void initVariables()
{
interoculardistance = str2num<double>(parameters.find("IOD"));
// Create the factors-staircase object TrialGenerator
trial.init(parameters);
maxTotalTrials = trial.getRemainingTrials();
cerr << "There are " << maxTotalTrials << " total trials to do..." << endl;
factors = trial.getNext();
redDotsPlane.setNpoints(300);
redDotsPlane.setDimensions(50,50,0.1);
redDotsPlane.compute();
//stimDrawer.drawSpecialPoints();
stimDrawer.setStimulus(&redDotsPlane);
stimDrawer.setSpheres(false);
stimDrawer.initList(&redDotsPlane,glRed,3);
// Set the maximum x displacement of head
maxXOscillation = util::str2num<double>(parameters.find("MaxXOscillation"));
nOscillationsFixation = util::str2num<int>(parameters.find("NOscillationsFixation"));
minOscTime = util::str2num<double>(parameters.find("MinOscillationTime"));
maxOscTime = util::str2num<double>(parameters.find("MaxOscillationTime"));
centerTolerance = util::str2num<double>(parameters.find("CenterTolerance"));
totalTimer.start();
}
void initVariables()
{
totalTimer.start();
interoculardistance = str2num<double>(parameters.find("IOD"));
trial.init(parameters);
factors = trial.getNext(); // Initialize the factors in order to start from trial 1
useCircularMask = util::str2num<int>( parameters.find("CircularMask")) == 1 ;
circularMaskRadius = util::str2num<int>(parameters.find("CircularMaskRadius"));
if (useCircularMask)
glEnable(GL_STENCIL_TEST);
else
glDisable(GL_STENCIL_TEST);
fixationDurationInSeconds = util::str2num<double>(parameters.find("AdaptationDurationInSeconds"));
// Imposta stimolo e drawer
redDotsPlane.setNpoints(util::str2num<int>(parameters.find("NumStimulusPoints")));
redDotsPlane.setDimensions(
util::str2num<int>(parameters.find("StimulusEdgeLength")),
util::str2num<int>(parameters.find("StimulusEdgeLength")),0.1);
redDotsPlane.compute();
stimDrawer.initList(&redDotsPlane,glRed);
resetPointStrip();
stimulusDurationInMilliSeconds = util::str2num<double>(parameters.find("StimulusDuration"));
initialAdaptationTimeInSeconds = util::str2num<double>(parameters.find("InitialAdaptationTime"));
initialAdaptationFlowIncrement = util::str2num<double>(parameters.find("InitialAdaptationFlowIncrement"));
stimMotion=SINUSOIDAL_MOTION;
trialMode = INITIALADAPTATION;
headEyeCoords.init(Vector3d(interoculardistance/2,0,0),Vector3d(interoculardistance/2,0,0), Vector3d(0,0,0),Vector3d(0,10,0),Vector3d(0,0,10),interoculardistance );
eyeCalibration=headEyeCoords.getRightEye();
}
void initVariables()
{
interoculardistance = str2num<double>(parameters.find("IOD"));
stimulusEmiCycles= atoi(parameters.find("StimulusEmiCycles").c_str());
trial.init(parameters);
factors = trial.getNext(); // Initialize the factors in order to start from trial 1
if ( atoi(parameters.find("DrawOccluder").c_str()) ==1 )
{
redDotsPlane.setNpoints(500); //XXX controllare densita di distribuzione dei punti
redDotsPlane.setDimensions(200,200,0.1);
}
else
{
redDotsPlane.setNpoints(75); //XXX controllare densita di distribuzione dei punti
redDotsPlane.setDimensions(50,50,0.1);
}
//redDotsPlane.setSlantTilt( factors["Slant"], (int) factors["Tilt"] );
redDotsPlane.compute();
stimDrawer.setStimulus(&redDotsPlane);
stimDrawer.initList(&redDotsPlane);
/** Bound check things **/
signsX.push_back(false);
signsX.push_back(false);
signsY.push_back(false);
signsY.push_back(false);
headEyeCoords.init(Vector3d(-32.5,0,0),Vector3d(32.5,0,0), Vector3d(0,0,0),Vector3d(0,10,0),Vector3d(0,0,10),interoculardistance );
eyeCalibration=headEyeCoords.getRightEye();
model.load("../data/objmodels/occluder.obj");
}
void mouseFunc(int button, int state, int _x , int _y)
{
if ( trialMode!=PROBEMODE || !canCalibrate )
return;
if ( button== GLUT_LEFT_BUTTON && canCalibrate )
{
response=true;
}
if (button == GLUT_RIGHT_BUTTON && canCalibrate )
{
response=false;
}
responseFile <<
trialNumber << "\t" <<
factors.at("Tilt") << "\t" <<
factors.at("Slant") << "\t" <<
factors.at("Binocular") << "\t" <<
factors.at("OmegaY") << "\t" <<
responseTimer.getElapsedTimeInMilliSec() << "\t" <<
response << endl;
beepOk();
factors = trial.getNext();
trialMode=FIXATIONMODE;
translationTimer.start();
responseTimer.start();
trialNumber++;
glutPostRedisplay();
}
/*** FUNCTIONS FOR TRIAL MODE DRAWING ***/
void advanceTrial()
{
switch (trialMode)
{
case FIXATIONMODE:
{
stimulusTimer.start();
clearAndWait(2);
trialMode=STIMULUSMODE;
}
break;
case STIMULUSMODE:
{
trialMode=PROBEMODE;
stimulusTimer.start();
}
break;
case PROBEMODE:
{
responseTimer.start();
trialMode=FIXATIONMODE;
}
}
factors = trial.getNext();
}
void initTrial()
{
factors = trial.getNext();
isStimulusDrawn=false;
letStimTimer=false;
endTrial=false;
drawGLScene();
initProjectionScreen(factors["AbsDepth"]);
#ifdef OBJMOVE
Vector3d pos(0,-41,factors["AbsDepth"]);
moveObjectAbsolute(pos, centercal, 5000);
#endif
beepOk(0);
occludedFrames=0;
xedge = 0;
zedge = 0;
jitter = unifRand(str2num<double>(parameters.find("SideLowBound")),
str2num<double>(parameters.find("SideUpBound")));
if(factors["AbsDepth"]==-270)
{
if(factors["RelDepth"]==30)
{
estsize = str2num<double>(subjParams.find("s30@270"));
estdepth = str2num<double>(subjParams.find("d30@270"));
}else if(factors["RelDepth"]==40)
{
estsize = str2num<double>(subjParams.find("s40@270"));
estdepth = str2num<double>(subjParams.find("d40@270"));
}
else if(factors["RelDepth"]==50)
{
estsize = str2num<double>(subjParams.find("s50@270"));
estdepth = str2num<double>(subjParams.find("d50@270"));
}
} else if(factors["AbsDepth"]==-450)
{
if(factors["RelDepth"]==30)
{
estsize = str2num<double>(subjParams.find("s30@450"));
estdepth = str2num<double>(subjParams.find("d30@450"));
}
else if(factors["RelDepth"]==40)
{
estsize = str2num<double>(subjParams.find("s40@450"));
estdepth = str2num<double>(subjParams.find("d40@450"));
}
else if(factors["RelDepth"]==50)
{
estsize = str2num<double>(subjParams.find("s50@450"));
estdepth = str2num<double>(subjParams.find("d50@450"));
}
}
timer.start();
isStimulusDrawn=true;
}
void mouseFunc(int button, int state, int _x , int _y)
{
if ( trialMode == PROBEMODE )
{
glutWarpPointer(SCREEN_WIDTH/2,SCREEN_HEIGHT/2);
if ( button == GLUT_LEFT_BUTTON && (state==GLUT_DOWN) )
probeAngle+=90;
if ( button == GLUT_RIGHT_BUTTON && (state==GLUT_DOWN) )
probeAngle-=90;
if( button== GLUT_MIDDLE_BUTTON )
{
double responseTime=responseTimer.getElapsedTimeInMilliSec();
double clickDelay=100; //milliseconds before the click is valid
if ( responseTime > clickDelay )
{
timeFrame=0.0; //this put the stimulus in the center each central time mouse is clicked in
bool contraction = ( factors["Tilt"]==90 ) || (factors["Tilt"]==0);
double angleResponse = (mod(probeAngle+probeStartingAngle,360));
if ( trial.getRemainingTrials()==0 )
{
responseFile << setw(6) << left << trialNumber << " " << factors["Def"] <<" " << factors["Tilt"] <<" " << factors["Slant"] << " " << factors["Anchored"] << " " << factors["FollowingSpeed"] << " " << factors["Onset"] << " " << (focalDistance - eyeCalibration.z()) << " " << angleResponse << " " << responseTime << " " << contraction << endl;
cleanup();
exit(0);
}
else
{
responseFile << setw(6) << left << trialNumber << " " << factors["Def"] <<" " << factors["Tilt"] <<" " << factors["Slant"] << " " << factors["Anchored"] << " " << factors["FollowingSpeed"] << " " << factors["Onset"] << " " << (focalDistance - eyeCalibration.z()) << " " << angleResponse << " " << responseTime << " " << contraction << endl;
factors = trial.getNext();
trialNumber++;
}
advanceTrial();
double possibleAngles[]= {0,90,180,270};
probeStartingAngle=possibleAngles[rand()%4];
probeAngle=0;
if ( atoi(parameters.find("DrawOccluder").c_str()) ==1 )
{
redDotsPlane.setNpoints(500); //XXX controllare densita di distribuzione dei punti
redDotsPlane.setDimensions(200,200,0.1);
}
else
{
redDotsPlane.setNpoints(75); //XXX controllare densita di distribuzione dei punti
redDotsPlane.setDimensions(50,50,0.1);
}
//redDotsPlane.setSlantTilt( factors["Slant"], (int) factors["Tilt"] );
redDotsPlane.compute();
stimDrawer.initList(&redDotsPlane);
mouseButton=0;
}
}
}
glutPostRedisplay();
}
void advanceTrial()
{
double timeElapsed = timer.getElapsedTimeInMilliSec();
responseFile.precision(3);
responseFile <<
parameters.find("SubjectName") << "\t" <<
//interoculardistance << "\t" <<
trialNumber << "\t" <<
stimPosn << "\t" <<
trial.getCurrent()["RodVisibleTime"] << "\t" <<
trial.getCurrent()["AbsDepth"] <<"\t" <<
//"50" << "\t" <<//trial.getCurrent()["ObjHeight"] <<"\t" <<
timer.getElapsedTimeInMilliSec() << "\t" <<
//trial.getCurrent()["HapticFB"] << "\t" <<
//randCond << "\t" <<
//randIncrement << "\t" <<
stimCond << "\t" <<
BG_WHITE << "\t" <<
endl;
trialFile.close();
double percent_occluded_frames = num_lost_frames/TGA_frame;
bool not_enough_frames = percent_occluded_frames > 0.20;
cout << num_lost_frames << "_" << frameN << "_" << percent_occluded_frames << endl;
int overwrite = 0;
if (training || !reachedObject || not_enough_frames ) {
cout << training << "_" << !reachedObject << "_" << not_enough_frames << endl;
map<std::string,double> currentFactorsList = trial.getCurrent();
trial.reinsert(currentFactorsList);
beepOk(1);
overwrite = 1;
}
if( !trial.isEmpty() )
{
if (!overwrite)
trialNumber++;
cout << trialNumber << endl;
factors = trial.getNext();
initTrial();
}
else
{
exit(0);
}
}
void initTrial()
{
factors = trial.getNext();
fingersAtStart=true;
endTrial=false;
if (factors["ViewingCondition"]==1) // all binocular
{
viewTransportLeft = 1.0;
viewTransportRight = 1.0;
viewPointingLeft = 1.0;
viewPointingRight = 1.0;
}
if (factors["ViewingCondition"]==2) // all monocular
{
viewTransportLeft = 0.0;
viewTransportRight = 1.0;
viewPointingLeft = 0.0;
viewPointingRight = 1.0;
}
if (factors["ViewingCondition"]==3) // binocular then dark
{
viewTransportLeft = 1.0;
viewTransportRight = 1.0;
viewPointingLeft = 0.0;
viewPointingRight = 0.0;
}
if (factors["ViewingCondition"]==4) // monocular then dark
{
viewTransportLeft = 0.0;
viewTransportRight = 1.0;
viewPointingLeft = 0.0;
viewPointingRight = 0.0;
}
initProjectionScreen(-400);
Vector3d pos(0,-250,factors["AbsDepth"]);
moveObjectAbsolute(pos, centercal, 5000);
drawGLScene();
beepOk(0);
timer.start();
}
void initVariables()
{ trial.init(parameters);
// module factor: 0 -> 1 -> 2
module.init(1,false);
module.addFactor("Phase",str2num<int>(parameters.find("Phase"),","));
block = module.getNext();
if ( parameters.exists("StimulusDensity") )
stimulusDensity = str2num<double>(parameters.find("StimulusDensity"));
else
cerr << "Stimulus density parameters not found, set to 0.025..." << endl;
adaptStimHeight = str2num<double>(parameters.find("AdaptStimulusHeight"));
adaptStimRadius = str2num<double>(parameters.find("AdaptStimulusRadius"));
// crea la lista degli offset in adaptation dati start, end e numero steps
int nTrials = str2num<int>(parameters.find("AdaptTrials"));
double adaptOffsetStart = str2num<double>(parameters.find("AdaptOffsetStart"));
double adaptOffsetEnd = str2num<double>(parameters.find("AdaptOffsetEnd"));
int adaptOffsetNSteps = str2num<int>(parameters.find("AdaptOffsetSteps"));
if ( adaptOffsetNSteps > nTrials )
{ cerr << "too much steps, they must be at max " << nTrials << endl;
cin.ignore(1e6,'\n');
exit(0);
}
double adaptOffsetDelta = (adaptOffsetEnd - adaptOffsetStart)/adaptOffsetNSteps;
for (int i=0; i<= adaptOffsetNSteps ; i++)
adaptOffsets.push_back(i*adaptOffsetDelta+adaptOffsetStart);
while ( adaptOffsets.size() != nTrials+2 ) //+2 così non rogna nel markersFile
adaptOffsets.push_back(adaptOffsetEnd );
testStimHeight = str2num<double>(parameters.find("TestStimulusHeight"));
ballRadius = str2num<double>(parameters.find("BallRadius"));
initStimulus(adaptStimHeight,adaptStimRadius*2,adaptStimRadius*2);
hapticRodCenter = Vector3d(0,0,focalDistance);
indexInside[0]=indexInside[1]=false;
globalTimer.start();
frameTimer.start();
//trial.print(cerr);
}
void initVariables()
{
interoculardistance = str2num<double>(parameters.find("IOD"));
trial.init(parameters);
factors = trial.getNext(); // Initialize the factors in order to start from trial 1
redDotsPlane.setNpoints(75); //XXX controllare densita di distribuzione dei punti
redDotsPlane.setDimensions(50,50,0.1);
redDotsPlane.compute();
//stimDrawer.drawSpecialPoints();
stimDrawer.setSpheres(true);
stimDrawer.setStimulus(&redDotsPlane);
stimDrawer.initList(&redDotsPlane);
/** Bound check things **/
signs.push_back(false);
signs.push_back(false);
rythmMaker.start();
}
void mouseFunc(int button, int state, int _x , int _y)
{
if ( trialMode == PROBEMODE )
{
glutWarpPointer(SCREEN_WIDTH/2,SCREEN_HEIGHT/2);
if ( button == GLUT_LEFT_BUTTON && (state==GLUT_DOWN) )
mouseButton=1;
if ( button == GLUT_RIGHT_BUTTON && (state==GLUT_DOWN) )
mouseButton=-1;
if( (button== GLUT_LEFT_BUTTON || button==GLUT_RIGHT_BUTTON) && (state==GLUT_UP) && (mouseButton!=0) )
{
double responseTime=responseTimer.getElapsedTimeInMilliSec();
double clickDelay=100; //milliseconds before the click is valid
if ( responseTime > clickDelay )
{
timeFrame=0.0; //this put the stimulus in the center each central time mouse is clicked in
if ( trial.isEmpty() )
{
responseFile << setw(6) << left << trialNumber << " " << factors["Def"] <<" " << factors["Tilt"] <<" " << factors["Slant"] << " " << factors["Anchored"] << " " << factors["RotationSpeed"] << " " << factors["FollowingSpeed"] << " " << factors["Onset"] << " " << (focalDistance - eyeCalibration.z()) << " " << mouseButton << " " << responseTime << endl;
cleanup();
exit(0);
}
else
{
responseFile << setw(6) << left << trialNumber << " " << factors["Def"] <<" " << factors["Tilt"] <<" " << factors["Slant"] << " " << factors["Anchored"] << " " << factors["RotationSpeed"] << " " << factors["FollowingSpeed"] << " " << factors["Onset"] << " " << (focalDistance - eyeCalibration.z()) << " " << mouseButton << " " << responseTime << endl;
factors = trial.getNext();
trialNumber++;
}
advanceTrial();
redDotsPlane.setDimensions(50,50,0.1);
redDotsPlane.setSlantTilt(factors["Slant"], factors["Tilt"] );
redDotsPlane.compute();
stimDrawer.initList(&redDotsPlane);
mouseButton=0;
}
}
}
glutPostRedisplay();
}
void initTrial()
{
factors = trial.getNext();
isStimulusDrawn=false;
drawGLScene();
initProjectionScreen(factors["AbsDepth"]);
//Vector3d pos(0, -44, (str2num<double>(parameters.find("StartPosObj"))+factors["RelDepthObj"]));
//moveObjectAbsolute(pos, centercal, 5000);
//positionObj(pos);
if(trialNumber%24==0)
beepOk(1);
else
beepOk(0);
xedge = 0;
zedge = 0;
jitter = unifRand(str2num<double>(parameters.find("VirtualObjRelDepthLowBound")),
str2num<double>(parameters.find("VirtualObjRelDepthUpBound")));
timer.start();
isStimulusDrawn=true;
}
void initTrial()
{
factors = trial.getNext();
screenAtDistance=false;
isStimulusDrawn=false;
initProjectionScreen(factors["AbsDepth"]);
if( screenAtDistance )
endTrial=false;
timer.start();
drawGLScene();
#ifdef OBJMOVE
Vector3d pos(0,-41,factors["AbsDepth"]);
moveObjectAbsolute(pos, centercal, 5000);
#endif
//beepOk(1);
beepOk(2);
occludedFrames=0;
xedge = 0;
zedge = 0;
jitter = unifRand(str2num<double>(parameters.find("SideLowBound")),
str2num<double>(parameters.find("SideUpBound")));
}
void keyPressed()
{
if ( trialMode == PROBEMODE )
{
if ( trialNumber==0)
{ responseFile << setw(6) << left <<
"TrialNumber Tilt Slant Translation Onset TranslationConstant EyeCalx EyeCaly EyeCalz StimFrames ProbeAngle" << endl;
}
stimulusDuration.stop();
responseFile << setw(6) << left <<
trialNumber << " " <<
factors["Tilt"] << " " <<
factors["Slant"] << " " <<
factors["Translation"] << " " <<
factors["Onset"] << " " <<
factors["TranslationConstant"] << " " <<
eyeCalibration.transpose() << " " <<
stimulusFrames << " " <<
probeAngle << endl;
if ( trial.getRemainingTrials()==0 )
{
cleanup();
exit(0);
}
else
{
factors = trial.getNext();
trialNumber++;
}
trialMode++;
trialMode=trialMode%4;
double possibleAngles[]= {0,90,180,270};
probeStartingAngle=possibleAngles[rand()%4];
redDotsPlane.compute();
stimDrawer.initList(&redDotsPlane);
}
}
void initVariables()
{
totalTimer.start();
interoculardistance = str2num<double>(parameters.find("IOD"));
trial.init(parameters);
factors = trial.getNext(); // Initialize the factors in order to start from trial 1
// Imposta stimolo e drawer
redDotsPlane.setNpoints(75);
redDotsPlane.setDimensions(50,50,0.1);
redDotsPlane.compute();
stimDrawer.initList(&redDotsPlane,glRed);
// Imposta striscia del fixation e drawer
stripPlane.setNpoints(N_STRIP_POINTS);
stripPlane.setDimensions(STRIP_WIDTH,STRIP_HEIGHT,0.01);
stripPlane.compute();
stripDrawer.initList(&stripPlane,glRed);
stimMotion=SINUSOIDAL_MOTION;
headEyeCoords.init(Vector3d(-32.5,0,0),Vector3d(32.5,0,0), Vector3d(0,0,0),Vector3d(0,10,0),Vector3d(0,0,10),interoculardistance );
eyeCalibration=headEyeCoords.getRightEye();
}
// Funzione di callback per gestire pressioni dei tasti
void handleKeypress(unsigned char key, int x, int y)
{ switch (key)
{ //Quit program
case 'x':
// Facendo cosi si cancella lo stimolo durante il movimento (SINCRONO) del monitor.
// Si imposta il isStimulusDrawn a FALSE e si riaggiorna la schermata con una drawGLScene()
// infine si muove il monitor, la chiamata blocca il programma per x secondi, si
// simula lo spostamento dello schermo di proiezione ed infine si reimposta isStimulusDrawn a TRUE
// cosi' la prossima chiamata di drawStimulus() lo disegna correttamente a schermo. Provare per credere...
factors = trial.getNext();
isStimulusDrawn=false;
drawGLScene();
initProjectionScreen(factors["AbsDepth"]);
isStimulusDrawn=true;
break;
case 'i':
visibleInfo=!visibleInfo;
break;
case 'm':
interoculardistance += 0.5;
break;
case 'n':
interoculardistance -= 0.5;
break;
case '+':
{
// Il trucco per avanzare alla modalita' trial successiva: incrementi di uno e poi tieni il resto della
// divisione per due, in questo caso ad esempio sara' sempre:
// 0,1,0,1,0,1
// se metti il resto della divisione per 3 invece la variabile trialMode sar'
// 0,1,2,0,1,2
// ogni ciclo della variabile trialMode normalmente e' un trial (1)
// puoi anche definire una funzione void advanceTrial() che si occupa di andare al trial successivo,
// deve contenere una chiamata alla BalanceFactor::getNext() cosi' passi alla nuova lista di fattori
// Ad esempio
// trialMode++;
// trialMode=trialMode%3;
}
break;
case 'Q':
case 'q':
case 27: //corrisponde al tasto ESC
{
// Ricorda quando chiami una funzione exit() di chiamare prima cleanup cosi
// spegni l'Optotrak ed i markers (altrimenti loro restano accesi e li rovini)
cleanup();
exit(0);
}
break;
case ' ':
{
// Here we record the head shape - coordinates of eyes and markers, but centered in (0,0,0)
if ( headCalibrationDone==0 && allVisiblePatch )
{
headEyeCoords.init(markers[1].p-Vector3d(230,0,0),markers[1].p, markers[5].p,markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=1;
beepOk(0);
break;
}
// Second calibration, you must look a fixed fixation point
if ( headCalibrationDone==1 && allVisiblePatch )
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[5].p, markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=2;
break;
}
}
break;
// Enter key: press to make the final calibration
case 13:
{
if ( headCalibrationDone == 2 && allVisiblePatch )
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[1].p, markers[2].p,markers[3].p,interoculardistance );
headCalibrationDone=3;
visibleInfo=false;
}
}
break;
case '5':
{
zedge -= .25;
}
break;
case '8':
{
zedge += .25;
}
break;
case '4':
{
xedge += .25;
}
break;
case '6':
{
xedge -= .25;
}
break;
case '0':
{
advanceTrial();
}
break;
// In genere a me piace attaccare al tasto p una funzione che stampi
// le tue variabili di interesse su standard output ad esempio la lista dei fattori attuali con nome
case 'p':
{
for (map<string,double>::iterator iter = factors.begin(); iter!=factors.end(); ++iter )
{
cout << iter->first << " " << iter->second << endl;
}
}
break;
}
}
// Funzione di callback per gestire pressioni dei tasti
void handleKeypress(unsigned char key, int x, int y)
{ switch (key)
{ //Quit program
case 'x':
// Facendo cosi si cancella lo stimolo durante il movimento (SINCRONO) del monitor.
// Si imposta il isStimulusDrawn a FALSE e si riaggiorna la schermata con una drawGLScene()
// infine si muove il monitor, la chiamata blocca il programma per x secondi, si
// simula lo spostamento dello schermo di proiezione ed infine si reimposta isStimulusDrawn a TRUE
// cosi' la prossima chiamata di drawStimulus() lo disegna correttamente a schermo. Provare per credere...
//factors = trial.getNext();
// trial.next();
drawGLScene();
// initProjectionScreen(trial.getCurrent()["AbsDepth"]);
break;
case 'i':
visibleInfo=!visibleInfo;
break;
case 'm':
interoculardistance += 0.5;
break;
case 'n':
interoculardistance -= 0.5;
break;
case '+':
{
// Il trucco per avanzare alla modalita' trial successiva: incrementi di uno e poi tieni il resto della
// divisione per due, in questo caso ad esempio sara' sempre:
// 0,1,0,1,0,1
// se metti il resto della divisione per 3 invece la variabile trialMode sar'
// 0,1,2,0,1,2
// ogni ciclo della variabile trialMode normalmente e' un trial (1)
// puoi anche definire una funzione void advanceTrial() che si occupa di andare al trial successivo,
// deve contenere una chiamata alla BalanceFactor::getNext() cosi' passi alla nuova lista di fattori
// Ad esempio
trialMode++;
trialMode=trialMode%4;
}
break;
case 'Q':
case 'q':
case 27: //corrisponde al tasto ESC
{
// Ricorda quando chiami una funzione exit() di chiamare prima cleanup cosi
// spegni l'Optotrak ed i markers (altrimenti loro restano accesi e li rovini)
cleanup();
exit(0);
}
break;
case 'd':
{
fingersShown = !fingersShown;
}
break;
case ' ':
{
// Here we record the head shape - coordinates of eyes and markers, but centered in (0,0,0)
if ( headCalibrationDone==0 && allVisiblePatch )
{
headEyeCoords.init(markers[1].p-Vector3d(230,0,0),markers[1].p, markers[5].p,markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=1;
beepOk(0);
break;
}
// Second calibration, you must look a fixed fixation point
if ( headCalibrationDone==1 && allVisiblePatch )
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[5].p, markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=2;
break;
}
}
break;
case 'f':
case 'F':
{
// Here we record the finger tip physical markers
if ( allVisiblePlatform && (fingerCalibrationDone==0) )
{
//platformFingers=markers[1].p;
platformIndex=markers[1].p;
platformThumb=markers[2].p;
//centercal = markers[4].p;
fingerCalibrationDone=1;
beepOk(0);
break;
}
if ( (fingerCalibrationDone==1) && allVisibleFingers )
{
indexCoords.init(platformIndex, markers.at(13).p, markers.at(14).p, markers.at(16).p );
thumbCoords.init(platformThumb, markers.at(15).p, markers.at(17).p, markers.at(18).p );
fingerCalibrationDone=2;
beepOk(0);
break;
}
if ( fingerCalibrationDone==2 && allVisibleFingers )
{
beepOk(0);
fingerCalibrationDone=3;
visibleInfo=!visibleInfo;
factors = trial.getNext();
initTrial();
break;
}
}
break;
// Enter key: press to make the final calibration
case 13:
{
if ( headCalibrationDone == 2 && allVisiblePatch )
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[5].p, markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=3;
visibleInfo=false;
}
}
break;
case '5':
{
alignmentY -= .5;
}
break;
case '8':
{
alignmentY += .5;
}
break;
case '4':
{
alignmentX -= .5;
}
break;
case '6':
{
alignmentX += .5;
}
break;
case '1':
{
stim_translation_z -= 1;
}
break;
case '3':
{
stim_translation_z += 1;
}
break;
case 's':
{
advanceTrial();
}
break;
case '0':
{
training=!training;
}
break;
case 'c':
{
pulsingColors=!pulsingColors;
}
break;
case 'l':
{
cout << left_height << "\t" << right_height << endl;
}
break;
case 'v':
{
stim_vanish_when_reached=!stim_vanish_when_reached;
}
break;
case 'w':
{
BG_WHITE=(BG_WHITE+1)%2;
}
}
}
void handleKeypress(unsigned char key, int x, int y)
{ switch (key)
{ //Quit program
case 'q':
case 27:
{ cleanup();
exit(0);
}
break;
case ' ':
{ // Here we record the head shape - coordinates of eyes and markers, but centered in (0,0,0)
if ( headCalibrationDone==0 && allVisibleHead )
{ headEyeCoords.init(markers.at(17).p,markers.at(18).p, markers.at(1).p,markers.at(2).p,markers.at(3).p,interoculardistance );
headCalibrationDone=1;
beepOk();
break;
}
if ( headCalibrationDone==1 && allVisiblePatch )
{
headCalibrationDone=3;
beepOk();
}
}
break;
case 'i':
infoDraw=!infoDraw;
break;
case 'f':
case 'F':
{ // Here we record the finger tip physical markers
if ( allVisiblePlatform && (fingerCalibrationDone==0) )
{ platformIndex=markers.at(16).p;
platformThumb=markers.at(15).p;
fingerCalibrationDone=1;
beepOk();
break;
}
if ( (fingerCalibrationDone==1) && allVisibleFingers )
{ thumbCoords.init(platformThumb, markers.at(11).p, markers.at(12).p, markers.at(13).p);
indexCoords.init(platformIndex, markers.at(7).p, markers.at(8).p, markers.at(9).p );
fingerCalibrationDone=2;
beepOk();
break;
}
if ( fingerCalibrationDone==2 && allVisibleFingers )
{ infoDraw=false;
drawGLScene();
physicalRigidBodyTip = indexCoords.getP1().p;
fingerCalibrationDone=3;
switch ( block.at("Phase") )
{
case 0:
case 2:
{ factors = trial.getNext();
initStimulus(testStimHeight,testStimRadius);
moveScreenAbsolute(factors.at("Distances"),homeFocalDistance,SCREENSPEED);
initProjectionScreen(factors.at("Distances"));
visualRodCenter = Vector3d(0,0,factors.at("Distances"));
hapticRodCenter = rodAway; // keep it away
moveRod(rodAway,RODSPEED);
}
break;
case 1:
{ double zadaptmin = str2num<double>(parameters.find("AdaptZMin"));
double zadaptmax = str2num<double>(parameters.find("AdaptZMax"));
if (str2num<int>(parameters.find("AdaptMoveMonitor"))==1)
visualRodCenter = Vector3d(0,0,mathcommon::unifRand(zadaptmin,zadaptmax));
else
visualRodCenter = Vector3d(0,0,(zadaptmax+zadaptmin)/2);
if ( str2num<int>(parameters.find("AdaptHapticFeedback"))==1 )
hapticRodCenter = visualRodCenter - Vector3d(0,0,adaptOffsets.at(block1TrialNumber));
else
hapticRodCenter = rodAway;
initProjectionScreen( visualRodCenter.z() );
initStimulus(str2num<double>(parameters.find("AdaptStimulusHeight")),str2num<double>(parameters.find("AdaptStimulusRadius")));
moveScreenAbsoluteAsynchronous(visualRodCenter.z(),homeFocalDistance,SCREENSPEED);
moveRod(hapticRodCenter,RODSPEED);
}
break;
}
trialMode = HANDONSTARTMODE;
fingerDistance = (indexCoords.getP1().p-thumbCoords.getP1().p).norm();
beepTrial();
trialFrame=0;
globalTimer.start();
totalTime.start();
break;
}
}
break;
}
}
void advanceTrial()
{ if ( trialMode == STIMULUSMODE )
{ bool pretrialMode=trialMode;
trialMode++;
trialMode=trialMode%2;
totalTrialNumber++;
if (block.at("Phase") != 1 )
{
double percentOccludedFrames = ((double)occludedFrames/(double)drawingTrialFrame )*100.0;
if ( percentOccludedFrames > str2num<double>(parameters.find("TestPercentOccludedFrames")) )
{
cerr << "Percent occluded frames is" << percentOccludedFrames << " " << occludedFrames << " over " << drawingTrialFrame << endl;
trial.reinsert(factors);
}
drawingTrialFrame=0;
occludedFrames=0;
}
trialFrame=0;
switch( block.at("Phase") )
{
case 0: //pre-test
{
if ( !trial.isEmpty() ) // ci son ancora trial
{ beepTrial();
initStimulus(testStimHeight,testStimRadius);
factors = trial.getNext();
deltaXRods = mathcommon::unifRand(str2num<double>(parameters.find("DeltaXMin")),str2num<double>(parameters.find("DeltaXMax")));
visualRodCenter = Vector3d(0,0,factors.at("Distances"));
hapticRodCenter = rodAway;
initProjectionScreen(visualRodCenter.z());
moveScreenAbsolute(visualRodCenter.z(),homeFocalDistance,SCREENSPEED);
beepTrial();
}
else // si prepara per la modalità 1 (adaptation)
{ trialMode = HANDONSTARTMODE;
block = module.getNext();
initStimulus(testStimHeight,testStimRadius );
double zadaptmin = str2num<double>(parameters.find("AdaptZMin"));
double zadaptmax = str2num<double>(parameters.find("AdaptZMax"));
if (str2num<int>(parameters.find("AdaptMoveMonitor"))==1)
visualRodCenter=Vector3d(0,0,mathcommon::unifRand(zadaptmin,zadaptmax));
else
visualRodCenter=Vector3d(0,0, (zadaptmin+zadaptmax)/2);
initProjectionScreen( visualRodCenter.z());
if ( str2num<int>(parameters.find("AdaptHapticFeedback"))==1 )
hapticRodCenter = visualRodCenter - Vector3d(0,0,adaptOffsets.at(block1TrialNumber));
else
hapticRodCenter = rodAway;
moveRod(Vector3d(0,0,hapticRodCenter.z() ),RODSPEED);
checkBounds();
beepLong();
}
block0TrialNumber++;
}
break;
case 1: // adaptation
{
block1TrialNumber++;
if ( block1TrialNumber < str2num<int>(parameters.find("AdaptTrials")) )
{ beepTrial();
initStimulus(adaptStimHeight,adaptStimRadius);
double zadaptmin = str2num<double>(parameters.find("AdaptZMin"));
double zadaptmax = str2num<double>(parameters.find("AdaptZMax"));
if (str2num<int>(parameters.find("AdaptMoveMonitor"))==1)
visualRodCenter = Vector3d(0,0,mathcommon::unifRand(zadaptmin,zadaptmax));
else
visualRodCenter=Vector3d(0,0, (zadaptmin+zadaptmax)/2);
if ( str2num<int>(parameters.find("AdaptHapticFeedback"))==1 )
{
hapticRodCenter = visualRodCenter - Vector3d(0,0,adaptOffsets.at(block1TrialNumber));
moveScreenAbsoluteAsynchronous(visualRodCenter.z(),homeFocalDistance,SCREENSPEED);
moveRod(hapticRodCenter,RODSPEED);
}
else
{
hapticRodCenter = rodAway;
moveScreenAbsolute(visualRodCenter.z(),homeFocalDistance,SCREENSPEED);
}
initProjectionScreen( visualRodCenter.z());
beepTrial();
}
else
{ beepLong();
trialMode = HANDONSTARTMODE;
block = module.getNext();
// reset the factors in order to prepare the next test phase
trial.init(parameters);
factors.clear();
factors = trial.getNext();
deltaXRods = mathcommon::unifRand(str2num<double>(parameters.find("DeltaXMin")),str2num<double>(parameters.find("DeltaXMax")));
//cerr << "DISTANCE= " << factors.at("Distances") << endl;
initStimulus(testStimHeight,testStimRadius);
visualRodCenter = Vector3d(0,0,factors.at("Distances"));
hapticRodCenter = rodAway;
moveScreenAbsolute(visualRodCenter.z(),homeFocalDistance,SCREENSPEED);
moveRod(rodAway,RODSPEED);
initProjectionScreen(visualRodCenter.z());
beepTrial();
}
}
break;
case 2: /// post-test
{ if ( trial.isEmpty() )
{ beepLong();
cleanup();
exit(0);
}
else
{ beepTrial();
initStimulus(testStimHeight,testStimRadius);
factors = trial.getNext();
deltaXRods = mathcommon::unifRand(str2num<double>(parameters.find("DeltaXMin")),str2num<double>(parameters.find("DeltaXMax")));
cerr << "DISTANCE= " << factors.at("Distances") << endl;
visualRodCenter = Vector3d(0,0,factors.at("Distances"));
hapticRodCenter = rodAway;
initProjectionScreen(visualRodCenter.z());
moveScreenAbsolute(visualRodCenter.z(),homeFocalDistance,SCREENSPEED);
beepTrial();
}
block2TrialNumber++;
}
break;
}
globalTimer.start();
}
// Mettere una idle così non perde il primo trial
idle();
}
/*** FUNCTIONS FOR TRIAL MODE DRAWING ***/
void advanceTrial()
{
if ( trial.isEmpty() )
{
#ifdef WIN32
for (int i=0; i<3; i++)
{
Beep(220,440);
totalTimer.sleep(20);
}
#endif
exit(0);
}
switch (trialMode)
{
case FIXATIONMODE:
{
#ifdef WIN32
Beep(440,440);
#endif
totalTimer.start();
stimulusTimer.start();
//clearAndWait(2);
trialMode=STIMULUSMODE;
}
break;
case STIMULUSMODE:
{
#ifdef WIN32
Beep(440,440);
#endif
trialMode=PROBEMODE;
totalTimer.start();
stimulusTimer.start();
}
break;
case PROBEMODE:
{
#ifdef WIN32
Beep(880,440);
#endif
resetPointStrip();
responseTimer.start();
totalTimer.start();
trialMode=FIXATIONMODE;
}
}
resetPointStrip();
factors = trial.getNext();
trialNumber++;
responseFile << setw(6) << left <<
trialNumber << "\t" <<
factors["Tilt"] << "\t" <<
factors["Slant"] << "\t" <<
factors["Def"] << "\t" <<
factors["FlowDirection"] << "\t" <<
factors["FlowIncrement"] << "\t" << endl;
double responseTime=responseTimer.getElapsedTimeInMilliSec();
timeFrame=0.0; //this put the stimulus in the center each central time mouse is clicked in
}
void handleKeypress(unsigned char key, int x, int y)
{ switch (key)
{ //Quit program
case 'q':
case 27:
{ exit(0);
}
break;
case ' ':
{ // Here we record the head shape - coordinates of eyes and markers, but centered in (0,0,0)
if ( headCalibrationDone==0 && allVisibleHead )
{
headEyeCoords.init(markers.at(18).p-Vector3d(ChinRestWidth,0,0),markers.at(18).p, markers.at(1).p,markers.at(2).p,markers.at(3).p,interoculardistance );
headCalibrationDone=1;
beepOk();
break;
}
if ( headCalibrationDone==1 && allVisiblePatch )
{
headCalibrationDone=3;
beepOk();
}
}
break;
case 'i':
infoDraw=!infoDraw;
break;
case 'f':
case 'F':
{ // Here we record the finger tip physical markers
if ( allVisiblePlatform && (fingerCalibrationDone==0) )
{
platformIndex=markers.at(16).p;
platformThumb=markers.at(15).p;
fingerCalibrationDone=1;
beepOk();
break;
}
if ( (fingerCalibrationDone==1) && allVisibleFingers )
{
thumbCoords.init(platformThumb, markers.at(11).p, markers.at(12).p, markers.at(13).p);
indexCoords.init(platformIndex, markers.at(7).p, markers.at(8).p, markers.at(9).p );
fingerCalibrationDone=2;
// XXX sposto l'oggetto a home per permettere le dita di calibrarsi
// TriesteMotorFunctions::homeObject(3500); //// XXX commentato: A TS no servi
beepOk();
break;
}
if ( fingerCalibrationDone==2 && allVisibleFingers )
{ infoDraw=false;
drawGLScene();
physicalRigidBodyTip = indexCoords.getP1().p;
fingerCalibrationDone=3;
switch ( block.at("Phase") )
{
case 0:
{
cerr << "Key 721 case 0" << endl;
factors = trial.getNext();
deltaXRods = mathcommon::unifRand(str2num<double>(parameters.find("DeltaXMin")),str2num<double>(parameters.find("DeltaXMax")));
initStimulus(factors.at("StimulusHeight"),deltaXRods,factors.at("RelDepth"));
// moveMonitorAbsolute(factors.at("Distances"),homeFocalDistance,SCREENSPEED);
initProjectionScreen(factors.at("Distances"));
visualRodCenter = Vector3d(0,0,factors.at("Distances"));
hapticRodCenter = rodAway; // keep it away
// moveRod(rodAway,RODSPEED);
cerr << "Key 730 case 0" << endl;
}
beepOk();
break;
case 2:
{ factors = trial.getNext();
deltaXRods = mathcommon::unifRand(str2num<double>(parameters.find("DeltaXMin")),str2num<double>(parameters.find("DeltaXMax")));
initStimulus(factors.at("StimulusHeight"),deltaXRods,factors.at("RelDepth"));
// moveMonitorAbsolute(factors.at("Distances"),homeFocalDistance,SCREENSPEED);
initProjectionScreen(factors.at("Distances"));
visualRodCenter = Vector3d(0,0,factors.at("Distances"));
hapticRodCenter = rodAway; // keep it away
// moveRod(rodAway,RODSPEED);
}
break;
case 1:
{
cerr << "Key 735 case 1" << endl;
double zadaptmin = str2num<double>(parameters.find("AdaptZMin"));
double zadaptmax = str2num<double>(parameters.find("AdaptZMax"));
if (str2num<int>(parameters.find("AdaptMoveMonitor"))==1)
visualRodCenter = Vector3d(0,0,mathcommon::unifRand(zadaptmin,zadaptmax));
else
visualRodCenter = Vector3d(0,0,(zadaptmax+zadaptmin)/2);
if ( str2num<int>(parameters.find("AdaptHapticFeedback"))==1 )
hapticRodCenter = visualRodCenter - Vector3d(0,0,adaptOffsets.at(block1TrialNumber));
else
hapticRodCenter = rodAway;
initProjectionScreen( visualRodCenter.z() );
initStimulus(str2num<double>(parameters.find("AdaptStimulusHeight")),adaptStimRadius*2,adaptStimRadius*2);
moveMonitorAbsoluteAsynchronous(visualRodCenter.z(),homeFocalDistance,SCREENSPEED);
moveRod(hapticRodCenter,RODSPEED);
}
break;
}
cerr << "Key 756 " << endl;
trialMode = HANDONSTARTMODE;
cerr << "Key 758 " << endl;
fingerDistance = (indexCoords.getP1().p-thumbCoords.getP1().p).norm();
cerr << "Key 760 " << endl;
beepTrial();
cerr << "Key 762 " << endl;
trialFrame=0;
globalTimer.start();
totalTime.start();
break;
}
}
break;
}
}
void advanceTrial()
{
// Determine if previous trial was a good trial
double percentOccludedFrames = numLostFrames/TGA_frame;
bool notEnoughFrames = percentOccludedFrames > 0.10 ;
int overwrite = 0;
// If any of these things are true when advanceTrial is called, reinsert!
if (training || !reachedObject || notEnoughFrames ) {
beepOk(3); // 1000hz, 50ms
if (training)
cout << "Training Mode!" << endl;
if (!reachedObject)
cout << "I don't think you reached the object..." << endl;
if (notEnoughFrames)
cout << "Be visible!" << endl;
if (!controlCondition) {
map<std::string,double> currentFactorsList = trial.getCurrent();
trial.reinsert(currentFactorsList);
}
overwrite = 1;
}
// Write previous trial to response file
if (!overwrite && !controlCondition)
{
responseFile.precision(3);
responseFile <<
parameters.find("SubjectName") << "\t" <<
trialNumber << "\t" <<
TGA_time << "\t" <<
trial.getCurrent()["ObjPosn"] << "\t" <<
sm_lg << "\t" <<
con_inc << "\t" <<
endl;
} else if (!overwrite && controlCondition) {
controlResponseFile.precision(3);
controlResponseFile <<
parameters.find("SubjectName") << "\t" <<
controlTrial << "\t" <<
TGA_time << "\t" <<
currentObj << "\t" <<
sm_lg << "\t" <<
con_inc << "\t" <<
endl;
}
// Close previous trial file
trialFile.close();
// If we're done with control block
if (controlCondition && controlTrial==16) {
if (!overwrite) { // and not overwriting, change over
plato_stop();
exit(0);
//controlCondition=false;
//endControl=true;
}
else // if we ARE overwriting, initTrial again until we get it
initTrial();
}
// If we're still in the control block
if (controlCondition && controlTrial<16 ){
if (!overwrite) //and not overwriting
controlTrial++; //increment
initTrial(); //initTrial will handle a repeat or the next trial
}
// If we're in the main block
if( !trial.isEmpty() && !controlCondition)
{
if (!endControl) { // If it's NOT the v. first main block trial
if (!overwrite) // and we're not overwriting due to a bad trial
trialNumber++; // increment
factors = trial.getNext(); // get the next trial and initialize it!
initTrial();
} else { // It IS the v. first main block trial (endControl)
endControl=false; // turn this switch off so we know next time around that it's trial 1
initTrial(); // initTrial WITHOUT getNext because we already gotNext at the end of calibration
}
}
// Finally, if we're out of trials, finish the experiment.
else if (trial.isEmpty() && !controlCondition)
{
controlCondition=true;
initTrial();
}
}
int main(void)
{ randomizeSeed();
/*
BalanceFactor<int> balance;
map<string,int> factors;
balance.init(1,true);
vector<int> f;
for (int i=0; i<10; i++)
f.push_back(i);
balance.addFactor( "Slant", f );
while ( !balance.isEmpty() )
{
factors = balance.getNext();
cout << factors["Slant"] << endl;
}
balance.init(1,true);
cerr << "==========" << endl;
f.clear();
for (int i=0; i<10; i++)
f.push_back(i);
balance.addFactor( "Slant", f );
while ( !balance.isEmpty() )
{
factors = balance.getNext();
cout << factors["Slant"] << endl;
}
*/
/*
balance.addFactor( "Tilt", vlist_of<int>(90) );
balance.addFactor( "Anchored", vlist_of<int>(0)(1)(2)(3));
//balance.print();
while ( !balance.isEmpty() )
{
map<string, int> tmp2 = balance.getNext() ;
for ( map<string, int>::iterator iter = tmp2.begin(); iter!=tmp2.end(); ++iter)
cout << iter->first << " " << iter->second << " ";
cout << endl;
}
cerr << isnan(1.0/0.0) << " " << isinf(1.0/0.0) << endl;
return 0;
*/
map<string,int> factors;
ifstream paramFile;
paramFile.open("prova.exp");
ParametersLoader params;
params.loadParameterFile(paramFile);
BalanceFactor<int> bfact;
bfact.init(params);
while (!bfact.isEmpty())
{ factors = bfact.getNext();
cout << factors["StimSpeed"] << endl;
}
//bfact.print();
bfact.init(params);
while (!bfact.isEmpty())
{ factors = bfact.getNext();
cout << factors["StimSpeed"] << endl;
}
/*
BalanceFactor<int> balance;
balance.init(params);
balance.print();
while ( !balance.isEmpty() )
{
map<string,int> vals = balance.getNext();
for ( map<string,int>::iterator iter = vals.begin(); iter!=vals.end(); ++iter )
{
cout << iter->first << " " << iter->second << endl;
}
cout << endl << endl;
}
*/
return 0;
}
// Funzione di callback per gestire pressioni dei tasti
void handleKeypress(unsigned char key, int x, int y)
{
switch (key)
{
case 'x':
{
}
break;
case 'i':
{
visibleInfo=!visibleInfo;
}
break;
case 't':
{
training = !training;
}
break;
case '*':
{
}
break;
case 'q':
{
}
break;
case 27: //ESC
{
exit(0);
}
break;
case 'f':
{
if (!objectsForward)
{
beepOk(2);
objectsForward = true;
RoveretoMotorFunctions::moveObjectAbsolute(mountDisplayPosn, motorHomePosn, 3000);
break;
}
if ( objectsForward && (startPosCalibration==0) && (fingerCalibrationDone==0) && allVisiblePlatform)
{
platformIndex=markers[16].p;
platformThumb=markers[15].p;
fingerCalibrationDone=1;
beepOk(2);
break;
}
if ( (startPosCalibration==0) && (fingerCalibrationDone==1) && allVisibleFingers )
{
indexCoords.init(platformIndex, markers.at(19).p, markers.at(23).p, markers.at(24).p );
thumbCoords.init(platformThumb, markers.at(20).p, markers.at(21).p, markers.at(22).p );
fingerCalibrationDone=2;
beepOk(2);
break;
}
if ( (startPosCalibration==0) && (fingerCalibrationDone==2) && allVisibleFingers)
{
startPos_front = index.z()-20;
startPos_right = index.x()+20;
startPos_top = index.y()+20;
startPos_rear = thumb.z()+20;
startPos_left = thumb.x()-20;
startPos_bottom = thumb.y()-20;
startPosCalibration=1;
beepOk(2);
break;
}
if ( (startPosCalibration==1) && (fingerCalibrationDone==2))
{
startPosCalibration = 2;
beepOk(2);
RoveretoMotorFunctions::moveObjectAbsolute(showTopMidBoard,motorHomePosn,4000);
break;
}
if ( (startPosCalibration==2) && (fingerCalibrationDone==2) )
{
objL_X = markers[10].p.x();
objL_Y = markers[10].p.y();
objL_Z = markers[10].p.z();
startPosCalibration=3;
beepOk(2);
break;
}
if ( (startPosCalibration==3) && (fingerCalibrationDone==2) )
{
objR_X = markers[10].p.x();
objR_Y = markers[10].p.y();
objR_Z = markers[10].p.z();
startPosCalibration=4;
beepOk(2);
break;
}
if ( (startPosCalibration==4) && (fingerCalibrationDone==2) && allVisibleFingers)
{
fingerCalibrationDone=3;
visibleInfo=false;
training=false;
factors = trial.getNext();
initTrial();
break;
}
}
break;
case 's':
{
advanceTrial();
}
break;
case '0':
{
}
break;
case 'e':
{
cout << "Hand at start: " << handAtStart << endl;
cout << "Started: " << started << endl;
cout << "Reached Object: " << reachedObject << endl;
}
break;
case 'j':
{
cout << "Distance to Object: sqrt(" << x_dist << "^2 + " << y_dist << "^2 + " << z_dist << "^2) = " << grip_distanceToTarget << endl;
cout << "Start Pos Corner: " << startPos_right << "\t" << startPos_top << "\t" << startPos_front << endl;
}
break;
case '5': //down
{
}
break;
case '8': //up
{
}
break;
case '4': //left
{
}
break;
case '6': //right
{
}
break;
case '1': //left 2
{
}
break;
case '3': //right 2
{
}
break;
}
}
