void Coach::update(SSL_DetectionFrame newFrame)
{
//update memory
if(_memory.size() < 5) {
_memory.push_back(newFrame);
}
else {
_memory.push_back(newFrame);
_memory.erase(_memory.begin());
//update FieldState
fs.bBots.clear();
fs.yBots.clear();
fs.ball = Movable(newFrame.balls(0).x(), newFrame.balls(0).y(), 0, 0); //velocity calculated in analysis
for(int i = 0; i < _memory[4].robots_blue_size(); i++)
{
fs.bBots.push_back(Robot(_memory[4].robots_blue(i).robot_id(),
_memory[4].robots_blue(i).orientation(),
_memory[4].robots_blue(i).x(),
_memory[4].robots_blue(i).y()));
}
for(int i = 0; i < _memory[4].robots_yellow_size(); i++)
{
fs.yBots.push_back(Robot(_memory[4].robots_yellow(i).robot_id(),
_memory[4].robots_yellow(i).orientation(),
_memory[4].robots_yellow(i).x(),
_memory[4].robots_yellow(i).y()));
}
//call analysis to update velocity
Analysis();
}
}
//block execution until an update is received
//in each update we want to clear and then repopulate our vectors of temperatures and robots
void MainWindow::mpiWaitForUpdates()
{
Factories<Command>& command_factories = Factories<Command>::getInstance();
robots.clear();
pointTemps.clear();
Communicators& myCommunicator = Communicators::getInstance();
SerialObject object;
myCommunicator.run();
while(!myCommunicator.isEmpty()){
object = myCommunicator.popObject();
if(object.type == "Beep"){
Stateful beep;
beep.load(object.JSON);
int x = beep.getState("x");
int y = beep.getState("y");
Robot tempRobot = Robot(x, y);
robots.push_back(tempRobot);
}
else if(object.type == "DataPoint"){
DataPoint tempPoints;
tempPoints.load(object.JSON);
int x = tempPoints.getX();
int y = tempPoints.getY();
int value = tempPoints.getValue();
pointTemps.push_back(std::make_pair(std::make_pair(x,y), value));
}else if(command_factories.find(object.type) != command_factories.end()){
Command* command = command_factories[object.type]->create();
command->load(object.JSON);
command->run();
delete command;
}
}
return;
}
void GeneralizedRobot::GetMegaRobot(Robot& robot) const
{
vector<string> prefix;
vector<Robot*> robotsAndObjects;
list<Robot> convertedObjects;
for(map<int,Element>::const_iterator i=elements.begin();i!=elements.end();i++) {
if(i->second.robot)
robotsAndObjects.push_back(i->second.robot);
else {
convertedObjects.push_back(Robot());
ObjectToRobot(*i->second.object,convertedObjects.back());
robotsAndObjects.push_back(&convertedObjects.back());
}
if(i->second.name.empty()) {
stringstream ss;
ss<<"element_"<<i->first;
prefix.push_back(ss.str());
}
else
prefix.push_back(i->second.name);
}
robot.Merge(robotsAndObjects);
//fix up the names
size_t nl = 0;
for(size_t i=0;i<robotsAndObjects.size();i++) {
for(size_t j=0;j<robotsAndObjects[i]->links.size();j++)
robot.linkNames[nl+j] = prefix[i]+"["+robot.linkNames[nl+j]+"]";
nl += robotsAndObjects[i]->links.size();
}
}
VREP_DLLEXPORT simChar* v_repImportUrdf(simChar* filenameOrUrdf, simBool hideCollisionLinks, simBool hideJoints, simBool convexDecomposeNonConvexCollidables, simBool createVisualIfNone, simBool showConvexDecompositionDlg, simBool centerAboveGround, simBool makeModel, simBool noSelfCollision, simBool positionCtrl) {
robot Robot(filenameOrUrdf, hideCollisionLinks, hideJoints, convexDecomposeNonConvexCollidables, createVisualIfNone, showConvexDecompositionDlg, centerAboveGround, makeModel, noSelfCollision, positionCtrl);
simChar* result = (simChar*)simCreateBuffer(Robot.name.length()+1);
memcpy((void*) result, (void*) Robot.name.c_str(), Robot.name.length()+1);
return result;
}
int main()
{
Machine* machine = new Truck();
machine->make_noise();
machine->transform_to(Robot());
machine->make_noise();
machine->transform_to(Truck());
machine->make_noise();
}
Controller() {
robot = Robot();
navigator = Navigator();
if(Collision::occuredWithUpdate()){
startOnOppositePath = true;
Actuators::openClaw();
delay(OPEN_FINGERS_FOR_PASSENGER_DROP_OFF_DURATION); //lift hand off!
Actuators::closeClaw();
while(Collision::occuredWithUpdate()){}
delay(300);
}
}
Robot::Robot()
{
Robot ( 0,0,0,teamUnknown,0,0,0 );
}
int main(void)
{
int i;
clock_t start, end;
Matrix initrob(6,15), thomo, temp2;
ColumnVector q(6), qs(6), temp;
Robot robot;
initrob << PUMA560_data;
robot = Robot(initrob);
q = M_PI/6.0;
q = M_PI/4.0;
printf("Begin compute Forward Kinematics\n");
start = clock();
for (i = 1; i <= NTRY; i++) {
robot.set_q(q);
temp2 = robot.kine();
}
end = clock();
printf("MilliSeconds %6.2f\n", ((end - start) / (Real)CLOCKS_PER_SEC)*1000.0/NTRY);
printf("end \n");
qs = 1.0;
qs(1) = M_PI/16.0;
robot.set_q(q);
thomo = robot.kine();
printf("Begin compute Inverse Kinematics\n");
start = clock();
for (i = 1; i <= NTRY; i++) {
robot.set_q(qs);
temp = robot.inv_kin(thomo);
}
end = clock();
printf("MilliSeconds %6.2f\n", ((end - start) / (Real)CLOCKS_PER_SEC)*1000.0/NTRY);
printf("end \n");
printf("Begin compute Jacobian\n");
start = clock();
for (i = 1; i <= NTRY; i++) {
robot.set_q(q);
temp2 = robot.jacobian();
}
end = clock();
printf("MilliSeconds %6.2f\n", ((end - start) / (Real)CLOCKS_PER_SEC)*1000.0/NTRY);
printf("end \n");
printf("Begin compute Torque\n");
start = clock();
for (i = 1; i <= NTRY; i++) {
temp = robot.torque(q,q,q);
}
end = clock();
printf("MilliSeconds %6.2f\n", ((end - start) / (Real)CLOCKS_PER_SEC)*1000.0/NTRY);
printf("end \n");
printf("Begin acceleration\n");
start = clock();
for (i = 1; i <= NTRY; i++) {
temp = robot.acceleration(q,q,q);
}
end = clock();
printf("MilliSeconds %6.2f\n", ((end - start) / (Real)CLOCKS_PER_SEC)*1000.0/NTRY);
printf("end \n");
return 0;
}
void Init()
{
oRobot = Robot(1, 1, DIRECTION::DOWN); // Create a player character at (1, 1) facing downwards
}
Robot A2BDatabase::getRobot()
{
return Robot(9600, 1, 50, 75, cv::imread("true_robot.png"));
}
int main(void)
{
Bureaucrat bob("bob", 45);
Bureaucrat jim("jim", 150);
Bureaucrat zac("zac", 2);
Form A4("A4", 45, 45);
Form A5("A5", 150, 21);
ShrubberyCreationForm Creation("home");
PresidentialPardonForm Pardon("Amedy Coulibaly");
RobotomyRequestForm Robot("Zaz");
try
{
Form a("fifi", 0, 2);
}
catch (std::exception const& e)
{
std::cout << "Form a: " << e.what() << std::endl;
}
try
{
Form b("fifi", 42, 151);
}
catch (std::exception const& e)
{
std::cout << "Form b: " << e.what() << std::endl;
}
std::cout << A4 << std::endl << A5 << std::endl << std::endl;
std::cout << bob << std::endl << jim << std::endl << std::endl;
try
{
A4.beSigned(jim);
}
catch (std::exception const& e)
{
std::cout << "Form A4: " << e.what() << std::endl;
}
std::cout << A4 << std::endl << std::endl;
try
{
A4.beSigned(bob);
}
catch (std::exception const& e)
{
std::cout << "Form A4: " << e.what() << std::endl;
}
std::cout << A4 << std::endl << std::endl;
bob.signForm(A4);
bob.signForm(A5);
jim.signForm(A4);
jim.executeForm(Creation);
bob.executeForm(Creation);
zac.signForm(Pardon);
zac.executeForm(Pardon);
jim.executeForm(Pardon);
zac.signForm(Robot);
zac.executeForm(Robot);
zac.executeForm(Robot);
zac.executeForm(Robot);
zac.executeForm(Robot);
jim.executeForm(Robot);
}
