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/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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* Copyright Projet JRL-Japan, 2007 |
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*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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* |
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* File: StepComputer.cpp |
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* Project: SOT |
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* Author: Paul Evrard, Nicolas Mansard |
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* |
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* Version control |
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* =============== |
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* |
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* $Id$ |
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* |
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* Description |
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* ============ |
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* |
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* |
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* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ |
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#include <time.h> |
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#include <cmath> |
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#ifndef WIN32 |
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#include <sys/time.h> |
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#include <iostream> |
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#else |
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#include <Winsock2.h> |
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#include <jrl/mal/boost.hh> |
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#include <sot/core/utils-windows.hh> |
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#endif /*WIN32*/ |
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#include <dynamic-graph/factory.h> |
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#include <dynamic-graph/pool.h> |
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#include <sot/pattern-generator/exception-pg.h> |
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#include <sot/pattern-generator/step-checker.h> |
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#include <sot/pattern-generator/step-computer-pos.h> |
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#include <sot/pattern-generator/step-queue.h> |
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#include <sot/core/debug.hh> |
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#include <sot/core/macros-signal.hh> |
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namespace dynamicgraph { |
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namespace sot { |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(StepComputerPos, "StepComputerPos"); |
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StepComputerPos::StepComputerPos(const std::string &name) |
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: Entity(name), |
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referencePositionLeftSIN( |
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NULL, "StepComputerPos(" + name + ")::input(vector)::posrefleft"), |
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referencePositionRightSIN( |
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NULL, "StepComputerPos(" + name + ")::input(vector)::posrefright"), |
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contactFootSIN(NULL, |
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"StepComputerPos(" + name + ")::input(uint)::contactfoot"), |
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rfMref0(), |
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lfMref0(), |
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twoHandObserver(0x0), |
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checker(), |
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logChanges("/tmp/stepcomp_changes.dat"), |
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logPreview("/tmp/stepcomp_preview.dat") { |
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sotDEBUGIN(5); |
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signalRegistration(referencePositionLeftSIN << referencePositionRightSIN |
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<< contactFootSIN); |
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sotDEBUGOUT(5); |
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} |
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void StepComputerPos::nextStep(StepQueue &queue, int timeCurr) { |
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// Introduce new step at the end of the preview window. |
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if (queue.getLastStep().contact == CONTACT_LEFT_FOOT) { |
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queue.pushStep(0., -queue.getZeroStepPosition(), 0.); |
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logPreview << timeCurr << " " << 0 << " " << -queue.getZeroStepPosition() |
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<< " " << 0 << std::endl; |
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} else { |
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queue.pushStep(0., queue.getZeroStepPosition(), 0.); |
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logPreview << timeCurr << " " << 0 << " " << queue.getZeroStepPosition() |
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<< " " << 0 << std::endl; |
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} |
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} |
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void StepComputerPos::changeFirstStep(StepQueue &queue, int timeCurr) { |
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if (!twoHandObserver) { |
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std::cerr << "Observer not set" << std::endl; |
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return; |
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} |
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const unsigned &sfoot = contactFootSIN(timeCurr); |
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const MatrixHomogeneous &wMlf = |
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twoHandObserver->leftFootPositionSIN.access(timeCurr); |
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const MatrixHomogeneous &wMrf = |
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twoHandObserver->rightFootPositionSIN.access(timeCurr); |
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// actual and reference position of reference frame in fly foot, |
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// position of fly foot in support foot. |
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MatrixHomogeneous ffMref, ffMref0; |
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MatrixHomogeneous sfMff; |
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if (sfoot != 1) // --- left foot support --- |
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{ |
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ffMref = referencePositionRightSIN.access(timeCurr); |
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ffMref0 = rfMref0; |
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MatrixHomogeneous sfMw; |
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sfMw = wMlf.inverse(); |
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sfMff = sfMw * wMrf; |
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} else // -- right foot support --- |
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{ |
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ffMref = referencePositionLeftSIN.access(timeCurr); |
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ffMref0 = lfMref0; |
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MatrixHomogeneous sfMw; |
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sfMw = wMrf.inverse(); |
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sfMff = sfMw * wMlf; |
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} |
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// homogeneous transform from ref position of ref frame to |
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// actual position of ref frame. |
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MatrixHomogeneous ref0Mff; |
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ref0Mff = ffMref0.inverse(); |
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MatrixHomogeneous ref0Mref; |
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ref0Mref = ref0Mff * ffMref; |
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// extract the translation part and express it in the support |
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// foot frame. |
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MatrixHomogeneous sfMref0; |
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sfMref0 = sfMff * ffMref0; |
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Vector t_ref0(3); |
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t_ref0 = ref0Mref.translation(); |
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MatrixRotation sfRref0; |
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sfRref0 = sfMref0.linear(); |
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Vector t_sf = sfRref0 * t_ref0; |
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// add it to the position of the fly foot in support foot to |
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// get the new position of fly foot in support foot. |
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Vector pff_sf(3); |
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pff_sf = sfMff.translation(); |
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t_sf += pff_sf; |
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// compute the rotation that transforms ref0 into ref, |
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// express it in the support foot frame. Then get the |
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// associated yaw (rot around z). |
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MatrixRotation ref0Rsf; |
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ref0Rsf = sfRref0.transpose(); |
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MatrixRotation ref0Rref; |
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ref0Rref = ref0Mref.linear(); |
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MatrixRotation tmp; |
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tmp = ref0Rref * ref0Rsf; |
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MatrixRotation Rref; |
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Rref = sfRref0 * tmp; |
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VectorRollPitchYaw rpy; |
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rpy = (Rref.eulerAngles(2, 1, 0)).reverse(); |
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// get the yaw of the current orientation of the ff wrt sf. |
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// Add it to the previously computed rpy. |
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MatrixRotation sfRff; |
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sfRff = sfMff.linear(); |
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VectorRollPitchYaw rpy_ff; |
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rpy_ff = (sfRff.eulerAngles(2, 1, 0)).reverse(); |
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rpy += rpy_ff; |
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// The clipping function expects the x-y coordinates of the |
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// destination fly foot in the support foot frame. |
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double x = t_sf(0), y = t_sf(1); |
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double theta = rpy(2) * 180 / 3.14159265; |
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const double THETA_MAX = 9.; |
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if (theta < -THETA_MAX) { |
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theta = -THETA_MAX; |
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} |
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if (theta > THETA_MAX) { |
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theta = THETA_MAX; |
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} |
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double nx = 0, ny = 0; |
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if (sfoot != 1) { // left foot support phase |
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if (y > 0) { |
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y = -0.001; |
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} |
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} else { |
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if (y < 0) { |
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y = 0.001; |
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} |
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} |
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checker.clipStep(x, y, nx, ny); |
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// Log x-y values before and after clipping |
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logChanges << timeCurr << " " << x << " " << y << " " << nx << " " << ny |
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<< " "; |
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// The coordinates must be expressed in the destination foot frame. |
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// See the technical report of Olivier Stasse for more details, |
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// on top of page 79. |
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double theta_rad = 3.14159265 * theta / 180.; |
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double ctheta = cos(theta_rad); |
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double stheta = sin(theta_rad); |
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x = nx * ctheta + ny * stheta; |
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y = -nx * stheta + ny * ctheta; |
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queue.changeFirstStep(x, y, theta); |
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// Log the step |
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logChanges << x << " " << y << " " << theta << std::endl; |
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} |
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void StepComputerPos::thisIsZero() { |
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sotDEBUGIN(15); |
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rfMref0 = referencePositionRightSIN.accessCopy(); |
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lfMref0 = referencePositionLeftSIN.accessCopy(); |
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sotDEBUGOUT(15); |
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} |
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void StepComputerPos::display(std::ostream &os) const { |
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os << "StepComputerPos <" << getName() << ">:" << std::endl; |
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} |
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void StepComputerPos::commandLine(const std::string &cmdLine, |
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std::istringstream &cmdArgs, |
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std::ostream &os) { |
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if (cmdLine == "help") { |
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os << "NextStep: " << std::endl |
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<< " - setObserver" << std::endl |
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<< " - thisIsZero {record|disp}" << std::endl |
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<< std::endl; |
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} else if (cmdLine == "thisIsZero") { |
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std::string arg; |
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cmdArgs >> arg; |
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if (arg == "disp_left") { |
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os << "zero_left = " << lfMref0; |
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} else if (arg == "disp_right") { |
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os << "zero_right = " << rfMref0; |
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} else if (arg == "record") { |
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thisIsZero(); |
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} |
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} else if (cmdLine == "setObserver") { |
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std::string name = "stepobs"; |
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cmdArgs >> std::ws; |
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if (cmdArgs.good()) { |
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cmdArgs >> name; |
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} |
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Entity *entity = &(PoolStorage::getInstance()->getEntity(name)); |
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twoHandObserver = dynamic_cast<StepObserver *>(entity); |
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} else { |
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} |
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} |
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} // namespace sot |
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} // namespace dynamicgraph |