Delta3D Plugin: src/controllers/positionControllers/defaultPositionController.cpp Source File

00001 
00016 #include <controllers/positionControllers/defaultPositionController.h>
00017 
00018 namespace srAlmende {
00019 
00020 /*
00021  * This function is used to reset the robot to a new position during training
00022  * For some applications it is a random position, and some a fixed position
00023  * Set the object to be viewed on location (0,0) in the scenario xml
00024  * Set the robot to position (0,-10) in the scenario xml
00025  */
00026 void DefaultPositionController::resetRobot() {
00027 
00028         /*
00029         resetRobotFlag = false;
00030         resetTimer = time(NULL);
00031         srand( time(NULL) );
00032         osg::Vec3 trans = getRobotPosition();
00033         if(trans[2] > 1)
00034         {
00035                 std::cout << "not on the ground" << std::endl;
00036                 return;
00037         }
00038 
00039         // If the robot is not learning reset it to (x,y) x and y are [-20,20]
00040         if(!learnToDrive &&  !learnBL)
00041         {
00042                 trans[0] = (rand() % 40)-20;
00043                 trans[1] = (rand() % 40)-20;
00044         }
00045         else
00046         {
00047                 trans[0] = 0;
00048                 trans[1] = -10;
00049                 // place on a different distance from the source
00050                 if(learnToDrive)
00051                         trans[1] =  (rand() % 15)-20;
00052         }
00053         // Randomly rotate the robot between -120 and -60 degrees
00054         osg::Vec3 rot   = getRobotRotation();
00055         rot[0]                  = (-90-rot[0]);
00056         int rotVal              = (rand() % 60)-30;
00057         rot[0]                  += rotVal;
00058 
00059 
00060         setRobotRotation(rot);
00061         setRobotTranslation(trans);
00062 */
00063 }
00064 
00065 
00066 }