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CER_SH_PDL.h
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1// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
2
3/*
4 * Copyright (C) 2009 RobotCub Consortium
5 * Author: Marco Maggiali marco.maggiali@iit.it
6 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
7 *
8 */
9
10#include "include/TouchSensor.h"
11
12#ifndef __CER_SH_PDL_H__
13#define __CER_SH_PDL_H__
14
15class CER_SH_PDL : public TouchSensor
16{
17public:
18
19 CER_SH_PDL(double cx,double cy,double th,double gain=1.0,int layoutNum=0,int lrMirror=0)
20 {
21 const double DEG2RAD=M_PI/180.0;
22
23 const double CST=cos(DEG2RAD*th);
24 const double SNT=sin(DEG2RAD*th);
25
26 dGain=gain;
27 ilrMirror=lrMirror;
28 ilayoutNum=layoutNum;
29 nVerts=7;
30 nTaxels=36;
31 m_RadiusOrig=1.8;
32
33 for (int i = 0; i<nTaxels; ++i) dX[0] = dY[0] = 0.0;
34
35 int n = 0;
36
37 dX[n]=37.2; dY[n++]=16.7; // 0
38 dX[n]=31.2; dY[n++]=22.7; // 1
39 dX[n]=31.2; dY[n++]=16.7; // 2
40 dX[n]=43.2; dY[n++]=10.7; // 3
41 dX[n]=25.2; dY[n++]=22.7; // 4
42 dX[n]=37.2; dY[n++]=10.7; // 5
43 dX[n]=43.2; dY[n++]= 4.7; // 6
44 dX[n]=31.2; dY[n++]= 4.7; // 7
45 dX[n]=37.2; dY[n++]= 4.7; // 8
46 dX[n]=25.2; dY[n++]= 4.7; // 9
47 dX[n]=31.2; dY[n++]=10.7; // 10
48 connected[n++] = false; // 11
49 dX[n]=25.2; dY[n++]=10.7; // 12
50 dX[n]=13.2; dY[n++]= 4.7; // 13
51 dX[n]= 7.2; dY[n++]= 4.7; // 14
52 dX[n]=19.2; dY[n++]= 4.7; // 15
53 dX[n]= 7.2; dY[n++]=10.7; // 16
54 dX[n]=13.2; dY[n++]=10.7; // 17
55 dX[n]= 7.2; dY[n++]=16.7; // 18
56 dX[n]=13.2; dY[n++]=16.7; // 19
57 dX[n]=19.2; dY[n++]=10.7; // 20
58 dX[n]=19.2; dY[n++]=16.7; // 21
59 dX[n]=25.2; dY[n++]=16.7; // 22
60 connected[n++] = false; // 23
61 dX[n]= 7.2; dY[n++]=22.7; // 24
62 dX[n]=10.2; dY[n++]=27.7; // 25
63 dX[n]=13.2; dY[n++]=22.7; // 26
64 dX[n]=16.2; dY[n++]=27.7; // 27
65 dX[n]=19.2; dY[n++]=22.7; // 28
66 connected[n++] = false; // 29
67 connected[n++] = false; // 30
68 connected[n++] = false; // 31
69 connected[n++] = false; // 32
70 connected[n++] = false; // 33
71 connected[n++] = false; // 34
72 connected[n++] = false; // 35
73
74 for (int i=0; i<nTaxels; ++i)
75 {
76 double x=dX[i]-0.0;
77 double y=dY[i]-0.0;
78
79 if (lrMirror) x=-x;
80
81 dX[i]=cx+CST*x-SNT*y;
82 dY[i]=cy+SNT*x+CST*y;
83 }
84
85 dXv[0]=2; dYv[0]=0;
86 dXv[1]=2; dYv[1]=28;
87 dXv[2]=7; dYv[2]=33;
88 dXv[3]=22; dYv[3]=33;
89 dXv[4]=38; dYv[4]=24;
90 dXv[5]=49; dYv[5]=12;
91 dXv[6]=49; dYv[6]=0;
92
93 for (int i=0; i<nVerts; ++i)
94 {
95 double x=dXv[i];
96 double y=dYv[i];
97 if (lrMirror) x=-x;
98 dXv[i]=cx+CST*x-SNT*y;
99 dYv[i]=cy+SNT*x+CST*y;
100 }
101
102 // in static definition
103 //dXmin=dYmin= HUGE;
104 //dXmax=dYmax=-HUGE;
105
106 for (int i=0; i<nVerts; ++i)
107 {
108 if (dXv[i]<dXmin) dXmin=dXv[i];
109 if (dXv[i]>dXmax) dXmax=dXv[i];
110 if (dYv[i]<dYmin) dYmin=dYv[i];
111 if (dYv[i]>dYmax) dYmax=dYv[i];
112 }
113
114 dXc=cx;
115 dYc=cy;
116 }
117 void draw(unsigned char *image)
118 {
119 for (int i = 0; i<nVerts; ++i)
120 {
121 drawLine(image, xv[i], yv[i], xv[(i + 1) % nVerts], yv[(i + 1) % nVerts]);
122 }
123
124 for (int i = 0; i <= 28; ++i) if (connected[i])
125 {
126 drawCircle(image, x[i], y[i], m_Radius);
127 }
128 }
129};
130
131class CER_SH_PDR : public TouchSensor
132{
133public:
134
135 CER_SH_PDR(double cx, double cy, double th, double gain = 1.0, int layoutNum = 0, int lrMirror = 0)
136 {
137 const double DEG2RAD = M_PI / 180.0;
138
139 const double CST = cos(DEG2RAD*th);
140 const double SNT = sin(DEG2RAD*th);
141
142 dGain = gain;
143 ilrMirror = lrMirror;
144 ilayoutNum = layoutNum;
145 nVerts = 7;
146 nTaxels = 36;
147 m_RadiusOrig = 1.8;
148
149 for (int i = 0; i<nTaxels; ++i) dX[0] = dY[0] = 0.0;
150
151 int n = 0;
152
153 dX[n]=11.2; dY[n++]=16.7; // 0
154 dX[n]=17.2; dY[n++]=22.7; // 1
155 dX[n]=17.2; dY[n++]=16.7; // 2
156 dX[n]= 5.2; dY[n++]=10.7; // 3
157 dX[n]=23.2; dY[n++]=22.7; // 4
158 dX[n]=11.2; dY[n++]=10.7; // 5
159 dX[n]= 5.2; dY[n++]= 4.7; // 6
160 dX[n]=17.2; dY[n++]= 4.7; // 7
161 dX[n]=11.2; dY[n++]= 4.7; // 8
162 dX[n]=23.2; dY[n++]= 4.7; // 9
163 dX[n]=17.2; dY[n++]=10.7; // 10
164 connected[n++] = false; // 11
165 dX[n]=23.2; dY[n++]=10.7; // 12
166 dX[n]=35.2; dY[n++]= 4.7; // 13
167 dX[n]=41.2; dY[n++]= 4.7; // 14
168 dX[n]=29.2; dY[n++]= 4.7; // 15
169 dX[n]=41.2; dY[n++]=10.7; // 16
170 dX[n]=35.2; dY[n++]=10.7; // 17
171 dX[n]=41.2; dY[n++]=16.7; // 18
172 dX[n]=35.2; dY[n++]=16.7; // 19
173 dX[n]=29.2; dY[n++]=10.7; // 20
174 dX[n]=29.2; dY[n++]=16.7; // 21
175 dX[n]=23.2; dY[n++]=16.7; // 22
176 connected[n++] = false; // 23
177 dX[n]=41.2; dY[n++]=22.7; // 24
178 dX[n]=38.2; dY[n++]=27.7; // 25
179 dX[n]=35.2; dY[n++]=22.7; // 26
180 dX[n]=32.2; dY[n++]=27.7; // 27
181 dX[n]=29.2; dY[n++]=22.7; // 28
182 connected[n++] = false; // 29
183 connected[n++] = false; // 30
184 connected[n++] = false; // 31
185 connected[n++] = false; // 32
186 connected[n++] = false; // 33
187 connected[n++] = false; // 34
188 connected[n++] = false; // 35
189
190 for (int i = 0; i<nTaxels; ++i)
191 {
192 double x = dX[i];
193 double y = dY[i];
194
195 if (lrMirror) x = -x;
196
197 dX[i] = cx + CST*x - SNT*y;
198 dY[i] = cy + SNT*x + CST*y;
199 }
200
201 dXv[0] = 49-2; dYv[0] = 0;
202 dXv[1] = 49-2; dYv[1] = 28;
203 dXv[2] = 49-7; dYv[2] = 33;
204 dXv[3] = 49-22; dYv[3] = 33;
205 dXv[4] = 49-38; dYv[4] = 24;
206 dXv[5] = 49-49; dYv[5] = 12;
207 dXv[6] = 49-49; dYv[6] = 0;
208
209 for (int i = 0; i<nVerts; ++i)
210 {
211 double x = dXv[i];
212 double y = dYv[i];
213 if (lrMirror) x = -x;
214 dXv[i] = cx + CST*x - SNT*y;
215 dYv[i] = cy + SNT*x + CST*y;
216 }
217
218 // in static definition
219 //dXmin=dYmin= HUGE;
220 //dXmax=dYmax=-HUGE;
221
222 for (int i = 0; i<nVerts; ++i)
223 {
224 if (dXv[i]<dXmin) dXmin = dXv[i];
225 if (dXv[i]>dXmax) dXmax = dXv[i];
226 if (dYv[i]<dYmin) dYmin = dYv[i];
227 if (dYv[i]>dYmax) dYmax = dYv[i];
228 }
229
230 dXc = cx;
231 dYc = cy;
232 }
233 void draw(unsigned char *image)
234 {
235 for (int i = 0; i<nVerts; ++i)
236 {
237 drawLine(image, xv[i], yv[i], xv[(i + 1) % nVerts], yv[(i + 1) % nVerts]);
238 }
239
240 for (int i = 0; i<=28; ++i) if (connected[i])
241 {
242 drawCircle(image, x[i], y[i], m_Radius);
243 }
244 }
245};
246
247class CER_SH_PP : public TouchSensor
248{
249public:
250
251 CER_SH_PP(double cx, double cy, double th, double gain = 1.0, int layoutNum = 0, int lrMirror = 0)
252 {
253 const double DEG2RAD = M_PI / 180.0;
254
255 const double CST = cos(DEG2RAD*th);
256 const double SNT = sin(DEG2RAD*th);
257
258 dGain = gain;
259 ilrMirror = lrMirror;
260 ilayoutNum = layoutNum;
261 nVerts = 4;
262 nTaxels = 24;
263 m_RadiusOrig = 1.8;
264
265 for (int i = 0; i<nTaxels; ++i) dX[0] = dY[0] = 0.0;
266
267 int n = 0;
268
269 dX[n] = 10; dY[n++] = 3.5; // 48
270 dX[n] = 16; dY[n++] = 3.5; // 49
271 dX[n] = 4; dY[n++] = 3.5; // 50
272 dX[n] = 4; dY[n++] = 9.5; // 51
273 dX[n] = 4; dY[n++] = 21.5; // 52
274 dX[n] = 4; dY[n++] = 15.5; // 53
275 dX[n] = 10; dY[n++] = 9.5; // 54
276 dX[n] = 10; dY[n++] = 15.5; // 55
277 dX[n] = 10; dY[n++] = 21.5; // 56
278 dX[n] = 16; dY[n++] = 15.5; // 57
279 dX[n] = 16; dY[n++] = 9.5; // 58
280 connected[n++] = false; // 59
281 dX[n] = 16; dY[n++] = 33.5; // 60
282 dX[n] = 16; dY[n++] = 39.5; // 61
283 dX[n] = 10; dY[n++] = 33.5; // 62
284 dX[n] = 16; dY[n++] = 27.5; // 63
285 dX[n] = 10; dY[n++] = 39.5; // 64
286 dX[n] = 16; dY[n++] = 21.5; // 65
287 dX[n] = 10; dY[n++] = 27.5; // 66
288 dX[n] = 4; dY[n++] = 27.5; // 67
289 dX[n] = 4; dY[n++] = 33.5; // 68
290 dX[n] = 4; dY[n++] = 39.5; // 69
291 connected[n++] = false; // 70
292 connected[n++] = false; // 71
293
294 for (int i = 0; i<nTaxels; ++i)
295 {
296 double x = dX[i];
297 double y = dY[i];
298
299 if (lrMirror) x = -x;
300
301 dX[i] = cx + CST*x - SNT*y;
302 dY[i] = cy + SNT*x + CST*y;
303 }
304
305 dXv[0] = -1; dYv[0] = -2;
306 dXv[1] = -1; dYv[1] = 45;
307 dXv[2] = 21; dYv[2] = 45;
308 dXv[3] = 21; dYv[3] = -2;
309
310 for (int i = 0; i<nVerts; ++i)
311 {
312 double x = dXv[i];
313 double y = dYv[i];
314 if (lrMirror) x = -x;
315 dXv[i] = cx + CST*x - SNT*y;
316 dYv[i] = cy + SNT*x + CST*y;
317 }
318
319 // in static definition
320 //dXmin=dYmin= HUGE;
321 //dXmax=dYmax=-HUGE;
322
323 for (int i = 0; i<nVerts; ++i)
324 {
325 if (dXv[i]<dXmin) dXmin = dXv[i];
326 if (dXv[i]>dXmax) dXmax = dXv[i];
327 if (dYv[i]<dYmin) dYmin = dYv[i];
328 if (dYv[i]>dYmax) dYmax = dYv[i];
329 }
330
331 dXc = cx;
332 dYc = cy;
333 }
334 void draw(unsigned char *image)
335 {
336 for (int i = 0; i<nVerts; ++i)
337 {
338 drawLine(image, xv[i], yv[i], xv[(i + 1) % nVerts], yv[(i + 1) % nVerts]);
339 }
340
341 for (int i = 0; i <= 21; ++i) if (connected[i])
342 {
343 drawCircle(image, x[i], y[i], m_Radius);
344 }
345 }
346};
347
348class CER_SH_TD : public TouchSensor
349{
350public:
351
352 CER_SH_TD(double cx, double cy, double th, double gain = 1.0, int layoutNum = 0, int lrMirror = 0)
353 {
354 const double DEG2RAD = M_PI / 180.0;
355
356 const double CST = cos(DEG2RAD*th);
357 const double SNT = sin(DEG2RAD*th);
358
359 dGain = gain;
360 ilrMirror = lrMirror;
361 ilayoutNum = layoutNum;
362 nVerts = 6;
363 nTaxels = 24;
364 m_RadiusOrig = 1.8;
365
366 for (int i = 0; i < nTaxels; ++i) dX[0] = dY[0] = 0.0;
367
368 int n = 0;
369
370 dX[n] = 30.0; dY[n++] = 10.5; // 96
371 dX[n] = 30.0; dY[n++] = 4.5; // 97
372 dX[n] = 18.0; dY[n++] = 4.5; // 98
373 dX[n] = 6.1; dY[n++] = 4.5; // 99
374 dX[n] = 12.0; dY[n++] = 4.5; // 100
375 dX[n] = 24.0; dY[n++] = 4.5; // 101
376 dX[n] = 12.0; dY[n++] = 16.4; // 102
377 dX[n] = 18.0; dY[n++] = 10.5; // 103
378 dX[n] = 18.0; dY[n++] = 16.5; // 104
379 dX[n] = 24.0; dY[n++] = 16.5; // 105
380 dX[n] = 24.0; dY[n++] = 10.5; // 106
381 connected[n++] = false; // 107
382 dX[n] = 12.0; dY[n++] = 10.5; // 108
383 dX[n] = 6.0; dY[n++] = 10.5; // 109
384 connected[n++] = false; // 110
385 connected[n++] = false; // 111
386 connected[n++] = false; // 112
387 connected[n++] = false; // 113
388 connected[n++] = false; // 114
389 connected[n++] = false; // 115
390 connected[n++] = false; // 116
391 connected[n++] = false; // 117
392 connected[n++] = false; // 118
393 connected[n++] = false; // 119
394
395 for (int i = 0; i < nTaxels; ++i)
396 {
397 double x = dX[i];
398 double y = dY[i];
399
400 if (lrMirror) x = -x;
401
402 dX[i] = cx + CST*x - SNT*y;
403 dY[i] = cy + SNT*x + CST*y;
404 }
405
406 dXv[0] = 1; dYv[0] = 0;
407 dXv[1] = 1; dYv[1] = 16;
408 dXv[2] = 7; dYv[2] = 22;
409 dXv[3] = 29; dYv[3] = 22;
410 dXv[4] = 35; dYv[4] = 16;
411 dXv[5] = 35; dYv[5] = 0;
412
413 for (int i = 0; i < nVerts; ++i)
414 {
415 double x = dXv[i];
416 double y = dYv[i];
417 if (lrMirror) x = -x;
418 dXv[i] = cx + CST*x - SNT*y;
419 dYv[i] = cy + SNT*x + CST*y;
420 }
421
422 // in static definition
423 //dXmin=dYmin= HUGE;
424 //dXmax=dYmax=-HUGE;
425
426 for (int i = 0; i < nVerts; ++i)
427 {
428 if (dXv[i] < dXmin) dXmin = dXv[i];
429 if (dXv[i] > dXmax) dXmax = dXv[i];
430 if (dYv[i] < dYmin) dYmin = dYv[i];
431 if (dYv[i] > dYmax) dYmax = dYv[i];
432 }
433
434 dXc = cx;
435 dYc = cy;
436 }
437 void draw(unsigned char *image)
438 {
439 for (int i = 0; i < nVerts; ++i)
440 {
441 drawLine(image, xv[i], yv[i], xv[(i + 1) % nVerts], yv[(i + 1) % nVerts]);
442 }
443
444 for (int i = 0; i <= 13; ++i) if (connected[i])
445 {
446 drawCircle(image, x[i], y[i], m_Radius);
447 }
448 }
449};
450
451class CER_SH_TP : public TouchSensor
452{
453public:
454
455 CER_SH_TP(double cx, double cy, double th, double gain = 1.0, int layoutNum = 0, int lrMirror = 0)
456 {
457 const double DEG2RAD = M_PI / 180.0;
458
459 const double CST = cos(DEG2RAD*th);
460 const double SNT = sin(DEG2RAD*th);
461
462 dGain = gain;
463 ilrMirror = lrMirror;
464 ilayoutNum = layoutNum;
465 nVerts = 4;
466 nTaxels = 12;
467 m_RadiusOrig = 1.8;
468
469 for (int i = 0; i < nTaxels; ++i) dX[0] = dY[0] = 0.0;
470
471 int n = 0;
472
473 dX[n] = 3.0; dY[n++] = 17; // 144
474 dX[n] = 3.0; dY[n++] = 5; // 145
475 dX[n] = 3.0; dY[n++] = 11; // 146
476 dX[n] = 10.0; dY[n++] = 5; // 147
477 dX[n] = 10.0; dY[n++] = 29; // 148
478 dX[n] = 3.0; dY[n++] = 23; // 149
479 dX[n] = 3.0; dY[n++] = 29; // 150
480 dX[n] = 10.0; dY[n++] = 23; // 151
481 dX[n] = 10.0; dY[n++] = 17; // 152
482 dX[n] = 10.0; dY[n++] = 11; // 153
483 connected[n++] = false; // 154
484 connected[n++] = false; // 155
485
486
487 for (int i = 0; i < nTaxels; ++i)
488 {
489 double x = dX[i];
490 double y = dY[i];
491
492 if (lrMirror) x = -x;
493
494 dX[i] = cx + CST*x - SNT*y;
495 dY[i] = cy + SNT*x + CST*y;
496 }
497
498 dXv[0] = -2; dYv[0] = 0;
499 dXv[1] = -2; dYv[1] = 34;
500 dXv[2] = 15; dYv[2] = 34;
501 dXv[3] = 15; dYv[3] = 0;
502
503 for (int i = 0; i < nVerts; ++i)
504 {
505 double x = dXv[i];
506 double y = dYv[i];
507 if (lrMirror) x = -x;
508 dXv[i] = cx + CST*x - SNT*y;
509 dYv[i] = cy + SNT*x + CST*y;
510 }
511
512 // in static definition
513 //dXmin=dYmin= HUGE;
514 //dXmax=dYmax=-HUGE;
515
516 for (int i = 0; i < nVerts; ++i)
517 {
518 if (dXv[i] < dXmin) dXmin = dXv[i];
519 if (dXv[i] > dXmax) dXmax = dXv[i];
520 if (dYv[i] < dYmin) dYmin = dYv[i];
521 if (dYv[i] > dYmax) dYmax = dYv[i];
522 }
523
524 dXc = cx;
525 dYc = cy;
526 }
527 void draw(unsigned char *image)
528 {
529 for (int i = 0; i < nVerts; ++i)
530 {
531 drawLine(image, xv[i], yv[i], xv[(i + 1) % nVerts], yv[(i + 1) % nVerts]);
532 }
533
534 for (int i = 0; i <= 9; ++i) if (connected[i])
535 {
536 drawCircle(image, x[i], y[i], m_Radius);
537 }
538 }
539};
540
541
542#endif
M_PI
#define M_PI
Definition XSensMTx.cpp:24
CER_SH_PDL
Definition CER_SH_PDL.h:16
CER_SH_PDL::CER_SH_PDL
CER_SH_PDL(double cx, double cy, double th, double gain=1.0, int layoutNum=0, int lrMirror=0)
Definition CER_SH_PDL.h:19
CER_SH_PDL::draw
void draw(unsigned char *image)
Definition CER_SH_PDL.h:117
CER_SH_PDR
Definition CER_SH_PDL.h:132
CER_SH_PDR::draw
void draw(unsigned char *image)
Definition CER_SH_PDL.h:233
CER_SH_PDR::CER_SH_PDR
CER_SH_PDR(double cx, double cy, double th, double gain=1.0, int layoutNum=0, int lrMirror=0)
Definition CER_SH_PDL.h:135
CER_SH_PP
Definition CER_SH_PDL.h:248
CER_SH_PP::draw
void draw(unsigned char *image)
Definition CER_SH_PDL.h:334
CER_SH_PP::CER_SH_PP
CER_SH_PP(double cx, double cy, double th, double gain=1.0, int layoutNum=0, int lrMirror=0)
Definition CER_SH_PDL.h:251
CER_SH_TD
Definition CER_SH_PDL.h:349
CER_SH_TD::CER_SH_TD
CER_SH_TD(double cx, double cy, double th, double gain=1.0, int layoutNum=0, int lrMirror=0)
Definition CER_SH_PDL.h:352
CER_SH_TD::draw
void draw(unsigned char *image)
Definition CER_SH_PDL.h:437
CER_SH_TP
Definition CER_SH_PDL.h:452
CER_SH_TP::draw
void draw(unsigned char *image)
Definition CER_SH_PDL.h:527
CER_SH_TP::CER_SH_TP
CER_SH_TP(double cx, double cy, double th, double gain=1.0, int layoutNum=0, int lrMirror=0)
Definition CER_SH_PDL.h:455
TouchSensor::dX
double dX[MAX_TAXELS]
Definition TouchSensor.h:382
TouchSensor::connected
bool connected[MAX_TAXELS]
Definition TouchSensor.h:393
TouchSensor::m_Radius
double m_Radius
Definition TouchSensor.h:390
TouchSensor::x
int x[MAX_TAXELS]
Definition TouchSensor.h:402
TouchSensor::m_RadiusOrig
double m_RadiusOrig
Definition TouchSensor.h:390
TouchSensor::dXmin
static double dXmin
Definition TouchSensor.h:383
TouchSensor::dYmax
static double dYmax
Definition TouchSensor.h:383
TouchSensor::dXv
double dXv[8]
Definition TouchSensor.h:384
TouchSensor::dY
double dY[MAX_TAXELS]
Definition TouchSensor.h:382
TouchSensor::drawLine
void drawLine(unsigned char *image, int x0, int y0, int x1, int y1)
Definition TouchSensor.h:340
TouchSensor::dXmax
static double dXmax
Definition TouchSensor.h:383
TouchSensor::dYv
double dYv[8]
Definition TouchSensor.h:384
TouchSensor::y
int y[MAX_TAXELS]
Definition TouchSensor.h:402
TouchSensor::drawCircle
void drawCircle(unsigned char *image, int cx, int cy, double radius)
Definition TouchSensor.h:353
TouchSensor::dYmin
static double dYmin
Definition TouchSensor.h:383
n
int n
Definition debugFunctions.cpp:58
DEG2RAD
#define DEG2RAD
Definition pointing_far.cpp:36
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