void AnimationController::request_animation(std::string newAnimationName)
{
// If we're trying to request a non-existent animation, replace it with the rest animation.
if(!m_skeleton->has_animation(newAnimationName))
{
#if 0
std::cerr << "Non-existent animation " << newAnimationName << ", defaulting to rest animation\n";
#endif
newAnimationName = "<rest>";
}
// If we're already playing the requested animation, ignore the request.
if(m_animationName == newAnimationName) return;
// Set up a transition towards the new pose. Note that if we're already in a transition, we
// keep transitioning, just towards the new target.
if(m_state == AS_REST)
{
m_state = AS_TRANSITION;
m_transitionStart = m_skeleton->make_rest_pose();
}
else if(m_state == AS_PLAY)
{
m_state = AS_TRANSITION;
m_transitionStart = get_pose();
}
m_animationName = newAnimationName;
m_animationTime = 0;
}
/**
* Only applicable for reduced-coordinate articulated bodies
*/
void JOINT::update_spatial_axes()
{
// setup the spatial axis vector and frame
_s.resize(num_dof());
for (unsigned i=0; i< _s.size(); i++)
_s[i].pose = get_pose();
}
//=============================================================================
void
tracker::start_logging(char* filename)
{
if (get_logging())
return;
char logfilename[128];
FILE* file;
timer t;
unsigned long time;
double x,y,z,ya,pi,ro;
if (filename == NULL)
if (get_default_log_filename(logfilename, 128) == -1)
{
#if TraceErrors
printf("tracker: start_logging: could not get default log filename\n");
#endif
return;
}
child_pid_ = fork();
if (child_pid_ == -1)
{
#if TraceErrors
printf("tracker: start_logging: error creating child process\n");
#endif
return;
}
set_logging(1);
if (child_pid_ == 0)
{
file = fopen(logfilename, "a+");
if (file == NULL)
{
#if TraceErrors
printf("tracker: start_logging: error opening file\n");
#endif
}
t.timer_reset();
while(get_logging())
{
get_pose(&x,&y,&z,&ya,&pi,&ro);
time = t.timer_read();
fprintf(file, "%lu %.2lf %.2lf %.2lf %.2lf %.2lf %.2lf\n", time, x, y, z, ya, pi, ro);
}
fclose(file);
exit(0);
}
}
//=============================================================================
void
tracker::set_boresight_to_current(void)
{
if (get_logging())
return;
//char buf[MAX_LENGTH];
//sprintf(buf, "B%d\r", STATION);
//port->send_comport(buf);
//Boresight not working, do it manually
double yaw, pitch, roll;
get_pose(NULL, NULL, NULL, &yaw, &pitch, &roll);
set_boresight(yaw, pitch, roll);
}
//=============================================================================
void
tracker::start_logging_xml(char* filename)
{
if (get_logging())
return;
char logfilename[128];
FILE* file;
timer t;
unsigned long time;
double x,y,z,ya,pi,ro;
//double *x, *y, *z, *ya, *pi, *ro;
//int num = 2;
if (filename == NULL)
if (get_default_xml_filename(logfilename, 128) == -1)
{
#if TraceErrors
printf("tracker: start_logging: could not get default log filename\n");
#endif
return;
}
child_pid_ = fork();
if (child_pid_ == -1)
{
#if TraceErrors
printf("tracker: start_logging: error creating child process\n");
#endif
return;
}
set_logging(1);
if (child_pid_ == 0)
{
file = fopen(logfilename, "a+");
if (file == NULL)
{
#if TraceErrors
printf("tracker: start_logging: error opening file\n");
#endif
}
t.timer_reset();
fprintf(file,"<demo>\n");
while(get_logging())
{
get_pose(&x,&y,&z,&ya,&pi,&ro);
//get_multi_pose(num,&x,&y,&z,&ya,&pi,&ro);
time = t.timer_read();
fprintf(file,"<point>\n");
fprintf(file,"<time>%.3lf</time>\n",((double)time) /1000 );
fprintf(file,"<end-effector>");
fprintf(file, "<position>%.2lf;%.2lf;%.2lf</position><YPR>%.2lf;%.2lf;%.2lf</YPR>", x, y, z, ya, pi, ro);
//fprintf(file, "<position>%.2lf;%.2lf;%.2lf</position><YPR>%.2lf;%.2lf;%.2lf</YPR>", x, y, z, ya, pi, ro);
printf("%lu %.2lf %.2lf %.2lf %.2lf %.2lf %.2lf\n",time, x, y, z, ya, pi, ro);
/*for(int i=0;i<num;i++){
printf("%lu %.2lf %.2lf %.2lf %.2lf %.2lf %.2lf\n",time, x[i], y[i], z[i], ya[i], pi[i], ro[i]);
}*/
fprintf(file,"</end-effector>\n");
fprintf(file,"</point>\n");
}
fprintf(file,"</demo>\n");
fclose(file);
exit(0);
}
}
