void generateTarget()
{
// translational target part: a circular trajectory
// in the yz plane centered in [-0.3,-0.1,0.1] with radius=0.1 m
// and frequency 0.1 Hz
// xd[0]=-0.3;
// xd[1]=-0.1+0.2*cos(2.0*M_PI*0.1*(t-t0));
// xd[2]=+0.1+0.2*sin(2.0*M_PI*0.1*(t-t0));
// we keep the orientation of the left arm constant:
// we want the middle finger to point forward (end-effector x-axis)
// with the palm turned down (end-effector y-axis points leftward);
// to achieve that it is enough to rotate the root frame of pi around z-axis
od[0]=0.0; od[1]=0.0; od[2]=1.0; od[3]=M_PI;
//adding code for taget location through vision
//incoming image from both eyes
Bottle *target = incomingPort.read();
Vector r(2), l(2);
r[0] = target->get(0).asDouble();
r[1] = target->get(1).asDouble();
l[0] = target->get(3).asDouble();
l[1] = target->get(4).asDouble();
if(r[0]==0.0 && r[1]==0.0 && l[0]==0.0 && l[1]==0.0){
xd[0]=-0.3;
xd[1]=-.1;
xd[2]=.1;
}
else{
igaze->lookAtStereoPixels(l,r);
igaze->triangulate3DPoint(l,r,xd);
}
}
virtual void run() {
while (isStopping() != true) {
/* poll the click ports containers to see if we have left/right ready to go */
bfL.lock(); bfR.lock();
if (bfL.size() == 2 && bfR.size() == 2) {
printf("got a hit!\n");
/* if they are, raise the flag that action is beginning, save current joint configuration */
Bottle susmsg;
susmsg.addInt(1);
susPort->write(susmsg);
//get the current joint configuration for the torso, head, and arm
tang.clear(); tang.resize(3);
tEnc->getEncoders(tang.data());
hang.clear(); hang.resize(6);
hEnc->getEncoders(hang.data());
aang.clear(); aang.resize(16);
aEnc->getEncoders(aang.data());
/* get the xyz location of the gaze point */
Vector bvL(2); Vector bvR(2);
bvL[0] = bfL.get(0).asDouble(); bvL[1] = bfL.get(1).asDouble();
bvR[0] = bfR.get(0).asDouble(); bvR[1] = bfR.get(1).asDouble();
objPos.clear(); objPos.resize(3);
gaze->triangulate3DPoint(bvL,bvR,objPos);
/* servo the head to gaze at that point */
//gaze->lookAtStereoPixels(bvL,bvR);
gaze->lookAtFixationPoint(objPos);
gaze->waitMotionDone(1.0,10.0);
gaze->stopControl();
printf("object position estimated as: %f, %f, %f\n", objPos[0], objPos[1], objPos[2]);
printf("is this ok?\n");
string posResp = Network::readString().c_str();
if (posResp == "yes" || posResp == "y") {
/* move to hover the hand over the XY position of the target: [X, Y, Z=0.2], with palm upright */
objPos[2] = 0.1;
Vector axa(4);
axa.zero();
if (armInUse) {
axa[2] = 1.0; axa[3] = M_PI;
} else {
axa[1] = 1.0; axa[3] = M_PI;
}
carm->goToPoseSync(objPos,axa);
carm->waitMotionDone(1.0,10.0);
Time::delay(2.0);
//curl fingers and thumb slightly to hold object
Vector armCur(16);
aEnc->getEncoders(armCur.data());
armCur[8] = 3; armCur[10] = 25;
armCur[11] = 25; armCur[12] = 25;
armCur[13] = 25; armCur[14] = 25;
armCur[15] = 55;
aPos->positionMove(armCur.data());
Time::delay(2.0);
/* wait for terminal signal from user that object has been moved to the hand */
bool validTarg = false;
printf("object position reached, place in hand and enter target xy position\n");
while (!validTarg) {
string objResp = Network::readString().c_str();
/* ask the user to enter in an XY target location, or confirm use of previous one */
Bottle btarPos(objResp.c_str());
if (btarPos.size() < 2) {
//if user enters no target position, try to use last entered position
if (targetPos.length() != 3) {
printf("no previous target position available, please re-enter:\n");
} else {
validTarg = true;
}
} else {
targetPos.clear(); targetPos.resize(3);
targetPos[0] = btarPos.get(0).asDouble();
targetPos[1] = btarPos.get(1).asDouble();
targetPos[2] = 0.1;
validTarg = true;
}
}
/* move the arm to above the target location */
axa.zero();
if (armInUse) {
axa[2] = 1.0; axa[3] = M_PI;
} else {
axa[1] = 1.0; axa[3] = M_PI;
}
carm->goToPoseSync(targetPos,axa);
//carm->goToPosition(targetPos);
carm->waitMotionDone(1.0,10.0);
Time::delay(2.0);
/* wait for user signal that the object has been removed */
printf("object has been moved to target location. please remove object and hit enter\n");
string tarResp = Network::readString().c_str();
}
/* return to saved motor configuration, clear click buffers, lower flag signaling action done */
printf("gaze done, attempting reset\n");
tPos->positionMove(tang.data());
hPos->positionMove(hang.data());
aPos->positionMove(aang.data());
bfL.clear(); bfR.clear();
bfL.unlock(); bfR.unlock();
susmsg.clear();
susmsg.addInt(0);
susPort->write(susmsg);
}
else {
bfL.unlock(); bfR.unlock();
}
}
}
Vector retrieveTarget3D(const Vector &cogL, const Vector &cogR)
{
Vector pos;
igaze->triangulate3DPoint(cogL, cogR, pos);
return pos;
}
