Noisy Controller for DOF movement. More...

#include <noisydofmover.h>

Inheritance diagram for VART::NoisyDofMover:

Public Member Functions
void	SetNoise (float newNoiseAmplitude, float newNoiseWaveLenght)
	Sets the noise attributes. More...

void	SetOvershoot (float amplitude, float peak)
	Sets the overshoot attributes. More...

void	SetOffset (float newOffset)
	Set the offset attribute. More...

Public Member Functions inherited from VART::DofMover
const Dof *	GetTarget ()
	Returns a pointer to the target DOF. More...

Static Public Member Functions
static void	SetDefaultNoiseAmplitude (float value)

static void	SetDefaultNoiseWaveLenght (float value)

static void	SetDefaultOvershoot (float value)

static void	SetDefaultOffset (float value)

static void	SetDefaultPeakTime (float value)

Protected Member Functions
	NoisyDofMover ()
	Creates an unitialized noisy DOF mover. More...

virtual void	Initialize (float iniTime, float finTime, float finPos)
	Initializes a noisy DOF mover. More...

virtual void	Move ()
	Changes target DOF. More...

float	Noise ()
	Generates and returns corehent noise. More...

float	PositionalError ()
	Generates and returns positional error. More...

float	Random ()
	Generates and returns a pseudo-random number within internal noise amplitude. More...

Protected Member Functions inherited from VART::DofMover
	DofMover ()
	Creates an unitialized DOF mover. More...

	DofMover (const VART::DofMover &dofMover)
	Creates a copy of an DofMover. All data are copied, except the 'active' atribute, that is set to false. More...

virtual	~DofMover ()

void	SetDof (Dof *dofPtr)
	Sets the target DOF. More...

void	GetFinalTime (std::list< float > *resultPtr)
	Adds the final time to the list. More...

Protected Attributes
float	noiseAmplitude
	Noise amplitude (noise level) More...

float	noiseWaveLenght
	Noise wave length. More...

float	nextSubGoalTime
	Time for next noise peek. More...

float	previousSubGoalTime
	Time of previous noise peek. More...

float	nextSubGoalPosition
	Amplitude of next noise peek. More...

float	previousSubGoalPosition
	Amplitude of previous noise peek. More...

float	offset
	how much to miss the DOF target position More...

float	overshoot
	how much to pass the DOF target position before correction More...

float	peakTime
	Overshoot time. More...

float	overshootRange
	Movement range from intial position to overshoot position. More...

float	finalRange
	Movement range from overshoot position to goal position. More...

float	overshootPosition

bool	hasOvershoot

bool	hasNoise

Protected Attributes inherited from VART::DofMover
float	targetPosition
	Target position. More...

float	initialPosition
	Position of target DOF upon activation. More...

float	initialTime
	Time of predicted activation (normalized). More...

float	activationTime
	Time of actual activation (normalized). More...

float	finalTime
	Normalized deactivation time. More...

float	positionRange
	How far from target at activation time. More...

float	timeRange
	How much time to reach target position. More...

Dof *	targetDofPtr
	Target DOF. More...

bool	active
	Tells whether a DOF mover is active. More...

Static Protected Attributes
static float	defaultNoiseAmplitude = 0.0f

static float	defaultNoiseWaveLenght = 1.01f

static float	defaultOvershoot = 0.0f

static float	defaultOffset = 0.0f

static float	defaultPeakTime = 0.9f

Static Protected Attributes inherited from VART::DofMover
static float	goalTime
	Time of next snapshot, normalized to joint movement's duration. More...

static bool	cycle
	Indicates whether the current action is cyclic. More...

static const Interpolator *	interpolatorPtr = NULL
	Position interpolator. More...

static unsigned int	priority = 1
	Priority of active action. More...

static float	minimumDuration
	Minimum duration when computing motion paths. More...

Friends
class	JointMover

class	Action

Detailed Description

Noisy Controller for DOF movement.

A DOF mover that adds noise to movement (See DofMover). NoisyDofMover is not meant to be used by the application programmer. Use the interface methods in Action and JointMover.

Definition at line 17 of file noisydofmover.h.

Constructor & Destructor Documentation

VART::NoisyDofMover::NoisyDofMover ( )

protected

Creates an unitialized noisy DOF mover.

After creating a noisy dof mover with the default constructor, call Initialize() to make sure all attributes will be initialized.

Definition at line 19 of file noisydofmover.cpp.

Member Function Documentation

void VART::NoisyDofMover::Initialize	(	float	iniTime,
		float	finTime,
		float	finPos
	)

protectedvirtual

Initializes a noisy DOF mover.

This method takes only values for attributes in the base class because all noise and error attributes are initialized to their default values. See also SetNoise() and SetPositionalError().

Reimplemented from VART::DofMover.

Definition at line 24 of file noisydofmover.cpp.

Referenced by VART::JointMover::AddNoisyDofMover().

void VART::NoisyDofMover::Move ( )

protectedvirtual

Changes target DOF.

Reimplemented from VART::DofMover.

Definition at line 77 of file noisydofmover.cpp.

float VART::NoisyDofMover::Noise ( )

protected

Generates and returns corehent noise.

Definition at line 142 of file noisydofmover.cpp.

References VART::SineInterpolator::GetValue().

float VART::NoisyDofMover::PositionalError ( )

protected

Generates and returns positional error.

Computes overshoot and offset for producing positional error.

float VART::NoisyDofMover::Random ( )

protected

Generates and returns a pseudo-random number within internal noise amplitude.

Definition at line 188 of file noisydofmover.cpp.

void VART::NoisyDofMover::SetDefaultNoiseAmplitude ( float value )

static

Definition at line 193 of file noisydofmover.cpp.

void VART::NoisyDofMover::SetDefaultNoiseWaveLenght ( float value )

static

Definition at line 198 of file noisydofmover.cpp.

void VART::NoisyDofMover::SetDefaultOffset ( float value )

static

Definition at line 208 of file noisydofmover.cpp.

void VART::NoisyDofMover::SetDefaultOvershoot ( float value )

static

Definition at line 203 of file noisydofmover.cpp.

void VART::NoisyDofMover::SetDefaultPeakTime ( float value )

static

Definition at line 213 of file noisydofmover.cpp.

void VART::NoisyDofMover::SetNoise	(	float	newNoiseAmplitude,
		float	newNoiseWaveLenght
	)

Sets the noise attributes.

Definition at line 39 of file noisydofmover.cpp.

Referenced by VART::XmlJointAction::ParseDofMovement(), and VART::XmlAction::ParseDofMovement().

void VART::NoisyDofMover::SetOffset ( float newOffset )

Set the offset attribute.

Definition at line 72 of file noisydofmover.cpp.

Referenced by VART::OffsetModifier::Modify().

void VART::NoisyDofMover::SetOvershoot	(	float	amplitude,
		float	peak
	)

Sets the overshoot attributes.

Definition at line 65 of file noisydofmover.cpp.

Friends And Related Function Documentation

friend class Action

friend

Definition at line 19 of file noisydofmover.h.

friend class JointMover

friend

Definition at line 18 of file noisydofmover.h.

Member Data Documentation

float VART::NoisyDofMover::defaultNoiseAmplitude = 0.0f

staticprotected

Definition at line 65 of file noisydofmover.h.

float VART::NoisyDofMover::defaultNoiseWaveLenght = 1.01f

staticprotected

Definition at line 66 of file noisydofmover.h.

float VART::NoisyDofMover::defaultOffset = 0.0f

staticprotected

Definition at line 68 of file noisydofmover.h.

float VART::NoisyDofMover::defaultOvershoot = 0.0f

staticprotected

Definition at line 67 of file noisydofmover.h.

float VART::NoisyDofMover::defaultPeakTime = 0.9f

staticprotected

Definition at line 69 of file noisydofmover.h.

float VART::NoisyDofMover::finalRange

protected

Movement range from overshoot position to goal position.

Definition at line 111 of file noisydofmover.h.

bool VART::NoisyDofMover::hasNoise

protected

Definition at line 114 of file noisydofmover.h.

bool VART::NoisyDofMover::hasOvershoot

protected

Definition at line 113 of file noisydofmover.h.

float VART::NoisyDofMover::nextSubGoalPosition

protected

Amplitude of next noise peek.

Definition at line 86 of file noisydofmover.h.

float VART::NoisyDofMover::nextSubGoalTime

protected

Time for next noise peek.

Definition at line 80 of file noisydofmover.h.

float VART::NoisyDofMover::noiseAmplitude

protected

Noise amplitude (noise level)

Definition at line 72 of file noisydofmover.h.

float VART::NoisyDofMover::noiseWaveLenght

protected

Noise wave length.

Time space between randoms in DOF's normalized time.

Definition at line 77 of file noisydofmover.h.

float VART::NoisyDofMover::offset

protected

how much to miss the DOF target position

The offset is a controlled error that makes the position of a DOF go from zero to target+offset, aiding the creation of a sense of weight for natural movements.

Definition at line 95 of file noisydofmover.h.

float VART::NoisyDofMover::overshoot

protected

how much to pass the DOF target position before correction

The overshoot is a controlled error that makes the position of a DOF pass the desired target position and then fall back to the desired value. This may help creating an effect associated with inertia.

Definition at line 102 of file noisydofmover.h.

float VART::NoisyDofMover::overshootPosition

protected

Definition at line 112 of file noisydofmover.h.

float VART::NoisyDofMover::overshootRange

protected

Movement range from intial position to overshoot position.

Definition at line 109 of file noisydofmover.h.

float VART::NoisyDofMover::peakTime

protected

Overshoot time.

Peak time is the (normalized) time of maximum overshoot error.

Definition at line 107 of file noisydofmover.h.

float VART::NoisyDofMover::previousSubGoalPosition

protected

Amplitude of previous noise peek.

Definition at line 89 of file noisydofmover.h.

float VART::NoisyDofMover::previousSubGoalTime

protected

Time of previous noise peek.

Definition at line 83 of file noisydofmover.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation