bool RobotController::moveArm(int left_or_right) { std::string jointName; bool finishFlag[8] = {false,false,false,false,false,false,false,false}; if(left_or_right == LEFT_ARM) { jointName = "LARM_JOINT"; } else if(left_or_right == RIGHT_ARM) { jointName = "RARM_JOINT"; } for ( int i = 0; i < 8; i++ ) { if (armJoint[left_or_right][i] != targetArmJoint[left_or_right][i] ) { std::stringstream ss; ss << jointName << i; if (armJoint[left_or_right][i] < targetArmJoint[left_or_right][i] && targetArmJoint[left_or_right][i]-armJoint[left_or_right][i] > ERROR_ANGLE_ARM) { my->setJointVelocity(ss.str().c_str(), joint_veloc, 0.0); armJoint[left_or_right][i] = my->getJointAngle(ss.str().c_str()); } else if (armJoint[left_or_right][i] > targetArmJoint[left_or_right][i] && armJoint[left_or_right][i]-targetArmJoint[left_or_right][i] > ERROR_ANGLE_ARM) { my->setJointVelocity(ss.str().c_str(), -joint_veloc, 0.0); armJoint[left_or_right][i] = my->getJointAngle(ss.str().c_str()); } else { my->setJointVelocity(ss.str().c_str(), 0.0, 0.0); finishFlag[i] = true; } } else finishFlag[i] = true; } for( int i = 0; i < 8; i++) { if(!finishFlag[i]) return false; } return true; }
void DemoRobotController::neutralizeArms(double evt_time) { double angleJoint1 = m_robotObject->getJointAngle("RARM_JOINT1")*180.0/(M_PI); double angleJoint4 = m_robotObject->getJointAngle("RARM_JOINT4")*180.0/(M_PI); double thetaJoint1 = -15 - angleJoint1; double thetaJoint4 = -110 - angleJoint4; if(thetaJoint4<0) m_robotObject->setJointVelocity("RARM_JOINT4", -m_jointVelocity, 0.0); else m_robotObject->setJointVelocity("RARM_JOINT4", m_jointVelocity, 0.0); if(thetaJoint1<0) m_robotObject->setJointVelocity("RARM_JOINT1", -m_jointVelocity, 0.0); else m_robotObject->setJointVelocity("RARM_JOINT1", m_jointVelocity, 0.0); m_time1 = DEG2RAD(abs(thetaJoint1))/ m_jointVelocity + evt_time; m_time4 = DEG2RAD(abs(thetaJoint4))/ m_jointVelocity + evt_time; }
double RobotController::onAction(ActionEvent &evt) { switch(m_state){ // 初期姿勢を設定 seting initial pose case 0: { //broadcastMsgToSrv("Let's start the clean up task\n"); sendMsg("VoiceReco_Service","Let's start the clean up task\n"); double angL1 =m_my->getJointAngle("LARM_JOINT1")*180.0/(PI); double angL4 =m_my->getJointAngle("LARM_JOINT4")*180.0/(PI); double angR1 =m_my->getJointAngle("RARM_JOINT1")*180.0/(PI); double angR4 =m_my->getJointAngle("RARM_JOINT4")*180.0/(PI); double thetaL1 = -20-angL1; double thetaL4 = -160-angL4; double thetaR1 = -20-angR1; double thetaR4 = -160-angR4; if(thetaL1<0) m_my->setJointVelocity("LARM_JOINT1", -m_jvel, 0.0); else m_my->setJointVelocity("LARM_JOINT1", m_jvel, 0.0); if(thetaL4<0) m_my->setJointVelocity("LARM_JOINT4", -m_jvel, 0.0); else m_my->setJointVelocity("LARM_JOINT4", m_jvel, 0.0); if(thetaR1<0) m_my->setJointVelocity("RARM_JOINT1", -m_jvel, 0.0); else m_my->setJointVelocity("RARM_JOINT1", m_jvel, 0.0); if(thetaR4<0) m_my->setJointVelocity("RARM_JOINT4", -m_jvel, 0.0); else m_my->setJointVelocity("RARM_JOINT4", m_jvel, 0.0); m_time_LA1 = DEG2RAD(abs(thetaL1))/ m_jvel + evt.time(); m_time_LA4 = DEG2RAD(abs(thetaL4))/ m_jvel + evt.time(); m_time_RA1 = DEG2RAD(abs(thetaR1))/ m_jvel + evt.time(); m_time_RA4 = DEG2RAD(abs(thetaR4))/ m_jvel + evt.time(); m_state = 1; break; } // 初期姿勢に移動 moving initial pose case 1: { if(evt.time() >= m_time_LA1) m_my->setJointVelocity("LARM_JOINT1", 0.0, 0.0); if(evt.time() >= m_time_LA4) m_my->setJointVelocity("LARM_JOINT4", 0.0, 0.0); if(evt.time() >= m_time_RA1) m_my->setJointVelocity("RARM_JOINT1", 0.0, 0.0); if(evt.time() >= m_time_RA4) m_my->setJointVelocity("RARM_JOINT4", 0.0, 0.0); if(evt.time() >= m_time_LA1 && evt.time() >= m_time_LA4 && evt.time() >= m_time_RA1 && evt.time() >= m_time_RA4){ // 位置Aの方向に回転を開始します setting position a for rotating //broadcastMsgToSrv("Moving to the table"); m_time = rotateTowardObj(pos_a, m_vel, evt.time()); m_state = 2; } break; } // 位置Aの方向に回転 rotating to position a case 2: { // 回転終了 if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); // 位置Aに移動します setting position a for moving m_time = goToObj(pos_a, m_vel*4, 0.0, evt.time()); m_state = 3; } break; } // 位置Aに移動 moving to position a case 3: { // 位置Aに到着 if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); // 位置Bの方向に回転を開始します setting position b for rotating m_time = rotateTowardObj(pos_b, m_vel, evt.time()); m_state = 4; } break; } // 位置Bの方向に回転 rotating to position b case 4: { // 回転終了 if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); // 位置Bに移動します setting position b for moving m_time = goToObj(pos_b, m_vel*4, 0.0, evt.time()); m_state = 5; } break; } // 位置Bに移動 moving to position b case 5: { // 位置Bに到着 if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); // テーブルの方向に回転を開始します setting table position for rotating SimObj *table = getObj("table_0"); Vector3d pos; table->getPosition(pos); m_time = rotateTowardObj(pos, m_vel, evt.time()); m_state = 6; } break; } // テーブルの方向に回転 rotating to table case 6: { // 回転終了 if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); // ゴミがある場所と名前を取得します // ゴミが見つからなかった if(!this->recognizeTrash(m_tpos,m_tname)){ //broadcastMsgToSrv("No trash detected"); //broadcastMsgToSrv("Task finished"); sleep(10); } // ゴミが見つかった trash detected else{ //broadcastMsgToSrv("Please show which trash to take\n"); sendMsg("VoiceReco_Service","Please show me which object to take"); m_state = 7; } } break; } // wating to point case 7: { break; } // 物体認識開始 starting object recognition case 8: { // m_tpos object direction on object SimObj *target = this->getObj(m_pointedObject.c_str()); target->getPosition(m_tpos); //broadcastMsgToSrv("Ok I will take it\n"); msg_ob = "I will take " + m_pointedObject ; sendMsg("VoiceReco_Service",msg_ob); // ゴミの方向に回転をはじめる m_time = rotateTowardObj(m_tpos, m_vel, evt.time()); m_state = 9; break; } // ゴミの方向に回転をはじめる setting trash position for rotating case 9: { m_time = rotateTowardObj(m_tpos, m_vel, evt.time()); m_state = 10; break; } // ゴミの方向に回転中 rotating to trash case 10: { // 回転終了 if(evt.time() >= m_time){ // 回転を止める m_my->setWheelVelocity(0.0, 0.0); //ゴミの位置まで移動をはじめる setting trash position for moving m_time = goToObj(m_tpos, m_vel*4, 25.0, evt.time()); m_state = 11; } break; } // ゴミの位置まで移動中 moving to trash case 11: { // 移動終了 if(evt.time() >= m_time){ // 移動を止める m_my->setWheelVelocity(0.0, 0.0); // 関節の回転を始める setting arm for grasping double angR1 =m_my->getJointAngle("RARM_JOINT1")*180.0/(PI); double angR4 =m_my->getJointAngle("RARM_JOINT4")*180.0/(PI); double thetaR1 = -30.0-angR1; double thetaR4 = 0.0-angR4; if(thetaR1<0) m_my->setJointVelocity("RARM_JOINT1", -m_jvel, 0.0); else m_my->setJointVelocity("RARM_JOINT1", m_jvel, 0.0); if(thetaR4<0) m_my->setJointVelocity("RARM_JOINT4", -m_jvel, 0.0); else m_my->setJointVelocity("RARM_JOINT4", m_jvel, 0.0); m_time_RA1 = DEG2RAD(abs(thetaR1) )/ m_jvel + evt.time(); m_time_RA4 = DEG2RAD(abs(thetaR4) )/ m_jvel + evt.time(); // ゴミを取りに関節を曲げる状態に移行します m_state = 12; } break; } // 関節を回転中 rotating arm for grasping case 12: { // 関節回転終了 if(evt.time() >= m_time_RA1) m_my->setJointVelocity("RARM_JOINT1", 0.0, 0.0); if(evt.time() >= m_time_RA4) m_my->setJointVelocity("RARM_JOINT4", 0.0, 0.0); if(evt.time() >= m_time_RA1 && evt.time() >= m_time_RA4){ if(m_grasp) { //broadcastMsgToSrv("grasping the trash"); // 関節の回転を始める setting arm for taking double angR4 =m_my->getJointAngle("RARM_JOINT4")*180.0/(PI); double thetaR4 = -90.0-angR4; if(thetaR4<0) m_my->setJointVelocity("RARM_JOINT4", -m_jvel, 0.0); else m_my->setJointVelocity("RARM_JOINT4", m_jvel, 0.0); m_time_RA4 = DEG2RAD(abs(thetaR4) )/ m_jvel + evt.time(); // 関節を戻す状態に移行します m_state = 13; } else{ // graspできない broadcastMsgToSrv("Unreachable"); } } break; } // 関節を回転中 rotating arm for taking case 13: { // 関節回転終了 if(evt.time() >= m_time_RA4){ m_my->setJointVelocity("RARM_JOINT4", 0.0, 0.0); // 位置Aの方向に回転を開始します setting position a for rotating //broadcastMsgToSrv("Moving to the trashbox"); sendMsg("VoiceReco_Service","Now I will go to the trash boxes"); m_time = rotateTowardObj(pos_a, m_vel, evt.time()); m_state = 14; } break; } // 位置Aの方向に回転 rotating to position a case 14: { // 回転終了 if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); // 位置Aに移動します setting position a for moving m_time = goToObj(pos_a, m_vel*4, 0.0, evt.time()); m_state = 15; } break; } // 位置Aの位置まで移動中 movig to position a case 15: { // 移動終了 if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); //broadcastMsgToSrv("Please tell me which trash box \n"); sendMsg("VoiceReco_Service","Please show me which trash box to use"); m_state = 16; } break; } // watig to point4 case 16: { break; } // ゴミ箱認識 starting trash box recognitiong-g-0 case 17: { // m_tpos object direction on object SimObj *target_trash = this->getObj(m_pointedtrash.c_str()); target_trash->getPosition(m_tpos); //broadcastMsgToSrv("Ok I will throw the trash in trash box \n"); msg_trash = "Ok I will put "+ m_pointedObject+"in"+ m_pointedtrash + "\n"; sendMsg("VoiceReco_Service",msg_trash); // ゴミの方向に回転をはじめる setting position trash box for rotating m_time = rotateTowardObj(m_tpos, m_vel, evt.time()); m_state = 18; break; } // ゴミ箱の方向に回転中 rotating to trash box case 18: { if(evt.time() >= m_time){ // 回転を止める m_my->setWheelVelocity(0.0, 0.0); //ゴミの位置まで移動をはじめる setting trash position for moving m_time = goToObj(m_tpos, m_vel*4, 30.0, evt.time()); m_state = 19; } break; } // ゴミを持ってゴミ箱に向かっている状態 moving to trash box case 19: { // ゴミ箱に到着 if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); // grasp中のパーツを取得します getting grasped tarts CParts *parts = m_my->getParts("RARM_LINK7"); // releaseします parts->releaseObj(); // ゴミが捨てられるまで少し待つ sleep(1); // 捨てたゴミをゴミ候補から削除 deleting grasped object from list std::vector<std::string>::iterator it; it = std::find(m_trashes.begin(), m_trashes.end(), m_pointedObject); m_trashes.erase(it); // grasp終了 m_grasp = false; m_state = 1; } break; } } return 0.01; }