Esempio n. 1
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Assembly *GraspGLObjects::CreateVisualTool( double magnifier ) {

	Assembly *tool = new Assembly();

	// Create a set of 'fingers', each of which is a 'capsule' composed of a tube with rounded caps.
	static int n_fingers = target_balls-1;

	double radius = finger_ball_radius * magnifier;
	double length = finger_length * magnifier;

	double spacing = radius * 2.0;

	for ( int trg = - n_fingers; trg <= n_fingers ; trg++ ){


		// Each finger is a 'capsule' composed of a cylinder that is capped on each end with a sphere.
		Assembly *finger = new Assembly();
		Sphere *sphere = new Sphere( radius );
		sphere->SetPosition( 0.0, 0.0, 0.0 );
		finger->AddComponent( sphere );
		Cylinder *cylinder = new Cylinder( radius, radius, length );
		cylinder->SetPosition( 0.0, 0.0, - length / 2 );
		finger->AddComponent( cylinder );
		sphere = new Sphere( radius );
		sphere->SetPosition( 0.0, 0.0, - length );
		finger->AddComponent( sphere );

		// Space the fingers vertically.
		finger->SetPosition( 0.0, spacing * trg, 0.0 );
		tool->AddComponent( finger );
	}
	SetHandColor( tool, true );

	return tool;
}
Esempio n. 2
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MeterStick::MeterStick( void ) {

  double stick_radius = 25.0;

  Cylinder *cylinder;
  Disk *disk;

  cylinder = new Cylinder( stick_radius, stick_radius, 200.0 );
  cylinder->SetColor( RED );
  AddComponent( cylinder );
  cylinder = new Cylinder( stick_radius, stick_radius, 200.0 );
  cylinder->SetOffset( 0.0, 0.0, 200.0 );
  cylinder->SetColor( WHITE );
  AddComponent( cylinder );
  cylinder = new Cylinder( stick_radius, stick_radius, 200.0 );
  cylinder->SetOffset( 0.0, 0.0, 400.0 );
  cylinder->SetColor( RED );
  AddComponent( cylinder );
  cylinder = new Cylinder( stick_radius, stick_radius, 200.0 );
  cylinder->SetOffset( 0.0, 0.0, 600.0 );
  cylinder->SetColor( WHITE );
  AddComponent( cylinder );
  cylinder = new Cylinder( stick_radius, stick_radius, 200.0 );
  cylinder->SetOffset( 0.0, 0.0, 800.0 );
  cylinder->SetColor( RED );
  AddComponent( cylinder );

  cylinder = new Cylinder( stick_radius / 2.0, stick_radius / 2.0, 100.0 );
  cylinder->SetAttitude( 90.0, j_vector );
  cylinder->SetColor( BLACK );
  AddComponent( cylinder );

  cylinder = new Cylinder( stick_radius / 2.0, stick_radius / 2.0, 100.0 );
  cylinder->SetAttitude( 90.0, j_vector );
  cylinder->SetPosition( 0.0, 0.0, 1000.0 - stick_radius );
  cylinder->SetColor( BLACK );
  AddComponent( cylinder );

  disk = new Disk( stick_radius );
  disk->SetPosition( 0.0, 0.0, 990.0 );
  disk->SetColor( RED );
  AddComponent( disk );

}
Esempio n. 3
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Assembly *GraspGLObjects::CreateKinestheticTool( void ) {

	static const double hand_radius = finger_ball_radius * 2.5;
	Assembly *finger = new Assembly();
	Sphere *sphere = new Sphere( hand_radius );
	sphere->SetPosition( 0.0, 0.0, 0.0 );
	finger->AddComponent( sphere );
	Cylinder *cylinder = new Cylinder( hand_radius, hand_radius, finger_length );
	cylinder->SetPosition( 0.0, 0.0, - finger_length / 2 );
	finger->AddComponent( cylinder );
	sphere = new Sphere( hand_radius );
	sphere->SetPosition( 0.0, 0.0, - finger_length );
	finger->AddComponent( sphere );
	// Set a default color. I like blue.
	// In K-K color will be varied according to the orientation error.
	finger->SetColor( 0.0, 0.0, 1.0, 1.0 );
	return finger;

}
Esempio n. 4
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// The following objects are not used during the Grasp protocol and are not seen by the subject.
// Rather, these objects are used in the GraspGUI and elswhere to visualize the subject's pose.
// Perhaps they would be better placed in another class so that they are not included when not needed.
Assembly *GraspGLObjects::CreateHead( void ) {

	Assembly *head = new Assembly();
	// Skull
	Ellipsoid *skull = new Ellipsoid( head_shape );
	skull->SetColor( .4f, 0.0f, .4f );
	// Eyes
	head->AddComponent( skull );
	Sphere *sphere = new Sphere( 20.0 );
	sphere->SetColor( 0.0f, 0.0f, 1.0f );
	sphere->SetPosition( -50.0, 20.0, -100.0 );
	head->AddComponent( sphere );
	sphere = new Sphere( 20.0 );
	sphere->SetColor( 0.0f, 0.0f, 1.0f );
	sphere->SetPosition( 50.0, 20.0, -100.0 );
	head->AddComponent( sphere );
	// Nose
	Cylinder *cylinder = new Cylinder( 20.0, 5.0, 30.0 );	
	cylinder->SetPosition( 0.0, -20.0, - head_shape[Z] );
	cylinder->SetOrientation( 0.0, 90.0, 0.0 );
	cylinder->SetColor( YELLOW );
	head->AddComponent( cylinder );
	return head;
}
Esempio n. 5
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Assembly *GraspGLObjects::CreateOrientationTarget( void ) {

	Assembly *target = new Assembly();

	if ( useBars ) {
		for (int trg = - target_bars ; trg <= target_bars ; trg++ ){
			Cylinder *cylinder = new Cylinder( target_bar_radius, target_bar_radius,2.0 * room_radius );
			cylinder->SetPosition( 0.0 + target_bar_spacing * trg, 0.0, 0.0 );
			cylinder->SetOrientation(0.0, 90.0, 0.0);
			cylinder->SetColor( Translucid( BLUE ) );
			target->AddComponent( cylinder );
		}
	}
	else {
		for (int trg = - target_balls ; trg <= target_balls ; trg++ ){
			Sphere *sphere = new Sphere( target_ball_radius );
			sphere->SetPosition( 0.0, 0.0 + target_ball_spacing * trg, 0.0 );
			sphere->SetColor(( 255.0 - abs(trg) * 50.0 ) / 255.0, 0.0, 0.0);
			target->AddComponent( sphere );
		}
	}

	return target;
}