void MyController::onInit(InitEvent &evt) { m_my = getRobotObj(myname()); // 初期位置取得 m_my->getPosition(m_inipos); // 車輪の半径と車輪間隔距離 m_radius = 10.0; m_distance = 10.0; m_time = 0.0; // 車輪の半径と車輪間距離設定 m_my->setWheel(m_radius, m_distance); m_state = 0; // ここではゴミの名前が分かっているとします m_trashes.push_back("can_0"); m_trashes.push_back("can_1"); m_trashes.push_back("petbottle_0"); srand((unsigned)time( NULL )); // 車輪の回転速度 m_vel = 0.3; // 関節の回転速度 m_jvel = 0.6; }
void RobotController::onInit(InitEvent &evt) { joint_veloc = 0.8; my = getRobotObj(myname()); // 車輪間距離 m_distance = 10.0; // 車輪半径 m_radius = 10.0; // 車輪の半径と車輪間距離設定 my->setWheel(m_radius, m_distance); m_grasp_left = false; Change_Robot_speed = 5; // to change the robot's velocity Robot_speed = Change_Robot_speed; m_state = 0; // objects position m_BottleFront = Vector3d(40.0, 30, -40.0); m_MuccupFront = Vector3d(0.0, 30, -40.0); m_CanFront = Vector3d(-40.0, 30, -40.0); // trashBoxs position m_BurnableFront = Vector3d(-120.0, 30, -60); m_UnburnableFront = Vector3d(-120.0, 30, 70); m_RecycleFront = Vector3d(-60.0, 30, -100); m_relayPoint1 = Vector3d(100, 30, -70); m_relayPoint2 = Vector3d(0, 30, -70); m_relayFrontTable = Vector3d(0, 30,-20); m_relayFrontTable_reset = Vector3d(-80, 30,-50); m_relayFrontTrash = Vector3d(-80, 30, -80); cycle = 27; m_onActionReturn = 0.01; srand((unsigned)time( NULL )); // grasp初期化 m_grasp = false; m_trashes.push_back("petbottle"); m_trashes.push_back("mugcup"); m_trashes.push_back("can"); // ゴミ箱登録 m_trashboxs.push_back("recycle"); m_trashboxs.push_back("burnable"); m_trashboxs.push_back("unburnable"); }
void DemoRobotController::onInit(InitEvent &evt) { // get robot's name m_robotObject = getRobotObj(myname()); // set wheel configuration m_radius = 10.0; m_distance = 10.0; m_robotObject->setWheel(m_radius, m_distance); m_time = 0.0; m_time1 = 0.0; m_time4 = 0.0; m_state = 10; // switch of initial behavior refreshRateOnAction = 0.1; // refresh-rate for onAction proc. // angular velocity of wheel and moving speed of robot m_angularVelocity = 1.5; m_movingSpeed = m_angularVelocity*m_radius; // conversion: rad/ms -> m/ms) // rotation speed of joint m_jointVelocity = 0.5; m_trashName1 = "petbottle_1"; m_trashName2 = "can_0"; m_trashBoxName1 = "trashbox_0"; // for recycle m_trashBoxName2 = "trashbox_1"; // for burnable // set positions; m_frontTrashBox1 = Vector3d(-80.0, 0.0, -90); // for recycle material m_frontTrashBox2 = Vector3d( 20.0, 0.0, -90); // for burnable material m_relayPoint1 = Vector3d(190.0, 0.0, -65.0); m_frontTrash1 = Vector3d(273.0, 0.0, -65.0); m_frontTrash2 = Vector3d(305.0, 0.0, -80.0); m_grasp = false; }
void MyController::onInit(InitEvent &evt) { start = false; elevator = false; crowd = false; end = false; stop = false; first = false; i=0; m_my = getRobotObj(myname()); // 初期位置取得 m_my->getPosition(m_inipos); // 車輪の半径と車輪間隔距離 m_radius = 10.0; m_distance = 10.0; m_time = 0.0; // 車輪の半径と車輪間距離設定 m_my->setWheel(m_radius, m_distance); m_state = 0; srand((unsigned)time( NULL )); // 車輪の回転速度 m_vel = 0.3; // 関節の回転速度 m_jvel = 0.6; }
void MyController::onInit(InitEvent &evt) { m_my = getRobotObj(myname()); // 初期位置取得 m_my->getPosition(m_inipos); //v3の追加点 // ゴミがある方向にカメラを向ける m_my->setCamDir(Vector3d(0.0, -1.0, 1.0),1); m_my->setCamDir(Vector3d(0.0, -1.0, 1.0),2); // 車輪の半径と車輪間隔距離 m_radius = 10.0; m_distance = 10.0; m_time = 0.0; // 車輪の半径と車輪間距離設定 m_my->setWheel(m_radius, m_distance); m_state = 0; srand((unsigned)time( NULL )); // 車輪の回転速度 m_vel = 1.0; //1.0; m_rotateVel = 0.6; //1.0; // 関節の回転速度 m_jvel = 0.6; m_lookObjFlg = 0.0; // grasp初期化 m_grasp = false; m_srv = NULL; m_sended = false; m_executed = false; }
void MyController::onInit(InitEvent &evt) { m_my = getRobotObj(myname()); // radius and distance of wheel m_radius = 10.0; m_distance = 10.0; // time to stop moving m_time = 0.0; // set radius and distance of wheel m_my->setWheel(m_radius, m_distance); // angular velocity of wheel m_vel = 0.3 * 10; m_vel_rot = 0.3; // state of robot m_state = 0; trials = 0; // for demonstration }
void RobotController::onInit(InitEvent &evt) { m_robotState = 0; //エージェントの正面の定義はz軸の正の向きを向いていると仮定する m_defaultNormalVector = Vector3d(0,0,1); m_onActionReturn = 1.0; m_speedDelta = 2.0; m_avatar = "man_000"; m_my = getRobotObj(myname()); // 初期位置取得 //m_my->getPosition(m_inipos); m_my->getPartsPosition(m_inipos,"RARM_LINK2"); pos_a = Vector3d(-100, 30, -110);// pos_b = Vector3d(0, 30, -110); /// // 車輪間距離 m_distance = 10.0; // 車輪半径 m_radius = 10.0; // 移動終了時間初期化 m_time = 0.0; m_time_LA1 = 0.0; m_time_LA4 = 0.0; m_time_RA1 = 0.0; m_time_RA4 = 0.0; // 車輪の半径と車輪間距離設定 m_my->setWheel(m_radius, m_distance); m_state = 20; srand((unsigned)time( NULL )); // 車輪の回転速度 m_vel = 0.3; // 関節の回転速度 m_jvel = 0.6; // grasp初期化 m_grasp = false; m_recogSrv = NULL; m_sended = false; // ここではゴミの名前が分かっているとします //m_trashes.push_back("petbottle_0"); //m_trashes.push_back("petbottle_1"); //m_trashes.push_back("petbottle_2"); //m_trashes.push_back("petbottle_3"); m_trashes.push_back("petbottle"); //m_trashes.push_back("banana"); //m_trashes.push_back("chigarette"); //m_trashes.push_back("chocolate"); //m_trashes.push_back("mayonaise_0"); //m_trashes.push_back("mayonaise_1"); m_trashes.push_back("mugcup"); //m_trashes.push_back("can_0"); //m_trashes.push_back("can_1"); m_trashes.push_back("can"); //m_trashes.push_back("can_3"); // ゴミ箱登録 m_trashboxs.push_back("bluetrashbox"); m_trashboxs.push_back("redtrashbox"); m_trashboxs.push_back("greentrashbox"); m_trashboxs.push_back("wagon"); }
void RobotController::onInit(InitEvent &evt) { m_robotState = 0; //エージェントの正面の定義はz軸の正の向きを向いていると仮定する m_defaultNormalVector = Vector3d(0,0,1); m_onActionReturn = 0.01; m_speedDelta = 2.0; m_my = getRobotObj(myname()); // 初期位置取得 m_my->getPartsPosition(m_inipos,"RARM_LINK2"); m_relayPoint0 = Vector3d(0, 30, 0); m_relayPoint1 = Vector3d(0, 30, 350); m_relayPoint2 = Vector3d(-400, 30, 0); m_kitchenPoint = Vector3d(200, 30, 350);; m_bedroomPoint = Vector3d(-400, 30, 200);; m_lobbyPoint = Vector3d(-400, 30, -200);; // 車輪間距離 m_distance = 10.0; // 車輪半径 m_radius = 10.0; // 移動終了時間初期化 m_time = 0.0; m_time_LA1 = 0.0; m_time_LA4 = 0.0; m_time_RA1 = 0.0; m_time_RA4 = 0.0; // 車輪の半径と車輪間距離設定 m_my->setWheel(m_radius, m_distance); m_state = 0; srand((unsigned)time( NULL )); // 車輪の回転速度 m_vel = 1.0; // 関節の回転速度 m_jvel = 1.0; // grasp初期化 m_grasp = false; m_recogSrv = NULL; m_sended = false; // ここではゴミの名前が分かっているとします m_trashes.push_back("petbottle_1"); m_trashes.push_back("can_0"); m_trashes.push_back("apple"); // ゴミ箱登録 m_trashboxs.push_back("trashbox_0"); m_trashboxs.push_back("trashbox_1"); m_trashboxs.push_back("trashbox_2"); broadcastMsgToSrv("Waiting 'start' message\n"); }