Re: [simspark-devel] GyroRatePerceptor

[Hedayat V. <hed...@ai...>]

Hi,
Thanks!

> About the touch sensor: I was thinking that this could be (maybe) 
> derived from the CollisionPerceptor (just overriding the Percept 
> method in a very simple way -- if there are collidees the add a 
> percept "1", if there are no collidees in the list, add a "0") and 
> then using it together with the PerceptorHandler (might have to change 
> a little, but not much I think). This is just a suggestion though and 
> there might be better ways (comments?). 
Well, I don't know what's going on but it seems that you have not 
received my previous emails or they have been missed among many others! 
Anyway, to summarize:
1. A simple touch sensor is available already. Instead of deriving a 
class from the CollisionPerceptor, I decided to change it because I 
found it almost useless! (It adds non-printable objects to predList!). 
Currently, it provides a little more than what you've mentioned: it 
provides the names of all of the collidees with their corresponding 
contact points (which is at most 3 contact points when to surfaces are 
completely touching (ODE docs)). So, for example it says that the left 
foot is touching the ground at this/these point(s).

2. Then, I decided to add pressure information to the percept. I think 
that I should use joint feedback information of the contact joints. So, 
the handler should create contact joints and then get the feedback 
information from them. Is it correct?!

3.If needed, my sourceforge login is hedayat!

Thanks,
Bye


/*jbo...@un...*/ wrote on 05/02/2007 01:36:42 AM:
> Hi Hedayat,
>
> Hedayat Vatankhah wrote:
>
>> First of all, sorry for the long delay.
>>
>
> No problem, I know everybody is busy right now.
>
>> Anyway, I've written a simple gyro rate sensor. This sensor can be 
>> attached to some part of the robot to receive gyro rate information 
>> (for example, it can be attached to the agent's torso). I've used the 
>> angular velocity of Body which seems to be what is desired. Currently 
>> the output is like this: (gyro (<name> <xrate> <yrate> <zrate>))
>>
>
> Thanks a lot for the nice work! I submitted your code to the sserver 
> CVS (in the rcssserver3D module) already :-)
>
> About the touch sensor: I was thinking that this could be (maybe) 
> derived from the CollisionPerceptor (just overriding the Percept 
> method in a very simple way -- if there are collidees the add a 
> percept "1", if there are no collidees in the list, add a "0") and 
> then using it together with the PerceptorHandler (might have to change 
> a little, but not much I think). This is just a suggestion though and 
> there might be better ways (comments?).
>
> Thanks again for helping!
>
> Joschka