Robotsystem from Robot Group Leipzig: cameramanipulatorRace.cpp Source File

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# cameramanipulatorRace.cpp

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *    frankguettler@gmx.de                                                 *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  ***************************************************************************
    00023  *                                                                         *
    00024  *                                                                         *
    00025  *   $Log: cameramanipulatorRace.cpp,v $
    00026  *   Revision 1.1.2.1  2006/03/19 13:35:10  robot3
    00027  *   race mode now works
    00028  *
    00029  *
    00030  *                                                                         *
    00031  ***************************************************************************/
    00032
    00033 #include <osg/Notify>
    00034 #include "cameramanipulatorRace.h"
    00035 #include "mathutils.h"
    00036 #include "pos.h"
    00037 #include <stdio.h>
    00038
    00039
    00040 #define square(x) ((x)*(x))
    00041
    00042 namespace lpzrobots {
    00043
    00044   using namespace osg;
    00045   using namespace osgGA;
    00046
    00047   CameraManipulatorRace::CameraManipulatorRace(osg::Node* node,GlobalData& global)
    00048     : CameraManipulator(node,global) {}
    00049
    00050   CameraManipulatorRace::~CameraManipulatorRace(){}
    00051
    00052
    00053   void CameraManipulatorRace::calcMovementByAgent() {
    00054     if (watchingAgent!=NULL) {
    00055       // manipulate desired eye by the move of the robot
    00056       const double* robMove = (watchingAgent->getRobot()->getPosition()-oldPositionOfAgent).toArray();
    00057       // attach the robSpeed to desired eye
    00058       for (int i=0;i<=2;i++) {
    00059         if (!isNaN(robMove[i])) {
    00060           desiredEye[i]+=robMove[i];}
    00061         else
    00062           std::cout << "NAN exception!" << std::endl;
    00063       }
    00064       // move behind the robot
    00065       // returns the orientation of the robot in matrix style
    00066       matrix::Matrix Orientation= (watchingAgent->getRobot()->getOrientation());
    00067       Orientation.toTranspose();
    00068       // first get the normalized vector of the orientation
    00069       double eVecX[3] = {0,1,0};
    00070       double eVecY[3] = {1,0,0};
    00071       matrix::Matrix normVecX = Orientation * matrix::Matrix(3,1,eVecX);
    00072       matrix::Matrix normVecY = Orientation * matrix::Matrix(3,1,eVecY);
    00073       // then get the distance between robot and camera
    00074       Position robPos = watchingAgent->getRobot()->getPosition();
    00075       double distance = sqrt(square(desiredEye[0]-robPos.x)+
    00076                              square(desiredEye[1]-robPos.y));
    00077       // then new eye = robPos minus normalized vector * distance
    00078       desiredEye[0]=robPos.x + distance *normVecX.val(1,0);
    00079       desiredEye[1]=robPos.y - distance *normVecY.val(1,0);
    00080
    00081       // now do center on the robot (manipulate the view)
    00082       // desiredEye is the position of the camera
    00083       // calculate the horizontal angle, means pan (view.x)
    00084       if (robPos.x-desiredEye[0]!=0) { // division by zero
    00085         desiredView[0]= atan((desiredEye[0]-robPos.x)/(robPos.y-desiredEye[1]))
    00086           / PI*180.0f+180.0f;
    00087         if (desiredEye[1]-robPos.y<0) // we must switch
    00088                   desiredView[0]+=180.0f;
    00089       }
    00090       // calculate the vertical angle
    00091       if (robPos.z-desiredEye[2]!=0) { // division by zero
    00092         // need dz and sqrt(dx^2+dy^2) for calulation
    00093         desiredView[1]=-atan((sqrt(square(desiredEye[0]-robPos.x)+
    00094                                   square(desiredEye[1]-robPos.y)))
    00095                             /(robPos.z-desiredEye[2]))
    00096           / PI*180.0f-90.0f;
    00097         if (desiredEye[2]-robPos.z<0) // we must switch
    00098           desiredView[1]+=180.0f;
    00099       }
    00100     }
    00101   }
    00102 }