Ver ceil floor FunctionGenerator (PTZCameraSony)

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1 RT

2 Ver ceil floor FunctionGenerator (PTZCameraSony) OpenRTM-aist i

3 OpenRTM-aist OpenRTM-aist (FunctionGenerator) (PTZCameraSony) FunctionGenerator RTSystemEditor RtcLink FunctionGenerator (1) (2) FunctionGenerator ii

4 1 1.1 RT,, 10, pp.29 30, OpenRTM-aist OpenRTM-aist 1.0 OpenRTM-aist 1.0 Linux Windows OS: Ubuntu Linux / Windows XP Service Pack 3 RT : OpenRTM-aist RELEASE (C++ ) : gcc / Microsoft Visual C Express Edition CORBA: omniorb / Eclipse: Eclipse OpenRTM Eclipse tools 1.0-RELEASE Java : Sun Java Version 6 Update 22 1

5 1.3.2 OpenRTM-aist 0.4 OpenRTM-aist 0.4 Linux OS: Ubuntu Linux 8.10 RT : OpenRTM-aist RELEASE (C++ ) : gcc CORBA: omniorb ACE (The ADAPTIVE Communication Environment): ACE Eclipse: Eclipse Java : Sun Java (FunctionGenerator) - - (PTZCameraSony) Sony (EVI-D30 ) 2 FunctionGenerator 3 RT (GnuplotViewer),, RT, RT L3-2 (VoiceIn), (VoiceOut) MIKS, VoiceCell, RT 2007 [ ] (ShowComponent),,, RT, RT L4-4 OpenRTM-aist 0.4.x OpenRTM-aist

6 2 2.1 (FunctionGenerator) FunctionGenerator 2 InPort 3 InPort ioctetseqdata TimedOctetSeq octet ishortseqdata TimedShortSeq short ilongseqdata TimedLongSeq long ifloatseqdata TimedFloatSeq float idoubleseqdata TimedDoubleSeq double OutPort ooctetseqdata TimedOctetSeq octet oshortseqdata TimedShortSeq short olongseqdata TimedLongSeq long ofloatseqdata TimedFloatSeq float odoubleseqdata TimedDoubleSeq double 3

7 Configuration xmin double 0.0 x xmax double 10.0 x xdelta double 1.0 x tmin double 0.0 t tmax double 10.0 t tdelta double 1.0 t savefilemode char a w: savefilemode a: savefilename string * * outputfunctionorloadfilename string * * (PTZCameraSony) PTZCameraSony Sony (EVI-D30 ) RT OutPort InPort - - ARIA (Advanced Robotics Interface for Applications, activrobots.com/software/aria.html) OpenCV( InPort PanTiltZoom TimedDoubleSeq OutPort ImageData TimedOctetSeq 4

8 Configuration int width int 320 int height int 240 int camera index int -1 CV CAP ANY str ptz dev string /dev/ttys FunctionGenerator 3.1 RTSystemEditor RtcLink RTSystemEditor RTCLink RTSystemEditor RTCLink RTSystemEditor RTCLink OpenRTM-aist ( aist.go.jp/rt/openrtm-aist/) 5 FunctionGenerator 3.2 FunctionGenerator FunctionGenerator FunctionGenerator OutPort rtc.conf exec cxt.periodic.rate 5

9 3.2.1 (1) FunctionGenerator 1. Configuration (a) xmin, xmax, xdelta, tmin, tmax, tdelta (b) outputfunctionorloadfilename 2. OutPort 3. 1, 2, t oshortseqdata short Configuration (a) xmin, xmax, xdelta, tmin, tmax, tdelta x t xmin, xmax, xdelta x tmin, tmax, tdelta t xmin, tmin xmax, tmax xdelta, tdelta xmin=0, xmax=3, xdelta=2 x 0 2 xmin=0, xmax=3, xdelta=1.5 x xmin xmax, xdelta>0, tmin tmax, tdelta>0 xmin=xmax tmin=tmax xdelta=0, tdelta=0 x x xmin=0, xmax=4, xdelta=1 x + 1 1, 2, 3, 4, 5 5 x xmin=0, xmax=4, xdelta=1 1 1, 1, 1, 1, 1 5 x xmin t t t tmax t tmin xmin=0, xmax=4, xdelta=1 tmin=0, tmax=2, tdelta=1 x + t 5 3 0, 1, 2, 3, 4 (=0+0) (=1+0) (=2+0) (=3+0) (=4+0) 2 1, 2, 3, 4, 5 (=0+1) (=1+1) (=2+1) (=3+1) (=4+1) 3 2, 3, 4, 5, 6 (=0+2) (=1+2) (=2+2) (=3+2) (=4+2) 6

10 (b) outputfunctionorloadfilename outputfunctionorloadfilename f(x, t) sin(2 pi (x t)) outputfunctionorloadfilename x 1 x 1, x 2, abs 1 < x < x acos 1 1 x 1 x [0, π] [rad] asin 1 1 x 1 x [ π 2, π 2 ] [rad] atan 1 < x < x [ π 2, π 2 ] [rad] atan2 2 x 1 0 x 2 0 x 1 /x 2 [ π, π] [rad] ceil 1 < x < x cos 1 < x < x [rad] cosh 1 < x < x exp 1 < x < e e x floor 1 < x < x ln 1 0 < x < x log 1 0 < x < x random 0 [0, 1] sign 1 < x < x x sin 1 < x < x [rad] sinh 1 < x < x sqrt 1 0 x < x tan 1 x π 2 + nπ (n ) x [rad] tanh 1 < x < x 1 ˆ / 0 % ( ) 7

11 pi e π = e = x t 1 xmin xmax xdelta tmin tdelta tmax tmin 0 sqrt( 1) (double, float) NaN 0 RT (x, y, θ) : xmin=0, xmax=3, xdelta=1 x:x+1:xˆ2 4 3=12 0, 1, 0, 1, 2, 1, 2, 3, 4, 3, 4, 9 (=0+1) (=0ˆ2) (=1+1) (=1ˆ2) (=1+2) (=2ˆ2) (=1+3) (=3ˆ2) (2) FunctionGenerator 8

12 FunctionGenerator 1. Configuration (a) savefilemode (b) savefilename 2. InPort Configuration (a) outputfunctionorloadfilename 2. OutPort 3. 1, 2, Configuration (a) rtc.conf exec cxt.periodic.rate savefilemode w outputfunctionorloadfilename a outputfunctionorloadfilename savefilename.txt,.csv,.dat.txt 9

13 1, 2, 3 4, 5, 6 1, 4, 9 3, 6, 9 12, 15 1, 2, 3, 4, 5, 6 2 1, 4, 9 3 3, 6, 9, 12, 15 (b) outputfunctionorloadfilename.txt,.csv,.dat 4 FunctionGenerator FunctionGenerator 4.1 FunctionGenerator RT L3-2,, RT RT GnuplotViewer gnuplot - (FunctionGenerator) 1 (GnuplotViewer) 1 10

14 2 (1) FunctionGenerator, GnuplotViewer (2) Configuration FunctionGenerator x GnuplotViewer FunctionGenerator ConfigurationView x xmin=0.0, xmax=2.0, xdelta=0.01 t tmin=0.0, tmax=0.9, tdelta=0.1 x outputfunctionorloadfilename x:sin(2*pi*(x-t)) Apply GnuplotViewer ConfigurationView TimedDoubleSeq pdoubleinportnum 11

15 1 1 FunctionGenerator OutPort x sin() xdata[0], sindata[0], xdata[1], sindata[1], 2 gpseparatepos 2 gnuplot 0 double 1 (x) 2 (sin()) plot double[0] using 1:2 with lines p double[0] u 1:2 w l GnuplotViewer RTSystemEditor RtcLink ConfigurationView \ \ \\ gpperiodicexeccommand plot\ double[0] \ using\ 1:2\ with\ lines Apply (3) GnuplotViewer Activate GnuplotViewer Set separate position list. 2 Set command: plot double[0] using 1:2 with lines gnuplot GnuplotViewer 12

16 FunctionGenerator odoubleseqdata GnuplotViewer DoubleSeqData Function- Generator FunctionGenerator gnuplot x 4.2 FunctionGenerator FunctionGenerator RT 2007 [ ] MIKS, VoiceCell public.html OS 13

17 RT (FunctionGenerator) 1 (VoiceOut) 1 2 (1) FunctionGenerator, VoiceOut (2) Configuration FunctionGenerator 440Hz VoiceOut VoiceOut Configuration FunctionGenerator Configuration FunctionGenerator Configuration VoiceOut VoiceOut InPort TimedOctetSeq VoiceOut libsound.h SIZE RATE CHANNELS LENGTH 16bits 16.0kHz 2 1sec kHz x xmin=0.0, xmax= , xdelta=1.0 t A f A*sin(2*pi*f*x/16000) VoiceOut 16bits octet 8bits 2 14

18 f ll (x, t) : f lh (x, t) : f rl (x, t) : f rh (x, t) outputfunctionorloadfilename 0:0:0:127*sin(2*pi*440*x/16000)+128*(sign(sin(2*pi*440*x/16000))-1)*sign(sin(2*pi*440*x/16000)) 2 128*(sign(sin(2*pi*440*x/16000))-1)*sign(sin(2*pi*440*x/16000)) Apply VoiceOut libsound.h CHANNELS=1 f l (x, t) : f h (x, t) CHANNELS=1 SIZE=8 8bits f ( x, t) outputfunctionorloadfilename 127*(sin(2*pi*440*x/16000)+1) +1 [-128:127] [0:255] 15

19 (3) FunctionGenerator ooctetseqdata VoiceOut in FunctionGenerator 440Hz(A4) (FunctionGenerator) 1 (VoiceIn) 1 (VoiceOut) 1 3 (1) FunctionGenerator, VoiceIn (2) Configuration VoiceIn Configuration FunctionGenerator Configuration FunctionGenerator ConfigurationView savefilemode w savefilename test.txt Apply 16

20 (3) VoiceIn out FunctionGenerator ioctetseqdata (1) FunctionGenerator, VoiceOut (2) Configuration VoiceOut Configuration FunctionGenerator Configuration FunctionGenerator ConfigurationView outputfunctionorloadfilename test.txt savefilename * Apply 17

21 (3) FunctionGenerator ooctetseqdata VoiceOut in FunctionGenerator FunctionGenerator - - RT L4-4,,, RT takubo/howto.html - (FunctionGenerator) (PTZCameraSony) 1 (ShowComponent)

22 (1) FunctionGenerator, PTZCameraSony, ShowComponent (2) Configuration FunctionGenerator - - FunctionGenerator ConfigurationView x xmin=0.0, xmax=0.0, xdelta=0.0 t tmin=-1.0, tmax=1.0, tdelta=0.001 x output- FunctionOrLoadFileName abs(180*t)-90:0:0 Apply PTZCameraSony ConfigurationView - - str ptz dev int camera index int width int height 19

23 ShowComponent ConfigurationView int width int height PTZCameraSony (3) FunctionGenerator odoubleseqdata PTZCameraSony PanTiltZoom PTZCameraSony ImageData ShowComponent ImageData FunctionGenerator Configuration Tel: sasaki-t at ieee. org 20

#A A A F, F d F P + F P = d P F, F y P F F x A.1 ( α, 0), (α, 0) α > 0) (x, y) (x + α) 2 + y 2, (x α) 2 + y 2 d (x + α)2 + y 2 + (x α) 2 + y 2 =

#A A A F, F d F P + F P = d P F, F y P F F x A.1 ( α, 0), (α, 0) α > 0) (x, y) (x + α) 2 + y 2, (x α) 2 + y 2 d (x + α)2 + y 2 + (x α) 2 + y 2 = #A A A. F, F d F P + F P = d P F, F P F F A. α, 0, α, 0 α > 0, + α +, α + d + α + + α + = d d F, F 0 < α < d + α + = d α + + α + = d d α + + α + d α + = d 4 4d α + = d 4 8d + 6 http://mth.cs.kitmi-it.c.jp/

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