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primitives.cc
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#include "../behaviors/naobehavior.h"
#include "../audio/audio.h"
#include <common/RobotInfo.h>
extern int agentBodyType;
extern bool fFatProxy;
static Effectors UTWalkJointToSimEffectors(const Joint j) {
switch (j) {
case HeadYaw:
return EFF_H1;
case HeadPitch:
return EFF_H2;
case LHipYawPitch:
return EFF_LL1;
case LHipRoll:
return EFF_LL2;
case LHipPitch:
return EFF_LL3;
case LKneePitch:
return EFF_LL4;
case LAnklePitch:
return EFF_LL5;
case LAnkleRoll:
return EFF_LL6;
case LToePitch:
return EFF_LL7;
case RHipYawPitch:
return EFF_RL1;
case RHipRoll:
return EFF_RL2;
case RHipPitch:
return EFF_RL3;
case RKneePitch:
return EFF_RL4;
case RAnklePitch:
return EFF_RL5;
case RAnkleRoll:
return EFF_RL6;
case RToePitch:
return EFF_RL7;
case LShoulderPitch:
return EFF_LA1;
case LShoulderRoll:
return EFF_LA2;
case LElbowYaw:
return EFF_LA3;
case LElbowRoll:
return EFF_LA4;
case RShoulderPitch:
return EFF_RA1;
case RShoulderRoll:
return EFF_RA2;
case RElbowYaw:
return EFF_RA3;
case RElbowRoll:
return EFF_RA4;
default:
cerr << "Unknown Joint_Enum: " << j << "\n";
return EFF_NUM;
}
}
string NaoBehavior::composeAction() {
stringstream ss("");
if (bodyModel->useOmniWalk()) {
// First two joints are head joints which we want to control ourself
for (int i=2; i < EFF_NUM; i++) {
// i is the UTWalk joint, and then mapped to our joint using JointToUTWalkEffectors
bodyModel->setTargetAngle(UTWalkJointToSimEffectors(Joint(i)), RAD_T_DEG*raw_joint_commands_->angles_[i]);
}
// Always use our computeTorque() for the head
ss << "(he1 " << bodyModel->computeTorque(EFF_H1) << ")";
//ss << "(he1 " << bodyModel->computeTorque((HeadYaw, sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(he2 " << bodyModel->computeTorque(EFF_H2) << ")";
//ss << "(he2 " << bodyModel->computeTorque(HeadPitch, sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(lae1 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(LShoulderPitch), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(lae2 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(LShoulderRoll), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(lae3 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(LElbowYaw), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(lae4 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(LElbowRoll), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(rae1 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(RShoulderPitch), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(rae2 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(RShoulderRoll), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(rae3 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(RElbowYaw), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(rae4 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(RElbowRoll), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(lle1 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(LHipYawPitch), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(lle2 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(LHipRoll), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(lle3 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(LHipPitch), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(lle4 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(LKneePitch), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(lle5 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(LAnklePitch), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(lle6 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(LAnkleRoll), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
if (bodyModel->hasToe()) {
ss << "(lle7 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(LToePitch), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
}
ss << "(rle1 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(RHipYawPitch), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(rle2 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(RHipRoll), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(rle3 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(RHipPitch), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(rle4 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(RKneePitch), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(rle5 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(RAnklePitch), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
ss << "(rle6 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(RAnkleRoll), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
if (bodyModel->hasToe()) {
ss << "(rle7 " << bodyModel->computeTorque(UTWalkJointToSimEffectors(RToePitch), sim_effectors_, raw_joint_angles_, raw_joint_commands_) << ")";
}
} else {
ss << "(he1 " << bodyModel->computeTorque(EFF_H1) << ")";
ss << "(he2 " << bodyModel->computeTorque(EFF_H2) << ")";
ss << "(lae1 " << bodyModel->computeTorque(EFF_LA1) << ")";
ss << "(lae2 " << bodyModel->computeTorque(EFF_LA2) << ")";
ss << "(lae3 " << bodyModel->computeTorque(EFF_LA3) << ")";
ss << "(lae4 " << bodyModel->computeTorque(EFF_LA4) << ")";
ss << "(rae1 " << bodyModel->computeTorque(EFF_RA1) << ")";
ss << "(rae2 " << bodyModel->computeTorque(EFF_RA2) << ")";
ss << "(rae3 " << bodyModel->computeTorque(EFF_RA3) << ")";
ss << "(rae4 " << bodyModel->computeTorque(EFF_RA4) << ")";
ss << "(lle1 " << bodyModel->computeTorque(EFF_LL1) << ")";
ss << "(lle2 " << bodyModel->computeTorque(EFF_LL2) << ")";
ss << "(lle3 " << bodyModel->computeTorque(EFF_LL3) << ")";
ss << "(lle4 " << bodyModel->computeTorque(EFF_LL4) << ")";
ss << "(lle5 " << bodyModel->computeTorque(EFF_LL5) << ")";
ss << "(lle6 " << bodyModel->computeTorque(EFF_LL6) << ")";
if (bodyModel->hasToe()) {
ss << "(lle7 " << bodyModel->computeTorque(EFF_LL7) << ")";
}
ss << "(rle1 " << bodyModel->computeTorque(EFF_RL1) << ")";
ss << "(rle2 " << bodyModel->computeTorque(EFF_RL2) << ")";
ss << "(rle3 " << bodyModel->computeTorque(EFF_RL3) << ")";
ss << "(rle4 " << bodyModel->computeTorque(EFF_RL4) << ")";
ss << "(rle5 " << bodyModel->computeTorque(EFF_RL5) << ")";
ss << "(rle6 " << bodyModel->computeTorque(EFF_RL6) << ")";
if (bodyModel->hasToe()) {
ss << "(rle7 " << bodyModel->computeTorque(EFF_RL7) << ")";
}
}
// Create say message
double time = worldModel->getTime();
bool fallen = worldModel->isFallen();
VecPosition ball = worldModel->getLastBallSeenPosition()[0];
double ballX = ball.getX();
double ballY = ball.getY();
double myX = worldModel->l2g(VecPosition(0,0,0)).getX();
double myY = worldModel->l2g(VecPosition(0,0,0)).getY();
bool seeingBall = worldModel->getWorldObject(WO_BALL)->currentlySeen;
double timeBallLastSeen = worldModel->getLastBallSeenTime()[0];
bool canTrust = worldModel->canTrustVision();
int uNum = worldModel->getUNum();
string message;
if (canTrust || fallen) {
if(makeSayMessage(uNum, time, timeBallLastSeen, ballX, ballY, myX, myY, fallen, message)) {
ss << message;
/*
cout << "Data Sent:\n";
cout << "\tTime: " << time << "\n";
cout << "\tTime ball last seen: " << timeBallLastSeen << "\n";
cout << "\tFallen: " << fallen << "\n";
cout << "\tBall x: " << ballX << "\n";
cout << "\tBall y: " << ballY << "\n";
cout << "\tMy x: " << myX << "\n";
cout << "\tMy y: " << myY << "\n";
cout << "\n";
*/
}
}
// Add dash command if using fat proxy and walking
if (fFatProxy && bodyModel->useOmniWalk()) {
double x = velocity.x*100;
double y = velocity.y*100;
double rot = velocity.rot*60;
ss << "(proxy dash " << to_string(x) << " " << to_string(y) << " " << to_string(rot) << ")";
}
// Add kick command if using fat proxy and kicking
if (fFatProxy && isKickSkill(worldModel->getLastSkill())) {
const double KICKABLE_MARGIN = 0.44;
double ballDistance = me.getDistanceTo(ball) + abs(worldModel->getBall().getZ());
if (ballDistance <= KICKABLE_MARGIN) {
VecPosition kickTargetLocal = worldModel->g2l(kickTarget);
double kickAngle = atan2Deg(kickTargetLocal.getY(), kickTargetLocal.getX());
double deltaAngle = abs(kickAngle)/180.0;
double kickDistance = kickTargetLocal.getMagnitude();
double kickPower = kickDistance/(1.5 * (1 - 0.25 * deltaAngle - 0.25 * ballDistance / KICKABLE_MARGIN));
ss << "(proxy kick " << to_string(kickPower) << " " << to_string(kickAngle) << " " << to_string(kickVerticalAngle) << ")";
}
}
return ss.str();
}