FingertipMID.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/*
 * Copyright (C) 2009 RobotCub Consortium
 * Author:  Marco Maggiali marco.maggiali@iit.it
 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
 *
 */
 
#include "include/TouchSensor.h"
 
#ifndef __ALE_FINGERTIPMID_L_H__
#define __ALE_FINGERTIPMID_L_H__
 
class FingertipMID : public TouchSensor
{
public:
    FingertipMID(double cx,double cy,double th,double gain=1.0,int layoutNum=0,int lrMirror=0)
    {
        dGain=gain;
        ilrMirror=lrMirror;
        ilayoutNum=layoutNum;
        nVerts=7;
        nTaxels=12;
 
/*        dX[0]= 41.0; dY[0]=10.0; 
        dX[1]= 15.0; dY[1]=10.0; 
        dX[2]= 15.0; dY[2]=35.0; 
        dX[3]= 41.0; dY[3]=35.0; 
        dX[4]= 30.0; dY[4]=64.0; 
        dX[5]= 11.0; dY[5]=58.0; 
        dX[6]=  0.0; dY[6]=82.0; 
        dX[7]=-11.0; dY[7]=58.0; 
        dX[8]=-30.0; dY[8]=64.0; 
        dX[9]=-41.0; dY[9]=35.0; 
        dX[10]=-15.0; dY[10]=35.0;
        dX[11]=-15.0; dY[11]=10.0; 
*/               
        dY[0]=-30.0;  dX[0]= 0.0;  
        dY[1]=-20.0;  dX[1]= -15.0; 
        dY[2]=-10.0;  dX[2]= 0.0; 
        dY[3]= 0.0;  dX[3]= -15.0; 
        dY[4]= 10.0;  dX[4]= -35.0; 
        dY[5]= 10.0;  dX[5]= 0.0; 
        dY[6]= 20.0;  dX[6]= -15.0; 
        dY[7]= 30.0;  dX[7]= 0.0; 
        dY[8]= 20.0;  dX[8]= 15.0; 
        dY[9]= 10.0;  dX[9]= 35.0; 
        dY[10]= 0.0; dX[10]= 15.0;
        dY[11]= -20.0; dX[11]= 15.0;        
 
        dXv[0]=53.0; dYv[0]= 0.0;
        dXv[1]=53.0; dYv[1]=45.0;
        dXv[2]=dX[4]+10.0; dYv[2]=dY[4]+10.0;
        dXv[3]=0.0; dYv[3]=dY[6]+12.0;
        dXv[4]=-dXv[2]; dYv[4]=dYv[2];
        dXv[5]=-dXv[1]; dYv[5]=dYv[1];
        dXv[6]=-dXv[0]; dYv[6]=dYv[0];
 
        const double scale=2.7/15.3;
        for (int i=0; i<nTaxels; ++i)
        {
            dX[i]*=scale;
            dY[i]*=scale;
        }
        for (int i=0; i<nVerts; ++i)
        {
            dXv[i]*=scale;
            dYv[i]*=scale;
        }
 
        m_RadiusOrig=1.5;
 
        const double DEG2RAD=M_PI/180.0;
        const double CST=cos(DEG2RAD*th);
        const double SNT=sin(DEG2RAD*th);
 
        for (int i=0; i<nTaxels; ++i)
        {
            double x=dX[i];
            double y=dY[i];
            if (lrMirror==1) x=-x;
 
            dX[i]=cx+CST*x-SNT*y;
            dY[i]=cy+SNT*x+CST*y;
        }
 
        for (int i=0; i<nVerts; ++i)
        {
            double x=dXv[i];
            double y=dYv[i];
            if (lrMirror==1) x=-x;
 
//            dXv[i]=cx+CST*x-SNT*y;
//            dYv[i]=cy+SNT*x+CST*y;
            dXv[i]=0;
            dYv[i]=0;
        }
 
        // in static definition
        //dXmin=dYmin= HUGE; 
        //dXmax=dYmax=-HUGE;
 
        /*for (int i=0; i<nVerts; ++i)
        {
            if (dXv[i]<dXmin) dXmin=dXv[i];
            if (dXv[i]>dXmax) dXmax=dXv[i];
            if (dYv[i]<dYmin) dYmin=dYv[i];
            if (dYv[i]>dYmax) dYmax=dYv[i];
        }*/
 
        dXc=cx;
        dYc=cy;
    }
};
 
#endif