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rigidLoop.h@1:3be7b7d050f4, 2014-12-02 (annotated)
- Committer:
- mbedalvaro
- Date:
- Tue Dec 02 08:29:59 2014 +0000
- Revision:
- 1:3be7b7d050f4
- Parent:
- 0:df6fdd9b99f0
updated
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mbedalvaro | 0:df6fdd9b99f0 | 1 | #ifndef RIGID_LOOP |
mbedalvaro | 0:df6fdd9b99f0 | 2 | #define RIGID_LOOP |
mbedalvaro | 0:df6fdd9b99f0 | 3 | |
mbedalvaro | 0:df6fdd9b99f0 | 4 | // Include the basic objects to create the loop |
mbedalvaro | 0:df6fdd9b99f0 | 5 | #include "soundSpot.h" |
mbedalvaro | 0:df6fdd9b99f0 | 6 | #include "classPointMass.h" // this may be used to move the center of the RIGID loop in dynamically "real" ways |
mbedalvaro | 0:df6fdd9b99f0 | 7 | #include "classSpring.h" // same remark than above |
mbedalvaro | 0:df6fdd9b99f0 | 8 | |
mbedalvaro | 0:df6fdd9b99f0 | 9 | using namespace std; |
mbedalvaro | 0:df6fdd9b99f0 | 10 | |
mbedalvaro | 0:df6fdd9b99f0 | 11 | enum RigidLoopMode {SPOT_FOLLOWING, SPOT_GHOST, SPOT_PACMAN, SPOT_AIR_HOCKEY, SPOT_LORENTZ_FORCE, |
mbedalvaro | 0:df6fdd9b99f0 | 12 | SPOT_BOUNCING, SPOT_BOUNCING_FACTOR, |
mbedalvaro | 0:df6fdd9b99f0 | 13 | SPOT_TEST, SPOT_TRACK, SPOT_TRACK_DOT, |
mbedalvaro | 0:df6fdd9b99f0 | 14 | EXPLOSION}; |
mbedalvaro | 0:df6fdd9b99f0 | 15 | |
mbedalvaro | 0:df6fdd9b99f0 | 16 | class rigidLoop : public soundSpot { |
mbedalvaro | 0:df6fdd9b99f0 | 17 | |
mbedalvaro | 0:df6fdd9b99f0 | 18 | public: |
mbedalvaro | 0:df6fdd9b99f0 | 19 | |
mbedalvaro | 0:df6fdd9b99f0 | 20 | // Constructor and destructor: |
mbedalvaro | 0:df6fdd9b99f0 | 21 | rigidLoop(); |
mbedalvaro | 0:df6fdd9b99f0 | 22 | virtual ~rigidLoop(); |
mbedalvaro | 0:df6fdd9b99f0 | 23 | |
mbedalvaro | 0:df6fdd9b99f0 | 24 | // instantiation of the virtual methods of the base class (we don't need to append "virtual", but for clarity I do): |
mbedalvaro | 0:df6fdd9b99f0 | 25 | void createBlob(int _id, RigidLoopMode _rigidBlobMode, vector2Df _initPos, vector2Df _initSpeed); |
mbedalvaro | 0:df6fdd9b99f0 | 26 | virtual void setRegionMotion(float mmix, float mmiy, float mmax, float mmay); // attention: initial position posX and posY should be inside this bounding box... |
mbedalvaro | 0:df6fdd9b99f0 | 27 | virtual void update(vector2Df referencePos); // update dynamics of the mass loop |
mbedalvaro | 0:df6fdd9b99f0 | 28 | virtual void draw(void); // draw the blob (renders on the laser trajectory object lsdTrajectory from the base class, using the openGL laser renderer - not yet done). |
mbedalvaro | 0:df6fdd9b99f0 | 29 | virtual void computeBoundingBox(); |
mbedalvaro | 0:df6fdd9b99f0 | 30 | virtual void sendDataSpecific(void); |
mbedalvaro | 0:df6fdd9b99f0 | 31 | virtual void setSpeed(float speed); |
mbedalvaro | 0:df6fdd9b99f0 | 32 | virtual void setSize(float size); |
mbedalvaro | 0:df6fdd9b99f0 | 33 | virtual void speedFactor(float speedfactor); |
mbedalvaro | 0:df6fdd9b99f0 | 34 | virtual void sizeFactor(float sizeFactor); |
mbedalvaro | 0:df6fdd9b99f0 | 35 | |
mbedalvaro | 0:df6fdd9b99f0 | 36 | virtual void explosion(); // not very nice programming style, it should be a MODE instead or something like that. |
mbedalvaro | 0:df6fdd9b99f0 | 37 | virtual vector2Df getCenter(); |
mbedalvaro | 0:df6fdd9b99f0 | 38 | virtual void resetPositionSpeed() {centerMass.setInitialCondition(startCenter, startSpeed);}; |
mbedalvaro | 0:df6fdd9b99f0 | 39 | virtual void setPositionSpeed(vector2Df _pos, vector2Df _spe) {centerMass.setInitialCondition(_pos, _spe);}; |
mbedalvaro | 0:df6fdd9b99f0 | 40 | |
mbedalvaro | 0:df6fdd9b99f0 | 41 | virtual void showChildParameters(); |
mbedalvaro | 0:df6fdd9b99f0 | 42 | |
mbedalvaro | 0:df6fdd9b99f0 | 43 | // methods that are new to this class (not in base class): |
mbedalvaro | 0:df6fdd9b99f0 | 44 | void initSizeBlob(int _numPoints); |
mbedalvaro | 0:df6fdd9b99f0 | 45 | void createLoopFromScafold(void); // this is much simpler than the elastic blob (here, we only need to add a central mass) |
mbedalvaro | 0:df6fdd9b99f0 | 46 | // void processLoopData(); // not needed, because the loop is rigid. |
mbedalvaro | 0:df6fdd9b99f0 | 47 | |
mbedalvaro | 0:df6fdd9b99f0 | 48 | RigidLoopMode updateMode; |
mbedalvaro | 0:df6fdd9b99f0 | 49 | |
mbedalvaro | 0:df6fdd9b99f0 | 50 | // The number of points in the loop (in this case, is just the number of points in the scaffold, as well as the number of points in the lsdTrajectory) |
mbedalvaro | 0:df6fdd9b99f0 | 51 | // int numPoints; // this belongs to soundSpot base class |
mbedalvaro | 0:df6fdd9b99f0 | 52 | pointMass centerMass; // this is the center of the rigidLoop. Note that it can have mass or not, this will depend on the RigidLoopMode |
mbedalvaro | 0:df6fdd9b99f0 | 53 | float integrationStep; |
mbedalvaro | 0:df6fdd9b99f0 | 54 | |
mbedalvaro | 0:df6fdd9b99f0 | 55 | // The following are common to all blobs: |
mbedalvaro | 0:df6fdd9b99f0 | 56 | // float angleCorrectionForceLoop; |
mbedalvaro | 0:df6fdd9b99f0 | 57 | // vector2D recenteringVectorLoop; |
mbedalvaro | 0:df6fdd9b99f0 | 58 | // float angleRecenteringVector; // auxiliary variables for sending data (for the recenteringVectorLoop) |
mbedalvaro | 0:df6fdd9b99f0 | 59 | // float normRecenteringVector; |
mbedalvaro | 0:df6fdd9b99f0 | 60 | |
mbedalvaro | 0:df6fdd9b99f0 | 61 | // other modes: |
mbedalvaro | 0:df6fdd9b99f0 | 62 | bool slidingDirection; // for contour following |
mbedalvaro | 0:df6fdd9b99f0 | 63 | |
mbedalvaro | 0:df6fdd9b99f0 | 64 | // numeric parameters: |
mbedalvaro | 0:df6fdd9b99f0 | 65 | float saccadeRadius; |
mbedalvaro | 0:df6fdd9b99f0 | 66 | |
mbedalvaro | 0:df6fdd9b99f0 | 67 | // THINGS FOR CONTOUR FOLLOWING: |
mbedalvaro | 0:df6fdd9b99f0 | 68 | float saccadeRadius_initial; // this is for SEARCH MODE (remember initial radius) |
mbedalvaro | 0:df6fdd9b99f0 | 69 | bool justSearched; |
mbedalvaro | 0:df6fdd9b99f0 | 70 | |
mbedalvaro | 0:df6fdd9b99f0 | 71 | |
mbedalvaro | 0:df6fdd9b99f0 | 72 | float rotationAngle; // note: in the future, rotation would be done by the openGL-like renderer |
mbedalvaro | 0:df6fdd9b99f0 | 73 | |
mbedalvaro | 0:df6fdd9b99f0 | 74 | float massCenter; |
mbedalvaro | 0:df6fdd9b99f0 | 75 | float dampMotionCenterMass; |
mbedalvaro | 0:df6fdd9b99f0 | 76 | |
mbedalvaro | 0:df6fdd9b99f0 | 77 | |
mbedalvaro | 0:df6fdd9b99f0 | 78 | float speedContourFollowing; // this is given as a percentage of the radius of the circle |
mbedalvaro | 0:df6fdd9b99f0 | 79 | float factorBouncingForce; // spring force when penetrating on dark zone (used by SPOT_BOUNCING) |
mbedalvaro | 0:df6fdd9b99f0 | 80 | float factorAbsorptionShock; // factor speed damping when bouncing on dark zone (used in SPOT_BOUNCING_FACTOR) |
mbedalvaro | 0:df6fdd9b99f0 | 81 | }; |
mbedalvaro | 0:df6fdd9b99f0 | 82 | |
mbedalvaro | 0:df6fdd9b99f0 | 83 | #endif |