app-ArmControl.C File Reference

#include "Component/ModelManager.H"
#include "Image/Image.H"
#include "Image/ImageSet.H"
#include "Image/ShapeOps.H"
#include "Image/DrawOps.H"
#include "Image/FilterOps.H"
#include "Image/ColorOps.H"
#include "Image/Transforms.H"
#include "Image/MathOps.H"
#include "Image/CutPaste.H"
#include "Image/Pixels.H"
#include "Neuro/StdBrain.H"
#include "Neuro/VisualCortex.H"
#include "Neuro/VisualCortexConfigurator.H"
#include "Neuro/NeuroOpts.H"
#include "Channels/DescriptorVec.H"
#include "Channels/ComplexChannel.H"
#include "Channels/SubmapAlgorithmBiased.H"
#include "Simulation/SimEventQueue.H"
#include "Simulation/SimulationOpts.H"
#include "Simulation/SimEventQueueConfigurator.H"
#include "Learn/Bayes.H"
#include "GUI/DebugWin.H"
#include "ObjRec/BayesianBiaser.H"
#include "Devices/DeviceOpts.H"
#include "Devices/FrameGrabberConfigurator.H"
#include "Media/FrameSeries.H"
#include "Transport/FrameIstream.H"
#include "GUI/XWinManaged.H"
#include "Neuro/SaccadeControllers.H"
#include "Neuro/SaccadeControllerConfigurator.H"
#include "Raster/Raster.H"
#include "Util/Timer.H"
#include "Devices/rt100.H"
#include "Controllers/PID.H"
#include <arpa/inet.h>
#include <fcntl.h>
#include <netdb.h>
#include <signal.h>
#include <stdlib.h>
#include <unistd.h>

Include dependency graph for app-ArmControl.C:

Go to the source code of this file.

Classes
struct	ArmPosition
Defines
#define	UP_KEY   98
#define	DOWN_KEY   104
#define	LEFT_KEY   100
#define	RIGHT_KEY   102
#define	NAVG   20
	Number of frames over which average framerate is computed.
#define	UDPHOST   "192.168.0.8"
	Factor to display the sm values as greyscale:
#define	UDPPORT   5003
Enumerations
enum	STATE {   INIT, REACH, GRASP, LIFT,   PLACE_IN_BASKET, DROP, DONE }
Functions
void	terminate (int s)
	Signal handler (e.g., for control-C).
bool	init (nub::soft_ref< RT100 > rt100)
bool	reach (nub::soft_ref< RT100 > rt100, Point2D< int > fixation, int x, int y, int zedPos)
bool	learnMovement (float xErr, float yErr, int *elbowPos, int *sholderPos)
bool	grasp (nub::soft_ref< RT100 > rt100)
bool	lift (nub::soft_ref< RT100 > rt100)
bool	placeInBasket (nub::soft_ref< RT100 > rt100)
bool	drop (nub::soft_ref< RT100 > rt100)
void	updateDisplay (Image< PixRGB< byte > > &ima, Image< float > &sm, Point2D< int > &fixation)
void	waitForMoveComplete (nub::soft_ref< RT100 > rt100)
Point2D< int >	evolveBrain (Image< PixRGB< byte > > &img, DescriptorVec &descVec, Image< float > &smap)
void	biasVC (ComplexChannel &vc, Bayes &bayesNet, int objId, bool DoBias)
int	main (int argc, char **argv)
Variables
static bool	goforever = true
	Will turn false on interrupt signal.
ModelManager *	mgr
nub::soft_ref< FrameIstream >	gb
XWinManaged *	xwinPtr
Image< PixRGB< byte > > *	dispPtr
Timer	masterclock
int	w = -1
int	h = -1
int	smlevel = -1
ArmPosition	armPosition

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Detailed Description

tests the multi-threaded salincy code with the arm control to move the end effector towerd salient objects

Definition in file app-ArmControl.C.

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Define Documentation

#define NAVG   20

Number of frames over which average framerate is computed.

Definition at line 94 of file app-ArmControl.C.

#define UDPHOST   "192.168.0.8"

Factor to display the sm values as greyscale:

Definition at line 99 of file app-ArmControl.C.

Referenced by main().

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Function Documentation

void terminate

(

int

s

)

Signal handler (e.g., for control-C).

Definition at line 105 of file app-ArmControl.C.

References goforever.

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Variable Documentation

bool goforever = true [static]

Will turn false on interrupt signal.

Definition at line 102 of file app-ArmControl.C.

Referenced by terminate().