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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#include <dynamic-graph/pool.h> |
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#include <sot/core/debug.hh> |
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#include <sot/core/exception-tools.hh> |
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#include <sot/core/factory.hh> |
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#include <sot/core/neck-limitation.hh> |
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#include <sot/core/sot.hh> |
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using namespace dynamicgraph::sot; |
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using namespace dynamicgraph; |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(NeckLimitation, "NeckLimitation"); |
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const double NeckLimitation::COEFF_LINEAR_DEFAULT = -25.0 / 42.0; |
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const double NeckLimitation::COEFF_AFFINE_DEFAULT = 0.6981; // 40DG |
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const double NeckLimitation::SIGN_TILT_DEFAULT = 1; |
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const unsigned int NeckLimitation::PAN_RANK_DEFAULT = 14; |
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const unsigned int NeckLimitation::TILT_RANK_DEFAULT = 15; |
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NeckLimitation::NeckLimitation(const std::string &name) |
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: Entity(name), |
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panRank(PAN_RANK_DEFAULT), |
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tiltRank(TILT_RANK_DEFAULT), |
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coeffLinearPan(COEFF_LINEAR_DEFAULT), |
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coeffAffinePan(COEFF_AFFINE_DEFAULT), |
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signTilt(SIGN_TILT_DEFAULT) |
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, |
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jointSIN(NULL, "NeckLimitation(" + name + ")::input(vector)::joint"), |
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jointSOUT( |
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boost::bind(&NeckLimitation::computeJointLimitation, this, _1, _2), |
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jointSIN, |
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"NeckLimitation(" + name + ")::output(dummy)::jointLimited") { |
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sotDEBUGIN(5); |
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signalRegistration(jointSIN << jointSOUT); |
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sotDEBUGOUT(5); |
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} |
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NeckLimitation::~NeckLimitation(void) { |
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sotDEBUGIN(5); |
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sotDEBUGOUT(5); |
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return; |
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} |
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/* --- SIGNALS -------------------------------------------------------------- */ |
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/* --- SIGNALS -------------------------------------------------------------- */ |
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/* --- SIGNALS -------------------------------------------------------------- */ |
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dynamicgraph::Vector &NeckLimitation::computeJointLimitation( |
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dynamicgraph::Vector &jointLimited, const int &timeSpec) { |
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sotDEBUGIN(15); |
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const dynamicgraph::Vector &joint = jointSIN(timeSpec); |
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jointLimited = joint; |
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const double &pan = joint(panRank); |
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const double &tilt = joint(tiltRank); |
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double &panLimited = jointLimited(panRank); |
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double &tiltLimited = jointLimited(tiltRank); |
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if (fabs(pan) < 1e-3) // pan == 0 |
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{ |
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sotDEBUG(15) << "Pan = 0" << std::endl; |
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if (tilt * signTilt > coeffAffinePan) { |
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tiltLimited = coeffAffinePan; |
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} else { |
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tiltLimited = tilt; |
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} |
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panLimited = pan; |
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} else if (pan > 0) { |
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sotDEBUG(15) << "Pan > 0" << std::endl; |
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if (signTilt * tilt > (pan * coeffLinearPan + coeffAffinePan)) { |
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// Orthogonal projection . |
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// if( (tilt-coeffAffinePan)*coeffLinearPan<-1*pan ) |
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// { |
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// panLimited=0; tiltLimited=coeffAffinePan; |
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// } |
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// else |
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// { |
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// double tmp = 1/(1+coeffLinearPan*coeffLinearPan); |
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// double tmp2=pan+coeffLinearPan*tilt; |
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// panLimited=(tmp2-coeffAffinePan*coeffLinearPan)*tmp; |
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// tiltLimited=(coeffLinearPan*tmp2+coeffAffinePan)*tmp; |
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// } |
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tiltLimited = (pan * coeffLinearPan + coeffAffinePan); |
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panLimited = pan; |
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} else { |
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tiltLimited = tilt; |
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panLimited = pan; |
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} |
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} else // pan<0 |
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{ |
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sotDEBUG(15) << "Pan < 0" << std::endl; |
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sotDEBUG(15) << tilt - coeffAffinePan << "<?" << (-1 * pan * coeffLinearPan) |
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<< std::endl; |
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if (tilt * signTilt > (-pan * coeffLinearPan + coeffAffinePan)) { |
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// sotDEBUG(15) << "Below" << std::endl; |
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// if( (tilt-coeffAffinePan)*coeffLinearPan<pan ) |
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// { |
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// sotDEBUG(15) << "Proj on 0" << std::endl; |
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// panLimited=0; tiltLimited=coeffAffinePan; |
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// } |
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// else |
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// { |
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// double tmp = 1/(1+coeffLinearPan*coeffLinearPan); |
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// double tmp2=pan-coeffLinearPan*tilt; |
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// panLimited=(tmp2+coeffAffinePan*coeffLinearPan)*tmp; |
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// tiltLimited=(-coeffLinearPan*tmp2+coeffAffinePan)*tmp; |
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// } |
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tiltLimited = (-pan * coeffLinearPan + coeffAffinePan); |
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panLimited = pan; |
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} else { |
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tiltLimited = tilt; |
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panLimited = pan; |
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} |
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} |
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sotDEBUGOUT(15); |
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return jointLimited; |
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} |
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/* --- PARAMS --------------------------------------------------------------- */ |
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/* --- PARAMS --------------------------------------------------------------- */ |
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/* --- PARAMS --------------------------------------------------------------- */ |
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void NeckLimitation::display(std::ostream &os) const { |
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os << "NeckLimitation " << getName() << "." << std::endl; |
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} |