Alvaro Cassinelli / Mbed 2 deprecated skinGames_forktest

just a test

Dependencies:   mbed

Fork of scoreLight_Advanced by Alvaro Cassinelli

rigidLoop.h@7:0df17f3078bc, 2012-04-07 (annotated)

Committer:
mbedalvaro
Date:
Sat Apr 07 14:46:51 2012 +0000
Revision:
7:0df17f3078bc
Parent:
4:f9d364f10335
Child:
12:0de9cd2bced5
working contour following and bouncing. The blob mode is not so nice now, but this is because the UPDATE TIME should be a funciton of the number of points and the complexity of update (very simple in case of bouncing/contour following for rigid loops, ...

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 1:a4050fee11f7 1 #ifndef RIGID_LOOP
mbedalvaro 1:a4050fee11f7 2 #define RIGID_LOOP
mbedalvaro 1:a4050fee11f7 3
mbedalvaro 1:a4050fee11f7 4 // Include the basic objects to create the loop
mbedalvaro 1:a4050fee11f7 5 #include "soundSpot.h"
mbedalvaro 1:a4050fee11f7 6 #include "classPointMass.h" // this may be used to move the center of the RIGID loop in dynamically "real" ways
mbedalvaro 1:a4050fee11f7 7 #include "classSpring.h" // same remark than above
mbedalvaro 1:a4050fee11f7 8
mbedalvaro 1:a4050fee11f7 9 using namespace std;
mbedalvaro 1:a4050fee11f7 10
mbedalvaro 4:f9d364f10335 11 enum RigidLoopMode {SPOT_FOLLOWING, SPOT_BOUNCING, SPOT_TEST};
mbedalvaro 1:a4050fee11f7 12
mbedalvaro 1:a4050fee11f7 13 class rigidLoop : public soundSpot {
mbedalvaro 1:a4050fee11f7 14
mbedalvaro 1:a4050fee11f7 15 public:
mbedalvaro 1:a4050fee11f7 16
mbedalvaro 1:a4050fee11f7 17 // Constructor and destructor:
mbedalvaro 1:a4050fee11f7 18 rigidLoop();
mbedalvaro 1:a4050fee11f7 19 ~rigidLoop();
mbedalvaro 1:a4050fee11f7 20
mbedalvaro 1:a4050fee11f7 21 // instantiation of the virtual methods of the base class (we don't need to append "virtual", but for clarity I do):
mbedalvaro 4:f9d364f10335 22 void createBlob(int _id, RigidLoopMode _rigidBlobMode, vector2D _initPos, vector2D _initSpeed);
mbedalvaro 1:a4050fee11f7 23 virtual void setRegionMotion(int mmix, int mmiy, int mmax, int mmay); // attention: initial position posX and posY should be inside this bounding box...
mbedalvaro 1:a4050fee11f7 24 virtual void update(); // update dynamics of the mass loop
mbedalvaro 1:a4050fee11f7 25 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 1:a4050fee11f7 26 virtual void computeBoundingBox();
mbedalvaro 1:a4050fee11f7 27 virtual void sendDataSpecific(void);
mbedalvaro 1:a4050fee11f7 28
mbedalvaro 1:a4050fee11f7 29 // methods that are new to this class (not in base class):
mbedalvaro 1:a4050fee11f7 30 void initSizeBlob(int _numPoints);
mbedalvaro 1:a4050fee11f7 31 void createLoopFromScafold(void); // this is much simpler than the elastic blob (here, we only need to add a central mass)
mbedalvaro 1:a4050fee11f7 32 // void processLoopData(); // not needed, because the loop is rigid.
mbedalvaro 1:a4050fee11f7 33
mbedalvaro 1:a4050fee11f7 34 RigidLoopMode updateMode;
mbedalvaro 1:a4050fee11f7 35
mbedalvaro 1:a4050fee11f7 36 // 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 1:a4050fee11f7 37 int numPoints;
mbedalvaro 1:a4050fee11f7 38 pointMass centerMass; // this is the center of the rigidLoop. Note that it can have mass or not, this will depend on the RigidLoopMode
mbedalvaro 1:a4050fee11f7 39
mbedalvaro 1:a4050fee11f7 40 // The following are common to all blobs:
mbedalvaro 1:a4050fee11f7 41 // float angleCorrectionForceLoop;
mbedalvaro 1:a4050fee11f7 42 // vector2D recenteringVectorLoop;
mbedalvaro 1:a4050fee11f7 43 // float angleRecenteringVector; // auxiliary variables for sending data (for the recenteringVectorLoop)
mbedalvaro 1:a4050fee11f7 44 // float normRecenteringVector;
mbedalvaro 1:a4050fee11f7 45
mbedalvaro 1:a4050fee11f7 46 // other modes:
mbedalvaro 1:a4050fee11f7 47 bool slidingDirection; // for contour following
mbedalvaro 1:a4050fee11f7 48
mbedalvaro 1:a4050fee11f7 49 // numeric parameters:
mbedalvaro 1:a4050fee11f7 50 float saccadeRadius;
mbedalvaro 1:a4050fee11f7 51
mbedalvaro 7:0df17f3078bc 52 // THINGS FOR CONTOUR FOLLOWING:
mbedalvaro 7:0df17f3078bc 53 float saccadeRadius_initial; // this is for SEARCH MODE (remember initial radius)
mbedalvaro 7:0df17f3078bc 54 bool justSearched;
mbedalvaro 7:0df17f3078bc 55
mbedalvaro 7:0df17f3078bc 56
mbedalvaro 4:f9d364f10335 57 float rotationAngle; // note: in the future, rotation would be done by the openGL-like renderer
mbedalvaro 4:f9d364f10335 58
mbedalvaro 1:a4050fee11f7 59 float massCenter;
mbedalvaro 1:a4050fee11f7 60 float dampMotionCenterMass;
mbedalvaro 1:a4050fee11f7 61
mbedalvaro 1:a4050fee11f7 62 float speedContourFollowing; // this is given as a percentage of the radius of the circle
mbedalvaro 1:a4050fee11f7 63 float factorBouncingForce;
mbedalvaro 1:a4050fee11f7 64 };
mbedalvaro 1:a4050fee11f7 65
mbedalvaro 1:a4050fee11f7 66 #endif