Hi Hedayat,
Hedayat Vatankhah wrote:
>
> Hi,
>
> I finished writing the base structure of a new touch perceptor and I'm
> going to commit my code to CVS (is it wrong to to this at this stage?!).
>
Great!
> As a beginner, I've tried to make the minimum possible changes in the
> existing sources. I've added two new classes to the collisionperceptor
> library: TouchPerceptorHandler & ExtendedTouchPerceptor(Sorry if the
> names are too bad! I can't find good choices for now, any suggestions
> are highly appreciated!!).
>
How about ForceResistancePerceptor instead of ExtendedTouchPerceptor?
There are actual sensors for robots called force resistance sensor (FRS)
and they measure pretty much the same thing as your perceptor :-)
>
> TouchPerceptorHandler is an extension to ContactJointHandler. It
> should be used instead of the ContactJointHandler and no extra handler
> (PerceptorHandler) is needed.(In fact I think it should be merged with
> the ContactJointHandler class)
>
After a test phase, we should consider to merge the two then.
>
> Currently, the ExtendedTouchPerceptor provides each contact point
> (global coordinates of the collision) and the forceapplied to the
> body. Each object can have up to three contact points with each object
> (when two surfaces are completely in touch). We have accessto the
> force and torque which is applied to the body at each contact point.
>
>
> Providing all of the contact point (which should be in local
> coordinates) will increase flexibility, but it'll make the output much
> longer. Instead of this, we could provide a kind of average force
> applied to the whole part.
>
>
> Now, what is the desired output? Please answer!
>
Since we are trying to decrease output to the agents to a minimum
currently, I would propose to output the average of the force vector
magnitudes. What do you think?
Cheers,
Joschka
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