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MoveControl.cc
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#include "dataStruct.h"
#include "ORBSLAM/include/MoveControl.h"
using namespace HRGPara;
///////////High CRC 串口数据 循环冗余码校验====///////////
static unsigned char auchCRCHi[] = {
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81,
0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40
};
///////////Low CRC///////////
static unsigned char auchCRCLo[] = {
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4,
0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,
0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD,
0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7,
0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,
0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE,
0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2,
0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,
0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB,
0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91,
0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88,
0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80,
0x40
};
unsigned short CRC16(unsigned char *puchMsg, unsigned short usDataLen )
{
unsigned char uchCRCHi = 0xFF;
unsigned char uchCRCLo = 0xFF;
unsigned uIndex ;
while (usDataLen--)
{
uIndex = uchCRCLo ^ *puchMsg++;
uchCRCLo = uchCRCHi ^ auchCRCHi[uIndex];
uchCRCHi = auchCRCLo[uIndex];
}
return (uchCRCHi << 8 | uchCRCLo);
}
MoveControl::MoveControl()
{
m_pthread = NULL;
m_pORBSystem = NULL;
m_bRun = true;
m_fTread = TREAD;
}
MoveControl::~MoveControl()
{
m_bRun = false;
m_pthread->interrupt();// 中断线程===
m_pthread->join();// 等待线程结束==
delete m_pthread;
}
// 2d 里程计消息====================================================
bool MoveControl::GetOdometryData(HRGPara::Pose2D &OdometryData)
{
bool bReadOK = false;
int index=0;
while( !bReadOK && (index<10) )
{
int drecv[3];
memset(drecv,0, 3*sizeof(int));
usleep(5000);
if( getusart(drecv) )// 获取串口数据？？
{
bReadOK = true;
HRGPara::Pose2D temp;
temp.point.x = double(drecv[0])/10000;// 位置
temp.point.y = double(drecv[1])/10000;
temp.alfa = double(drecv[2])/100; // 角度
int dNum = temp.alfa / 360;
if( abs(dNum) >= 1 )
{
if(dNum > 0)
temp.alfa -= dNum * 360;
if(dNum < 0)
temp.alfa -= (dNum - 1) * 360;
}
else
{
if(temp.alfa < 0)
temp.alfa += 360;
}
HRGPara::Pose2D tempPose(temp.point.x, temp.point.y, temp.alfa);
OdometryData = tempPose;
}
index++;
}
return bReadOK;
}
// 初始化 底盘控制对象===============================================
void MoveControl::InitMoveControl(ORB_SLAM2::System *pORBSystem)
{
m_pORBSystem = pORBSystem;
// 新建一个线程======= 运行 底盘控制
m_pthread = new boost::thread(boost::bind(&MoveControl::Monitor_function, this));
}
//使用里程计消息更新 机器人当前位姿 旋转矩阵===
bool MoveControl::UpdataCurCarPos_ByOdometry(HRGPara::Pose2D tempOdoData,
HRGPara::Pose2D &CurCar_pos,
cv::Mat &Rcw, cv::Mat &Ow )
{
//update the Pose2D
float x_ = tempOdoData.point.x;
float y_ = tempOdoData.point.y;
float Ang_ = tempOdoData.alfa;// 角度
float OffSet_X = x_ - m_Curr_Odo_POS.point.x;
float OffSet_y = y_ - m_Curr_Odo_POS.point.y;
float e = (m_Curr_Odo_POS.alfa*PI/(double)CONVERSION_PARA);
float Deleta_X = OffSet_X*cos(e) + OffSet_y*sin(e);
float Deleta_Y = -OffSet_X*sin(e) + OffSet_y*cos(e);
float Deleta_Ang = Ang_ - m_Curr_Odo_POS.alfa;
CurCar_pos.point.x = Deleta_X + m_Curr_ORB_POS.point.x;
CurCar_pos.point.y = Deleta_Y + m_Curr_ORB_POS.point.y;
CurCar_pos.alfa = Deleta_Ang + m_Curr_ORB_POS.alfa;
// 角度值 0~360
int dNum = CurCar_pos.alfa / 360;
if( abs(dNum) >= 1 )
{
if(dNum > 0)
CurCar_pos.alfa -= dNum * 360;
if(dNum < 0)
CurCar_pos.alfa -= (dNum - 1) * 360;
}
else
{
if(CurCar_pos.alfa < 0)
CurCar_pos.alfa += 360;
}
//update the Matrix (rotate&offset)
if(!m_Curr_ORB_Ow.empty()&&!m_Curr_ORB_Rcw.empty())
{
Ow = m_Curr_ORB_Ow.clone();
Ow.ptr<float>(0)[0] = CurCar_pos.point.x;
Ow.ptr<float>(2)[0] = CurCar_pos.point.y;
// 旋转矩阵=========
tf::Matrix3x3 tf3d_Reference;
tf3d_Reference.setValue(
m_Curr_ORB_Rcw.ptr<float>(0)[0], m_Curr_ORB_Rcw.ptr<float>(0)[1] ,m_Curr_ORB_Rcw.ptr<float>(0)[2],
m_Curr_ORB_Rcw.ptr<float>(1)[0], m_Curr_ORB_Rcw.ptr<float>(1)[1] ,m_Curr_ORB_Rcw.ptr<float>(1)[2],
m_Curr_ORB_Rcw.ptr<float>(2)[0], m_Curr_ORB_Rcw.ptr<float>(2)[1] ,m_Curr_ORB_Rcw.ptr<float>(2)[2]
);
double roll,pitch, yaw;
tf3d_Reference.getEulerYPR(yaw, pitch, roll);// 欧拉角
pitch += Deleta_Ang * PI/ CONVERSION_PARA;
tf::Matrix3x3 tf3d_New;// 更新 旋转矩阵======
tf3d_New.setRPY(roll,pitch, yaw);
Rcw = m_Curr_ORB_Rcw.clone();
Rcw.ptr<float>(0)[0] = tf3d_New.getRow(0).x();
Rcw.ptr<float>(0)[1] = tf3d_New.getRow(0).y();
Rcw.ptr<float>(0)[2] = tf3d_New.getRow(0).z();
Rcw.ptr<float>(1)[0] = tf3d_New.getRow(1).x();
Rcw.ptr<float>(1)[1] = tf3d_New.getRow(1).y();
Rcw.ptr<float>(1)[2] = tf3d_New.getRow(1).z();
Rcw.ptr<float>(2)[0] = tf3d_New.getRow(2).x();
Rcw.ptr<float>(2)[1] = tf3d_New.getRow(2).y();
Rcw.ptr<float>(2)[2] = tf3d_New.getRow(2).z();
}
return true;
}
// 向底盘发送消息================两轮车===========================================
void MoveControl::SendVeloCommToMotorControl(float &LeftSteer_Velocity, float &RightSteer_Velocity)
{
short int Left_wheel_Vel = (short int)(LeftSteer_Velocity * 1000);// 扩大1000倍 转换成 int
short int Right_wheel_Vel = (short int)(RightSteer_Velocity * 1000);
unsigned char send_buf[13]; // 一次发送13个字节
memset(send_buf, 0, sizeof(send_buf));
send_buf[0] = 0xaa;
send_buf[1] = 0x55;
send_buf[2] = 0x01;
send_buf[3] = 0x00;
send_buf[4] = 0x04;
send_buf[5] = 0x02;
send_buf[6] = 0x11;
//left wheel velocity 两个字节========================
send_buf[7] = (unsigned char)(Left_wheel_Vel >> 8) & 0xFF;
send_buf[8] = (unsigned char)(Left_wheel_Vel) & 0xFF;
//right wheel velocity
send_buf[9] = (unsigned char)(Right_wheel_Vel >> 8) & 0xFF;
send_buf[10] = (unsigned char)(Right_wheel_Vel) & 0xFF;
short int CRC_Code = CRC16(send_buf, 11 );
//CRC check CRC校验码==================================================
send_buf[11] = (unsigned char)(CRC_Code >> 8) & 0xFF;
send_buf[12] = (unsigned char)(CRC_Code) & 0xFF;
m_cUART.UART_Send( send_buf, sizeof(send_buf));
}
// 从串口接受数据==========================
bool MoveControl::getusart(int *recv)
{
bool bDataValid = false;
unsigned char message[UART_BUF_LEN];
memset(message,0,UART_BUF_LEN);
m_cUART.UART_Read(message);//读取数据============
for(int i=0; i<UART_BUF_LEN;i++)
{
if(message[i] == 0xdd) // 数据头======
{
if(message[i+1] == 0x66)
{
int flag1 = message[i+2];
int Pos_x = (int)((long int)(message[i+3])+ ((long int)((message[i+4]))<<8) + ((long int)((message[i+5]))<<16) );
*recv = ( flag1 ? (Pos_x * -1) : Pos_x );
int flag2 = message[i+6];
int Pos_y = (int)((long int)(message[i+7])+ ((long int)((message[i+8]))<<8) + ((long int)((message[i+9]))<<16) );
*(recv+1) = ( flag2 ? (Pos_y * -1) : Pos_y );
int flag3 = message[i+10];
int Pos_ang = (int)((long int)(message[i+11])+ ((long int)((message[i+12]))<<8) );
*(recv+2) = ( flag3 ? (Pos_ang * -1) : Pos_ang );
//和校验
int sum = 0;
for(int j=i; j< i+13; j++)
{
sum += (int)message[j];
}
unsigned char CheckResultA = ( unsigned char )(sum) & 0xFF;
unsigned char CheckResultB = ( unsigned char )message[i+13];
if(CheckResultA == CheckResultB)
bDataValid = true;
break;
}
}
}
if( bDataValid == false )
cout<<"Notice: Read Odometry data failed!"<<endl;
return bDataValid;
}
// 两轮车模型，根据 全局速度 计算两个轮子的速度=========================================
void MoveControl::AnalysisVeocity( HRGPara::Pose2D AssumptionVelocity, float &LeftSteer_Velocity, float &RightSteer_Velocity )
{
double planPos_x = CYCLETIME * AssumptionVelocity.point.x;
double planPos_y = CYCLETIME * AssumptionVelocity.point.y;
//know: Pos1(0,0) Pos2(planPos_x, planPos_y); reslove:(x-a)2+y2 = r2
if( (planPos_y!=0) && (planPos_x!=0) )
{
double center_a = (planPos_x*planPos_x + planPos_y*planPos_y)/(2 * planPos_x);
double radius = abs(center_a);
double half_chordlength = sqrt(planPos_x*planPos_x + planPos_y*planPos_y)/2;
double Ang = 2 * asin(half_chordlength / radius);
double arclength = Ang * radius;
double V_mean = arclength / CYCLETIME;
float V_leftwheel = 0;
float V_rightwheel= 0;
if(center_a > 0)
{
V_leftwheel = ( radius + TREAD/2 )*V_mean/radius;
V_rightwheel = ( radius - TREAD/2 )*V_mean/radius;
}
else
{
V_rightwheel= ( radius + TREAD/2 )*V_mean/radius;
V_leftwheel = ( radius - TREAD/2 )*V_mean/radius;
}
LeftSteer_Velocity = V_leftwheel;
RightSteer_Velocity = V_rightwheel;
}
else if( (planPos_y!=0) && (planPos_x==0) )
{
LeftSteer_Velocity = planPos_y;
RightSteer_Velocity = planPos_y;
}
else
{
LeftSteer_Velocity = 0;
RightSteer_Velocity = 0;
}
}
// 由规划路径 计算 全局速度====================
bool MoveControl::CalculateVelocity( HRGPara::Pose2D Pos_Start, HRGPara::Pose2D Pos_End,
double time_dif, HRGPara::Pose2D &Velocity_Loc )
{
bool flag = false;
double V_X = Pos_End.point.x - Pos_Start.point.x;
double V_Y = Pos_End.point.y - Pos_Start.point.y;
double Deleta_Ang = Pos_End.alfa - Pos_Start.alfa;
double e = (Pos_Start.alfa*PI/(double)CONVERSION_PARA);
double Deleta_X = V_X*cos(e) + V_Y*sin(e);
double Deleta_Y = -V_X*sin(e) + V_Y*cos(e);
double Velocity_Ang = 0;
double Velocity_X = 0;
double Velocity_Y = 0;
if(time_dif != 0.0)
{
Velocity_Ang = Deleta_Ang/time_dif;
Velocity_X = Deleta_X/time_dif;
Velocity_Y = Deleta_Y/time_dif;
boost::unique_lock<boost::mutex> lock( m_data_mutex_ );
Velocity_Loc.point.x = Velocity_X;
Velocity_Loc.point.y = Velocity_Y;
Velocity_Loc.alfa = Velocity_Ang;
lock.unlock();
flag =true;
}
return flag;
}
void MoveControl::GetPosVelocity( HRGPara::Pose2D &CurrPos, HRGPara::Pose2D &Velocity, cv::Mat &Rcw, cv::Mat &Ow )
{
boost::unique_lock<boost::mutex> lock( m_data_mutex_ );
CurrPos = m_CurrPos_Credible;
Velocity = m_Velocity;
Rcw = m_Rcw.clone();
Ow = m_Ow.clone();
lock.unlock();
}
void MoveControl::SetCurCarPos(HRGPara::Pose2D &CurCar_pos, cv::Mat &Rcw, cv::Mat &Ow)
{
boost::unique_lock<boost::mutex> lock( m_data_mutex_ );
m_CurrPos_Credible = CurCar_pos;
m_Rcw = Rcw.clone();
m_Ow = Ow.clone();
lock.unlock();
}
// 主线程===========================================
void MoveControl::Monitor_function()
{
double time_Start = 0;
double time_End = 0;
double time_dif = 0;
while(m_bRun)
{
double sleepTime_Start = HRGPara::GetSystemTime();// 系统时间===
HRGPara::Pose2D tempOdometryData;
bool flag1 = GetOdometryData(tempOdometryData);
time_End = HRGPara::GetSystemTime();
time_dif = time_Start - time_End;
cv::Mat Rcw, Ow;
//bool flag2;
bool flag2 = m_pORBSystem->GetRobotPos(Rcw, Ow);// 机器人当前位姿========
if(flag1 && flag2)
{
float x_, y_, Angle_;
GetPosDatafromMat(Rcw, Ow, x_, y_, Angle_);// 由机器人3d位姿 计算 2d位置和角度======
cout<<"MoveControl(ORB valid): "<<x_<<" "<<y_<<" "<<Angle_<<endl;
HRGPara::Pose2D Curr_ORB_POS_Credible(x_, y_, Angle_);// 机器人当前2d位置和角度==
//refresh the ORB & Odo information 更新2d位姿 信息=====
m_Last_ORB_POS = m_Curr_ORB_POS;
m_Curr_ORB_POS = Curr_ORB_POS_Credible;
SetCurCarPos(m_Curr_ORB_POS, Rcw, Ow);
m_Last_Odo_POS = m_Curr_Odo_POS;// 里程计信息=====
m_Curr_Odo_POS = tempOdometryData;
m_Last_ORB_Rcw = m_Curr_ORB_Rcw.clone();
m_Curr_ORB_Rcw = Rcw.clone();
m_Last_ORB_Ow = m_Curr_ORB_Ow.clone();
m_Curr_ORB_Ow = Ow.clone();
m_Curr_Odo_Ve = m_Curr_Odo_POS;
m_Last_Odo_Ve = m_Last_Odo_POS;
//refresh the velocity data
CalculateVelocity( m_Last_Odo_Ve, m_Curr_Odo_Ve, time_dif, m_Velocity );
}
else if(flag1 && !flag2)//只有里程计信息====
{
HRGPara::Pose2D CurCar_pos;
cv::Mat Rcw_,Ow_;
UpdataCurCarPos_ByOdometry(tempOdometryData, CurCar_pos, Rcw_, Ow_);
//refresh the ORB & Odo information
SetCurCarPos(CurCar_pos, Rcw_, Ow_);
cout<<"Ow:"<<Ow<<endl;
m_Last_Odo_Ve = m_Curr_Odo_Ve;
m_Curr_Odo_Ve = tempOdometryData;
//refresh the velocity data
CalculateVelocity( m_Last_Odo_Ve, m_Curr_Odo_Ve, time_dif, m_Velocity );
cout<<"MoveControl(ORB invalid): "<<CurCar_pos.point.x<<" "<<CurCar_pos.point.y<<" "<<CurCar_pos.alfa<<endl;
}
time_Start = time_End;
double sleepTime_End = HRGPara::GetSystemTime();
double sleepTime_Dif = sleepTime_End - sleepTime_Start;
double plan_cycletime = CYCLETIME * 1000000;
double real_sleeptime = plan_cycletime - sleepTime_Dif;
usleep(real_sleeptime);
}
}
// 3d位姿 转换到 2d位姿
void MoveControl::GetPosDatafromMat(cv::Mat Rcw, cv::Mat Ow, float &x_, float &y_, float &Angle_)
{
cv::Mat Rwc = Rcw.t();
HRGPara::Point CP_car_head(0,0,1);
HRGPara::Point WP_car_head;
WP_car_head.x = Rwc.ptr<float>(0)[0] * CP_car_head.x + Rwc.ptr<float>(0)[1] * CP_car_head.y + Rwc.ptr<float>(0)[2] * CP_car_head.z;
WP_car_head.y = Rwc.ptr<float>(1)[0] * CP_car_head.x + Rwc.ptr<float>(1)[1] * CP_car_head.y + Rwc.ptr<float>(1)[2] * CP_car_head.z;
WP_car_head.z = Rwc.ptr<float>(2)[0] * CP_car_head.x + Rwc.ptr<float>(2)[1] * CP_car_head.y + Rwc.ptr<float>(2)[2] * CP_car_head.z;
float fAxisX_x = WP_car_head.x;
float fAxisX_y = WP_car_head.z;
unsigned int dphaseX; // 1, 2, 3, 4, 5 =X+, 6=Y+, 7=X-, 8=Y-
dphaseX =0;
if( (fAxisX_x > 0) && (fAxisX_y > 0) )
{
dphaseX = 1;
}
else if( (fAxisX_x < 0 ) && (fAxisX_y > 0) )
{
dphaseX = 2;
}
else if( (fAxisX_x < 0 ) && (fAxisX_y < 0) )
{
dphaseX = 3;
}
else if( (fAxisX_x > 0 ) && (fAxisX_y < 0) )
{
dphaseX = 4;
}
else if( (fAxisX_x > 0 ) && (fAxisX_y == 0) )
{
dphaseX = 5;
}
else if( (fAxisX_x == 0 ) && (fAxisX_y > 0) )
{
dphaseX = 6;
}
else if( (fAxisX_x < 0 ) && (fAxisX_y == 0) )
{
dphaseX = 7;
}
else if( (fAxisX_x == 0 ) && (fAxisX_y < 0) )
{
dphaseX = 8;
}
else if( (fAxisX_x == 0 ) && (fAxisX_y == 0) )
{
dphaseX = 5;
}
float fAngle_X;
// 5 =X+, 6=Y+, 7=X-, 8=Y-
switch (dphaseX)
{
case 1:
fAngle_X = atan( fAxisX_y/fAxisX_x ) * 180 / 3.1415926;
break;
case 2:
fAngle_X = atan( fAxisX_y/fAxisX_x ) * 180 / 3.1415926 + 180;
break;
case 3:
fAngle_X = atan( fAxisX_y/fAxisX_x ) * 180 / 3.1415926 + 180;
break;
case 4:
fAngle_X = atan( fAxisX_y/fAxisX_x ) * 180 / 3.1415926 + 360;
break;
case 5:
fAngle_X = 0;
break;
case 6:
fAngle_X = 90;
break;
case 7:
fAngle_X = 180;
break;
case 8:
fAngle_X = 270;
break;
default:
break;
}
x_ = Ow.ptr<float>(0)[0];
y_ = Ow.ptr<float>(2)[0];
Angle_ = fAngle_X;
//cout<<"MoveControl:"<<Angle_<<endl;
/*
x_ = 1 * Ow.ptr<float>(0)[0];
y_ = 1 * Ow.ptr<float>(2)[0];
float r3_1 = Rcw.ptr<float>(2)[0];
float r3_2 = Rcw.ptr<float>(2)[1];
float r3_3 = Rcw.ptr<float>(2)[2];
float r1_1 = Rcw.ptr<float>(0)[0];
float r2_1 = Rcw.ptr<float>(1)[0];
float Angle_B = asin( -r3_1 ) * 180 / 3.1415926;
//float Angle_R = atan( r3_2 / r3_3 ) * 180 / 3.1415926;
float Angle_A = atan( r2_1 / r1_1 ) * 180 / 3.1415926;
//bool bsinB = -r3_1 > 0;
bool bcosB = (r2_1 > 0)^(Angle_A > 0) ? 0 : 1;
float val_cos = bcosB ? -sqrtf( r2_1*r2_1 + r1_1*r1_1 ) : sqrtf( r2_1*r2_1 + r1_1*r1_1 );
float val_sin = -r3_1;
if( (val_sin > 0) && (val_cos > 0) );
else if( (val_sin > 0) && (val_cos < 0) )
Angle_B = 180 - Angle_B;
else if( (val_sin < 0) && (val_cos > 0) )
Angle_B = 360 + Angle_B;
else if( (val_sin < 0) && (val_cos < 0) )
Angle_B = 180 - Angle_B;
else if( (val_sin == 0) && (val_cos == 1) )
Angle_B = 0;
else if( (val_sin == 1) && (val_cos == 0) )
Angle_B = 90;
else if( (val_sin == 0) && (val_cos == -1) )
Angle_B = 180;
else if( (val_sin == -1) && (val_cos == 0) )
Angle_B = 270;
Angle_ = 270 - Angle_B;
if(Angle_ < 0)
Angle_ +=360;//change
if(Angle_ > 360)
Angle_ -=360;//change
*/
}