fix: Transfer gaze targets to a dedicated gaze root frame (relative to head...
fix: Transfer gaze targets to a dedicated gaze root frame (relative to head base frame); Normalize calculation of pitch depending on selected yaw. The issue here was that the calibration using the quadratic regression worked okay for yaw=0. However, as soon as there is a small tilt of the head base frame (i.e., the robot root frame and the head root frame where not parallel as in ARMAR-6), this calculation failed and resulted in a sinuidal movement of the head when the platform was rotated. To fix this, the gaze targets are now transformed to a gaze root frame which in turn is relative to the head frame. Additionally, the target yaw is compensated before calculating the pitch.
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- data/armarx_view_selection/controller_config/GazeControllerHemisphere/default.json 1 addition, 0 deletions...n/controller_config/GazeControllerHemisphere/default.json
- source/armarx/view_selection/gaze_controller/hemisphere/CMakeLists.txt 2 additions, 1 deletion.../view_selection/gaze_controller/hemisphere/CMakeLists.txt
- source/armarx/view_selection/gaze_controller/hemisphere/GazeController.cpp 41 additions, 27 deletions...w_selection/gaze_controller/hemisphere/GazeController.cpp
- source/armarx/view_selection/gaze_controller/hemisphere/GazeController.h 6 additions, 4 deletions...iew_selection/gaze_controller/hemisphere/GazeController.h
- source/armarx/view_selection/gaze_controller/hemisphere/aron/ControllerConfig.xml 5 additions, 4 deletions...tion/gaze_controller/hemisphere/aron/ControllerConfig.xml
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