double DemoRobotController::rotateTowardObj(Vector3d pos)
{
// "pos" means target position
// get own position
Vector3d ownPosition;
m_robotObject->getPartsPosition(ownPosition,"RARM_LINK2");
// pointing vector for target
Vector3d l_pos = pos;
l_pos -= ownPosition;
// ignore variation on y-axis
l_pos.y(0);
// get own rotation matrix
Rotation ownRotation;
m_robotObject->getRotation(ownRotation);
// get angles arround y-axis
double qw = ownRotation.qw();
double qy = ownRotation.qy();
double theta = 2*acos(fabs(qw));
if(qw*qy < 0) theta = -1.0*theta;
// rotation angle from z-axis to x-axis
double tmp = l_pos.angle(Vector3d(0.0, 0.0, 1.0));
double targetAngle = acos(tmp);
// direction
if(l_pos.x() > 0) targetAngle = -1.0*targetAngle;
targetAngle += theta;
double angVelFac = 3.0;
double l_angvel = m_angularVelocity/angVelFac;
if(targetAngle == 0.0) {
return 0.0;
}
else {
// circumferential distance for the rotation
double l_distance = m_distance*M_PI*fabs(targetAngle)/(2.0*M_PI);
// Duration of rotation motion (micro second)
double l_time = l_distance / (m_movingSpeed/angVelFac);
// Start the rotation
if(targetAngle > 0.0) {
m_robotObject->setWheelVelocity(l_angvel, -l_angvel);
}
else{
m_robotObject->setWheelVelocity(-l_angvel, l_angvel);
}
return l_time;
}
}
double MyController::calcHeadingAngle()
{
// 自分の回転を得る
Rotation myRot;
m_my->getRotation(myRot);
// y軸の回転角度を得る(x,z方向の回転は無いと仮定)
double qw = myRot.qw();
double qy = myRot.qy();
double theta = 2*acos(fabs(qw));
if (qw * qy < 0) {
theta = -1 * theta;
}
return theta * 180.0 / PI;
}
double MyController::rotateTowardObj(Vector3d pos, double velocity, double now)
{
// 自分の位置の取得
Vector3d myPos;
m_my->getPosition(myPos);
// 自分の位置からターゲットを結ぶベクトル
Vector3d tmpp = pos;
tmpp -= myPos;
// y方向は考えない
tmpp.y(0);
// 自分の回転を得る
Rotation myRot;
m_my->getRotation(myRot);
// エンティティの初期方向
Vector3d iniVec(0.0, 0.0, 1.0);
// y軸の回転角度を得る(x,z方向の回転は無いと仮定)
double qw = myRot.qw();
double qy = myRot.qy();
double theta = 2*acos(fabs(qw));
if(qw*qy < 0)
theta = -1*theta;
// z方向からの角度
double tmp = tmpp.angle(Vector3d(0.0, 0.0, 1.0));
double targetAngle = acos(tmp);
// 方向
if(tmpp.x() > 0) targetAngle = -1*targetAngle;
targetAngle += theta;
if(targetAngle == 0.0){
return 0.0;
}
else {
// 回転すべき円周距離
double distance = m_distance*PI*fabs(targetAngle)/(2*PI);
// 車輪の半径から移動速度を得る
double vel = m_radius*velocity;
// 回転時間(u秒)
double time = distance / vel;
// 車輪回転開始
if(targetAngle > 0.0){
m_my->setWheelVelocity(velocity, -velocity);
}
else{
m_my->setWheelVelocity(-velocity, velocity);
}
return now + time;
}
}
double MyController::rotateTowardGrabPos(Vector3d pos, double velocity, double now)
{
printf("start rotate %lf \n", now);
//自分を取得
SimObj *my = getObj(myname());
//printf("向く座標 %lf %lf %lf \n", pos.x(), pos.y(), pos.z());
// 自分の位置の取得
Vector3d myPos;
m_my->getPosition(myPos);
//自分の手のパーツを得ます
CParts * parts = my->getParts("RARM_LINK7");
Vector3d partPos;
parts->getPosition(partPos);
// 自分の位置からターゲットを結ぶベクトル
Vector3d tmpp = pos;
//tmpp -= myPos;
tmpp -= partPos;
// y方向は考えない
tmpp.y(0);
// 自分の回転を得る
Rotation myRot;
m_my->getRotation(myRot);
// エンティティの初期方向
Vector3d iniVec(0.0, 0.0, 1.0);
// y軸の回転角度を得る(x,z方向の回転は無いと仮定)
double qw = myRot.qw();
double qy = myRot.qy();
double theta = 2*acos(fabs(qw));
//printf("qw: %lf theta: %lf \n", qw, theta);
if(qw*qy < 0) {
//printf("qw * qy < 0 \n");
theta = -1*theta;
}
// z方向からの角度
//printf("結ぶベクトル 座標 %lf %lf %lf \n", tmpp.x(), tmpp.y(), tmpp.z());
double tmp = tmpp.angle(Vector3d(0.0, 0.0, 1.0));
//printf("tmp: %lf \n", tmp);
double targetAngle = acos(tmp);
//printf("targetAngle: %lf ---> %lf \n", targetAngle, targetAngle*180.0/PI);
// 方向
//printf("tmpp.x() %lf \n", tmpp.x());
if(tmpp.x() > 0) {
targetAngle = -1*targetAngle;
//printf("targetAngle: %lf deg \n", targetAngle*180.0/PI);
}
targetAngle += theta;
//printf("targetAngle: %lf <--- %lf \n", targetAngle, theta);
//printf("qw: %lf qy: %lf theta: %lf tmp: %lf targetAngle: %lf \n", qw, qy, theta, tmp, targetAngle);
if(targetAngle == 0.0){
//printf("donot need rotate \n");
return 0.0;
}
else
{
// 回転すべき円周距離
double distance = m_distance*PI*fabs(targetAngle)/(2*PI);
// 車輪の半径から移動速度を得る
double vel = m_radius*velocity;
// 回転時間(u秒)
double time = distance / vel;
// 車輪回転開始
if(targetAngle > 0.0){
m_my->setWheelVelocity(velocity, -velocity);
}
else
{
m_my->setWheelVelocity(-velocity, velocity);
}
//printf("distance: %lf vel: %lf time: %lf \n", distance, vel, time);
printf("rotate time: %lf, time to stop: %lf \n", time, now + time);
return now + time;
}
}
double MyController::rotateTowardObj(Vector3d pos, double velocity, double now)
{
// 自分の回転を得る
Rotation myRot;
m_my->getRotation(myRot);
// y軸の回転角度を得る(x,z方向の回転は無いと仮定)
double qw = myRot.qw();
double qy = myRot.qy();
double theta = 2 * acos(fabs(qw));
if (qw * qy < 0) {
theta = -1 * theta;
}
printf("ロボットが向いている角度 current theta: %lf(deg) \n", theta * 180 / PI);
// 自分の位置の取得
Vector3d myPos;
m_my->getPosition(myPos);
printf("ロボットの現在位置: x: %lf, z %lf \n", myPos.x(), myPos.z());
// 自分の位置からターゲットを結ぶベクトル
Vector3d tmpPos = pos;
tmpPos -= myPos;
// 近すぎるなら，回転なし
double dis = tmpPos.x() * tmpPos.x() + tmpPos.z() * tmpPos.z();
if (dis < 1.0) {
return 0.0;
}
// z方向からの角度
double rate = tmpPos.x() / tmpPos.z();
double targetAngle = atan(rate);
if (tmpPos.z() < 0) {
targetAngle += PI;
}
printf("回転する角度 targetAngle: %lf(deg) 結ぶベクトル tmpPos.x: %lf, tmpPos.z: %lf, rate: %lf \n", targetAngle*180.0/PI, tmpPos.x(), tmpPos.z(), rate);
targetAngle -= theta;
if (targetAngle > PI) {
targetAngle = targetAngle - 2 * PI;
}
printf("targetAngle: %lf(deg) currentAngle: %lf(deg) \n", targetAngle*180.0/PI, theta * 180.0 / PI);
if (targetAngle == 0.0) {
printf("donot need to rotate \n");
return 0.0;
} else {
// 回転すべき円周距離
double distance = m_distance * PI * fabs(targetAngle) / (2 * PI);
// 車輪の半径から移動速度を得る
double vel = m_radius * velocity;
// 回転時間(u秒)
double time = distance / vel;
printf("rotateTime: %lf \n", time);
// 車輪回転開始
if (targetAngle > 0.0) {
m_my->setWheelVelocity(-velocity, velocity);
} else {
m_my->setWheelVelocity(velocity, -velocity);
}
return now + time;
}
}
double MyController::rotateTowardObj(Vector3d pos, double velocity, double now)
{
// get own position
Vector3d myPos;
m_my->getPosition(myPos);
// vector from own position to a target position
Vector3d tmpp = pos;
tmpp -= myPos;
// rotation about y-axis is always 0
tmpp.y(0);
// get own rotation
Rotation myRot;
m_my->getRotation(myRot);
// initial direction
Vector3d iniVec(0.0, 0.0, 1.0);
// get rotation angle about y-axis
double qw = myRot.qw();
double qy = myRot.qy();
double theta = 2*acos(fabs(qw));
if(qw*qy < 0){
theta = -theta;
}
// angle from z-axis
double tmp = tmpp.angle(Vector3d(0.0, 0.0, 1.0));
double targetAngle = acos(tmp);
// calcurate target angle
if(tmpp.x() > 0){
targetAngle = -1*targetAngle;
}
targetAngle += theta;
if(targetAngle<-M_PI){
targetAngle += 2*M_PI;
}
else if(targetAngle>M_PI){
targetAngle -= 2*M_PI;
}
if(targetAngle == 0.0){
return 0.0;
}
else {
// circumference length for rotation
double distance = m_distance*M_PI*fabs(targetAngle)/(2*M_PI);
// calcurate velocity from radius of wheels
double vel = m_radius*velocity;
// rotation time (micro second)
double time = distance / vel;
// start rotating
if(targetAngle > 0.0){
m_my->setWheelVelocity(velocity, -velocity);
}
else{
m_my->setWheelVelocity(-velocity, velocity);
}
return now + time;
}
}
double MyController::rotateTowardObj(Vector3d pos, double velocity, double now)
{
// 自分の位置の取得
Vector3d myPos;
m_my->getPosition(myPos);
// 自分の位置からターゲットを結ぶベクトル
Vector3d tmpp = pos;
tmpp -= myPos;
// y方向は考えない
tmpp.y(0);
// 自分の回転を得る
Rotation myRot;
m_my->getRotation(myRot);
printf("ロボットの現在位置: x: %lf, z %lf \n", myPos.x(), myPos.z());
// エンティティの初期方向
Vector3d iniVec(0.0, 0.0, 1.0);
// y軸の回転角度を得る(x,z方向の回転は無いと仮定)
double qw = myRot.qw();
double qy = myRot.qy();
double theta = 2*acos(fabs(qw));
if(qw*qy < 0)
theta = -1*theta;
printf("ロボットが向いている角度 current theta: %lf(deg) \n", theta * 180 / PI);
// z方向からの角度
double tmp = tmpp.angle(Vector3d(0.0, 0.0, 1.0));
double targetAngle = acos(tmp);
// 方向
if(tmpp.x() > 0) targetAngle = -1*targetAngle;
targetAngle += theta;
printf("targetAngle: %lf(deg) currentAngle: %lf(deg) \n", targetAngle*180.0/PI, theta * 180.0 / PI);
if(targetAngle == 0.0){
return 0.0;
}
else {
// 回転すべき円周距離
double distance = m_distance*PI*fabs(targetAngle)/(2*PI);
printf("distance: %lf \n", distance);
// 車輪の半径から移動速度を得る
double vel = m_radius*velocity;
printf("radius: %lf, velocity: %lf, vel: %lf \n", m_radius, velocity, vel);
// 回転時間(u秒)
double time = distance / vel;
printf("rotateTime: %lf = dis: %lf / vel: %lf\n", time, distance, vel);
// 車輪回転開始
if(targetAngle > 0.0){
m_my->setWheelVelocity(velocity, -velocity);
}
else{
m_my->setWheelVelocity(-velocity, velocity);
}
return now + time;
}
}
bool RobotController::goTo(Vector3d pos, double rangeToPoint)
{
double speed;
Vector3d ownPosition;
my->getPosition(ownPosition);
Rotation ownRotation;
my->getRotation(ownRotation);
double angle = getAngularXonVect(pos, ownPosition);
double dist = getDistoObj(pos,ownPosition);
double roll = getRoll(ownRotation);
if (angle > 3 || angle < -3) angle = M_PI;
// error on angle
if ((angle-roll)>-ERROR_ANGLE && (angle-roll)<ERROR_ANGLE)
{
// error on distance
if (dist-rangeToPoint < ERROR_DISTANCE && dist-rangeToPoint > -ERROR_DISTANCE)
{
stopRobotMove();
return true;
}
else
{
speed = dist-rangeToPoint;
if (dist-rangeToPoint < 5)
{
if ( dist-rangeToPoint > 0 )
my->setWheelVelocity(1, 1);
else
my->setWheelVelocity(-1, -1);
}
else if ( dist-rangeToPoint > 0 )
my->setWheelVelocity(Robot_speed , Robot_speed );
else
my->setWheelVelocity(-Robot_speed , -Robot_speed );
return false;
}
}
else
{
speed = fabs(angle-roll)*4;
if (speed/4 > 0.3)
if (angle < -M_PI_2 && roll > M_PI_2)
my->setWheelVelocity(-MAX_WHEEL_VELOCITY, MAX_WHEEL_VELOCITY);
else if (angle > M_PI_2 && roll < -M_PI_2)
my->setWheelVelocity(MAX_WHEEL_VELOCITY, -MAX_WHEEL_VELOCITY);
else if (angle < roll)
my->setWheelVelocity(MAX_WHEEL_VELOCITY, -MAX_WHEEL_VELOCITY);
else
my->setWheelVelocity(-MAX_WHEEL_VELOCITY, MAX_WHEEL_VELOCITY);
else if (angle < -M_PI_2 && roll > M_PI_2)
my->setWheelVelocity(-speed, speed);
else if (angle > M_PI_2 && roll < -M_PI_2)
my->setWheelVelocity(speed, -speed);
else if (angle < roll)
my->setWheelVelocity(speed, -speed);
else
my->setWheelVelocity(-speed, speed);
return false;
}
return false;
}
