) [virtual]

sets joints of this which are equal to unused to pe, (layers this over pe) stores into this

Reimplemented in PostureMC.

Definition at line 45 of file PostureEngine.cc.

Referenced by createUnderlay().

void PostureEngine::setWeights	(	float	w,
		unsigned int	lowjoint,
		unsigned int	highjoint
	)			`[virtual]`

the the weights of a range of cmds

Reimplemented in PostureMC.

Definition at line 25 of file PostureEngine.cc.

virtual void PostureEngine::setWeights ( float w ) [virtual]

set the weights of all cmds

Reimplemented in PostureMC.

Definition at line 122 of file PostureEngine.h.

Referenced by PostureEditor::activate(), Kinematics::calculateGroundPlane(), CameraStreamBehavior::sendSensors(), setWeights(), and SavePostureControl::takeInput().

bool PostureEngine::solveLink	(	const fmat::SubVector< 3, const float > &	posTgt,
		const fmat::Quaternion &	oriTgt,
		unsigned int	link,
		const fmat::SubVector< 3, const float > &	posOffset,
		const fmat::Quaternion &	oriOffset
	)			`[virtual]`

Performs inverse kinematics to solve for both a position and orientation, bringing posOffset on link to posTgt, in the orientation specified.

Parameters:

	posTgt	the target point, in base coordinates
	oriTgt	the target orientation, as a quaternion relative to base frame
	link	the output offset of the joint to move
	posOffset	the point (relative to link) which you desire to have moved to posTgt (it's the desired "effector")
	oriOffset	an orientation offset (relative to link) which you desire to have moved to oriTgt

The quaternion functions of fmat are helpful for creating axis-aligned rotations: fmat::quatX(r), fmat::quatY(r), fmat::quatZ(r), and fmat::QUAT_IDENTITY

Definition at line 778 of file PostureEngine.cc.

bool PostureEngine::solveLinkOrientation	(	const fmat::Quaternion &	oriTgt,
		unsigned int	link,
		const fmat::Quaternion &	oriOffset
	)			`[virtual]`

Performs inverse kinematics to solve for positioning Peff on link j as close as possible to Ptgt (base coordinates in homogenous form); if solution found, stores result in this posture and returns true.

Parameters:

	oriTgt	the target orientation, as a quaternion relative to base frame
	link	the output offset of the joint to move
	oriOffset	an orientation offset (relative to link) which you desire to have moved to oriTgt

The quaternion functions of fmat are helpful for creating axis-aligned rotations: fmat::quatX(r), fmat::quatY(r), fmat::quatZ(r), and fmat::QUAT_IDENTITY

Definition at line 762 of file PostureEngine.cc.

virtual bool PostureEngine::solveLinkPosition	(	float	Ptgt_x,
		float	Ptgt_y,
		float	Ptgt_z,
		unsigned int	link,
		float	Peff_x,
		float	Peff_y,
		float	Peff_z
	)			`[virtual]`

Performs inverse kinematics to solve for positioning Peff on link j as close as possible to Ptgt (base coordinates); if solution found, stores result in this posture and returns true.

Parameters:

	Ptgt_x	the target x position (relative to base frame)
	Ptgt_y	the target y position (relative to base frame)
	Ptgt_z	the target z position (relative to base frame)
	link	the output offset of the joint to move
	Peff_x	the x position (relative to link) which you desire to have moved to Ptgt (it's a point on the effector)
	Peff_y	the y position (relative to link) which you desire to have moved to Ptgt (it's a point on the effector)
	Peff_z	the z position (relative to link) which you desire to have moved to Ptgt (it's a point on the effector)

The difference between solveLinkPosition() and solveLinkVector() is typically small, but critical when you're trying to look at something -- the solution obtained by simplying trying to solve for the position may not align the vector with the target -- solveLinkVector() tries to ensure the vector is aligned with the target, even if that isn't the closest solution position-wise.

Reimplemented in PostureMC.

Definition at line 188 of file PostureEngine.h.

Referenced by solveLinkPosition().

bool PostureEngine::solveLinkPosition	(	const fmat::SubVector< 3, const float > &	Ptgt,
		unsigned int	link,
		const fmat::SubVector< 3, const float > &	Peff
	)			`[virtual]`

Performs inverse kinematics to solve for positioning Peff on link j as close as possible to Ptgt (base coordinates in homogenous form); if solution found, stores result in this posture and returns true.

Parameters:

	Ptgt	the target point, in base coordinates
	link	the output offset of the joint to move
	Peff	the point (relative to link) which you desire to have moved to Ptgt (it's a point on the effector, e.g. (0,0,0) if you want to move the effector's origin to the target)

The difference between solveLinkPosition() and solveLinkVector() is typically small, but critical when you're trying to look at something -- the solution obtained by simplying trying to solve for the position may not align the vector with the target -- solveLinkVector() tries to ensure the vector is aligned with the target, even if that isn't the closest solution position-wise.

Reimplemented in PostureMC.

Definition at line 729 of file PostureEngine.cc.

Referenced by Grasper::PlanArmDeliver::doStart(), Grasper::ArmRaise::doStart(), Grasper::ArmNudge::doStart(), Grasper::PlanArmApproach::doStart(), and solveLinkVector().

virtual bool PostureEngine::solveLinkVector	(	float	Ptgt_x,
		float	Ptgt_y,
		float	Ptgt_z,
		unsigned int	link,
		float	Peff_x,
		float	Peff_y,
		float	Peff_z
	)			`[virtual]`

Performs inverse kinematics to solve for aligning the vector through Peff on link j and the link's origin to point at Ptgt (base coordinates); if solution found, stores result in this posture and returns true.

Parameters:

	Ptgt_x	the target x position (relative to base frame)
	Ptgt_y	the target y position (relative to base frame)
	Ptgt_z	the target z position (relative to base frame)
	link	the output offset of the joint to move
	Peff_x	the x position (relative to link) which you desire to have moved to Ptgt (it's the desired "effector")
	Peff_y	the y position (relative to link) which you desire to have moved to Ptgt (it's the desired "effector")
	Peff_z	the z position (relative to link) which you desire to have moved to Ptgt (it's the desired "effector")

Todo:: this method is an approximation, could be more precise, and perhaps faster, although this is pretty good.

The difference between solveLinkPosition() and solveLinkVector() is typically small, but critical when you're trying to look at something -- the solution obtained by simplying trying to solve for the position may not align the vector with the target -- solveLinkVector() tries to ensure the vector is aligned with the target, even if that isn't the closest solution position-wise.

Reimplemented in PostureMC.

Definition at line 221 of file PostureEngine.h.

Referenced by solveLinkVector().

bool PostureEngine::solveLinkVector	(	const fmat::SubVector< 3, const float > &	Ptgt,
		unsigned int	link,
		const fmat::SubVector< 3, const float > &	Peff
	)			`[virtual]`

Performs inverse kinematics to solve for aligning the vector through Peff on link j and the link's origin to point at Ptgt (base coordinates in homogenous form); if solution found, stores result in this posture and returns true.

Parameters:

	Ptgt	the target point, in base coordinates
	link	the output offset of the joint to move
	Peff	the point (relative to link) which you desire to have moved to Ptgt (it's the desired "effector")

The difference between solveLinkPosition() and solveLinkVector() is typically small, but critical when you're trying to look at something -- the solution obtained by simplying trying to solve for the position may not align the vector with the target -- solveLinkVector() tries to ensure the vector is aligned with the target, even if that isn't the closest solution position-wise.

Reimplemented in PostureMC.

Definition at line 745 of file PostureEngine.cc.

void PostureEngine::stripTildes ( std::string & str ) [protected]

helper function for loadLine, strips trailing '~'s from output names to provide backward compatability (note pass by reference, operates 'in-place' on word)

(originally, all output names were uniform length and used '~'s as padding... ugh.)

Definition at line 297 of file PostureEngine.h.

Referenced by loadLine().

void PostureEngine::takeSnapshot ( const WorldState & st ) [virtual]

sets the values of cmds to the current state of the outputs as defined by state (doesn't change the weights)

Reimplemented in PostureMC.

Definition at line 20 of file PostureEngine.cc.

void PostureEngine::takeSnapshot ( ) [virtual]

sets the values of cmds to the current state of the outputs (doesn't change the weights)

Reimplemented in PostureMC.

Definition at line 16 of file PostureEngine.cc.

Referenced by PostureEditor::activate(), Kinematics::calculateGroundPlane(), PostureEngine(), PostureEditor::processEvent(), CameraStreamBehavior::sendSensors(), and SavePostureControl::takeInput().