public void setUpNao()
{
motioProxy.setSmartStiffnessEnabled(true);
motioProxy.wakeUp();
postureproxy.goToPosture("Stand", 0.5f);//Stand LyingBack
this.sensor.SkeletonReady += getPoint;
}
/// <summary>
/// Take a stable position, mainly used for walking.
/// </summary>
public void TakeStableArmPosition()
{
motion.wakeUp();
Grabbing.GrabWorker w = new Grabbing.GrabWorker();
Pose.Instance.StandUp();
w.StiffenArms();
w.CloseArmsAroundObject();
w.GrabHands();
w.HoldForWalking();
}
/// <summary>
/// Sets the stiffness of the Nao's motors on if it is not already so.
/// </summary>
public void InitMove()
{
if (!MotorOn())
{
Motion.wakeUp();
}
if (!Motion.moveIsActive())
{
Motion.moveInit();
}
}
//run a behavior on the robot
private void RunBehavior(string behaviorName)
{
MotionProxy.wakeUp();
AudioProxy.setOutputVolume(Properties.Settings.Default.AudioOutputVolume);
CurrentlyRunningLabel.Content = "Currently Running: " + behaviorName;
int ID = BehaviorManagerProxy.post.runBehavior(behaviorName);
LogBehavior(behaviorName);
RemoveStiffness = behaviorName != "contingency/introduction";
CurrentlyRunningLabel.Dispatcher.BeginInvoke(DispatcherPriority.Normal,
new BehaviorWaiterDelegate(WaitForBehaviorToFinish), ID);
}
private void Button_Click_1(object sender, RoutedEventArgs e)
{
//Initialize the motion proxy using the text in the ipBox
MotionProxy mp = new MotionProxy(ipBox.Text, 9559);
//Initialize the text to speech proxy using the text in the ipBox
ttsp = new TextToSpeechProxy(ipBox.Text, 9559);
//Initialize the robots posture proxy using the text in the ipBox
RobotPostureProxy rpp = new RobotPostureProxy(ipBox.Text, 9559);
//Wakes the robot up, tells the robot to stand and say hello
mp.wakeUp();
rpp.goToPosture("StandInit", .5f);
ttsp.say("Hola");
//Sets up lighting of the camera with a white color and directs it in the appropriate direction
DirectionalLight DirLight1 = new DirectionalLight();
DirLight1.Color = Colors.White;
DirLight1.Direction = new Vector3D(1, 1, 1);
//Setting up the camera so that the picture we see is in a good position
PerspectiveCamera Camera1 = new PerspectiveCamera();
Camera1.FarPlaneDistance = 16000;
Camera1.NearPlaneDistance = 10;
//Zoomed in with a 45 degree field of view
Camera1.FieldOfView = 45;
//50 mm away from the point cloud and centered in the middle
Camera1.Position = new Point3D(320, 240, -50);
//Flips the camera so that we see everything right side up
Camera1.LookDirection = new Vector3D(0, 0, 1);
Camera1.UpDirection = new Vector3D(0, -1, 0);
//Creates a new model 3D group to hold the sets of 3D models
Model3DGroup modelGroup = new Model3DGroup();
//builds the 3D model
int i = 0;
for (int y = 0; y < 480; y += pointDen)
{
for (int x = 0; x < 640; x += pointDen)
{
points[i] = Triangle(x, y, pointDen);
points[i].Transform = new TranslateTransform3D(0, 0, 0);
modelGroup.Children.Add(points[i]);
i++;
}
}
//Adds the directional light to the model group
modelGroup.Children.Add(DirLight1);
ModelVisual3D modelsVisual = new ModelVisual3D();
modelsVisual.Content = modelGroup;
Viewport3D myViewport = new Viewport3D();
myViewport.IsHitTestVisible = false;
myViewport.Camera = Camera1;
myViewport.Children.Add(modelsVisual);
canvas1.Children.Add(myViewport);
myViewport.Height = canvas1.Height;
myViewport.Width = canvas1.Width;
Canvas.SetTop(myViewport, 0);
Canvas.SetLeft(myViewport, 0);
sensor = KinectSensor.KinectSensors[0];
sensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
sensor.DepthFrameReady += DepthFrameReady;
sensor.Start();
}
public void setUpNao()
{
motioProxy.setSmartStiffnessEnabled(true);
motioProxy.wakeUp();
postureproxy.goToPosture("Stand", 0.5f);//Stand LyingBack
}
private void Button_Click_1(object sender, RoutedEventArgs e)
{
//Initialize the motion proxy using the text in the ipBox
MotionProxy mp = new MotionProxy(ipBox.Text, 9559);
//Initialize the text to speech proxy using the text in the ipBox
ttsp = new TextToSpeechProxy(ipBox.Text, 9559);
//Initialize the robots posture proxy using the text in the ipBox
RobotPostureProxy rpp = new RobotPostureProxy(ipBox.Text, 9559);
//Wakes the robot up, tells the robot to stand and say hello
mp.wakeUp();
rpp.goToPosture("StandInit", .5f);
ttsp.say("Hola");
//Sets up lighting of the camera with a white color and directs it in the appropriate direction
DirectionalLight DirLight1 = new DirectionalLight();
DirLight1.Color = Colors.White;
DirLight1.Direction = new Vector3D(1, 1, 1);
//Setting up the camera so that the picture we see is in a good position
PerspectiveCamera Camera1 = new PerspectiveCamera();
Camera1.FarPlaneDistance = 16000;
Camera1.NearPlaneDistance = 10;
//Zoomed in with a 45 degree field of view
Camera1.FieldOfView = 45;
//50 mm away from the point cloud and centered in the middle
Camera1.Position = new Point3D(320, 240, -50);
//Flips the camera so that we see everything right side up
Camera1.LookDirection = new Vector3D(0, 0, 1);
Camera1.UpDirection = new Vector3D(0, -1, 0);
//Creates a new model 3D group to hold the sets of 3D models
Model3DGroup modelGroup = new Model3DGroup();
//builds the 3D model
int i = 0;
for (int y = 0; y < 480; y += pointDen)
{
for (int x = 0; x < 640; x += pointDen)
{
points[i] = Triangle(x, y, pointDen);
points[i].Transform = new TranslateTransform3D(0, 0, 0);
modelGroup.Children.Add(points[i]);
i++;
}
}
//Adds the directional light to the model group
modelGroup.Children.Add(DirLight1);
ModelVisual3D modelsVisual = new ModelVisual3D();
modelsVisual.Content = modelGroup;
Viewport3D myViewport = new Viewport3D();
myViewport.IsHitTestVisible = false;
myViewport.Camera = Camera1;
myViewport.Children.Add(modelsVisual);
canvas1.Children.Add(myViewport);
myViewport.Height = canvas1.Height;
myViewport.Width = canvas1.Width;
Canvas.SetTop(myViewport, 0);
Canvas.SetLeft(myViewport, 0);
sensor = KinectSensor.KinectSensors[0];
sensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
sensor.DepthFrameReady += DepthFrameReady;
sensor.Start();
}
