double RobotController::onAction(ActionEvent &evt) { #if 1 sendText(evt.time(), "Robot2", "hello!"); #else double distance = 10.0; sendText(evt.time(), NULL, "hello!", distance); #endif return 3.0; }
double RobotController::onAction(ActionEvent &evt) { LOG_MSG(("\ncurrent time : %f", evt.time())); static int cnt = 0; try { const char *name = myname(); SimObj *obj = getObj(name); obj->dump(); if (!obj->dynamics()) { double angle = 2*PI*cnt*0.01; double xx = 5*sin(angle); double yy = 0.5; double zz = 5*cos(angle); LOG_MSG(("pos (%f, %f, %f)", xx, yy, zz)); obj->setPosition(xx, yy, zz); obj->setAxisAndAngle(0.0, 1.0, 0.0, angle); } obj->dump(); } catch(SimObj::NoAttributeException &) { } catch(SimObj::AttributeReadOnlyException &) { } catch(SimObj::Exception &) { } cnt++; return 0.1; }
double MyController::onAction(ActionEvent &evt) { SimObj *obj = getObj(myname()); //obtaining handle to the agent obj->setLinearVelocity(0,0,100); //apply the linear velocity 20[m/s] in Z axis Vector3d currentVelocity; obj->getLinearVelocity(currentVelocity); if (myfile.is_open() && (evt.time() < 15) ) { myfile << currentVelocity.x() << " , " << currentVelocity.z() << "\n" ; } if(evt.time() > 15) { exit(0); } return 0.00001; }
double MyController::onAction(ActionEvent &evt) { switch(m_state){ // 初期状態 case 0: { // ゴミがある場所と名前を取得します if(!this->recognizeTrash(m_tpos,m_tname)){ // ゴミが見つからないので終了 broadcastMsgToSrv("I cannot find trash"); m_state = 8; } // ゴミが見つかった else{ // ゴミの方向に回転をはじめる m_time = rotateTowardObj(m_tpos, m_vel, evt.time()); m_state = 1; } break; } // ゴミの方向に回転中 case 1: { // 回転終了 if(evt.time() >= m_time){ // 回転を止める m_my->setWheelVelocity(0.0, 0.0); // 関節の回転を始める // orig m_my->setJointVelocity("RARM_JOINT1", -m_jvel, 0.0); // 50°回転 m_time = DEG2RAD(50) / 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 = 2; } break; } // 関節を回転中 case 2: { // 関節回転終了 if(evt.time() >= m_time){ m_my->setJointVelocity("RARM_JOINT1", 0.0, 0.0); // graspしたいパーツを取得します CParts *parts = m_my->getParts("RARM_LINK7"); // graspします parts->graspObj(m_tname); // ゴミ箱の位置を取得します SimObj *trashbox = getObj("trashbox_1"); Vector3d pos; trashbox->getPosition(pos); // ゴミ箱の方向に移動を開始します m_time = rotateTowardObj(pos, m_vel, evt.time()); m_state = 3; } break; } // ゴミ箱の方向に回転中 case 3: { // ゴミ箱到着 if(evt.time() >= m_time){ // ここではゴミ箱の名前 位置は知っているものとします SimObj *trashbox = getObj("trashbox_1"); Vector3d pos; trashbox->getPosition(pos); // ゴミ箱の近くに移動します m_time = goToObj(pos, m_vel*4, 40.0, evt.time()); m_state = 4; } break; } // ゴミを持ってゴミ箱に向かっている状態 case 4: { // 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 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 std::vector<std::string>::iterator it; it = std::find(m_trashes.begin(), m_trashes.end(), m_tname); m_trashes.erase(it); // 関節の回転を始める m_my->setJointVelocity("RARM_JOINT1", m_jvel, 0.0); m_time = DEG2RAD(50) / m_jvel + evt.time() + 1.0; m_state = 5; } break; } // ゴミを捨てて関節を戻している状態 case 5: { // 関節が元に戻った if(evt.time() >= m_time){ // 関節の回転を止める m_my->setJointVelocity("RARM_JOINT1", 0.0, 0.0); // 最初にいた方向に体を回転させます m_time = rotateTowardObj(m_inipos, m_vel, evt.time()); m_state = 6; } break; } // 元に場所に戻る方向に回転している状態 case 6: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); // 最初にいた場所に移動します m_time = goToObj(m_inipos, m_vel*4, 5.0, evt.time()); m_state = 7; } break; } // 元の場所に向かっている状態 case 7: { // 元の場所に到着 if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); // 最初の方向に回転(z軸と仮定) m_time = rotateTowardObj(Vector3d(0.0, 0.0, 10000.0), m_vel, evt.time()); m_state = 8; } break; } // 元の向きに回転している状態 case 8: { if(evt.time() >= m_time){ // 回転を止める m_my->setWheelVelocity(0.0, 0.0); // 最初の状態に戻る m_state = 0; } } } return 0.1; }
double MyController::onAction(ActionEvent &evt) { int actionNumber = 2; int functionalFeature = 1; int targetType = 3; myfile << setprecision(2) << std::fixed; // handle of target and tool SimObj *target = getObj("box_004"); SimObj *toolName = getObj("TShapeTool_004"); if (evt.time() < 5.0) { // cout << "Time" << endl; cout << evt.time() << endl; toolName->getPosition(currentToolPos); // get the current tool position toolName->getRotation(finalToolRotation); toolName->getVelocity(finalToolVel); isToolAtRest = checkEntityMotionStatus(toolName); // checks whether the tool is moving by calculating its velocity target->getPosition(currentTargetPos); target->getRotation(finalTargetRotation); target->getVelocity(finalTargetVel); isTargetAtRest = checkEntityMotionStatus(target); // checks whether the object is moving by calculating its velocity } if (evt.time() > 5.0) { insideTimer = false; counterOfAction ++ ; } if(!insideTimer && counterOfAction == 1 ) { myfile << actionNumber << " , " << functionalFeature << " , " ; myfile << initToolRotation.qw() << " , " << initToolRotation.qx() << " , " << initToolRotation.qy() << " , " << initToolRotation.qz() << " , " ; myfile << initTargetRotation.qw() << " , " << initTargetRotation.qx() << " , " << initTargetRotation.qy() << " , " << initTargetRotation.qz() << " , " ; myfile << finalTargetRotation.qw() << " , " << finalTargetRotation.qx() << " , " << finalToolRotation.qy() << " , " << finalToolRotation.qz() << " , " ; myfile << initToolPos.x() << " , " << initToolPos.z() << " , " ; myfile << initTargetPos.x() << " , " << initTargetPos.z() << " , " ; myfile << forceOnTool_x << " , " << forceOnTool_z << " , " ; myfile << appliedToolVel.x() << " , " << appliedToolVel.z() << " , " ; myfile << toolVelAtHit.x() << " , " << toolVelAtHit.z() << " , " ; myfile << targetVelAtHit.x() << " , " << targetVelAtHit.z() << " , " ; myfile << currentToolPos.x() << " , " << currentToolPos.z() << " , " ; myfile << currentTargetPos.x() << " , " << currentTargetPos.z() << " , " ; myfile << finalToolVel.x() << " , " << finalToolVel.z() << " , " ; myfile << finalTargetVel.x() << " , " << finalTargetVel.z() << " , " ; myfile << isToolAtRest << " , " << isTargetAtRest << " , " ; myfile << currentToolPos.x() - initToolPos.x() << " , " << currentToolPos.z() - initToolPos.z() << " , " ; myfile << currentTargetPos.x() - initTargetPos.x() << " , " << currentTargetPos.z() - initTargetPos.z(); myfile << "\n"; cout << "The simulation for " << actionNumber << " , " << functionalFeature << " has been recorded" << endl; // exit(0); flag = false; } return 0.01; }
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; }
double MyController::onAction(ActionEvent &evt) { if(!checkService("RecogTrash")){ m_srv == NULL; } if(m_srv == NULL){ // ゴミ認識サービスが利用可能か調べる if(checkService("RecogTrash")){ // ゴミ認識サービスに接続 m_srv = connectToService("RecogTrash"); } } //if(evt.time() < m_time) printf("state: %d \n", m_state); switch(m_state) { // 初期状態 case 0: { if(m_srv == NULL){ // ゴミ認識サービスが利用可能か調べる if(checkService("RecogTrash")){ // ゴミ認識サービスに接続 m_srv = connectToService("RecogTrash"); } } else if(m_srv != NULL && m_executed == false){ //rotate toward upper m_my->setJointVelocity("LARM_JOINT4", -m_jvel, 0.0); m_my->setJointVelocity("RARM_JOINT4", -m_jvel, 0.0); // 50°回転 m_time = DEG2RAD(ROTATE_ANG) / m_jvel + evt.time(); m_state = 5; m_executed = false; } break; } case 5: { if(evt.time() > m_time && m_executed == false) { //m_my->setJointVelocity("LARM_JOINT1", 0.0, 0.0); m_my->setJointVelocity("LARM_JOINT4", 0.0, 0.0); m_my->setJointVelocity("RARM_JOINT4", 0.0, 0.0); sendSceneInfo("Start"); //m_srv->sendMsgToSrv("Start"); printf("Started! \n"); m_executed = true; } break; } // 物体の方向が帰ってきた case 20: { // 送られた座標に回転する m_time = rotateTowardObj(nextPos, m_rotateVel, evt.time()); //printf("debug %lf %lf \n", evt.time(), m_time); m_state = 21; m_executed = false; break; } case 21: { // ロボットが回転中 //printf("debug %lf %lf \n", evt.time(), m_time); if(evt.time() > m_time && m_executed == false) { // 物体のある場所に到着したので、車輪と止め、関節を回転し始め、物体を拾う m_my->setWheelVelocity(0.0, 0.0); // 物体のある方向に回転した //printf("目的地の近くに移動します %lf %lf %lf \n", nextPos.x(), nextPos.y(), nextPos.z()); // 送られた座標に移動する m_time = goToObj(nextPos, m_vel*4, m_range, evt.time()); //m_time = goToObj(nextPos, m_vel*4, 40, evt.time()); m_state = 22; m_executed = false; } break; } case 22: { // 送られた座標に移動した if(evt.time() > m_time && m_executed == false) { m_my->setWheelVelocity(0.0, 0.0); printf("止める \n"); Vector3d myPos; m_my->getPosition(myPos); double x = myPos.x(); double z = myPos.z(); double theta = 0; // y方向の回転は無しと考える char replyMsg[256]; bool found = recognizeNearestTrash(m_tpos, m_tname); // ロボットのステートを更新 if (found == true) { m_state = 500; m_executed = false; //printf("m_executed = false, state = 500 \n"); } else { //printf("Didnot found anything \n"); m_state = 10; m_executed = false; } } break; } case 30: { // 送られた座標に回転する m_time = rotateTowardObj(nextPos, m_rotateVel, evt.time()); //printf("case 30 time: %lf \n", m_time); m_state = 31; m_executed = false; break; } // 物体を掴むために、ロボットの向く角度をズラス case 31: { if(evt.time() > m_time && m_executed == false) { Vector3d grabPos; //printf("斜めにちょっとずれた以前の時間 time: %lf \n", evt.time()); if(calcGrabPos(nextPos, 20, grabPos)) { m_time = rotateTowardObj(grabPos, m_vel / 5, evt.time()); printf("斜め grabPos :%lf %lf %lf \n", grabPos.x(), grabPos.y(), grabPos.z()); printf("time: %lf \n", m_time); } m_state = 32; m_executed = false; } break; } // 物体の方向が帰ってきた case 32: { if(evt.time() > m_time && m_executed == false) { // 物体のある場所に到着したので、車輪と止め、関節を回転し始め、物体を拾う m_my->setWheelVelocity(0.0, 0.0); //printf("回転を止めた evt.time %lf \n", evt.time()); // 関節の回転を始める m_my->setJointVelocity("RARM_JOINT1", -m_jvel, 0.0); // 50°回転 m_time = DEG2RAD(ROTATE_ANG) / m_jvel + evt.time(); m_state = 33; m_executed = false; } break; } case 33: { // 関節回転中 if(evt.time() > m_time && m_executed == false) { // 関節の回転を止める m_my->setJointVelocity("RARM_JOINT1", 0.0, 0.0); // 自分の位置の取得 Vector3d myPos; m_my->getPosition(myPos); double x = myPos.x(); double z = myPos.z(); double theta = 0; // y方向の回転は無しと考える //物体を掴めるか掴めないかによって処理を分岐させる if(m_grasp) { // 物体を掴んだ // 捨てたゴミをゴミ候補 std::vector<std::string>::iterator it; // ゴミ候補を得る it = std::find(m_trashes.begin(), m_trashes.end(), m_tname); // 候補から削除する m_trashes.erase(it); printf("erased ... \n"); // ゴミ箱への行き方と問い合わせする char replyMsg[256]; // もっとも近いゴミ箱を探す //bool found = recognizeNearestTrashBox(m_trashBoxPos, m_trashBoxName); // ゴミを置くべき座標を探す bool found = findPlace2PutObj(m_trashBoxPos, m_tname); if(found) { // ゴミ箱が検出出来た std::cout << "trashboxName " << m_trashBoxName << std::endl; sprintf(replyMsg, "AskTrashBoxRoute %6.1lf %6.1lf %6.1lf %6.1lf %6.1lf %6.1lf", x, z, theta, m_trashBoxPos.x(), m_trashBoxPos.y(), m_trashBoxPos.z()); } else { sprintf(replyMsg, "AskTrashBoxPos %6.1lf %6.1lf %6.1lf", x, z, theta); } m_srv->sendMsgToSrv(replyMsg); m_executed = true; } else { // 物体を掴めなかった、次に探す場所を問い合わせる // ゴミを掴めなかったもしくはゴミが無かった、次にゴミのある場所を問い合わせする // 逆方向に関節の回転を始める m_my->setJointVelocity("RARM_JOINT1", m_jvel, 0.0); // 50°回転 m_time = DEG2RAD(ROTATE_ANG) / m_jvel + evt.time(); m_state = 34; m_lastFailedTrash = m_tname; m_executed = false; } } break; } case 34: { if(evt.time() > m_time && m_executed == false) { // 関節の回転を止める m_my->setJointVelocity("RARM_JOINT1", 0.0, 0.0); // 自分の位置の取得 Vector3d myPos; m_my->getPosition(myPos); double x = myPos.x(); double z = myPos.z(); double theta = 0; char replyMsg[256]; sprintf(replyMsg, "AskObjPos %6.1lf %6.1lf %6.1lf", x, z, theta); printf("case 34 debug %s \n", replyMsg); m_srv->sendMsgToSrv(replyMsg); m_executed = true; } break; } case 40: { // 送られた座標に回転する m_time = rotateTowardObj(nextPos, m_rotateVel, evt.time()); m_state = 41; m_executed = false; break; } case 41: { // 送られた座標に回転中 if(evt.time() > m_time && m_executed == false) { // 送られた座標に移動する printf("目的地の近くに移動します %lf %lf %lf \n", nextPos.x(), nextPos.y(), nextPos.z()); m_time = goToObj(nextPos, m_vel*4, m_range, evt.time()); m_state = 42; m_executed = false; } break; } case 42: { // 送られた座標に移動中 if(evt.time() > m_time && m_executed == false) { // 送られた座標に到着した、 自分の位置の取得 Vector3d myPos; m_my->getPosition(myPos); double x = myPos.x(); double z = myPos.z(); double theta = 0; // y方向の回転は無しと考える char replyMsg[256]; // もっとも近いゴミ箱を探す bool found = recognizeNearestTrashBox(m_trashBoxPos, m_trashBoxName); if(found) { // ゴミ箱が検出出来た std::cout << "trashboxName " << m_trashBoxName << std::endl; sprintf(replyMsg, "AskTrashBoxRoute %6.1lf %6.1lf %6.1lf %6.1lf %6.1lf %6.1lf", x, z, theta, m_trashBoxPos.x(), m_trashBoxPos.y(), m_trashBoxPos.z()); } else { sprintf(replyMsg, "AskTrashBoxPos %6.1lf %6.1lf %6.1lf", x, z, theta); } m_srv->sendMsgToSrv(replyMsg); m_executed = true; } break; } case 50: { if(evt.time() > m_time && m_executed == false) { Vector3d throwPos; //printf("斜めにちょっとずれた以前の時間 time: %lf \n", evt.time()); // 送られた座標に到着した、 自分の位置の取得 Vector3d myPos; m_my->getPosition(myPos); printf("robot pos %lf %lf \n", myPos.x(), myPos.z()); // grasp中のパーツを取得します CParts *parts = m_my->getParts("RARM_LINK7"); // grasp中のパーツの座標を取得出来れば、回転する角度を逆算出来る。 Vector3d partPos; if (parts->getPosition(partPos)) { printf("parts pos before rotate %lf %lf %lf \n", partPos.x(), partPos.y(), partPos.z()); } //if(calcGrabPos(nextPos, 20, throwPos)) { if(calcGrabPos(nextPos, 20, throwPos)) { m_time = rotateTowardObj(throwPos, m_vel / 5, evt.time()); printf("斜めに捨てる throwPos :%lf %lf %lf \n", throwPos.x(), throwPos.y(), throwPos.z()); //printf("time: %lf \n", m_time); } m_state = 51; m_executed = false; } break; } case 51: { // ゴミ箱に到着したので、車輪を停止し、アームを下ろし、物体をゴミ箱に捨てる準備をする m_my->setWheelVelocity(0.0, 0.0); // grasp中のパーツを取得します CParts *parts = m_my->getParts("RARM_LINK7"); // grasp中のパーツの座標を取得出来れば、回転する角度を逆算出来る。 Vector3d partPos; if (parts->getPosition(partPos)) { printf("parts pos after rotate %lf %lf %lf \n", partPos.x(), partPos.y(), partPos.z()); } // releaseします parts->releaseObj(); // ゴミが捨てられるまで少し待つ sleep(1); // grasp終了 m_grasp = false; //confirmThrewTrashPos(m_threwPos, m_tname); //printf("捨てた座標: %lf %lf %lf \n", m_threwPos.x(), m_threwPos.y(), m_threwPos.z()); // 関節の回転を始める m_my->setJointVelocity("RARM_JOINT1", m_jvel, 0.0); m_time = DEG2RAD(ROTATE_ANG) / m_jvel + evt.time() + 1.0; m_state = 52; m_executed = false; break; } case 52: { // 関節が回転中 if(evt.time() > m_time && m_executed == false) { // 関節が元に戻った、関節の回転を止める m_my->setJointVelocity("RARM_JOINT1", 0.0, 0.0); // 自分の位置の取得 Vector3d myPos; m_my->getPosition(myPos); double x = myPos.x(); double z = myPos.z(); double theta = 0; // y方向の回転は無しと考える // ゴミを捨てたので、次にゴミのある場所を問い合わせする char replyMsg[256]; if(recognizeNearestTrash(m_tpos, m_tname)) { m_executed = false; // 物体が発見された m_state = 500; } else { sprintf(replyMsg, "AskObjPos %6.1lf %6.1lf %6.1lf", x, z, theta); m_srv->sendMsgToSrv(replyMsg); m_executed = true; } } break; } case 100: { m_my->setJointVelocity("RARM_JOINT1", 0.0, 0.0); m_my->setWheelVelocity(0.0, 0.0); break; } case 800: { if(evt.time() > m_time && m_executed == false) { sendSceneInfo(); m_executed = true; } break; } case 805: { if(evt.time() > m_time && m_executed == false) { // 送られた座標に移動する double range = 0; m_time = rotateTowardObj(nextPos, m_rotateVel, evt.time()); m_state = 807; m_executed = false; } break; } case 807: { if(evt.time() > m_time && m_executed == false) { m_my->setWheelVelocity(0.0, 0.0); printf("移動先 x: %lf, z: %lf \n", nextPos.x(), nextPos.z()); m_time = goToObj(nextPos, m_vel*4, m_range, evt.time()); m_state = 810; m_executed = false; } break; } case 810: { // 送られた座標に移動中 if(evt.time() > m_time && m_executed == false) { m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(m_lookingPos, m_rotateVel, evt.time()); m_executed = false; m_state = 815; } break; } case 815: { // 送られた座標に移動中 if(evt.time() > m_time && m_executed == false) { m_my->setWheelVelocity(0.0, 0.0); sendSceneInfo(); printf("sent data to SIGViewer \n"); m_executed = true; } break; } case 920: { // 送られた座標に回転する m_time = rotateTowardObj(nextPos, m_rotateVel, evt.time()); m_state = 921; m_executed = false; break; } case 921: { // ロボットが回転中 if(evt.time() > m_time && m_executed == false) { m_my->setWheelVelocity(0.0, 0.0); m_executed = false; } break; } default: { break; } } return 0.05; }
double MyController::onAction(ActionEvent &evt) { switch(m_state){ // wait case 0:{ break; } // 1st section case 100: { m_time = rotateTowardObj(Vector3d(-50,60,500),m_vel_rot,evt.time()); m_state = 101; break; } case 101: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-50,60,500), m_vel, 1.0, evt.time()); m_state = 102; } break; } case 102: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-50,60,575), m_vel, 1.0, evt.time()); m_state = 103; } break; } case 103: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-450,60,575),m_vel_rot,evt.time()); m_state = 104; break; } } case 104: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-450,60,575), m_vel, 1.0, evt.time()); m_state = 105; } break; } case 105: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); // wait for a walking person usleep(3200000); m_state = 106; } break; } case 106: { m_time = rotateTowardObj(Vector3d(-525,60,575),m_vel_rot,evt.time()); m_state = 107; break; } case 107: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-525,60,575), m_vel, 1.0, evt.time()); m_state = 200; } break; } // 2nd section case 200: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-800,60,575),m_vel_rot,evt.time()); m_state = 201; } break; } case 201: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-800,60,575), m_vel, 1.0, evt.time()); m_state = 202; } break; } case 202: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-800,60,275),m_vel_rot,evt.time()); m_state = 203; } break; } case 203: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-800,60,275), m_vel, 1.0, evt.time()); m_state = 204; } break; } case 204: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-1100,60,275),m_vel_rot,evt.time()); m_state = 205; } break; } case 205: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-1100,60,275), m_vel, 1.0, evt.time()); m_state = 206; } break; } case 206: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); // tell robot entered in an elevator broadcastMsg("Door_close"); m_state = 207; } break; } case 207: { // wait for a while until a door opened sleep(5); m_state = 208; break; } case 208: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-800,60,275),m_vel_rot,evt.time()); m_state = 209; } break; } case 209: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-800,60,275), m_vel, 1.0, evt.time()); m_state = 210; } break; } case 210: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); // std::string msg = "Get_off"; broadcastMsg(msg); // sleep(14); m_state = 300; } break; } // 3rd section case 300: { m_time = rotateTowardObj(Vector3d(-800,60,-200),m_vel_rot,evt.time()); m_state = 301; break; } case 301: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-800,60,-200), m_vel, 1.0, evt.time()); m_state = 302; } break; } case 302: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-970,60,-200),m_vel_rot,evt.time()); m_state = 303; } break; } case 303: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-970,60,-200), m_vel, 1.0, evt.time()); m_state = 304; } break; } case 304: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-970,60,-400),m_vel_rot,evt.time()); m_state = 305; } break; } case 305: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-970,60,-400), m_vel, 1.0, evt.time()); m_state = 306; } break; } case 306: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-800,60,-550),m_vel_rot,evt.time()); m_state = 307; } break; } case 307: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-800,60,-550), m_vel, 1.0, evt.time()); m_state = 900; } break; } // finish line case 900: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-800,60,-750),m_vel_rot,evt.time()); m_state = 901; } break; } case 901: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-800,60,-750), m_vel, 1.0, evt.time()); m_state = 999; } break; } // 1st section case 1100: { //m_time = rotateTowardObj(Vector3d(-50,60,500),m_vel,evt.time()); m_time = rotateTowardObj(Vector3d(-50,60,-300),m_vel_rot,evt.time()); m_state = 1101; break; } case 1101: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); //m_time = goToObj(Vector3d(-50,60,500), m_vel*20, 1.0, evt.time()); m_time = goToObj(Vector3d(-50,60,-300), m_vel, 1.0, evt.time()); m_state = 1102; } break; } case 1102: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); //m_time = goToObj(Vector3d(-50,60,575), m_vel*20, 1.0, evt.time()); m_time = rotateTowardObj(Vector3d(-300,60,-300),m_vel_rot,evt.time()); m_state = 1103; } break; } case 1103: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); //m_time = rotateTowardObj(Vector3d(-450,60,575),m_vel,evt.time()); m_time = goToObj(Vector3d(-300,60,-300), m_vel, 1.0, evt.time()); m_state = 1104; break; } } case 1104: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-300,60,575),m_vel_rot,evt.time()); m_state = 1105; } break; } case 1105: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-300,60,575), m_vel, 1.0, evt.time()); m_state = 1106; } break; } case 1106: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-450,60,575),m_vel_rot,evt.time()); m_state = 1107; } break; } case 1107: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-450,60,575), m_vel, 1.0, evt.time()); m_state = 1108; } break; } case 1108: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); // wait for a walking person usleep(3200000); m_state = 1109; } break; } case 1109: { m_time = rotateTowardObj(Vector3d(-525,60,575),m_vel_rot,evt.time()); m_state = 1110; break; } case 1110: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-525,60,575), m_vel, 1.0, evt.time()); m_state = 1200; } break; } // 2nd section case 1200: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-800,60,575),m_vel_rot,evt.time()); m_state = 1201; } break; } case 1201: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-800,60,575), m_vel, 1.0, evt.time()); m_state = 1202; } break; } case 1202: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-800,60,275),m_vel_rot,evt.time()); m_state = 1203; } break; } case 1203: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-800,60,275), m_vel, 1.0, evt.time()); m_state = 1204; } break; } case 1204: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-1100,60,275),m_vel_rot,evt.time()); m_state = 1205; } break; } case 1205: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-1100,60,275), m_vel, 1.0, evt.time()); m_state = 1206; } break; } case 1206: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); // tell robot entered in an elevator broadcastMsg("Door_close"); m_state = 1207; } break; } case 1207: { // wait for a while until a door opened sleep(5); m_state = 1208; break; } case 1208: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-800,60,275),m_vel_rot,evt.time()); m_state = 1209; } break; } case 1209: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-800,60,275), m_vel, 1.0, evt.time()); m_state = 1210; } break; } case 1210: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); // std::string msg = "Get_off"; broadcastMsg(msg); // sleep(14); m_state = 1300; } break; } // 3rd section case 1300: { m_time = rotateTowardObj(Vector3d(-800,60,-200),m_vel_rot,evt.time()); m_state = 1301; break; } case 1301: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-800,60,-200), m_vel, 1.0, evt.time()); m_state = 1302; } break; } case 1302: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-970,60,-200),m_vel_rot,evt.time()); m_state = 1303; } break; } case 1303: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-970,60,-200), m_vel, 1.0, evt.time()); m_state = 1304; } break; } case 1304: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-970,60,-400),m_vel_rot,evt.time()); m_state = 1305; } break; } case 1305: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-970,60,-400), m_vel, 1.0, evt.time()); m_state = 1306; } break; } case 1306: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-800,60,-550),m_vel_rot,evt.time()); m_state = 1307; } break; } case 1307: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-800,60,-550), m_vel, 1.0, evt.time()); m_state = 1900; } break; } // finish line case 1900: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(Vector3d(-800,60,-750),m_vel_rot,evt.time()); m_state = 1901; } break; } case 1901: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(Vector3d(-800,60,-750), m_vel, 1.0, evt.time()); m_state = 999; } break; } case 999: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); broadcastMsg("Task_finished"); m_state = 0; } break; } } return 0.05; }
double MyController::onAction(ActionEvent &evt) { if(first == false){ std::string msg = "start"; broadcastMsg(msg); first = true; } int count=0; double r=0.0; //2点間の直線距離 double angle; if(end==false){ if(start==true){ Vector3d pos; Vector3d npos; if(first==false){ FILE* fp; x=0; y=0; z=0; w=0; //チェックポイント dx=0; dy=0; dz=0; if((fp = fopen("node.txt", "r")) == NULL) { printf("File do not exist.\n"); exit(0); } while(fscanf(fp, "%lf,%lf,%lf,%lf", &x, &y, &z,&w) != EOF) { temp.x[i]=x; temp.y[i]=y; temp.z[i]=z; temp.w[i]=w; i++; } fclose(fp); first = true; i=0; } if(stop==false){ my->getPosition(pos); npos.x(temp.x[i]); npos.y(temp.y[i]); npos.z(temp.z[i]); angle = rotateTowardObj(npos); if(angle < 0.0){ angle = -1.0 * angle; } /*ここに相当する部分を書く*/ //my->setAxisAndAngle(0, 1.0, 0, -angle); // 回転すべき円周距離 double distance = m_distance*PI*fabs(targetAngle)/(2*PI); if(targetAngle > 0.0){ m_my->setWheelVelocity(velocity, -velocity); } else{ m_my->setWheelVelocity(-velocity, velocity); } // 車輪の半径から移動速度を得る double vel = m_radius*velocity; // 回転時間(u秒) double time = (distance / vel) + evt.time(); if(evt.time>=time){ m_my->setWheelVelocity(0, 0); } dx=(temp.x[i]-pos.x()); dy=(temp.y[i]-pos.y()); dz=(temp.z[i]-pos.z()); r=sqrt(pow(dx,2)+pow(dz,2)); //ここまでが現在地から次の座標までの距離と角度の計算 double vel = m_radius*velocity; // 移動開始 m_my->setWheelVelocity(velocity, velocity); // 到着時間取得 double time2 = r / vel; count = 0; count2= 0; i++; } if(temp.w[i-1] == 1.0){ std::string msg = "point1"; //"robot_000"にメッセージを送信します sendMsg("man_001", msg); }else if(temp.w[i-1] == 2.0){ stop=true; broadcastMsgToSrv("elevator"); if(elevator==true){ stop=false; } } } } /***************************************************************************/ /* if(strstr(myname() , "robot_004")!= NULL){ m_my->setWheelVelocity(m_vel*2, m_vel*2); } */ return 0.1; }
double MyController::onAction(ActionEvent &evt) { if(first == false){ std::string msg = "start"; broadcastMsg(msg); } if(first==false){ FILE* fp; x=0; y=0; z=0; w=0; //チェックポイント if((fp = fopen("node2.txt", "r")) == NULL) { printf("File do not exist.\n"); exit(0); } while(fscanf(fp, "%lf,%lf,%lf,%lf", &x, &y, &z,&w) != EOF) { temp.x[i]=x; temp.y[i]=y; temp.z[i]=z; temp.w[i]=w; i++; } fclose(fp); first = true; i=0; } switch(m_state){ // 初期状態 case 0: { npos.x(temp.x[i]); npos.y(temp.y[i]); npos.z(temp.z[i]); m_time= rotateTowardObj(npos,m_vel,evt.time()); m_state = 1; break; } // 回転中 case 1: { // 回転終了 if(evt.time() >= m_time){ // 回転を止める m_my->setWheelVelocity(0.0, 0.0); m_time = goToObj(npos, m_vel*20, 1.0, evt.time()); m_state = 2; } break; } case 2: { if(evt.time() >= m_time){ m_my->setWheelVelocity(0.0, 0.0); if(temp.w[i] == 1.0){ usleep(3200000); i++; }else if(temp.w[i] == 2.0){ std::string msg = "elevator"; //"man_000"にメッセージを送信します //broadcastMsgToSrv("Elevator"); sendMsg("man_000", msg); m_state = 0; i++; }else if(temp.w[i] == 3.0){ std::string msg = "ok"; //"man_000"にメッセージを送信します //broadcastMsgToSrv("Elevator"); sendMsg("man_000", msg); sleep(10); m_state = 0; i++; }else if(temp.w[i] == 4.0){ m_state =99; } else{ //std::string msg = "elevator"; //"man_000"にメッセージを送信します //broadcastMsgToSrv("Elevator"); //sendMsg("man_000", msg); m_state = 0; i++; } } break; } case 99: { if(flg==false){ m_my->setWheelVelocity(0.0, 0.0); //std::string msg = "Collision"; //broadcastMsg(msg); flg=true; } } } return 0.1; }
double MyController::onAction(ActionEvent &evt) { /* if(!checkService("RecogTrash")){ m_srv == NULL; m_state = 0; return UPDATE_INTERVAL; } if(m_srv == NULL){ // ゴミ認識サービスが利用可能か調べる if(checkService("RecogTrash")){ // ゴミ認識サービスに接続 m_srv = connectToService("RecogTrash"); return UPDATE_INTERVAL; } }*/ //if(evt.time() < m_time) printf("state: %d \n", m_state); switch(m_state) { // 初期状態 case 0: { if(m_srv == NULL){ // ゴミ認識サービスが利用可能か調べる if(checkService("RecogTrash")){ // ゴミ認識サービスに接続 m_srv = connectToService("RecogTrash"); } } else if(m_srv != NULL && m_executed == false){ //rotate toward upper m_my->setJointVelocity("LARM_JOINT4", -m_jvel, 0.0); m_my->setJointVelocity("RARM_JOINT4", -m_jvel, 0.0); // 50°回転 m_time = DEG2RAD(ROTATE_ANG) / m_jvel + evt.time(); m_state = 5; m_executed = false; } break; } case 5: { if(evt.time() > m_time && m_executed == false) { m_my->setJointVelocity("LARM_JOINT4", 0.0, 0.0); m_my->setJointVelocity("RARM_JOINT4", 0.0, 0.0); sendSceneInfo("Start"); printf("Started! \n"); m_executed = true; } break; } case 800: { if(evt.time() > m_time && m_executed == false) { sendSceneInfo(); m_executed = true; } break; } case 805: { if(evt.time() > m_time && m_executed == false) { // 送られた座標に移動する double range = 0; m_time = rotateTowardObj(nextPos, m_rotateVel, evt.time()); m_state = 807; m_executed = false; } break; } case 807: { if(evt.time() > m_time && m_executed == false) { m_my->setWheelVelocity(0.0, 0.0); printf("移動先 x: %lf, z: %lf \n", nextPos.x(), nextPos.z()); m_time = goToObj(nextPos, m_vel*4, m_range, evt.time()); if (m_lookObjFlg == 1.0) { printf("looking to Obj \n"); m_state = 810; } else { printf("go to next node \n"); m_state = 815; } m_executed = false; } break; } case 810: { // 送られた座標に移動中 if(evt.time() > m_time && m_executed == false) { m_my->setWheelVelocity(0.0, 0.0); m_time = rotateTowardObj(m_lookingPos, m_rotateVel, evt.time()); m_executed = false; m_state = 815; } break; } case 815: { // 送られた座標に移動中 if(evt.time() > m_time && m_executed == false) { m_my->setWheelVelocity(0.0, 0.0); sendSceneInfo(); printf("sent data to SIGViewer \n"); m_executed = true; } break; } case 920: { // 送られた座標に回転する m_time = rotateTowardObj(nextPos, m_rotateVel, evt.time()); m_state = 921; m_executed = false; break; } case 921: { // ロボットが回転中 if(evt.time() > m_time && m_executed == false) { m_my->setWheelVelocity(0.0, 0.0); m_executed = false; } break; } default: { break; } } return UPDATE_INTERVAL; }
double DemoRobotController::onAction(ActionEvent &evt) { switch(m_state) { case 0: { break; } case 1: { this->stopRobotMove(); break; } case 10: { // go straight a bit m_graspObjectName = m_trashName2; // at first, focusing to m_trashName2:can_0 m_robotObject->setWheelVelocity(m_angularVelocity, m_angularVelocity); m_time = 10.0/m_movingSpeed + evt.time(); // time to be elapsed m_state = 20; break; } case 20: { // direct to the trash if(evt.time() >= m_time && m_state==20) { stopRobotMove(); // at first, stop robot maneuver Vector3d l_tpos; this->recognizeObjectPosition(l_tpos, m_trashName2); // get position of trash double l_moveTime = rotateTowardObj(l_tpos); // rotate toward the position and calculate the time to be elapsed. m_time = l_moveTime+evt.time(); m_state = 30; } break; } case 30: { // proceed toward trash if(evt.time() >= m_time && m_state==30) { this->stopRobotMove(); Vector3d l_tpos; this->recognizeObjectPosition(l_tpos, m_trashName2); double l_moveTime = goToObj(l_tpos, 75.0); // go toward the position and calculate the time to be elapsed. m_time = l_moveTime+evt.time(); m_state = 40; } break; } case 40: { // get back a bit after colliding with the table if(evt.time() >= m_time && m_state==40) { this->stopRobotMove(); // at first, stop robot maneuver m_robotObject->setWheelVelocity(-m_angularVelocity, -m_angularVelocity); m_time = 20./m_movingSpeed + evt.time(); m_state = 50; } break; } case 50: { // detour: rotate toward relay point 1 if(evt.time() >= m_time && m_state==50) { this->stopRobotMove(); double l_moveTime = rotateTowardObj(m_relayPoint1); m_time = l_moveTime+evt.time(); m_state = 60; } break; } case 60: { // detour: go toward relay point 1 if(evt.time() >= m_time && m_state==60) { this->stopRobotMove(); double l_moveTime = goToObj(m_relayPoint1, 0.0); m_time = l_moveTime+evt.time(); m_state = 70; } break; } case 70: { // rotate toward the position in front of trash if(evt.time() >= m_time && m_state==70) { this->stopRobotMove(); double l_moveTime = rotateTowardObj(m_frontTrash1); m_time = l_moveTime+evt.time(); m_state = 80; } break; } case 80: { // go toward the position in front of trash if(evt.time() >= m_time && m_state==80) { this->stopRobotMove(); double l_moveTime = goToObj(m_frontTrash1, 0.0); m_time = l_moveTime+evt.time(); m_state = 90; } break; } case 90: { // rotate toward the trash if(evt.time() >= m_time && m_state==90) { this->stopRobotMove(); Vector3d l_tpos; this->recognizeObjectPosition(l_tpos, m_trashName2); double l_moveTime = rotateTowardObj(l_tpos); m_time = l_moveTime+evt.time(); m_state = 100; } break; } case 100: { // prepare the robot arm to grasping the trash if(evt.time() >= m_time && m_state==100) { this->stopRobotMove(); this->neutralizeArms(evt.time()); m_state = 105; } break; } case 105: { // fix robot direction for grasping if(evt.time() >= m_time1 && m_state==105) m_robotObject->setJointVelocity("RARM_JOINT1", 0.0, 0.0); if(evt.time() >= m_time4 && m_state==105) m_robotObject->setJointVelocity("RARM_JOINT4", 0.0, 0.0); if(evt.time() >= m_time1 && evt.time() >= m_time4 && m_state==105) { Vector3d l_tpos; this->recognizeObjectPosition(l_tpos, m_trashName2); double l_moveTime = rotateTowardObj(l_tpos); m_time = l_moveTime+evt.time(); m_state = 110; } break; } case 110: { // approach to the trash if(evt.time() >= m_time && m_state==110) { this->stopRobotMove(); Vector3d l_tpos; this->recognizeObjectPosition(l_tpos, m_trashName2); double l_moveTime = goToObj(l_tpos, 30.0); m_time = l_moveTime+evt.time(); m_state = 120; } break; } case 120: { // try to grasp trash if(evt.time() >= m_time && m_state==120) { this->stopRobotMove(); Vector3d l_tpos; this->recognizeObjectPosition(l_tpos, m_trashName2); double l_moveTime = goGraspingObject(l_tpos); m_time = l_moveTime+evt.time(); m_state = 125; } break; } case 125: { if(evt.time() >= m_time && m_state==125) { m_robotObject->setJointVelocity("RARM_JOINT4", 0.0, 0.0); this->neutralizeArms(evt.time()); m_state = 130; } break; } case 130: { if(evt.time() >= m_time1 && m_state==130) m_robotObject->setJointVelocity("RARM_JOINT1", 0.0, 0.0); if(evt.time() >= m_time4 && m_state==130) m_robotObject->setJointVelocity("RARM_JOINT4", 0.0, 0.0); if(evt.time() >= m_time1 && evt.time() >= m_time4 && m_state==130) { m_robotObject->setWheelVelocity(-m_angularVelocity, -m_angularVelocity); m_time = 20./m_movingSpeed + evt.time(); m_state = 150; } break; } case 150: { if(evt.time() >= m_time && m_state==150) { this->stopRobotMove(); double l_moveTime = rotateTowardObj(m_frontTrashBox2); m_time = l_moveTime + evt.time(); m_state = 160; } break; } case 160: { if(evt.time() >= m_time && m_state==160) { this->stopRobotMove(); double l_moveTime = goToObj(m_frontTrashBox2,0.0); m_time = l_moveTime + evt.time(); m_state = 161; } break; } case 161: { if(evt.time() >= m_time && m_state==161) { this->stopRobotMove(); this->prepareThrowing(evt.time()); m_state = 165; } break; } case 165: { if(evt.time() >= m_time1 && m_state==165) m_robotObject->setJointVelocity("RARM_JOINT1", 0.0, 0.0); if(evt.time() >= m_time4 && m_state==165) m_robotObject->setJointVelocity("RARM_JOINT4", 0.0, 0.0); if(evt.time() >= m_time1 && evt.time() >= m_time4 && m_state==165) { Vector3d l_tpos; this->recognizeObjectPosition(l_tpos, m_trashBoxName2); double l_moveTime = rotateTowardObj(l_tpos); m_time = l_moveTime + evt.time(); m_state = 170; } break; } case 170: { if(evt.time() >= m_time && m_state==170) { this->stopRobotMove(); Vector3d l_tpos; this->recognizeObjectPosition(l_tpos, m_trashBoxName2); double l_moveTime = goToObj(l_tpos, 50.0); m_time = l_moveTime + evt.time(); m_state = 180; } break; } case 180: { if(evt.time() >= m_time && m_state==180) { this->stopRobotMove(); Vector3d l_tpos; this->recognizeObjectPosition(l_tpos, m_trashBoxName2); double l_moveTime = rotateTowardObj(l_tpos); m_time = l_moveTime + evt.time(); m_state = 200; } break; } case 200: { // throw trash and get back a bit if(evt.time() >= m_time && m_state==200) { this->stopRobotMove(); this->throwTrash(); sleep(1); m_robotObject->setWheelVelocity(-m_angularVelocity, -m_angularVelocity); m_time = 50.0/m_movingSpeed + evt.time(); m_state = 225; } break; } case 225: { // recover robot arms if(evt.time() >= m_time && m_state==225) { this->stopRobotMove(); this->neutralizeArms(evt.time()); m_state = 240; } break; } //******************************************************************** case 240: { // go next if(evt.time() >= m_time1 && m_state==240) m_robotObject->setJointVelocity("RARM_JOINT1", 0.0, 0.0); if(evt.time() >= m_time4 && m_state==240) m_robotObject->setJointVelocity("RARM_JOINT4", 0.0, 0.0); if(evt.time() >= m_time1 && evt.time() >= m_time4 && m_state==240) { this->stopRobotMove(); m_graspObjectName = m_trashName1; // set next target double l_moveTime = rotateTowardObj(m_frontTrash2); m_time = l_moveTime + evt.time(); m_state = 250; } break; } case 250: { // approach to neighbor of next target if(evt.time() >= m_time && m_state==250) { this->stopRobotMove(); double l_moveTime = goToObj(m_frontTrash2, 0.0); m_time = l_moveTime + evt.time(); m_state = 260; } break; } case 260: { if(evt.time() >= m_time && m_state==260) { this->stopRobotMove(); Vector3d l_tpos; this->recognizeObjectPosition(l_tpos, m_trashName1); double l_moveTime = rotateTowardObj(l_tpos); m_time = l_moveTime+evt.time(); m_state = 270; } break; } case 270: { // approach to next target if(evt.time() >= m_time && m_state==270) { this->stopRobotMove(); Vector3d l_tpos; this->recognizeObjectPosition(l_tpos, m_trashName1); double l_moveTime = goToObj(l_tpos, 39.0); m_time = l_moveTime + evt.time(); m_state = 275; } break; } case 275: { if(evt.time() >= m_time && m_state==275) { this->stopRobotMove(); Vector3d l_tpos; this->recognizeObjectPosition(l_tpos, m_trashName1); double l_moveTime = rotateTowardObj(l_tpos); m_time = l_moveTime+evt.time(); m_state = 280; } break; } case 280: { if(evt.time() >= m_time && m_state==280) { this->stopRobotMove(); Vector3d l_tpos; this->recognizeObjectPosition(l_tpos, m_trashName1); double l_moveTime = goGraspingObject(l_tpos); m_time = l_moveTime+evt.time(); m_state = 290; } break; } case 290: { if(evt.time() >= m_time && m_state==290) { m_robotObject->setJointVelocity("RARM_JOINT4", 0.0, 0.0); this->neutralizeArms(evt.time()); m_state = 300; } break; } case 300: { if(evt.time() >= m_time1 && m_state==300) m_robotObject->setJointVelocity("RARM_JOINT1", 0.0, 0.0); if(evt.time() >= m_time4 && m_state==300) m_robotObject->setJointVelocity("RARM_JOINT4", 0.0, 0.0); if(evt.time() >= m_time1 && evt.time() >= m_time4 && m_state==300) { m_robotObject->setWheelVelocity(-m_angularVelocity, -m_angularVelocity); m_time = 20./m_movingSpeed + evt.time(); m_state = 310; } break; } case 310: { if(evt.time() >= m_time && m_state==310) { this->stopRobotMove(); double l_moveTime = rotateTowardObj(m_frontTrashBox1); m_time = l_moveTime + evt.time(); m_state = 320; } break; } case 320: { if(evt.time() >= m_time && m_state==320) { this->stopRobotMove(); double l_moveTime = goToObj(m_frontTrashBox1,0.0); m_time = l_moveTime + evt.time(); m_state = 340; } break; } case 340: { if(evt.time() >= m_time && m_state==340) { this->stopRobotMove(); this->prepareThrowing(evt.time()); m_state = 350; } break; } case 350: { if(evt.time() >= m_time1 && m_state==350) m_robotObject->setJointVelocity("RARM_JOINT1", 0.0, 0.0); if(evt.time() >= m_time4 && m_state==350) m_robotObject->setJointVelocity("RARM_JOINT4", 0.0, 0.0); if(evt.time() >= m_time1 && evt.time() >= m_time4 && m_state==350) { Vector3d l_tpos; this->recognizeObjectPosition(l_tpos, m_trashBoxName1); double l_moveTime = rotateTowardObj(l_tpos); m_time = l_moveTime + evt.time(); m_state = 360; } break; } case 360: { if(evt.time() >= m_time && m_state==360) { this->stopRobotMove(); Vector3d l_tpos; this->recognizeObjectPosition(l_tpos, m_trashBoxName1); double l_moveTime = goToObj(l_tpos, 50.0); m_time = l_moveTime + evt.time(); m_state = 370; } break; } case 370: { if(evt.time() >= m_time && m_state==370) { this->stopRobotMove(); Vector3d l_tpos; this->recognizeObjectPosition(l_tpos, m_trashBoxName1); double l_moveTime = rotateTowardObj(l_tpos); m_time = l_moveTime + evt.time(); m_state = 380; } break; } case 380: { // throw trash and get back a bit if(evt.time() >= m_time && m_state==380) { this->stopRobotMove(); this->throwTrash(); sleep(1); m_robotObject->setWheelVelocity(-m_angularVelocity, -m_angularVelocity); m_time = 50.0/m_movingSpeed + evt.time(); m_state = 390; } break; } case 390: { // recover robot arms if(evt.time() >= m_time && m_state==390) { this->stopRobotMove(); m_state = 0; } break; } } return refreshRateOnAction; }
double RobotController::onAction(ActionEvent &evt) { //std::cout << "m_state " << m_state << std::endl; //std::cout << "the size of Vector " << Record_Postures.size() << std::endl; switch(m_state) { case 10: { Robot_speed = Change_Robot_speed; choose_task_arm(5, LEFT_ARM); choose_task_arm(5, RIGHT_ARM); // printf("got it in case!1 flag1 \n"); if (goTo(m_relayPoint1, 0) == true && moveArm(LEFT_ARM) == true && moveArm(RIGHT_ARM) == true) { m_state = 20; // printf("got it in case!1 \n"); } break; } case 20: { Robot_speed = Change_Robot_speed; if (goTo(m_relayPoint2, 0) == true) m_state = 30; break; } case 30: { Robot_speed = Change_Robot_speed; if (goTo(m_relayFrontTable, 0) == true) m_state = 40; break; } case 40: // Test if the cycle is finished or not { if (cycle > 0) { m_state = 41; broadcastMsg("Show_me"); get_Kinect_Data(); m_time = evt.time() + 5; break; } else { m_state = 49; break; } } case 41: { if(evt.time() > m_time) m_state = 42; break; } case 42: { Kinect_Data_Off(); // finished analysing data m_pointedObject = "petbottle"; m_pointedtrash = "recycle"; std::cout << "Task started Robot ........ " << std::endl; //PrintPosture(); m_state = 50; } case 49: { break; } case 50: //Optional case !!! { Robot_speed = Change_Robot_speed; if (m_pointedObject=="petbottle") { if (goTo(m_BottleFront, 0) == true) m_state = 60; } else if (m_pointedObject=="mugcup") { if (goTo(m_MuccupFront, 0) == true) m_state = 60; } else if (m_pointedObject=="can") { if (goTo(m_CanFront, 0) == true) m_state = 60; } break; } case 60: //preparation of the arm for grasp { Robot_speed = Change_Robot_speed; recognizeObjectPosition(m_Object_togo, m_pointedObject); if (goTo(m_Object_togo, 70) == true) { m_state = 70; } break; } case 70: //preparation of the arm for grasp { choose_task_arm(1, LEFT_ARM); if (moveArm(LEFT_ARM) == true) m_state = 80; break; } case 80: //move to the object { Robot_speed = 1; if (goTo(m_Object_togo, 38) == true) m_state = 90; break; } case 90: //move arm to grasp the object { choose_task_arm(2, LEFT_ARM); grasp_left_hand(); if (moveArm(LEFT_ARM) == true) m_state = 100; break; } case 100: { m_state = 110; break; } case 110: //move arm to place in good position for moving { grasp_left_hand(); choose_task_arm(3, LEFT_ARM); if (moveArm(LEFT_ARM) == true) m_state = 120; break; } case 120: { my->setWheelVelocity(-1.4,-1.4); choose_task_arm(5, LEFT_ARM); if (moveArm(LEFT_ARM) == true) { Robot_speed = Change_Robot_speed; m_state = 130; sleep(1); } break; } case 130: //move to the object { // Robot_speed = 1; if (goTo(m_relayFrontTrash, 0) == true) { m_state = 140; } break; } case 140: { if (goTo(m_relayFrontTable_reset, 0) == true) { sleep(2); m_state = 150; } break; } case 990: //move to the object { // Robot_speed = 1; break; } case 150: //Optional case !!! { Robot_speed = Change_Robot_speed; if (m_pointedtrash=="recycle") { if (goTo(m_RecycleFront, 0) == true) m_state = 160; } else if (m_pointedtrash=="burnable") { if (goTo(m_BurnableFront, 0) == true) m_state = 160; } else if (m_pointedtrash=="unburnable") { if (goTo(m_UnburnableFront, 0) == true) m_state = 160; } break; } case 160: //preparation of the arm for grasp { recognizeObjectPosition(m_Trash_togo, m_pointedtrash); if (goTo(m_Trash_togo, 50) == true) { m_state = 170; } break; } case 170: //preparation of the arm for grasp { choose_task_arm(1, LEFT_ARM); if (moveArm(LEFT_ARM) == true) m_state = 180; break; } case 180: { Robot_speed = 1; if (goTo(m_Trash_togo, 60) == true) m_state = 190; break; } case 190: //move arm to grasp the object { choose_task_arm(3, LEFT_ARM); if (moveArm(LEFT_ARM) == true) { m_state = 200; release_left_hand(); } break; } case 200: { my->setWheelVelocity(-2.5,-2.5); choose_task_arm(2, LEFT_ARM); if (moveArm(LEFT_ARM) == true) { Robot_speed = Change_Robot_speed; m_state = 210; } break; } case 210: //move to the object { Robot_speed = Change_Robot_speed; if (goTo(m_relayFrontTrash, 0) == true) m_state = 220; break; } case 220: //preparation of the arm for grasp { choose_task_arm(5, LEFT_ARM); if (moveArm(LEFT_ARM) == true) m_state = 230; break; } case 230: //move to the object { Robot_speed = Change_Robot_speed; if (goTo(m_relayFrontTable, 0) == true) { cycle = cycle-1; m_state = 40; broadcastMsg("Task_finished"); m_pointedtrash = ""; m_pointedObject = ""; m_state = 0; } break; } } return m_onActionReturn; }
double DemoRobotController::onAction(ActionEvent &evt) { switch(m_state) { case 0: { break; } case 1: { this->stopRobotMove(); break; } case 50: { // detour: rotate toward relay point 1 if(evt.time() >= m_time) { this->stopRobotMove(); double l_moveTime = rotateTowardObj(m_relayPoint1); m_time = l_moveTime+evt.time(); m_state = 60; } break; } case 60: { // detour: go toward relay point 1 if(evt.time() >= m_time) { this->stopRobotMove(); double l_moveTime = goToObj(m_relayPoint1, 0.0); m_time = l_moveTime+evt.time(); m_state = 70; } break; } case 70: { // rotate toward the position in front of trash if(evt.time() >= m_time) { this->stopRobotMove(); double l_moveTime = rotateTowardObj(m_frontDesk1); m_time = l_moveTime+evt.time(); m_state = 80; } break; } case 80: { // go toward the position in front of trash if(evt.time() >= m_time) { this->stopRobotMove(); double l_moveTime = goToObj(m_frontDesk1, 0.0); m_time = l_moveTime+evt.time(); m_state = 90; } break; } case 90: { // rotate toward the trash if(evt.time() >= m_time) { this->stopRobotMove(); Vector3d l_tpos; if(m_task == 1) this->recognizeObjectPosition(l_tpos, m_trashName1); else this->recognizeObjectPosition(l_tpos, m_trashName2); double l_moveTime = rotateTowardObj(l_tpos); m_time = l_moveTime+evt.time(); m_state = 100; } break; } case 100: { // prepare the robot arm to grasping the trash if(evt.time() >= m_time) { this->stopRobotMove(); this->neutralizeArms(evt.time()); m_state = 105; } break; } case 105: { // fix robot direction for grasping if(evt.time() >= m_time1) m_robotObject->setJointVelocity("RARM_JOINT1", 0.0, 0.0); if(evt.time() >= m_time4) m_robotObject->setJointVelocity("RARM_JOINT4", 0.0, 0.0); if(evt.time() >= m_time1 && evt.time() >= m_time4) { Vector3d l_tpos; if(m_task == 1) this->recognizeObjectPosition(l_tpos, m_trashName1); else this->recognizeObjectPosition(l_tpos, m_trashName2); double l_moveTime = rotateTowardObj(l_tpos); m_time = l_moveTime+evt.time(); m_state = 110; } break; } case 110: { // approach to the trash if(evt.time() >= m_time) { this->stopRobotMove(); Vector3d l_tpos; if(m_task == 1) this->recognizeObjectPosition(l_tpos, m_trashName1); else this->recognizeObjectPosition(l_tpos, m_trashName2); double l_moveTime = goToObj(l_tpos, 30.0); m_time = l_moveTime+evt.time(); m_state = 120; } break; } case 120: { // try to grasp trash if(evt.time() >= m_time) { this->stopRobotMove(); Vector3d l_tpos; if(m_task == 1) this->recognizeObjectPosition(l_tpos, m_trashName1); else this->recognizeObjectPosition(l_tpos, m_trashName2); double l_moveTime = goGraspingObject(l_tpos); m_time = l_moveTime+evt.time(); m_state = 125; } break; } case 125: { if(evt.time() >= m_time) { m_robotObject->setJointVelocity("RARM_JOINT4", 0.0, 0.0); this->neutralizeArms(evt.time()); m_state = 130; } break; } case 130: { if(evt.time() >= m_time1) m_robotObject->setJointVelocity("RARM_JOINT1", 0.0, 0.0); if(evt.time() >= m_time4) m_robotObject->setJointVelocity("RARM_JOINT4", 0.0, 0.0); if(evt.time() >= m_time1 && evt.time() >= m_time4) { m_robotObject->setWheelVelocity(-m_angularVelocity, -m_angularVelocity); m_time = 20./m_movingSpeed + evt.time(); m_state = 150; } break; } case 150: { if(evt.time() >= m_time) { this->stopRobotMove(); double l_moveTime; if(m_task == 1) l_moveTime = rotateTowardObj(m_frontTrashBox1); else l_moveTime = rotateTowardObj(m_frontTrashBox2); m_time = l_moveTime + evt.time(); m_state = 160; } break; } case 160: { if(evt.time() >= m_time) { this->stopRobotMove(); double l_moveTime; if(m_task == 1) l_moveTime = goToObj(m_frontTrashBox1,0.0); else l_moveTime = goToObj(m_frontTrashBox2,0.0); m_time = l_moveTime + evt.time(); m_state = 161; } break; } case 161: { if(evt.time() >= m_time) { this->stopRobotMove(); this->prepareThrowing(evt.time()); m_state = 165; } break; } case 165: { if(evt.time() >= m_time1) m_robotObject->setJointVelocity("RARM_JOINT1", 0.0, 0.0); if(evt.time() >= m_time4) m_robotObject->setJointVelocity("RARM_JOINT4", 0.0, 0.0); if(evt.time() >= m_time1 && evt.time() >= m_time4) { Vector3d l_tpos; if(m_task == 1) this->recognizeObjectPosition(l_tpos, m_trashBoxName1); else this->recognizeObjectPosition(l_tpos, m_trashBoxName2); double l_moveTime = rotateTowardObj(l_tpos); m_time = l_moveTime + evt.time(); m_state = 170; } break; } case 170: { if(evt.time() >= m_time) { this->stopRobotMove(); Vector3d l_tpos; if(m_task == 1) this->recognizeObjectPosition(l_tpos, m_trashBoxName1); else this->recognizeObjectPosition(l_tpos, m_trashBoxName2); double l_moveTime = goToObj(l_tpos, 50.0); m_time = l_moveTime + evt.time(); m_state = 180; } break; } case 180: { if(evt.time() >= m_time) { this->stopRobotMove(); Vector3d l_tpos; if(m_task == 1) this->recognizeObjectPosition(l_tpos, m_trashBoxName1); else this->recognizeObjectPosition(l_tpos, m_trashBoxName2); double l_moveTime = rotateTowardObj(l_tpos); m_time = l_moveTime + evt.time(); m_state = 200; } break; } case 200: { // throw trash and get back a bit if(evt.time() >= m_time) { this->stopRobotMove(); this->throwTrash(); sleep(1); m_robotObject->setWheelVelocity(-m_angularVelocity, -m_angularVelocity); m_time = 50.0/m_movingSpeed + evt.time(); m_state = 225; } break; } case 225: { // recover robot arms if(evt.time() >= m_time) { this->stopRobotMove(); this->neutralizeArms(evt.time()); m_state = 240; } break; } case 240: { // go next if(evt.time() >= m_time1) m_robotObject->setJointVelocity("RARM_JOINT1", 0.0, 0.0); if(evt.time() >= m_time4) m_robotObject->setJointVelocity("RARM_JOINT4", 0.0, 0.0); if(evt.time() >= m_time1 && evt.time() >= m_time4) { this->stopRobotMove(); broadcastMsg("Task_finished"); //broadcastMsg("Give_up"); m_state = 0; } break; } } return refreshRateOnAction; }