/// <summary>
/// Add a new camera to the robot
/// </summary>
/// <param name="anchor"></param> The robot node to which the camera attaches
/// <param name="positionOffset"></param>
/// <param name="rotationOffset"></param>
/// <returns></returns>
public GameObject AddCamera(Robot robot, Transform anchor, Vector3 positionOffset, Vector3 rotationOffset)
{
GameObject newCamera = new GameObject("RobotCamera_" + robotCameraList.Count);
newCamera.AddComponent <Camera>();
newCamera.transform.parent = anchor;
newCamera.transform.localPosition = positionOffset;
newCamera.transform.localRotation = Quaternion.Euler(rotationOffset);
RobotCamera configuration = newCamera.AddComponent <RobotCamera>();
configuration.UpdateConfiguration();
configuration.SetParentRobot(robot);
newCamera.SetActive(false);
if (robotCameraList.Count == 0)
{
CurrentCamera = newCamera;
}
robotCameraList.Add(newCamera);
return(newCamera);
}
/// <summary>
/// Add a new camera to the robot using the default position and rotation
/// </summary>
/// <returns></returns>
public GameObject AddCamera(Robot robot, Transform anchor)
{
GameObject newCamera = new GameObject("RobotCamera_" + robotCameraList.Count);
newCamera.AddComponent <Camera>();
newCamera.transform.parent = anchor;
newCamera.transform.localPosition = new Vector3(0f, 0.5f, 0f);
newCamera.transform.localRotation = Quaternion.identity;
RobotCamera configuration = newCamera.AddComponent <RobotCamera>();
configuration.UpdateConfiguration();
configuration.SetParentRobot(robot);
newCamera.SetActive(false);
if (robotCameraList.Count == 0)
{
CurrentCamera = newCamera;
}
robotCameraList.Add(newCamera);
if (robotCameraList.Count == 0)
{
CurrentCamera = newCamera;
}
return(newCamera);
}
/// <summary>
/// Add a new camera to the robot using the default position (0, 0.5, 0) and rotation
/// </summary>
/// <returns></returns>
public GameObject AddCamera(Robot robot, Transform anchor)
{
GameObject newCamera = new GameObject("RobotCamera_" + robotCameraList.Count);
newCamera.AddComponent <Camera>();
newCamera.transform.parent = anchor;
newCamera.transform.localPosition = new Vector3(0f, 0.5f, 0f);
newCamera.transform.localRotation = Quaternion.identity;
RobotCamera configuration = newCamera.AddComponent <RobotCamera>();
configuration.UpdateConfiguration();
//Set the camera parent robot, which is necessary when changing robot and restoring the configuration
configuration.SetParentRobot(robot);
newCamera.SetActive(false);
//Make sure current camera is the first one on the list
if (robotCameraList.Count == 0)
{
CurrentCamera = newCamera;
}
robotCameraList.Add(newCamera);
return(newCamera);
}
public override void Init()
{
RobotIdSensor = new RobotIdSensor(this);
MapSensor = new MapSensor(this);
PositionSensor = new LightHouseSensor(this);
DestinationMapSensor = new DestinationMapSensor(this);
RobotCamera = new RobotCamera(this);
GripSensor = new GripSensor(this);
}
public override void Init()
{
RobotIdSensor = new RobotIdSensor(this);
MapSensor = new MapSensor(this);
PositionSensor = new LightHouseSensor(this);
DestinationMapSensor = new DestinationMapSensor(this);
RobotCamera = new RobotCamera(this);
GripSensor = new GripSensor(this);
}
public override T GetSensorsData <T>()
{
return(new ImageSensorsData
{
RobotId = RobotIdSensor.Measure(),
Position = PositionSensor.Measure(),
Image = RobotCamera.Measure(),
DetailsInfo = GripSensor.Measure()
} as T);
}
/// <summary>
/// Initializes physical robot based off of robot directory.
/// </summary>
/// <param name="directory">folder directory of robot</param>
/// <returns></returns>
public bool InitializeRobot(string directory, MainState source)
{
//Deletes all nodes if any exist
int childCount = transform.childCount;
for (int i = 0; i < childCount; ++i)
{
Destroy(transform.GetChild(i).gameObject);
}
mainState = source;
transform.position = robotStartPosition;
RigidNode_Base.NODE_FACTORY = delegate(Guid guid)
{
return(new RigidNode(guid));
};
List <RigidNode_Base> nodes = new List <RigidNode_Base>();
//Read .robot instead. Maybe need a RobotSkeleton class
rootNode = BXDJSkeleton.ReadSkeleton(directory + "\\skeleton.bxdj");
rootNode.ListAllNodes(nodes);
foreach (RigidNode_Base n in nodes)
{
RigidNode node = (RigidNode)n;
node.CreateTransform(transform);
if (!node.CreateMesh(directory + "\\" + node.ModelFileName))
{
Debug.Log("Robot not loaded!");
return(false);
}
node.CreateJoint();
node.MainObject.AddComponent <Tracker>().Trace = true;
}
RotateRobot(robotStartOrientation);
RobotName = new DirectoryInfo(directory).Name;
isInitialized = true;
robotCamera = GameObject.Find("RobotCameraList").GetComponent <RobotCamera>();
//Attached to the main frame and face the front
robotCamera.AddCamera(transform.GetChild(0).transform);
//Attached to the first node and face the front
robotCamera.AddCamera(transform.GetChild(1).transform);
////Attached to main frame and face the back
robotCamera.AddCamera(transform.GetChild(0).transform, new Vector3(0, 0, 0), new Vector3(0, 180, 0));
return(true);
}
/// <summary>
/// Return a list of robot cameras attached to a given robot
/// </summary>
/// <param name="parent"></param> A robot on which cameras are attached to
/// <returns></returns> A list of camera attach to that robot
public List <GameObject> GetRobotCamerasFromRobot(Robot parent)
{
List <GameObject> camerasOnRobot = new List <GameObject>();
foreach (GameObject camera in robotCameraList)
{
RobotCamera config = camera.GetComponent <RobotCamera>();
if (config.robot.Equals(parent))
{
camerasOnRobot.Add(camera);
}
}
return(camerasOnRobot);
}
/// <summary>
/// Find all robot camera related GUI elements in the canvas
/// </summary>
public void FindGUIElements()
{
canvas = GameObject.Find("Canvas");
//For robot camera view window
robotCameraView = Resources.Load("Images/RobotCameraView") as RenderTexture;
robotCameraViewWindow = AuxFunctions.FindObject(canvas, "RobotCameraPanel");
robotCameraViewWindow = AuxFunctions.FindObject(canvas, "RobotCameraPanelBorder");
//For camera indicator
robotCameraListObject = GameObject.Find("RobotCameraList");
robotCamera = robotCameraListObject.GetComponent <RobotCamera>();
if (CameraIndicator == null)
{
CameraIndicator = AuxFunctions.FindObject(robotCameraListObject, "CameraIndicator");
}
showCameraButton = AuxFunctions.FindObject(canvas, "ShowCameraButton");
//For camera position and attachment configuration
configureRobotCameraButton = AuxFunctions.FindObject(canvas, "CameraConfigurationButton");
changeCameraNodeButton = AuxFunctions.FindObject(canvas, "ChangeNodeButton");
configureCameraPanel = AuxFunctions.FindObject(canvas, "CameraConfigurationPanel");
cameraConfigurationModeButton = AuxFunctions.FindObject(canvas, "ConfigurationMode");
cameraNodeText = AuxFunctions.FindObject(canvas, "NodeText").GetComponent <Text>();
cancelNodeSelectionButton = AuxFunctions.FindObject(canvas, "CancelNodeSelectionButton");
//For camera angle configuration
cameraAnglePanel = AuxFunctions.FindObject(canvas, "CameraAnglePanel");
xAngleEntry = AuxFunctions.FindObject(cameraAnglePanel, "xAngleEntry");
yAngleEntry = AuxFunctions.FindObject(cameraAnglePanel, "yAngleEntry");
zAngleEntry = AuxFunctions.FindObject(cameraAnglePanel, "zAngleEntry");
showAngleButton = AuxFunctions.FindObject(configureCameraPanel, "ShowCameraAngleButton");
editAngleButton = AuxFunctions.FindObject(cameraAnglePanel, "EditButton");
//For field of view configuration
cameraFOVPanel = AuxFunctions.FindObject(canvas, "CameraFOVPanel");
FOVEntry = AuxFunctions.FindObject(cameraFOVPanel, "FOVEntry");
showFOVButton = AuxFunctions.FindObject(configureCameraPanel, "ShowCameraFOVButton");
editFOVButton = AuxFunctions.FindObject(cameraFOVPanel, "EditButton");
lockPositionButton = AuxFunctions.FindObject(configureCameraPanel, "LockPositionButton");
lockAngleButton = AuxFunctions.FindObject(configureCameraPanel, "LockAngleButton");
lockFOVButton = AuxFunctions.FindObject(configureCameraPanel, "LockFOVButton");
}
