void MyController::onInit(InitEvent &evt)
{
m_my = getRobotObj(myname());
// 初期位置取得
m_my->getPosition(m_inipos);
// 車輪の半径と車輪間隔距離
m_radius = 10.0;
m_distance = 10.0;
m_time = 0.0;
// 車輪の半径と車輪間距離設定
m_my->setWheel(m_radius, m_distance);
m_state = 0;
// ここではゴミの名前が分かっているとします
m_trashes.push_back("can_0");
m_trashes.push_back("can_1");
m_trashes.push_back("petbottle_0");
srand((unsigned)time( NULL ));
// 車輪の回転速度
m_vel = 0.3;
// 関節の回転速度
m_jvel = 0.6;
}
void RobotController::onInit(InitEvent &evt)
{
joint_veloc = 0.8;
my = getRobotObj(myname());
// 車輪間距離
m_distance = 10.0;
// 車輪半径
m_radius = 10.0;
// 車輪の半径と車輪間距離設定
my->setWheel(m_radius, m_distance);
m_grasp_left = false;
Change_Robot_speed = 5; // to change the robot's velocity
Robot_speed = Change_Robot_speed;
m_state = 0;
// objects position
m_BottleFront = Vector3d(40.0, 30, -40.0);
m_MuccupFront = Vector3d(0.0, 30, -40.0);
m_CanFront = Vector3d(-40.0, 30, -40.0);
// trashBoxs position
m_BurnableFront = Vector3d(-120.0, 30, -60);
m_UnburnableFront = Vector3d(-120.0, 30, 70);
m_RecycleFront = Vector3d(-60.0, 30, -100);
m_relayPoint1 = Vector3d(100, 30, -70);
m_relayPoint2 = Vector3d(0, 30, -70);
m_relayFrontTable = Vector3d(0, 30,-20);
m_relayFrontTable_reset = Vector3d(-80, 30,-50);
m_relayFrontTrash = Vector3d(-80, 30, -80);
cycle = 27;
m_onActionReturn = 0.01;
srand((unsigned)time( NULL ));
// grasp初期化
m_grasp = false;
m_trashes.push_back("petbottle");
m_trashes.push_back("mugcup");
m_trashes.push_back("can");
// ゴミ箱登録
m_trashboxs.push_back("recycle");
m_trashboxs.push_back("burnable");
m_trashboxs.push_back("unburnable");
}
void CameraController::onInit(InitEvent &evt)
{
// カメラ初期方向 1:45 2:135 3:315 4:225
// ロボット初期位置取得
r_my = getRobotObj("robot_004");
r_my->getPosition(r_pos);
// カメラ番号取得
m_my = getObj(myname());
m_name = m_my->name();
// 定点カメラをロボットの方向に回転
rotateTowardRobot(r_pos);
}
void CameraController::onInit(InitEvent &evt)
{
// カメラ初期方向 1:45 2:135 3:315 4:225
// ロボット初期位置取得
r_my = getRobotObj("robot_004");
r_my->getPosition(r_pos);
// カメラ番号取得
m_my = getObj(myname());
m_my->getPosition(m_rotatePos);
m_pathPos = Vector3d(m_rotatePos.x() -500, m_rotatePos.y() + 1700, m_rotatePos.z());
m_name = m_my->name();
configuringPath = false;
// 定点カメラをロボットの方向に回転
// rotateTowardRobot(r_pos);
rotateTowardGround();
}
void DemoRobotController::onInit(InitEvent &evt)
{
// get robot's name
m_robotObject = getRobotObj(myname());
// set wheel configuration
m_radius = 10.0;
m_distance = 10.0;
m_robotObject->setWheel(m_radius, m_distance);
m_time = 0.0;
m_time1 = 0.0;
m_time4 = 0.0;
m_state = 10; // switch of initial behavior
refreshRateOnAction = 0.1; // refresh-rate for onAction proc.
// angular velocity of wheel and moving speed of robot
m_angularVelocity = 1.5;
m_movingSpeed = m_angularVelocity*m_radius; // conversion: rad/ms -> m/ms)
// rotation speed of joint
m_jointVelocity = 0.5;
m_trashName1 = "petbottle_1";
m_trashName2 = "can_0";
m_trashBoxName1 = "trashbox_0"; // for recycle
m_trashBoxName2 = "trashbox_1"; // for burnable
// set positions;
m_frontTrashBox1 = Vector3d(-80.0, 0.0, -90); // for recycle material
m_frontTrashBox2 = Vector3d( 20.0, 0.0, -90); // for burnable material
m_relayPoint1 = Vector3d(190.0, 0.0, -65.0);
m_frontTrash1 = Vector3d(273.0, 0.0, -65.0);
m_frontTrash2 = Vector3d(305.0, 0.0, -80.0);
m_grasp = false;
}
void MyController::onInit(InitEvent &evt)
{
start = false;
elevator = false;
crowd = false;
end = false;
stop = false;
first = false;
i=0;
m_my = getRobotObj(myname());
// 初期位置取得
m_my->getPosition(m_inipos);
// 車輪の半径と車輪間隔距離
m_radius = 10.0;
m_distance = 10.0;
m_time = 0.0;
// 車輪の半径と車輪間距離設定
m_my->setWheel(m_radius, m_distance);
m_state = 0;
srand((unsigned)time( NULL ));
// 車輪の回転速度
m_vel = 0.3;
// 関節の回転速度
m_jvel = 0.6;
}
void RobotController::onInit(InitEvent &evt)
{
m_robotState = 0;
//エージェントの正面の定義はz軸の正の向きを向いていると仮定する
m_defaultNormalVector = Vector3d(0,0,1);
m_onActionReturn = 1.0;
m_speedDelta = 2.0;
m_avatar = "man_000";
m_my = getRobotObj(myname());
// 初期位置取得
//m_my->getPosition(m_inipos);
m_my->getPartsPosition(m_inipos,"RARM_LINK2");
pos_a = Vector3d(-100, 30, -110);//
pos_b = Vector3d(0, 30, -110); ///
// 車輪間距離
m_distance = 10.0;
// 車輪半径
m_radius = 10.0;
// 移動終了時間初期化
m_time = 0.0;
m_time_LA1 = 0.0;
m_time_LA4 = 0.0;
m_time_RA1 = 0.0;
m_time_RA4 = 0.0;
// 車輪の半径と車輪間距離設定
m_my->setWheel(m_radius, m_distance);
m_state = 20;
srand((unsigned)time( NULL ));
// 車輪の回転速度
m_vel = 0.3;
// 関節の回転速度
m_jvel = 0.6;
// grasp初期化
m_grasp = false;
m_recogSrv = NULL;
m_sended = false;
// ここではゴミの名前が分かっているとします
//m_trashes.push_back("petbottle_0");
//m_trashes.push_back("petbottle_1");
//m_trashes.push_back("petbottle_2");
//m_trashes.push_back("petbottle_3");
m_trashes.push_back("petbottle");
//m_trashes.push_back("banana");
//m_trashes.push_back("chigarette");
//m_trashes.push_back("chocolate");
//m_trashes.push_back("mayonaise_0");
//m_trashes.push_back("mayonaise_1");
m_trashes.push_back("mugcup");
//m_trashes.push_back("can_0");
//m_trashes.push_back("can_1");
m_trashes.push_back("can");
//m_trashes.push_back("can_3");
// ゴミ箱登録
m_trashboxs.push_back("bluetrashbox");
m_trashboxs.push_back("redtrashbox");
m_trashboxs.push_back("greentrashbox");
m_trashboxs.push_back("wagon");
}
void RobotController::onInit(InitEvent &evt)
{
m_robotState = 0;
//エージェントの正面の定義はz軸の正の向きを向いていると仮定する
m_defaultNormalVector = Vector3d(0,0,1);
m_onActionReturn = 0.01;
m_speedDelta = 2.0;
m_my = getRobotObj(myname());
// 初期位置取得
m_my->getPartsPosition(m_inipos,"RARM_LINK2");
m_relayPoint0 = Vector3d(0, 30, 0);
m_relayPoint1 = Vector3d(0, 30, 350);
m_relayPoint2 = Vector3d(-400, 30, 0);
m_kitchenPoint = Vector3d(200, 30, 350);;
m_bedroomPoint = Vector3d(-400, 30, 200);;
m_lobbyPoint = Vector3d(-400, 30, -200);;
// 車輪間距離
m_distance = 10.0;
// 車輪半径
m_radius = 10.0;
// 移動終了時間初期化
m_time = 0.0;
m_time_LA1 = 0.0;
m_time_LA4 = 0.0;
m_time_RA1 = 0.0;
m_time_RA4 = 0.0;
// 車輪の半径と車輪間距離設定
m_my->setWheel(m_radius, m_distance);
m_state = 0;
srand((unsigned)time( NULL ));
// 車輪の回転速度
m_vel = 1.0;
// 関節の回転速度
m_jvel = 1.0;
// grasp初期化
m_grasp = false;
m_recogSrv = NULL;
m_sended = false;
// ここではゴミの名前が分かっているとします
m_trashes.push_back("petbottle_1");
m_trashes.push_back("can_0");
m_trashes.push_back("apple");
// ゴミ箱登録
m_trashboxs.push_back("trashbox_0");
m_trashboxs.push_back("trashbox_1");
m_trashboxs.push_back("trashbox_2");
broadcastMsgToSrv("Waiting 'start' message\n");
}