improved SkinGUI for fingertip (#930)

robotology · Jan 5, 2024 · d393231 · d393231
1 parent bffe9bf
commit d393231
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Showing 12 changed files with 571 additions and 13 deletions.
diff --git a/src/tools/iCubSkinGui/plugin/CMakeLists.txt b/src/tools/iCubSkinGui/plugin/CMakeLists.txt
@@ -11,8 +11,12 @@ set(QtICubSkinGuiPlugin_SRCS Fingertip2Left.cpp
                              Fingertip2Right.cpp
                              Fingertip3Left.cpp
                              Fingertip3Right.cpp
+                             Fingertip4Left.cpp
+                             Fingertip4Right.cpp
                              Fingertip.cpp
+                             FingertipMID.cpp
                              PalmLeft.cpp
+                             fakePalm.cpp
                              PalmRight.cpp
                              qticubskinguiplugin.cpp
                              qticubskinguiplugin_plugin.cpp
@@ -22,15 +26,19 @@ set(QtICubSkinGuiPlugin_SRCS Fingertip2Left.cpp
                              TouchSensor.cpp
                              Triangle_10pad.cpp
                              Triangle.cpp
-			     CER_SH_PDL.cpp)
+			                 CER_SH_PDL.cpp)
 
 set(QtICubSkinGuiPlugin_HDRS qticubskinguiplugin.h
                              qticubskinguiplugin_plugin.h
                              include/Fingertip2Left.h
                              include/Fingertip2Right.h
                              include/Fingertip3Left.h
                              include/Fingertip3Right.h
+                             include/Fingertip4Left.h
+                             include/Fingertip4Right.h
                              include/Fingertip.h
+                             include/FingertipMID.h
+                             include/fakePalm.h
                              include/PalmLeft.h
                              include/PalmRight.h
                              include/Quad16.h

diff --git a/src/tools/iCubSkinGui/plugin/Fingertip4Left.cpp b/src/tools/iCubSkinGui/plugin/Fingertip4Left.cpp
@@ -0,0 +1,10 @@
+// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
+
+/*
+ * Copyright (C) 2009 RobotCub Consortium
+ * Author: Marco Maggiali marco.maggiali@iit.it
+ * CopyPolicy: Released under the terms of the GNU GPL v2.0.
+ *
+ */
+
+#include "include/Fingertip4Left.h"
diff --git a/src/tools/iCubSkinGui/plugin/Fingertip4Right.cpp b/src/tools/iCubSkinGui/plugin/Fingertip4Right.cpp
@@ -0,0 +1,10 @@
+// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
+
+/*
+ * Copyright (C) 2009 RobotCub Consortium
+ * Author: Marco Maggiali marco.maggiali@iit.it
+ * CopyPolicy: Released under the terms of the GNU GPL v2.0.
+ *
+ */
+
+#include "include/Fingertip4Right.h"
diff --git a/src/tools/iCubSkinGui/plugin/FingertipMID.cpp b/src/tools/iCubSkinGui/plugin/FingertipMID.cpp
@@ -0,0 +1,10 @@
+// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
+
+/*
+ * Copyright (C) 2009 RobotCub Consortium
+ * Author: Marco Maggiali marco.maggiali@iit.it
+ * CopyPolicy: Released under the terms of the GNU GPL v2.0.
+ *
+ */
+
+#include "include/FingertipMID.h"
diff --git a/src/tools/iCubSkinGui/plugin/SkinMeshThreadPort.cpp b/src/tools/iCubSkinGui/plugin/SkinMeshThreadPort.cpp
@@ -87,16 +87,21 @@ SkinMeshThreadPort::SkinMeshThreadPort(Searchable& config,int period) : Periodic
     for (int t=0; t<sensorSetConfig.size(); ++t)
     {
         yarp::os::Bottle sensorConfig(sensorSetConfig.get(t).toString());
-
         std::string type(sensorConfig.get(0).asString());
 
         if (type=="triangle"       ||
             type=="fingertip"      ||
             type=="fingertip2L"    ||
             type=="fingertip2R"    ||
+            type=="fingertip3L"    ||
+            type=="fingertip3R"    ||
+            type=="fingertip4L"    ||
+            type=="fingertip4R"    ||
+            type=="fingertipMID"   ||
             type=="triangle_10pad" ||
             type=="quad16"         ||
             type=="palmR"          ||
+            type=="fakePalm"       ||
             type=="palmL"          ||
             type == "cer_sh_pdl"   ||
             type == "cer_sh_pdr"   ||
@@ -142,6 +147,26 @@ SkinMeshThreadPort::SkinMeshThreadPort(Searchable& config,int period) : Periodic
                     {
                         sensor[id]=new Fingertip2R(xc,yc,th,gain,layoutNum,lrMirror);
                     }
+                    else if (type=="fingertip3L")
+                    {
+                        sensor[id]=new Fingertip3L(xc,yc,th,gain,layoutNum,lrMirror);
+                    }
+                    else if (type=="fingertip3R")
+                    {
+                        sensor[id]=new Fingertip3R(xc,yc,th,gain,layoutNum,lrMirror);
+                    }
+                    else if (type=="fingertip4L")
+                    {
+                        sensor[id]=new Fingertip4L(xc,yc,th,gain,layoutNum,lrMirror);
+                    }
+                    else if (type=="fingertip4R")
+                    {
+                        sensor[id]=new Fingertip4R(xc,yc,th,gain,layoutNum,lrMirror);
+                    }
+                    if (type=="fingertipMID")
+                    {
+                        sensor[id]=new FingertipMID(xc,yc,th,gain,layoutNum,lrMirror);
+                    }
                     else if (type=="quad16")
                     {
                         sensor[id]=new Quad16(xc,yc,th,gain,layoutNum,lrMirror);
@@ -154,6 +179,10 @@ SkinMeshThreadPort::SkinMeshThreadPort(Searchable& config,int period) : Periodic
                     {
                         sensor[id]=new PalmR(xc,yc,th,gain,layoutNum,lrMirror);
                     }
+                    else if (type=="fakePalm")
+                    {
+                        sensor[id]=new fakePalm(xc,yc,th,gain,layoutNum,lrMirror);
+                    }
                     else if (type=="palmL")
                     {
                         sensor[id]=new PalmL(xc,yc,th,gain,layoutNum,lrMirror);

diff --git a/src/tools/iCubSkinGui/plugin/fakePalm.cpp b/src/tools/iCubSkinGui/plugin/fakePalm.cpp
@@ -0,0 +1,10 @@
+// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
+
+/*
+ * Copyright (C) 2009 RobotCub Consortium
+ * Author: Marco Maggiali marco.maggiali@iit.it
+ * CopyPolicy: Released under the terms of the GNU GPL v2.0.
+ *
+ */
+
+#include "include/fakePalm.h"
diff --git a/src/tools/iCubSkinGui/plugin/include/Fingertip4Left.h b/src/tools/iCubSkinGui/plugin/include/Fingertip4Left.h
@@ -0,0 +1,117 @@
+// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
+
+/*
+ * Copyright (C) 2009 RobotCub Consortium
+ * Author:  Marco Maggiali marco.maggiali@iit.it
+ * CopyPolicy: Released under the terms of the GNU GPL v2.0.
+ *
+ */
+
+#include "include/TouchSensor.h"
+
+#ifndef __ALE_FINGERTIP4_L_H__
+#define __ALE_FINGERTIP4_L_H__
+
+class Fingertip4L : public TouchSensor
+{
+public:
+    Fingertip4L(double cx,double cy,double th,double gain=1.0,int layoutNum=0,int lrMirror=0)
+    {
+        dGain=gain;
+        ilrMirror=lrMirror;
+        ilayoutNum=layoutNum;
+        nVerts=7;
+        nTaxels=12;
+
+/*        dX[0]= 41.0; dY[0]=10.0; 
+        dX[1]= 15.0; dY[1]=10.0; 
+        dX[2]= 15.0; dY[2]=35.0; 
+        dX[3]= 41.0; dY[3]=35.0; 
+        dX[4]= 30.0; dY[4]=64.0; 
+        dX[5]= 11.0; dY[5]=58.0; 
+        dX[6]=  0.0; dY[6]=82.0; 
+        dX[7]=-11.0; dY[7]=58.0; 
+        dX[8]=-30.0; dY[8]=64.0; 
+        dX[9]=-41.0; dY[9]=35.0; 
+        dX[10]=-15.0; dY[10]=35.0;
+        dX[11]=-15.0; dY[11]=10.0; 
+*/               
+        dY[0]=-25.0;  dX[0]=  20.0; 
+        dY[1]=-25.0;  dX[1]=  0.0; 
+        dY[2]=-25.0;  dX[2]= -20.0; 
+        dY[3]=-39.0;  dX[3]= -35.0; 
+        dY[4]=-39.0;  dX[4]=  35.0; 
+        dY[5]=-53.0;  dX[5]= -20.0; 
+        dY[6]=-53.0;  dX[6]=   0.0; 
+        dY[7]=-53.0;  dX[7]=  20.0; 
+        dY[8]= -2.0;  dX[8]=  22.0; 
+        dY[9]= 10.0;  dX[9]=   5.0; 
+        dY[10]= 28.0; dX[10]=  -4.;
+        dY[11]= 30.0; dX[11]=  32.0;        
+
+        dXv[0]=53.0; dYv[0]= 0.0;
+        dXv[1]=53.0; dYv[1]=45.0;
+        dXv[2]=dX[4]+10.0; dYv[2]=dY[4]+10.0;
+        dXv[3]=0.0; dYv[3]=dY[6]+12.0;
+        dXv[4]=-dXv[2]; dYv[4]=dYv[2];
+        dXv[5]=-dXv[1]; dYv[5]=dYv[1];
+        dXv[6]=-dXv[0]; dYv[6]=dYv[0];
+
+        const double scale=2.7/15.3;
+        for (int i=0; i<nTaxels; ++i)
+        {
+            dX[i]*=scale;
+            dY[i]*=scale;
+        }
+        for (int i=0; i<nVerts; ++i)
+        {
+            dXv[i]*=scale;
+            dYv[i]*=scale;
+        }
+
+        m_RadiusOrig=1.5;
+
+        const double DEG2RAD=M_PI/180.0;
+        const double CST=cos(DEG2RAD*th);
+        const double SNT=sin(DEG2RAD*th);
+
+        for (int i=0; i<nTaxels; ++i)
+        {
+            double x=dX[i];
+            double y=dY[i];
+			if (lrMirror==1) x=-x;
+
+            dX[i]=cx+CST*x-SNT*y;
+            dY[i]=cy+SNT*x+CST*y;
+        }
+
+        for (int i=0; i<nVerts; ++i)
+        {
+            double x=dXv[i];
+            double y=dYv[i];
+			if (lrMirror==1) x=-x;
+
+//            dXv[i]=cx+CST*x-SNT*y;
+//            dYv[i]=cy+SNT*x+CST*y;
+            dXv[i]=0;
+            dYv[i]=0;
+        }
+
+        // in static definition
+        //dXmin=dYmin= HUGE; 
+        //dXmax=dYmax=-HUGE;
+
+        /*for (int i=0; i<nVerts; ++i)
+        {
+            if (dXv[i]<dXmin) dXmin=dXv[i];
+            if (dXv[i]>dXmax) dXmax=dXv[i];
+            if (dYv[i]<dYmin) dYmin=dYv[i];
+            if (dYv[i]>dYmax) dYmax=dYv[i];
+        }*/
+
+        dXc=cx;
+        dYc=cy;
+    }
+};
+
+#endif
diff --git a/src/tools/iCubSkinGui/plugin/include/Fingertip4Right.h b/src/tools/iCubSkinGui/plugin/include/Fingertip4Right.h
@@ -0,0 +1,104 @@
+// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
+
+/*
+ * Copyright (C) 2009 RobotCub Consortium
+ * Author: Marco Maggiali marco.maggiali@iit.it
+ * CopyPolicy: Released under the terms of the GNU GPL v2.0.
+ *
+ */
+
+#include "include/TouchSensor.h"
+
+#ifndef __ALE_FINGERTIP4_R_H__
+#define __ALE_FINGERTIP4_R_H__
+
+class Fingertip4R : public TouchSensor
+{
+public:
+    Fingertip4R(double cx,double cy,double th,double gain=1.0,int layoutNum=0,int lrMirror=0)
+    {
+        dGain=gain;
+        ilrMirror=lrMirror;
+        ilayoutNum=layoutNum;
+        nVerts=7;
+        nTaxels=12;
+
+        dY[4]=-25.0;  dX[4]= -20.0; 
+        dY[5]=-25.0;  dX[5]=   0.0; 
+        dY[6]=-25.0;  dX[6]=  20.0; 
+        dY[8]=-39.0;  dX[8]=  35.0; 
+        dY[7]=-39.0;  dX[7]= -35.0; 
+        dY[9]=-53.0;  dX[9]=  20.0; 
+        dY[10]=-53.0;  dX[10]=   0.0; 
+        dY[11]=-53.0;  dX[11]= -20.0; 
+        dY[3]= -2.0;  dX[3]= -22.0; 
+        dY[2]= 10.0;  dX[2]= -5.0; 
+        dY[1]= 28.0; dX[1]=  4.0;
+        dY[0]= 30.0; dX[0]=  -32.0;     
+
+		lrMirror=0; //forcing mirror
+
+        dXv[0]=53.0; dYv[0]= 0.0;
+        dXv[1]=53.0; dYv[1]=45.0;
+        dXv[2]=dX[3]+10.0; dYv[2]=dY[3]+10.0;
+        dXv[3]=0.0; dYv[3]=dY[5]+12.0;
+        dXv[4]=-dXv[2]; dYv[4]=dYv[2];
+        dXv[5]=-dXv[1]; dYv[5]=dYv[1];
+        dXv[6]=-dXv[0]; dYv[6]=dYv[0];
+
+        const double scale=2.7/15.3;
+        for (int i=0; i<nTaxels; ++i)
+        {
+            dX[i]*=scale;
+            dY[i]*=scale;
+        }
+        for (int i=0; i<nVerts; ++i)
+        {
+            dXv[i]*=scale;
+            dYv[i]*=scale;
+        }
+
+        m_RadiusOrig=1.5;
+
+        const double DEG2RAD=M_PI/180.0;
+        const double CST=cos(DEG2RAD*th);
+        const double SNT=sin(DEG2RAD*th);
+
+        for (int i=0; i<nTaxels; ++i)
+        {
+            double x=dX[i];
+            double y=dY[i];
+			if (lrMirror==1) x=-x;
+
+            dX[i]=cx+CST*x-SNT*y;
+            dY[i]=cy+SNT*x+CST*y;
+        }
+
+        for (int i=0; i<nVerts; ++i)
+        {
+            double x=dXv[i];
+            double y=dYv[i];
+			if (lrMirror==1) x=-x;
+
+            dXv[i]=0;
+            dYv[i]=0;
+        }
+
+        // in static definition
+        //dXmin=dYmin= HUGE; 
+        //dXmax=dYmax=-HUGE;
+
+        for (int i=0; i<nVerts; ++i)
+        {
+            if (dXv[i]<dXmin) dXmin=dXv[i];
+            if (dXv[i]>dXmax) dXmax=dXv[i];
+            if (dYv[i]<dYmin) dYmin=dYv[i];
+            if (dYv[i]>dYmax) dYmax=dYv[i];
+        }
+
+        dXc=cx;
+        dYc=cy;
+    }
+};
+
+#endif