iCub-main
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icub-main
src
tools
iCubSkinGui
plugin
include
PalmRight.h
Go to the documentation of this file.
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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
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/*
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* Copyright (C) 2009 RobotCub Consortium
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* Author: Marco Maggiali marco.maggiali@iit.it
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* CopyPolicy: Released under the terms of the GNU GPL v2.0.
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*
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*/
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#include "
include/TouchSensor.h
"
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#ifndef __ALE_PALMR_H__
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#define __ALE_PALMR_H__
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class
PalmR
:
public
TouchSensor
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{
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public
:
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PalmR
(
double
cx,
double
cy,
double
th,
double
gain=1.0,
int
layoutNum=0,
int
lrMirror=0)
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{
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const
double
DEG2RAD
=
M_PI
/180.0;
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const
double
CST=cos(
DEG2RAD
*th);
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const
double
SNT=sin(
DEG2RAD
*th);
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const
double
H
=sin(
DEG2RAD
*60.0);
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const
double
L=2.0*
H
/9.0;
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dGain
=gain;
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ilrMirror
=lrMirror;
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ilayoutNum
=layoutNum;
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nVerts
=4;
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nTaxels
=48;
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m_RadiusOrig
=1.8;
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for
(
int
i=0; i<
nTaxels
; ++i)
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{
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dX
[0]=15;
//not used
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dY
[0]=15;
//not used
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}
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dX
[27]=1.5;
dY
[27]=6.5;
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dX
[26]=6.5;
dY
[26]=6;
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dX
[25]=11.5;
dY
[25]=6;
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dX
[24]=16.5;
dY
[24]=6;
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dX
[31]=21.5;
dY
[31]=6;
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dX
[29]=6.5;
dY
[29]=1;
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dX
[28]=11.5;
dY
[28]=1;
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dX
[32]=16.5;
dY
[32]=1;
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dX
[33]=21.5;
dY
[33]=1;
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dX
[35]=9.5;
dY
[35]=-2;
//thermal_pad
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dX
[30]=14.5;
dY
[30]=-3.5;
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dX
[34]=21.5;
dY
[34]=-4;
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dX
[6]=27;
dY
[6]=6;
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dX
[3]=32;
dY
[3]=6;
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dX
[2]=37;
dY
[2]=6;
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dX
[1]=42;
dY
[1]=5.5;
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dX
[0]=47;
dY
[0]=4.5;
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dX
[11]=51.7;
dY
[11]=4;
//thermal_pad
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dX
[7]=27;
dY
[7]=1;
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dX
[8]=32;
dY
[8]=1;
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dX
[4]=37;
dY
[4]=1;
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dX
[5]=42;
dY
[5]=0;
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dX
[9]=27;
dY
[9]=-3.5;
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dX
[10]=32;
dY
[10]=-3.5;
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dX
[16]=37.5;
dY
[16]=-4.5;
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dX
[15]=42;
dY
[15]=-5.5;
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dX
[14]=46.5;
dY
[14]=-8;
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dX
[20]=27;
dY
[20]=-9;
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dX
[21]=32;
dY
[21]=-9;
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dX
[17]=37;
dY
[17]=-9;
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dX
[19]=42;
dY
[19]=-10.5;
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dX
[22]=38;
dY
[22]=-14;
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dX
[18]=43;
dY
[18]=-16;
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dX
[13]=47;
dY
[13]=-13;
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dX
[12]=47.5;
dY
[12]=-18;
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dX
[23]=43.5;
dY
[23]=-20;
//thermal_pad
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dX
[46]=33;
dY
[46]=-14.5;
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dX
[47]=28;
dY
[47]=-14.5;
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dX
[36]=28;
dY
[36]=-19.5;
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dX
[42]=33;
dY
[42]=-19.5;
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dX
[45]=38;
dY
[45]=-19.5;
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dX
[37]=28;
dY
[37]=-24.5;
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dX
[38]=33;
dY
[38]=-24.5;
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dX
[41]=38;
dY
[41]=-24.5;
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dX
[44]=43;
dY
[44]=-26;
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dX
[39]=35;
dY
[39]=-29;
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dX
[40]=40;
dY
[40]=-29.5;
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dX
[43]=37;
dY
[43]=-32.5;
//thermal pad
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for
(
int
i=0; i<
nTaxels
; ++i)
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{
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double
x
=1.2*
dX
[i]-0.0;
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double
y
=1.2*
dY
[i]-0.0;
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if
(lrMirror==1)
x
=-
x
;
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dX
[i]=cx+CST*
x
-SNT*
y
;
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dY
[i]=cy+SNT*
x
+CST*
y
;
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}
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dXv
[0]=-25;
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dYv
[0]=-50;
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dXv
[1]=+50;
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dYv
[1]=-50;
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dXv
[2]=+50;
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dYv
[2]=+50;
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dXv
[3]=-25;
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dYv
[3]=+50;
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for
(
int
i=0; i<
nVerts
; ++i)
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{
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double
x
=
dXv
[i];
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double
y
=
dYv
[i];
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if
(lrMirror==1)
x
=-
x
;
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dXv
[i]=cx+CST*
x
-SNT*
y
;
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dYv
[i]=cy+SNT*
x
+CST*
y
;
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}
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// in static definition
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//dXmin=dYmin= HUGE;
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//dXmax=dYmax=-HUGE;
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for
(
int
i=0; i<
nVerts
; ++i)
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{
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if
(
dXv
[i]<
dXmin
)
dXmin
=
dXv
[i];
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if
(
dXv
[i]>
dXmax
)
dXmax
=
dXv
[i];
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if
(
dYv
[i]<
dYmin
)
dYmin
=
dYv
[i];
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if
(
dYv
[i]>
dYmax
)
dYmax
=
dYv
[i];
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}
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dXc
=cx;
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dYc
=cy;
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}
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void
draw
(
unsigned
char
*image)
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{
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for
(
int
i=0; i<
nVerts
; ++i)
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{
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//drawLine(image,xv[i],yv[i],xv[(i+1)%nVerts],yv[(i+1)%nVerts]);
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}
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for
(
int
i=0; i<
nTaxels
; ++i)
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{
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if
((i==43) || (i==23) || (i==11) || (i==35) )
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{
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drawCircle
(image,
x
[i],
y
[i],
m_Radius
/2);
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}
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else
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drawCircle
(image,
x
[i],
y
[i],
m_Radius
);
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}
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}
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};
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#endif
TouchSensor.h
M_PI
#define M_PI
Definition
XSensMTx.cpp:24
PalmR
Definition
PalmRight.h:16
PalmR::draw
void draw(unsigned char *image)
Definition
PalmRight.h:144
PalmR::PalmR
PalmR(double cx, double cy, double th, double gain=1.0, int layoutNum=0, int lrMirror=0)
Definition
PalmRight.h:19
TouchSensor
Definition
TouchSensor.h:21
TouchSensor::dX
double dX[MAX_TAXELS]
Definition
TouchSensor.h:382
TouchSensor::dYc
double dYc
Definition
TouchSensor.h:385
TouchSensor::m_Radius
double m_Radius
Definition
TouchSensor.h:390
TouchSensor::x
int x[MAX_TAXELS]
Definition
TouchSensor.h:402
TouchSensor::nVerts
int nVerts
Definition
TouchSensor.h:405
TouchSensor::m_RadiusOrig
double m_RadiusOrig
Definition
TouchSensor.h:390
TouchSensor::dXmin
static double dXmin
Definition
TouchSensor.h:383
TouchSensor::ilayoutNum
int ilayoutNum
Definition
TouchSensor.h:387
TouchSensor::dXc
double dXc
Definition
TouchSensor.h:385
TouchSensor::nTaxels
int nTaxels
Definition
TouchSensor.h:406
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::dXmax
static double dXmax
Definition
TouchSensor.h:383
TouchSensor::dYv
double dYv[8]
Definition
TouchSensor.h:384
TouchSensor::dGain
double dGain
Definition
TouchSensor.h:386
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
TouchSensor::ilrMirror
int ilrMirror
Definition
TouchSensor.h:388
H
H
Definition
compute_ekf_fast.m:27
DEG2RAD
#define DEG2RAD
Definition
pointing_far.cpp:36
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