説明書 - 行動知能システム学研究室
Contents
1. 000000000000 Actios 18000000000 0000000000000000 DODBODD O DDD 0000000000000 000000000000 0000000000 DODO0Dd0D 0000000000000 0000000000000 000000000000 DOOOD O 000000000000 0000000000000000 0000 000000 000000 0000 000000 DO GO000000 O D 46 000000 OAOOAODAODA FirstAcions 80000000 0000000000 FirstActions OO 0 D00O000000000000000 0000000000000000 po000 s 19 5 OUOODODOOOUOO 0000000000000000000000000 51 UUUUUUUULU poOd000000000RT System Editor JJ II IL UI 00000000000000000 po000000 OOOODOODOOOOOOLDO OpenRTM aist C tools Start Naming Service DOdO0 do 0d 0000000000000 RT System Editor D 000 po00000000000000 OpenRTM aist C tools RT System Editor ODOODODOODODODODODOODD DOOD RTOOOOODADOAODOOOAODOOOAADADADALUU EnvironmentSimulator Comp exe DO OUOADOOUAOOAAODOAODO RTEODOUOADOOAAUOAODOLU OOODODOO 5 2 RT System Editor 000000000000 RT System Editor DO 0000000000000 00000000000000000 1 eclipse 0000000000000 RT System Editor I 0000 2 0 MOOD DO DO 0D 000000000000 000000000 3 0 1400000000000 00000 Adres Port localhost 0 0000 OKD OU Uu 4 NameServiceView DO DO HH B B BH OD B HH HL 00000000000 5 00000 Open New System Editor DO0O00 6 NameServiceView Y RTCO 0 0 0 0 D System Editor E Hl H BH B 0000000000 UUUUUUUUUD 7 UUUUUUUU RTCOOOOLD RTCOODOOO 20 RT System Editor Eclipse SDK FEF KN BE2. 0 0000000000000 000000000000 DODBO0D 00000000000 00000000000 000000000000 0000 DODOD0D0 00000 0000000000000 000000000000000000 Dodo 000000 20000000000 0000000000000 DODBODD OD OD 00000000000 0000000000000 0 RI2CgOo gg 0000000000000 0000000000000 DO ODODOOOODO OD OOOODODODODUD 20DODOOODODOODOODAODAODODOODOADODODUDD OOODOODODOODODODAODOODDADOULODODODDODOOO e 0 200000000000 OOOOOODODODODODOUDOOOOODODAODODOOODODODODODOODADODO OOODOODODOODODOODODDODOO 2 2 000000 pagodo0 dorrego 00000000000 1000000 D1D000000000 Port Type Data Type Port Name UUD In Port HS TimedVelocity2D robotControlInfo 00000000 Out Port SensorRTC LaserRangeSensor rangedata pooo00000000 idl TimedMeasuredData Out Port IIS TimedPose2D robot state ugguuduuuuguuBautt Out Port HS TimedVelocity2D robot velocity OO Out Port TUT TimedPersonsGlobalPosition persons OOOOOOOOg Out Port TimedPeopleTrackingData peopledata pgooo00000000 2 3 0000000 OOODOODODOOOD 2000000 0 20000000 Port Type Data Type Port Name UUD Service Provider MRFC AbsoluteMapService HH 1 H BL B B B B U EB D AbsoluteMapService DOU Service Provider MRFC RelativeMapService Y 0000000000000 RelativeMapService DOU Service Provider TUT ArealnfoService Areal
3. 44 RFOSOGMap onn es s uma Bie al ee bok DR UR ene oa en edat Dat ae 3 5 MRFC TimedRelativeOGMapData I GI I renn 3 6 MRFC TimedFloatRelativeOGMapData 2e 3 7 MRFC RelativeMapService I a se se 3 8 MRFC TimedAbsoluteOGMapData FF I I GG Y 3 9 MRFC TimedFloatAbsoluteOGMapData o 3 10 MRFC AbsoluteMapService 222 I I ee 4 UOUOUOOUOO CM AT E NN O OE LIE OE ND RE A de Ge AE Ac OSs A 1 aa a rd a o TI KOL OO OR EE REN l dt O a GA id ies e dad ind DE RS A Pe 5 O00000000000 5p EYN pp RI A erae s es 5 2 RT System Editor D0 0000000000 RR 53 0D0000000000000 dera quus a entire to aie dete ted n wes 54 DO000000000000000 ta ts Ee e en 6 000 1 000 UUUUUDUDUDUUUDUUUUDUU RTEDOOOOODADAUAUAODOOOAAOO 11 OOODODOOO 00000000 R Coo god 00000 0000000000000 e Windows XP Pro SP3 e Open rtm aist 1 0 0 C e Visual studio 2008 DOOD OpenCv 2 1000 CGAL 3 70 00000000000 OpnCvQOO0000000 OUOOUOUUO http sourceforge net projects opencvlibrary CGAL Computational Geometry Algorithms Library 0000800000000000000 http www cgal org 2 OODODOOOORITCEOOOO UDUDUIUUDUDUUUDUDUDURFCUUUUUUUUUUDUDUDUDUDUDDU pod000000000 1000000000 RTCDBOBODUU Dhu t En IE FR DAN L BEE 2 m Dir E ARAK Oto RE gt MIER AMBER APR ORMER Kg FE PT Mii IBA SIE MR O1 00000000 RTCDOD 21 DD DOD000000000000000000000000000000000000000000 DODODDD DO DO 0000000
4. C TimedhRelativeOGMapData OOO octeda0000000000000000000 0octed0 0 8bit 00000 1280 127 po00000000000000000 000 1000 000000000000000000000 UUIUDUDDUUDUDU IUUDUDUUUUDUUUUDUUUUUDUUDDUUDDU UD po000000 e RTC OGMapConfig mapconfig DOO I I HD E D e RTC OGMapCells cells octedi DL 0000000000 e RTC Pose2D pose 0000000000 e RTC Time tm 0000000 3 6 MRFC TimedFloatRelativeOGMapData UDUD float OOOUOOOODADOUOAOUOOOOAoatOADAUAUOOAOOOADA po0000000000 0000 LODOODDODOODOOODODODODOODOODDODOO DODBODDD DO DO 00000 000000000000 0000000000 2000000 D uu e RTC OGMapConfig mapconfig I I III I I HE E D e RTC OGMapFloatCells cells float JJ I I I I I I I I I D e RTC Pose2D pose 0 0 000000000 e RTC Time tm 0000000 3 7 MRFC RelativeMapService MRFC RelativeMapService JO ODO 000000000 00000000000000 OODODOODODODODOOODODODODODOODOO e RTC OGMapConfig getRelativeOGMapConfig OOOOODOUODO e TimedRelativeOGMapData getRelativeOGMap 00000000 e TimedFloatRelativeOGMapData getFloatRelativeOGMap 00000000 15 xScale m cell gt FEEEREE EGG cc ECICICICIEIEIE a El E 133753 8 EIS ICI Sirm es os N on m em Y 7 8 8 10 N 12 13 gt height YAM Oz JUR gt yScale m cell width X75 8002 JL 3 origin cell O OM pose ARY Bip oo fex EE OR Y AED OHZ EE AF AAU S OFER FR 0 90000000 3 8 MRFC TimedAbso
5. DODDDOUUD RIC 00000 po000000 000000000000 OO 240 30 25 UU 1 000 es AN NG tr idad ea OR ON OOOOOOAd RICU DUH 2 L an it a e NANG O lw Do Boe A 2 25 EB MM Sa ee en CF ES toe mem a dod d jore OR eee Ba eR end 2 3 HEET EER ROES Soo or Rice GN termo R rt RES DR neo E 2 4 AJA RA EO sa AN e gt R eae da ER ON KT a ea ae 2 41 FieldDataFlle om a Rm BA kek EUER A a te i 2 4 2 walkingrate mean walkingrate std deviation 2 4 3 localmap width localmap_height localmap scale globalmap scale 2 4 4 following target ess rss 2 4 5 simulate people simulate skip 2 4 6 robot treadl robot acceleration robot deceleration 2 4 7 robot init x robot init y robot_init_heading 2 4 8 robot move error x robot move error y robot move error heading 2 4 9 range start position range end position range data num 2 4 10 range max distance range far code range std deviation 2 4 11 Tange pesson radius rug ads beg EATUR etes Ug ote oed a eter 2 4 12 range sensor x range sensor y range sensor heading 2 4 13 show map scale display range data o poOpdo000000 000000000 3 1 SensorRTC LaserRangeSensor idl MeasuredData 3 2 SensorRTC LaserRangeSensor idl TimedMeasuredData 39 95 MIS Darie Pose2D ir BETER e Rem geo ot aS Seria it e ta o a ad Da FR cams 2
6. DODODOOODUDODODODODODODOOODODODODOODOODODO DOOOADOUOODAUOOODAUAOAADAOUA following target id DOUOADOLU DODODO Do 0000000000000 000000000000000000000000 po0000000000 2 4 5 simulate people simulate skip DU 7ODODODOODODOODODOODODO D DOU DO int simulate people int simulate skip simulate people OO OOOOOOOOOOOOOOOOOOOOOOOOOOOODOOOOOO OUOOODUOOOODOOO OOOODOOOOOOODOOOOOOOOOOOO OO simulate skip 0 OOODOODDOODOODOODOOUODOUODOOOODOUOOUODODOOODOOUDODODOODUOLO OOOOOOOOOOODOOOOOOOOOOOg OO following targetidQ O O O simulate skip 0 20804000000 0000000000000 0000000000 00000000000 OOOOOOODOOOOOOOOOOAOOOAOOOOOOOOO simulate people 00 D O O simulate skip DO 000000 E L1 2 4 6 robot tread robot acceleration robot deceleration 0 8 amp OODODOOOODODODODOODOD O U uu L Ll double robot tread m double robot acceleration m s double robot deceleration m s OOOOOOOOOOOAOAOOOOOOOOAOOOOODOOOOAAOOOOTobot treadf opo0po00000000 000 Wrobot _accelerationg 00000000000 0 robot deceleration DOODO DO dogo DODO DO A ODO ODO DO DO OD 0 00D OD 0000000000 uu uliatl utu 2 4 7 robot init x robot init yl robot init heading U9 O0000000000000000000 D u D OU double robot_init_x m double robot_init_y m double robot init heading degree OOOOOOOOOOOOOOOOOOOOAOO RTEOOOOOOAOOODOOOOOOOOO OOOOLOOOLD robot initx XQ OO O robot init y YO Y O O robot init heading 0 0 00 OUOOUODOOOUODODUOODUOUDOUOO 300000000 Y
7. H Bj HH B BH 000000000 URG ODA DO DO DO O DO DO DD ODO ODO ODO Dd OOO OD 000 Do Dodo 000000 OUOOUOLUOOUOUO e float startPosition distance OD 0000000000000000 degree e float endPosition distance 9000000000000 0000 degree e long scanInterval EL D I E Ll e long dataGroupingNumber A II EI EI EI El EI El e sequence long distance 0 00000000000 mm e float datalnterval OOO 000000 degree e string sensorState 0000 00 NORMAL UPDATED D OO startPosition endPositon 7000000 00000000000000000 DODO OOOOOOOAADADAUOLO 90 180 0 D7 000000000000 3 2 SensorRTC LaserRangeSensor idl TimedMeasuredData SensorRTC LaserRangeSensor idl TimedMeasuredData DO 000000000000000 URGOOOOOOOOOOOOOODOAOOOOOOOOOOOODOOOOOOOOOOODOOO OOOOODOOOODODOOOOOU e MeasuredData data DO 00000 e RT C Time tm DO d Hl U D 13 3 3 IIS TimedPose2D HsS TimedPose2D 0 OO OOOOOOAOOOOOOOOOOAOI e Pose2D data x KUD m DD 00 YOO m D heading O D radian OO D D e error JO DODO Dad 00000 Loca Map ODOOOOOOOODODODOOOOODODODODO eid 00000 e RTC Time tm UUUUUUU IDIDIDDDDUDDDOUUDDDOD 8000000000000 Y heading 0 8 amp OODODOODODDOLD 3 4 RTC OGMapConfig OOOOOOOOOODOOODOOuUOAAAAOAAOUOOOOI e double xScale XOOOOOOOOOOO m cell e double yScale YOOOOOOOOOnOO m cell e double width XO 000000000 cell e double height YO 000000000 cell e RTC Pose2D origin 0000000000 cel o o 0000 14 3 5 MREF
8. O Orange max distance po po go gp 00000000 000000000000000 range farcodeg 0000000 O O O range std deviation YODO 0000000000 00000000000000 2 4 11 range peason radius O 13 80DO000000000000000000000000 O DUD OD double range peason radius m UUUDUUUDUDDUDDUUDUDUUUUDUUDUUDUDDDUU range peason radius D O D Ll DOOODO DD DDD 000000000 000000000000 0000000000000 2 4 12 range sensor x range sensor y range sensor heading D1M4p0000000000000000000000000000 DOD UU double range sensor x m double range sensor y m double range sensor heading degree range sensor x O range sensor yO DODO Hd B DB H BH 000000000000 Urangesensor heading DODO DO DO DO DO ODO DO DA 000000000000 50000000000000 OOOOOOOOOOUOODOOAAOOODOAAAOODOOOOOOAOODOOUDOOOOOO OOOOOOOOOOOODODODODUDOUAUAOAAOOOOODODOODOOOUUAAAOAOO 11 90 y Ds 00000000000 2 4 13 show map scale display range data 0 15 D000000000000000 Li DOU DO double show map scale m pixel int display range data DOODOODOLU RTCOODOOUAODOAODODOODAAODADAOOODAODOADOODOADULD show_map scale DO UOOODOAUAOODAOODAOAUAODAODAOAAUAAUAOO O display range data 0000000000000 68800000000000000000000 OOODODODODOODOOODODODODOODODODOOODADODOADODOUOODOO DODOD De po000000000 12 3 DADO Do 000000000000 DOOO0D0D 00000000000 00000000000 0000000000000000 DoOo000000 3 1 SensorRTC LaserRangeSensor idl MeasuredData SensorRT C LaserRangeSensor idl MeasuredDatad TO H
9. R PoUMKP EER OE tH EEE E 4 59 NAH A LY HOP FLABAJILTEEL localhost v 11 RT System Editor O O 3 DOOODDOODOODDO RT System Editor 000000000 RFC I I I I O ConfigurationView O 12000 OOOOOOOODOOOOOAOOOOOOOOAAAOOOO Value 00000000000 DUDDDDUDDUODDOD E Configuration View Manager Control View Composite Component View jm ComponentName EnvironmentSimulator0 ConfigurationSet default active config name Value A c default FieldDataF ile Fieldtxt display range data 0 following target id 2 xt globalmap scale 01 localmap height 200 localmap scale 005 localmap width 200 range data num 480 range end position 2100 range far code 1 3 range_max_distance 300 range sensor heading 00 range sensor x 00 range sensor y 00 range start position 300 range std deviation 00 robot acceleration 0400 robot deceleration 0400 robot init heading 2000 robot init x 35 robot init y 10 robot move error heading 00 robot move error x 0 robot move error y 00 vi ES II ENS id 12 ConfigurationView 21 54 DOOODOOODOODOODO 0000 RTODODOODODODOOOODODODODODODOOODODODODODO OOODOODODOODOODOODODODODODODDODD 138000000000000 ODOODODOUDODODOOODODODODODOODODOADODODODOOOOO Wi Environment Simulator D 1340000000000 22 6 DOU 00000000 000000000000 441 8580 OODODODOOOOOOODO 1 1 00400000 uuu UDDDDUUUUUD
10. UU TEL 0532 44 6826 URL http www aisl cs tut ac jp DOODOOOOuAD rtcGai cs tutacjp 00000000000 23
11. luteOGMapData UDD octedOOOOODODDOAAAAOOOAODOAAsctedOO 8bit0 00000 1280 127 OOOODODOOODODODODOD OOO 1000DODODOOODOADADODADODOO DOAOOAOUAUOADD AAUAODDAOUOOAUAODOAADAODAAUOAODAO D 0 OOOODOODY e RTC OGMapConfig mapconfig OOUOOOOOOOOO e RTC OGMapCells cells octed 000000000000 e RTC Time tm DO d Hl Ul D 3 9 MRFC TimedFloatAbsoluteOGMapData OOO dat OOOUOOOODADOAUAOUOOOOAoatOADAUADUOOOOOOADA OOODDODOODUO 0000 100000000000000000000000000000 OOODDODOODOODDODDOODDODOODOOODODOODOODOLD 1000000 D UU e RTC OGMapConfig mapconfig DJ H1 00000000 e RTC OGMapFloatCells cells fot 000000000000 e RT C Time tm DO d Hl U D 16 3 10 MRFC AbsoluteMapService MRFC AbsoluteMapService DO BODO OOO ODO 0D 00D 0000000000000 DOOD0D0D0 0000000 0000000000000 e RTC OGMapConfig get AbsoluteOGMapConfig OOOOODOOOOOO e TimedAbsoluteOGMapData getAbsoluteOGMap in double x in double y in unsigned long width in unsigned long height OOaaOOAAAODODDAAA 0000000 y000000000000 e TimedFloatAbsoluteOGMapData getFloatAbsoluteOGMap in double x in double y in un signed long width in unsigned long height poego20000000000 0000000 y000000000000 xScale m cell 4 A I I 1 RR O dg A Gi E Ki pali wa E FI 8 i v i 3 a y gt width XA RO EL origin cell 0 OOS EIE O 10 0000000 17 4 DOODOOOOLO DOdODDO DO DO DO DO 00D 0000000000000 0000000000000 D
12. nfoService DO DO DO DO OD OOOO 24 DOOODODODOOOOO Dopod odo 000000 RFCUUDUDUUUUUUUUDUDUDUDUDUD 2 4 1 FieldDataFile D300000000000000000000 DOD 00 std string FieldDataFile FieldDataFile DOBOD ODO 0000000 0000000000000 0000000000 DODOdD0 Dd 000000000000 0000000000000 00000000000000 po0o00000 200 0000000000000 000000000000000000000 DODBODDO DDD 0000000000000 0000000000000 000000000 DOOODO 00D 00000000000 0000000000000000000000000 OOODOODUODOODODODODOOOD 2 4 2 walkingrate mean walkingrate std deviation O 4O0ODODOOOODODODODOODOLD O Doo DO double walkingrate mean m s double walkingrate std deviation m s OOOOUODOUOOODOOODOOOODODOUOODOUOUOODAOODOOOOOODOOOOODLO OOOOOOOOOOODAOOOOOOOUOO walkingrate mean 00000000 walk ingrate std deviation 000000000000 2 4 3 localmap_width localmap height localmap scale globalmap scale 0 SOODODOOOODODODUDOODDO Li Uu Uu DO int localmap_width cell int localmap height cell double localmap scale m cell double globalmap scale m cell DOODOOOUO RTCODODODODODOO 200000000000000000000 po go0d0000000000000000000 lcalmap width 0 O O localmap height O O pOdgo0 gn 0000000000 000000000000000000 localmap scaleQ OOOO p000001cel4 0000000000000U0 globalmap scaleQ 0000000000000 OOODOODODOODUODO 2 4 4 following target O 6 DODOOOODOODDOODOO ul Ou int following target id D pupnugg RTCODAUOUOOOAADADADUAOAAOODADAUAUAOOADA OODOOOOD
13. opod 00000 000000000 00000000000000000000000000 000 41 0000 0000000 Walls Destination Entrance Actions FirstActions B 0000000000 0 00000 00000000000000000 C0O0000000000 000000000 OOOODOOOOODOOUOODUOUuI 00000000000 000000000 00000000 42 DOUDOU OOOOOODOOA Was 8800000000 s O000000000000 2000000 OOODODOODODODODODOODOO 010 x00 la 0 10 y0 0 m O 20 x00 mj 0 20 yd 0 maj 4 3 000 00000000000 Destination 0000000000 000000000000000 pod00000000 400000000000 00000000000000000000000 200000000000 0000000000000 000000000000000000000 DOdOOD0 0000000000000 0000000000 0000000000 431 DI podo000000000002X000000000000000000 20000000000 000000000 X 0000 0 10 x00 m 0 10 yo 0 Im D 20 x00 km 0 20 yon m 43 2 00 OOODODODODODODODPOOODDODOOODDODDODOD 000000000000 DOdO0D00 0000000 0000000000000 P 0000 GOU km GUD fm 00 m 18 4 3 3 OOODOOOODODDOPDODODODODOOODODOODODODOODODOODDODO po0o00000000 100000000000 20000000000000000000000 OOODOODODOODODOODODODODODOODOO S 0 uu s x T m GU m 43 4 DI OOOOOOOOOOOOOOSIOUOODOODOOODOOOOODODODOODOOOOO xt ay D OOOOOOOUODODOOLOLU 6 0000 GOU m WOO Im dx m dy m 44 00 0000000000 Estranccep0O 000000000 0 0000000000000 200 DOOOD 00D 0000 0000000000000 0000000000000 0000000 OOODOODODOOADOODODDODOOOOO C000 0 10 x00 fa 0 10 yO 0 km 0 20 x00 fm B 20 yO 0 km 0 0 UDDUDD 0p 000000000 DJ 45 JUDO
14. robot init heading robot init x robot init y D3 000000000000 2 4 8 robot move error x robot move error y robot move error heading O 10 P000000000000000000000 O u D uu double robot move error x m double robot move error y m double robot move error heading degree OOODODODODODODODOODADODODODODOOODDOOODODODODADODO OOODODODOOODADODODOODDODOOODADOODADOODODODODD XOODODY OOOOODODODODODOUODDODODDOOODOD InOOODODOOODADODOO OODOODODODOOODODODOOADODODODOOODDODODODOODODODODOO OOODODOODOODODO 2 4 9 range start position range end position range data num D 11 O00000000000000000000000000 O DOU OD double range start position degree double range end position degree int range data num range start position O range end position Hl HL HB Bj HH HH B HH HH HH H H H HH B BE DE HE LH OOOOUOAOODODOODUOdUuGAAAOAAOOOODODOODODODOOOOOODODOODODOO 4 OOOOOOAOOAOOAAOAOOOOOOAOOAVOODOAODOAOODOAODOAOODAO range data num I 1 UI UI II UI 0 B B B 0000000000000 range end position range start position range data num degree D D D D 90 180 o D lt o000000000000 10 2 4 10 range max distancel range far codel range std deviation D12 p0000000000000000000000000000 O DUD OD double range max distance m long range far code double range std deviation m range max distance TOOOOOOOOOU000000000000000000000000 poeg00000 0000000000000 range far code 000000000
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