Quad16.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 Randazzo marco.randazzo@iit.it
 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
 *
 */
 
#include "include/TouchSensor.h"
 
#ifndef __ALE_QUAD16_H__
#define __ALE_QUAD16_H__
 
class Quad16 : public TouchSensor
{
public:
    Quad16(double cx,double cy,double th,double gain=1.0,int layoutNum=0,int lrMirror=0)
    {
        const double DEG2RAD=M_PI/180.0;
 
        const double CST=cos(DEG2RAD*th);
        const double SNT=sin(DEG2RAD*th);
 
        const double H=sin(DEG2RAD*60.0);
        const double L=2.0*H/9.0;
     
        dGain=gain;
        ilrMirror=lrMirror;
        ilayoutNum=layoutNum;
        nVerts=4;
        nTaxels=16;
        m_RadiusOrig=2.0;
 
        dX[0]=0.2; dY[0]=0.2;
        dX[1]=0.4; dY[1]=0.2;
        dX[2]=0.6; dY[2]=0.2;
        dX[3]=0.8; dY[3]=0.2;
        
        dX[4]=0.2; dY[4]=0.4;
        dX[5]=0.4; dY[5]=0.4;
        dX[6]=0.6; dY[6]=0.4;
        dX[7]=0.8; dY[7]=0.4;
 
        dX[8]=0.2;  dY[8]=0.6;
        dX[9]=0.4;  dY[9]=0.6;
        dX[10]=0.6; dY[10]=0.6;
        dX[11]=0.8; dY[11]=0.6;
        
        dX[12]=0.2; dY[12]=0.8;
        dX[13]=0.4; dY[13]=0.8;
        dX[14]=0.6; dY[14]=0.8;
        dX[15]=0.8; dY[15]=0.8;
 
        for (int i=0; i<nTaxels; ++i)
        {
            double x=40.0*dX[i]-20.0;
            double y=40.0*dY[i]-20.0;
 
            if (lrMirror==1) x=-x;
            dX[i]=cx+CST*x-SNT*y;
            dY[i]=cy+SNT*x+CST*y;
        }
 
        dXv[0]=-15;
        dYv[0]=-15;
        dXv[1]=+15;
        dYv[1]=-15;
        dXv[2]=+15;
        dYv[2]=+15;
        dXv[3]=-15;
        dYv[3]=+15;
        
        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