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proprioception refrence frame is wrong, trying to fix...
author Robert McIntyre <rlm@mit.edu>
date Wed, 01 Feb 2012 02:44:07 -0700
parents 2ed7e60d3821
children 421cc43441ae
comparison
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133:2ed7e60d3821 134:ac350a0ac6b0
1056 1056
1057 ;; higher level --- sense/effector 1057 ;; higher level --- sense/effector
1058 ;; these are the functions that provide world i/o, chinese-room style 1058 ;; these are the functions that provide world i/o, chinese-room style
1059 1059
1060 1060
1061 (defn creature-joints
1062 "Return the children of the creature's \"joints\" node."
1063 [#^Node creature]
1064 (if-let [joint-node (.getChild creature "joints")]
1065 (seq (.getChildren joint-node))
1066 (do (println-repl "could not find JOINTS node") [])))
1067
1061 1068
1062 (defn blender-creature 1069 (defn blender-creature
1063 "Return a creature with all joints in place." 1070 "Return a creature with all joints in place."
1064 [blender-path] 1071 [blender-path]
1065 (let [model (load-blender-model blender-path) 1072 (let [model (load-blender-model blender-path)
1066 joints 1073 joints (creature-joints model)]
1067 (if-let [joint-node (.getChild model "joints")] 1074 (assemble-creature model joints)))
1068 (seq (.getChildren joint-node))
1069 (do (println-repl "could not find joints node") []))]
1070 (assemble-creature model joints)))
1071 1075
1072 (defn gray-scale [num] 1076 (defn gray-scale [num]
1073 (+ num 1077 (+ num
1074 (bit-shift-left num 8) 1078 (bit-shift-left num 8)
1075 (bit-shift-left num 16))) 1079 (bit-shift-left num 16)))
1165 (map 1169 (map
1166 (fn [[yaw pitch roll]] 1170 (fn [[yaw pitch roll]]
1167 [(rad->deg yaw) 1171 [(rad->deg yaw)
1168 (rad->deg pitch) 1172 (rad->deg pitch)
1169 (rad->deg roll)]) 1173 (rad->deg roll)])
1170 sensor-data))))) 1174 sensor-data)))))
1175
1176
1177 (defn draw-sprite [image sprite x y color ]
1178 (dorun
1179 (for [[u v] sprite]
1180 (.setRGB image (+ u x) (+ v y) color))))
1181
1182 (defn view-angle
1183 "create a debug view of an angle"
1184 [color]
1185 (let [image (BufferedImage. 50 50 BufferedImage/TYPE_INT_RGB)
1186 previous (atom [25 25])
1187 sprite [[0 0] [0 1]
1188 [0 -1] [-1 0] [1 0]]]
1189 (fn [angle]
1190 (let [angle (float angle)]
1191 (let [position
1192 [(+ 25 (int (* 20 (Math/cos angle))))
1193 (+ 25 (int (* 20(Math/sin angle))))]]
1194 (draw-sprite image sprite (@previous 0) (@previous 1) 0x000000)
1195 (draw-sprite image sprite (position 0) (position 1) color)
1196 (reset! previous position))
1197 image))))
1198
1199 (defn proprioception-debug-window
1200 []
1201 (let [yaw (view-angle 0xFF0000)
1202 roll (view-angle 0x00FF00)
1203 pitch (view-angle 0xFFFFFF)
1204 v-yaw (view-image)
1205 v-roll (view-image)
1206 v-pitch (view-image)
1207 ]
1208 (fn [prop-data]
1209 (dorun
1210 (map
1211 (fn [[y r p]]
1212 (v-yaw (yaw y))
1213 (v-roll (roll r))
1214 (v-pitch (pitch p)))
1215 prop-data)))))
1216
1171 1217
1172 1218
1173 1219
1174 1220
1175 1221