Fingertip.h

Go to the documentation of this file.

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/*
 * Copyright (C) 2009 RobotCub Consortium
 * Author: Alessandro Scalzo alessandro.scalzo@iit.it
 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
 *
 */
 
#include "include/TouchSensor.h"
 
#ifndef __ALE_FINGERTIP_H__
#define __ALE_FINGERTIP_H__
 
class Fingertip : public TouchSensor
{
public:
    Fingertip(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[11]= 41.0; dY[11]=10.0;
        dX[10]= 65.0; dY[10]=10.0;
        dX[ 9]= 65.0; dY[ 9]=35.0;
        dX[ 8]= 41.0; dY[ 8]=35.0;
        dX[ 7]= 30.0; dY[ 7]=62.0;
        dX[ 6]= 45.0; dY[ 6]=78.0;
        dX[ 5]=  0.0; dY[ 5]=82.0;
        dX[ 4]=-45.0; dY[ 4]=78.0;
        dX[ 3]=-30.0; dY[ 3]=62.0;
        dX[ 2]=-41.0; dY[ 2]=35.0;
        dX[ 1]=-65.0; dY[ 1]=35.0;
        dX[ 0]=-65.0; dY[ 0]=10.0;
        */
 
        dX[11]= 41.0; dY[11]=10.0;
        dX[10]= 15.0; dY[10]=10.0;
        dX[ 9]= 15.0; dY[ 9]=35.0;
        dX[ 8]= 41.0; dY[ 8]=35.0;
        dX[ 7]= 30.0; dY[ 7]=64.0;
        dX[ 6]= 11.0; dY[ 6]=58.0;
        dX[ 5]=  0.0; dY[ 5]=82.0;
        dX[ 4]=-11.0; dY[ 4]=58.0;
        dX[ 3]=-30.0; dY[ 3]=64.0;
        dX[ 2]=-41.0; dY[ 2]=35.0;
        dX[ 1]=-15.0; dY[ 1]=35.0;
        dX[ 0]=-15.0; dY[ 0]=10.0;        
 
        dXv[0]=53.0; dYv[0]= 0.0;
        dXv[1]=53.0; dYv[1]=45.0;
        dXv[2]=dX[7]+10.0; dYv[2]=dY[7]+10.0;
        dXv[3]=0.0; dYv[3]=dY[5]+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=1.8;
 
        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;
        }
 
        // 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