Poses.h
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00001 /*
00002  * Copyright (c) 2010, Thomas Ruehr <ruehr@cs.tum.edu>
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 
00031 #ifndef __POSES_H__
00032 #define __POSES_H__
00033 
00034 class Poses {
00035 public:
00036 static double milehighPoseA[7];
00037 static double milehighPoseB[7];
00038 //{-0.82681730923312724, 0.15596892532371576, -0.16835406527856578, -1.7773528734848965, -197.19522687315879, -1.0987956365304499, 284.37391632306253};
00039 // arm joint angles for seeing the marker with the hand camera
00040 //high drawer
00041 static double highPoseA[7];
00042 static double highPoseB[7];
00043 
00044 //low drawer
00045 static double lowPoseA[7];
00046 static double lowPoseB[7];
00047 
00048 //middle drawer
00049 static double midPoseA[7];
00050 static double midPoseB[7];
00051 
00052 //tucking pose, expects left arm to be tucked already
00053 static double tuckPose[7];
00054 static double tuckPoseForLeft[7];
00055 //untucking poses, hand follows the base in a circular motion
00056 static double untuckPoseA[7];
00057 static double untuckPoseB[7];
00058 
00059 static double leftHighB[7];
00060 static double leftHighA[7];
00061 
00062 static double lf0[7];
00063 static double lf1[7];
00064 static double lf2[7];
00065 static double lf3[7];
00066 
00067 static double dishA[7];
00068 static double dishB[7];
00069 static double dishC[7];
00070 static double dishD[7];
00071 
00072 // robot poses in map frame
00073 static double poseA[4]; // island left
00074 static double poseB[4]; //island middle
00075 static double poseC[4]; //island right
00076 //double poseD[4] = { .212, 2.89, 0, 1}; // below oven
00077 static double poseD[4]; // below oven
00078 static double poseE[4]; //sink left
00079 static double poseF[4]; // sink dishwasher
00080 static double poseG[4]; // sink righ / trash
00081 static double poseH[4]; // right of oven
00082 static double poseI[4]; // fridge
00083 static double poseJ[4]; // fridge
00084 
00085 //double poseD1[4] = { -0.996, 2.152, 0.921, -.390}; // %8
00086 //double poseD2[4] = { -.754, 0.239, 0.952, .306}; // %9
00087 //double poseD3[4] = { .242, 2.263, 0, 1}; // right of heater
00088 //double poseD4[4] = { .242, 2.263, 0, 1}; // right of heater
00089 
00090 static double pose0[4]; // somewhere in between island and sink
00091 
00092 static double *poses[20];
00093 
00094 static int drw_top ;
00095 static int drw_mid ;
00096 static int drw_low ;
00097 
00098 static double inDrawer0[];
00099 
00100 static double prepDishL0[7];
00101 static double prepDishR0[7];
00102 static double prepDishL1[7];
00103 static double prepDishR1[7];
00104 
00105 static double prepDishRT[7];
00106 static double prepDishLT[7];
00107 
00108 
00109 private:
00110    Poses(){}
00111 };
00112 
00113 /*
00114 
00115 
00116 
00117 
00118 */
00119 
00120 #endif
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ias_drawer_executive
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:57