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<!DOCTYPE html>
<html>
<head>
<meta charset="UTF-8" />
<link href='./style.css' rel='stylesheet'>
<link rel="stylesheet" type="text/css" href="https://cdn.rawgit.com/dreampulse/computer-modern-web-font/master/fonts.css">
<style>
@keyframes drawcircleCW {
from {transform: rotate(0deg);}
to {transform: rotate(360deg);}
}
@keyframes drawcircleCCW {
from {transform: rotate(0deg);}
to {transform: rotate(-360deg);}
}
</style>
</head>
<body>
<div class = "navbar">
<h1> Introduction To Robotics </h1>
<ul>
<li><a href="#localize">Localization</a></li>
<li><a href="#motion">Motion</a></li>
<li><a href="#vision">Vision</a></li>
<li><a href="#about">About</a></li>
</ul>
</div>
<div class="overall">
<div class = "intro">
<p> In robotics, there are numerous algorithms that can be used for various calculations. We'll be introducing six algorithms today. </p>
<ol style="margin-left: 100px">
<li> Robot Localization </li>
<br>
<li> Robot Motion </li>
<br>
<li> Robot Vision </li>
<br>
<li> Robot Controls </li>
<br>
<li> Robot Measurement </li>
<br>
<li> Robot Sensing </li>
<br>
</ol>
</div>
<h1 id = "localize" style="background:DarkSlateBlue;width:1000px; padding:20px 0px"> Robot Localization </h1>
<div class = "localize-text">
<span> Robot localization is a process used by a robot to determine its location based on the known locations of several objects or landmarks.</span>
<span> Specifically, in a 2D plane, if the locations of three landmarks are known, and the robot's distance from each of the three landmarks are known as well,
the exact (x, y) coordinates can be determined. </span>
<p> To find the location of the robot, we can use the concept of circle intersection.</p>
<ol>
<li> If we know that the robot is of distance d<sub>a</sub> away from one point, we can draw a circle of radius d<sub>a</sub> around that point. Any point on that circle
is a possible location of the robot </li>
<li> Now, if we are also a distance d<sub>b</sub> away from a second point, we can draw a circle of radius d<sub>b</sub> around the second point. The two circles intersect
at at most 2 points, so we've narrowed down the robot's location to 2 points. </li>
<li> Finally, with a third point at a distance of d<sub>c</sub> away, we can draw a circle which will intersect one of the 2 points, and thus the location of the robot
can be determined. </li>
</ol>
<br>
<p> Below is an interactive that shows you the concept of robot localization. There are three landmarks with colors red, blue, and yellow.
Click anywhere in the gray box and drag your mouse around to see how the robot's location can be determined. You can also modify the coordinates of each landmark below.</p>
</div>
<!--
<div class = "animation" id = "animate">
<div id = "pointA">
</div>
<div id = "AroundPointA">
</div>
<div id = "pointB">
</div>
<div id = "AroundPointB">
</div>
<div id = "pointC">
</div>
<div id = "AroundPointC">
</div>
<div id = "blackPoint">
</div>
</div>
<br>-->
<canvas class = "animation2" id = "animate2" width ="1000" height= "500">
</canvas>
<span> Red Landmark: </span> <input type="number" id="curredx" value=150 onchange="changeTextValue()" style="width: 50px;">, <input type="number" id="curredy" value=100 onchange="changeTextValue()" style="width: 50px;">
Blue Landmark: </span> <input type="number" id="curblux" value=450 onchange="changeTextValue()" style="width: 50px;">, <input type="number" id="curbluy" value=400 onchange="changeTextValue()" style="width: 50px;">
Yellow Landmark: </span> <input type="number" id="curyelx" value=800 onchange="changeTextValue()" style="width: 50px;">, <input type="number" id="curyely" value=250 onchange="changeTextValue()" style="width: 50px;"></span>
<p> Mathematically, how do we calculate the location of the robot? </p>
<p> We have three circles, so let's define <span class="latex">(x<sub>a</sub>, y<sub>a</sub>)</span>, <span class="latex">(x<sub>b</sub>, y<sub>b</sub>)</span>
, <span class="latex">(x<sub>c</sub>, y<sub>c</sub>)</span> as the centers of the three circles.
Let <span class = "latex"> r<sub>a</sub>, r<sub>b</sub>, r<sub>c</sub> </span>be the radius of the three circles, respectively.</p>
<p> We can write the equations of the circles: </p>
<ol>
<li class = "latex"> (x-x<sub>a</sub>)<sup>2</sup>+(y-y<sub>a</sub>)<sup>2</sup> = r<sub>a</sub><sup>2</sup> →
(x<sup>2</sup>-2x<sub>a</sub>x+x<sub>a</sub><sup>2</sup>)+(y<sup>2</sup>-2y<sub>a</sub>y+y<sub>a</sub><sup>2</sup>) = r<sub>a</sub><sup>2</sup></li>
<li class = "latex"> (x-x<sub>b</sub>)<sup>2</sup>+(y-y<sub>b</sub>)<sup>2</sup> = r<sub>b</sub><sup>2</sup> →
(x<sup>2</sup>-2x<sub>b</sub>x+x<sub>b</sub><sup>2</sup>)+(y<sup>2</sup>-2y<sub>b</sub>y+y<sub>b</sub><sup>2</sup>) = r<sub>b</sub><sup>2</sup></li>
<li class = "latex"> (x-x<sub>c</sub>)<sup>2</sup>+(y-y<sub>c</sub>)<sup>2</sup> = r<sub>c</sub><sup>2</sup> →
(x<sup>2</sup>-2x<sub>c</sub>x+x<sub>c</sub><sup>2</sup>)+(y<sup>2</sup>-2y<sub>c</sub>y+y<sub>c</sub><sup>2</sup>) = r<sub>c</sub><sup>2</sup></li>
</ol>
<p> First, we can find the <span class = "latex"> (x, y)</span> solutions to equations 1 and 2. Subtracting equations 1 and 2 gives:</p>
<p class = "latex">   2(x<sub>b</sub>-x<sub>a</sub>)x+(x<sub>a</sub><sup>2</sup>-x<sub>b</sub><sup>2</sup>)+2(y<sub>b</sub>-y<sub>a</sub>)y+(y<sub>a</sub><sup>2</sup>-y<sub>b</sub><sup>2</sup>) = r<sub>a</sub><sup>2</sup>-r<sub>b</sub><sup>2</sup>
→ y = <span class = "frac"><span>-(x<sub>b</sub>-x<sub>a</sub>)</span><span class="symbol">/</span>
<span class="bottom">(y<sub>b</sub>-y<sub>a</sub>)</span></span>x+<span class = "frac">
<span>(r<sub>a</sub><sup>2</sup>-r<sub>b</sub><sup>2</sup>)-(y<sub>a</sub><sup>2</sup>-y<sub>b</sub><sup>2</sup>)-(x<sub>a</sub><sup>2</sup>-x<sub>b</sub><sup>2</sup>)</span>
<span class = "symbol">/</span><span class = "bottom">2(y<sub>b</sub>-y<sub>a</sub>)</span></p>
<p> This equation is quite complicated, but it's in the form of <span class = "latex"> y = mx+b</span>. Let
<span class="latex">m = <span class = "frac"><span>-(x<sub>b</sub>-x<sub>a</sub>)</span><span class="symbol">/</span>
<span class="bottom">(y<sub>b</sub>-y<sub>a</sub>)</span></span> and
<span class="latex">b = <span class = "frac">
<span>(r<sub>a</sub><sup>2</sup>-r<sub>b</sub><sup>2</sup>)-(y<sub>a</sub><sup>2</sup>-y<sub>b</sub><sup>2</sup>)-(x<sub>a</sub><sup>2</sup>-x<sub>b</sub><sup>2</sup>)</span>
<span class = "symbol">/</span><span class = "bottom">2(y<sub>b</sub>-y<sub>a</sub>)</span></span>.</p>
<p> Now, we can substitute this value of <span class="latex">y</span> into equation 1. </p>
<p class = "latex">   (x<sup>2</sup>-2x<sub>a</sub>x+x<sub>a</sub><sup>2</sup>)+((mx+b)<sup>2</sup>-2y<sub>a</sub>(mx+b)+y<sub>a</sub><sup>2</sup>) = r<sub>a</sub><sup>2</sup>
→ (1+m<sup>2</sup>)x<sup>2</sup>+(-2x<sub>a</sub>+2mb-2y<sub>a</sub>m)x+(x<sub>a</sub><sup>2</sup>+b<sup>2</sup>-2y<sub>a</sub>b+y<sub>a</sub><sup>2</sup>-r<sub>a</sub><sup>2</sup>) = 0</p>
<p> Again, this equation is complicated, but it is now a quadratic equation in the form of <span class="latex">Ax<sup>2</sup>+Bx+C=0</span>. Thus we can let
<span class="latex">A = (1+m<sup>2</sup>), B = (-2x<sub>a</sub>+2mb-2y<sub>a</sub>m)</span>, and <span class="latex">C = (x<sub>a</sub><sup>2</sup>+b<sup>2</sup>-2y<sub>a</sub>b+y<sub>a</sub><sup>2</sup>-r<sub>a</sub><sup>2</sup>).</p>
<p> By simply applying the quadratic formula, we get two solutions for x, denoted by <span class="latex"> x<sub>1</sub> =
<span class="frac"><span>-B+√(B<sup>2</sup>-4AC)</span><span class="symbol">/</span><span class = "bottom">2A</span></span></span> and
<span class="latex"> x<sub>2</sub> =
<span class="frac"><span>-B-√(B<sup>2</sup>-4AC)</span><span class="symbol">/</span><span class = "bottom">2A</span></span></span>.</p>
<p> With only two possible coordinates <span class="latex">(x<sub>1</sub>, mx<sub>1</sub>+b)</span> and <span class="latex">(x<sub>2</sub>, mx<sub>2</sub>+b)</span>, we can plug
both coordinates into equation 3. Whichever coordinate satisfies equation 3 is the location of the robot. <span></p>
<div class = "localize">
<div class = "localize-title">
<h2> Calculate Position </h2>
</div>
<div class = "localize-input">
<div class = "points">
<p> <strong> Point A:</strong></p>
<input type="number" id="ax">
<a> , </a>
<input type="number" id="ay">
<p> <strong> Point B:</strong></p>
<input type="number" id="bx">
<a> , </a>
<input type="number" id="by">
<p> <strong> Point C:</strong></p>
<input type="number" id="cx">
<a> , </a>
<input type="number" id="cy">
</div>
<div class = "distances">
<p> <strong> Distance from A:</strong></p>
<input type="number" id="ad">
<p> <strong> Distance from B: </strong></p>
<input type="number" id="bd">
<p> <strong> Distance from C: </strong></p>
<input type="number" id="cd">
</div>
</div>
<div class = "answer">
<button onclick="getPosition()">Calculate!</button>
<p> Your Coordinates: </p>
<div class = "answer-box">
<h2 id = "LocalizedAnswer" style="display:inline">hello</h2>
</div>
</div>
</div>
<br><br><br><br>
<h1 id = "motion" style="background:DarkSlateBlue;width:1000px; padding:20px 0px"> Robot Motion </h1>
<p> There are many instances where we want to model the motion of a robot. In this case, we'll assume that our robot uses a <strong> differential drive</strong>.
A differential drive robot's movement is based on a left and right wheel, each of which operate independently of each other. </p>
<p> While the speed's of the two wheels of the robot are constant, the robot moves along a circular path, which makes it easy for us to calculate where the robot is located. Even if the speeds of each
wheel change throughout the duration of the robot's motion, the path of the robot will still be composed of many circular arcs. </p>
<p> Below is an animation that displays a robot's motion. You can modify parameters that describe the path of the robot. The red circle represents the robot's left wheel, while the blue circle
represents the robot's right wheel.</p>
<div class = "motionanimation">
<canvas class = "inneranimation" id = "rotatingsquare" width="500" height="500">
</canvas>
</div>
<span> Left Angular Speed (rad/s): </span> <input type = "number" id = "inputlas" style="width: 50px;" onchange="changeMotionParams()" value = 1.5> <span> Right Angular Speed (rad/s): </span> <input type = "number" id = "inputras" style="width: 50px;" onchange="changeMotionParams()" value = 1>
<span> Robot Width (cm): </span> <input type = "number" id = "inputwidth" style="width: 50px;" onchange="changeMotionParams()" value = 50> <span> Wheel Radius (cm): </span> <input type = "number" id = "inputrad" style="width: 50px;" onchange="changeMotionParams()" value = 10>
<p> Now let's try to find some other values based on the angular speeds of both wheels, the width of the robot (distance between the two wheels), and the wheel radius. </p>
<p> Without loss of generality, let's assume the robot's right angular speed is greater than its left angular speed. Define <span class="latex">ω<sub>r</sub>, ω<sub>l</sub>, R<sub>w</sub></span> and <span class = "latex">W</span> as the right wheel's angular speed, left wheel's angular speed,
wheel radius, and robot width respectively.</p>
<p> If the angular speeds of both wheels remain constant, the robot will move in a circle. Thus, we will first find the inner and outer radii of the robot's motion, denoted by <span class="latex">r</span>
and <span class="latex">R</span>. Since the robot moves in a circle, the angular speed or distance each wheel covers must be equal. This angular speed is not the angular speed of the wheel,
but it is how quickly the robot turns. </p>
<p> This angular speed, which we will denote as <span class="latex"> ω<sub>c</sub> </span>, is simply calculated by the tangential velocity divided by the radius of the circle. Therefore,
we can write: </p>
<p>   <span class="latex"> ω<sub>c</sub> = <span class="frac">ω<sub>l</sub>R<sub>w</sub><span class="symbol">/</span><span class = "bottom">r</span></span> =
<span class="frac">ω<sub>r</sub>R<sub>w</sub><span class="symbol">/</span><span class = "bottom">R</span></span></span></p>
<p> Since the difference between the inner and outer radius of the robot's path is the robot's width, we can write: </P>
<p>   <span class="latex"> R = r+W</span></p>
<p> Combining the two equations, we can see that:
<p>   <span class="latex"> <span class="frac">ω<sub>l</sub><span class="symbol">/</span><span class = "bottom">r</span></span> =
<span class="frac">ω<sub>r</sub><span class="symbol">/</span><span class = "bottom">r+W</span></span></span> →
<span class="latex">r = <span class="frac">ω<sub>l</sub><span class="symbol">/</span><span class = "bottom">ω<sub>r</sub>-ω<sub>l</sub></span></span>W,
R = r+W = <span class="frac">ω<sub>r</sub><span class="symbol">/</span><span class = "bottom">ω<sub>r</sub>-ω<sub>l</sub></span></span>W</span></p>
<p> Now both the inner and outer radii of the robot's path is known. To find how much a robot turns (measured in radians) in a certain time period:</p>
<p> <span class="latex">  Δθ = ω<sub>c</sub>t = <span class="frac">ω<sub>l</sub>R<sub>w</sub><span class="symbol">/</span><span class = "bottom">r</span></span>t
= <span class="frac">R<span class="symbol">/</span><span class = "bottom">W</span></span>(ω<sub>r</sub>-ω<sub>l</sub>)t</span></p>
<div class = "motion" id = "motion">
<div class = "motion-title">
<h2> Calculate Orientation </h2>
</div>
<div class = "motion-input">
<div class = "constants">
<p> <strong> Robot Width </strong></p>
<input type="number" id="w">
<p> <strong> Wheel Radius </strong></p>
<input type="number" id="rad">
<p> <strong> Initial Orientation (rad) </strong></p>
<input type="number" id="theta">
</div>
<div class = "wheeltimespeed">
<p> <strong> Right Wheel Speed (rad/s) </strong></p>
<input type="number" id="rws">
<p> <strong> Left Wheel Speed (rad/s) </strong></p>
<input type="number" id="lws">
<p> <strong> Time (s) </strong></p>
<input type="number" id="t">
</div>
</div>
<div class = "answer">
<button onclick="getOrientation()">Calculate!</button>
<p> Your Orientation: </p>
<div class = "answer-box">
<h2 id = "OrientationAnswer" style="display:inline">hello</h2>
</div>
</div>
</div>
<br><br><br><br>
<h1 id = "vision" style="background:DarkSlateBlue;width:1000px; padding:20px 0px"> Robot Vision </h1>
<canvas class = "visionanim" id = "visionanim" width ="1000" height= "500">
</canvas>
<div class = "vision" id = "vision">
<div class = "vision-title">
<h2> Calculate Distance </h2>
</div>
<div class = "vision-input">
<div class = "vision-constants">
<p> <strong> Distance Between Cameras (cm) </strong></p>
<input type="number" id="cameraD">
<p> <strong> Focal Length (mm) </strong></p>
<input type="number" id="focalL">
<p> <strong> Sensor Width (mm) </strong></p>
<input type="number" id="sensorW">
</div>
<div class = "vision-variables">
<p> <strong> Left Camera Pixel Distance </strong></p>
<input type="number" id="lcpd">
<p> <strong> Right Camera Pixel Distance </strong></p>
<input type="number" id="rcpd">
<p> <strong> Number of Pixels Per Camera </strong> </p>
<input type="number" id = "pixelNum">
</div>
</div>
<div class = "answer">
<button onclick="getDistance()">Calculate!</button>
<p> Your Distance: </p>
<div class = "answer-box">
<h2 id = "DistanceAnswer" style="display:inline">hello</h2>
</div>
</div>
</div>
<br><br><br><br>
</div>
<script>
document.getElementById("animate2").addEventListener("click", printMouse2);
document.getElementById("animate2").onmousedown = dragMouse2;
var redx = 150; var redy = 100; var blux = 450; var bluy = 400; var yelx = 800; var yely = 250;
function changeTextValue(){
redx = parseFloat(document.getElementById("curredx").value);
redy = parseFloat(document.getElementById("curredy").value);
blux = parseFloat(document.getElementById("curblux").value);
bluy = parseFloat(document.getElementById("curbluy").value);
yelx = parseFloat(document.getElementById("curyelx").value);
yely = parseFloat(document.getElementById("curyely").value);
initialPoints();
}
function dragMouse2(e){
document.onmousemove = printMouse2;
document.onmouseup = closeDragElement2;
}
function closeDragElement2(e){
document.onmouseup = null;
document.onmousemove = null;
}
function initialPoints(){
ctx.clearRect(0, 0, canvas.width, canvas.height);
ctx.beginPath();
ctx.fillStyle = "red";
ctx.arc(redx, redy, 5, 0, Math.PI*2);
ctx.fill();
ctx.closePath();
ctx.beginPath();
ctx.fillStyle = "blue";
ctx.arc(blux, bluy, 5, 0, Math.PI*2);
ctx.fill();
ctx.closePath();
ctx.beginPath();
ctx.fillStyle = "yellow";
ctx.arc(yelx, yely, 5, 0, Math.PI*2);
ctx.fill();
ctx.closePath();
ctx.font = "10px Arial";
ctx.fillStyle = "red";
ctx.textAlign = "center";
ctx.fillText("("+redx+", "+redy+")", redx, redy-10);
ctx.font = "10px Arial";
ctx.fillStyle = "blue";
ctx.textAlign = "center";
ctx.fillText("("+blux+", "+bluy+")", blux, bluy-10);
ctx.font = "10px Arial";
ctx.fillStyle = "yellow";
ctx.textAlign = "center";
ctx.fillText("("+yelx+", "+yely+")", yelx, yely-10);
}
var canvas = document.getElementById("animate2");
var ctx = canvas.getContext("2d");
initialPoints();
function drawCircle(xpos, ypos, rad, strcol){
ctx.beginPath();
ctx.setLineDash([5, 0]);
ctx.lineWidth = 2;
ctx.strokeStyle = strcol;
ctx.arc(xpos, ypos, rad, 0, Math.PI*2);
ctx.stroke();
ctx.closePath();
}
function drawLine(fromx, fromy, tox, toy, linecol){
ctx.beginPath();
ctx.setLineDash([5, 3]);
ctx.strokeStyle = linecol;
ctx.moveTo(fromx,fromy);
ctx.lineTo(tox, toy);
ctx.stroke();
ctx.closePath();
}
function drawAnimation(arad, brad, crad, xpos2, ypos2){
initialPoints();
drawCircle(redx, redy, arad, "red");
drawCircle(blux, bluy, brad, "blue");
drawCircle(yelx, yely, crad, "yellow");
ctx.beginPath();
ctx.fillStyle = "black";
ctx.arc(xpos2, ypos2, 3, 0, Math.PI*2);
ctx.fill();
ctx.closePath();
ctx.beginPath();
ctx.font = "10px Arial";
ctx.fillStyle = "black";
ctx.textAlign = "center";
ctx.fillText("("+xpos2.toFixed(0)+", "+ypos2.toFixed(0)+")", xpos2, ypos2-10);
ctx.closePath();
drawLine(redx, redy, xpos2, ypos2, "red");
ctx.beginPath();
ctx.font = "10px Arial";
ctx.fillStyle = "red";
ctx.textAlign = "center";
ctx.fillText("r = " + arad.toFixed(2), (xpos2+redx)/2, (ypos2+redy)/2);
ctx.closePath();
drawLine(blux, bluy, xpos2, ypos2, "blue");
ctx.beginPath();
ctx.font = "10px Arial";
ctx.fillStyle = "blue";
ctx.textAlign = "center";
ctx.fillText("r = " + brad.toFixed(2), (xpos2+blux)/2, (ypos2+bluy)/2);
ctx.closePath();
drawLine(yelx, yely, xpos2, ypos2, "yellow");
ctx.beginPath();
ctx.font = "10px Arial";
ctx.fillStyle = "yellow";
ctx.textAlign = "center";
ctx.fillText("r = " + crad.toFixed(2), (xpos2+yelx)/2, (ypos2+yely)/2);
ctx.closePath();
}
function printMouse2(event){
var bounds = event.target.getBoundingClientRect();
var xclick = 1.0*event.clientX-1.0*bounds.left;
var yclick = 1.0*event.clientY-1.0*bounds.top;
yclick = yclick;
xclick = xclick;
initialPoints();
var arad = Math.sqrt((xclick-redx)*(xclick-redx)+(yclick-redy)*(yclick-redy));
var brad = Math.sqrt((xclick-blux)*(xclick-blux)+(yclick-bluy)*(yclick-bluy));
var crad = Math.sqrt((xclick-yelx)*(xclick-yelx)+(yclick-yely)*(yclick-yely));
drawAnimation(arad, brad, crad, xclick, yclick);
}
drawMotionPoints(1.5, 1, 50, 10);
function changeMotionParams(){
var las = document.getElementById("inputlas").value;
var ras = document.getElementById("inputras").value;
var rwidth = document.getElementById("inputwidth").value;
var rrad = document.getElementById("inputrad").value;
drawMotionPoints(las, ras, rwidth, rrad);
}
function drawMotionPoints(las, ras, robotwidth, wheelrad){
var motioncanvas = document.getElementById("rotatingsquare");
var motionctx = motioncanvas.getContext("2d");
motionctx.clearRect(0, 0, motioncanvas.width, motioncanvas.height);
motionctx.beginPath();
motionctx.arc(250, 250, 5, 0, 2*Math.PI);
motionctx.fillStyle = "black";
motionctx.fill();
motionctx.closePath();
robotwidth *= 1;
wheelrad *= 1;
if (ras > las){
motionctx.beginPath();
motionctx.strokeStyle = "red";
var innerradius = las*robotwidth/(ras-las);
motionctx.arc(250+innerradius, 250+innerradius, 10, 0, 2 * Math.PI);
motionctx.stroke();
motionctx.closePath();
motionctx.beginPath();
motionctx.strokeStyle = "blue";
motionctx.arc(250+innerradius+robotwidth, 250+innerradius+robotwidth, 10, 0, 2*Math.PI);
motionctx.stroke();
motionctx.closePath();
var circularangspeed = las*wheelrad/innerradius;
document.getElementById("rotatingsquare").style.animationName = "drawcircleCCW";
document.getElementById("rotatingsquare").style.animationDuration = 2*Math.PI/circularangspeed+"s";
} else if (las > ras){
motionctx.beginPath();
motionctx.strokeStyle = "blue";
var innerradius = ras*robotwidth/(las-ras);
motionctx.arc(250+innerradius, 250+innerradius, 10, 0, 2 * Math.PI);
motionctx.stroke();
motionctx.closePath();
motionctx.beginPath();
motionctx.strokeStyle = "red";
motionctx.arc(250+innerradius+robotwidth, 250+innerradius+robotwidth, 10, 0, 2*Math.PI);
motionctx.stroke();
motionctx.closePath();
var circularangspeed = ras*wheelrad/innerradius;
document.getElementById("rotatingsquare").style.animationName = "drawcircleCW";
document.getElementById("rotatingsquare").style.animationDuration = 2*Math.PI/circularangspeed+"s";
}
}
document.getElementById("visionanim").onmousedown = visionDragMouse;
var tpixel = 3000;
var bpixel = 1000;
drawVision(3000, 1000);
function visionDragMouse(e){
var bounds = event.target.getBoundingClientRect();
var xclick = 1.0*event.clientX-1.0*bounds.left;
var yclick = 1.0*event.clientY-1.0*bounds.top;
var ytpos = 100+tpixel/4000*120;
var ybpos = 280+bpixel/4000*120;
if (xclick > 255 || xclick < 245)
return;
if (yclick <= ytpos+5 && yclick >= ytpos-5){
document.onmousemove = topVisionPrint;
document.onmouseup = visionCloseDrag;
return;
}
if (yclick <= ybpos+5 && yclick >= ybpos-5){
document.onmousemove = botVisionPrint;
document.onmouseup = visionCloseDrag;
return;
}
}
function visionCloseDrag(e){
document.onmouseup = null;
document.onmousemove = null;
}
function topVisionPrint(event){
var bounds = event.target.getBoundingClientRect();
var xclick = 1.0*event.clientX-1.0*bounds.left;
var yclick = 1.0*event.clientY-1.0*bounds.top;
if (yclick > 220 || yclick < 100)
return;
tpixel = (yclick-100)/120*4000;
drawVision(tpixel, bpixel);
}
function botVisionPrint(event){
var bounds = event.target.getBoundingClientRect();
var xclick = 1.0*event.clientX-1.0*bounds.left;
var yclick = 1.0*event.clientY-1.0*bounds.top;
if (yclick > 400 || yclick < 280)
return;
bpixel = (yclick-280)/120*4000;
drawVision(tpixel, bpixel);
}
function drawVision(ldist, rdist){
var visioncanvas = document.getElementById("visionanim");
var visionctx = visioncanvas.getContext("2d");
visionctx.clearRect(0, 0, visioncanvas.width, visioncanvas.height);
//two camera centers
visionctx.beginPath();
visionctx.fillStyle = "blue";
visionctx.arc(100, 160, 5, 0, 2*Math.PI);
visionctx.fill();
visionctx.closePath();
visionctx.beginPath();
visionctx.fillStyle = "blue";
visionctx.arc(100, 340, 5, 0, 2*Math.PI);
visionctx.fill();
visionctx.closePath();
//rectangles
visionctx.beginPath();
visionctx.rect(248, 100, 4, 120);
visionctx.fillStyle = "blue";
visionctx.fill();
visionctx.closePath();
visionctx.beginPath();
visionctx.rect(248, 280, 4, 120);
visionctx.fillStyle = "blue";
visionctx.fill();
visionctx.closePath();
//point on the rectangle
visionctx.beginPath();
visionctx.fillStyle = "red";
visionctx.arc(250, 100+ldist/4000*120, 5, 0, 2*Math.PI);
visionctx.fill();
visionctx.closePath();
visionctx.beginPath();
visionctx.fillStyle = "red";
visionctx.arc(250, 280+rdist/4000*120, 5, 0, 2*Math.PI);
visionctx.fill();
visionctx.closePath();
//lines
var y1 = (100+ldist/4000*120-160)/150*900+160;
visionctx.beginPath();
visionctx.strokeStyle = "blue";
visionctx.moveTo(100, 160);
visionctx.lineTo(1000, y1);
visionctx.stroke();
visionctx.closePath();
var y2 = (280+rdist/4000*120-340)/150*900+340;
visionctx.beginPath();
visionctx.strokeStyle = "blue";
visionctx.moveTo(100, 340);
visionctx.lineTo(1000, y2);
visionctx.stroke();
visionctx.closePath();
//camera width
visionctx.beginPath();
visionctx.strokeStyle = "black";
visionctx.moveTo(70, 160);
visionctx.lineTo(80, 160);
visionctx.stroke();
visionctx.closePath();
visionctx.beginPath();
visionctx.strokeStyle = "black";
visionctx.moveTo(70, 340);
visionctx.lineTo(80, 340);
visionctx.stroke();
visionctx.closePath();
visionctx.beginPath();
visionctx.strokeStyle = "black";
visionctx.moveTo(75, 160);
visionctx.lineTo(75, 340);
visionctx.stroke();
visionctx.closePath();
visionctx.beginPath();
visionctx.fillStyle = "red";
visionctx.textAlign = "right";
visionctx.fillText("180 cm", 65, 250);
visionctx.closePath();
//focal width
visionctx.beginPath();
visionctx.strokeStyle = "black";
visionctx.moveTo(100, 80);
visionctx.lineTo(250, 80);
visionctx.stroke();
visionctx.closePath();
visionctx.beginPath();
visionctx.strokeStyle = "black";
visionctx.moveTo(100, 75);
visionctx.lineTo(100, 85);
visionctx.stroke();
visionctx.closePath();
visionctx.beginPath();
visionctx.strokeStyle = "black";
visionctx.moveTo(250, 75);
visionctx.lineTo(250, 85);
visionctx.stroke();
visionctx.closePath();
visionctx.beginPath();
visionctx.fillStyle = "red";
visionctx.textAlign = "center";
visionctx.fillText("150 cm", 175, 70);
visionctx.closePath();
//top lens
visionctx.beginPath();
visionctx.strokeStyle = "black";
visionctx.moveTo(260, 100);
visionctx.lineTo(270, 100);
visionctx.stroke();
visionctx.closePath();
visionctx.beginPath();
visionctx.strokeStyle = "black";
visionctx.moveTo(260, 100+ldist/4000*120);
visionctx.lineTo(270, 100+ldist/4000*120);
visionctx.stroke();
visionctx.closePath();
visionctx.beginPath();
visionctx.strokeStyle = "black";
visionctx.moveTo(265, 100);
visionctx.lineTo(265, 100+tpixel/4000*120);
visionctx.stroke();
visionctx.closePath();
visionctx.beginPath();
visionctx.fillStyle = "red";
visionctx.textAlign = "left";
visionctx.fillText(tpixel.toFixed(0)+" px", 270, 100+ldist/4000*60);
visionctx.closePath();
//bottom lens
visionctx.beginPath();
visionctx.strokeStyle = "black";
visionctx.moveTo(260, 280);
visionctx.lineTo(270, 280);
visionctx.stroke();
visionctx.closePath();
visionctx.beginPath();
visionctx.strokeStyle = "black";
visionctx.moveTo(260, 280+rdist/4000*120);
visionctx.lineTo(270, 280+rdist/4000*120);
visionctx.stroke();
visionctx.closePath();
visionctx.beginPath();
visionctx.strokeStyle = "black";
visionctx.moveTo(265, 280);
visionctx.lineTo(265, 280+bpixel/4000*120);
visionctx.stroke();
visionctx.closePath();
visionctx.beginPath();
visionctx.fillStyle = "red";
visionctx.textAlign = "left";
visionctx.fillText(bpixel.toFixed(0)+" px", 270, 280+rdist/4000*60);
visionctx.closePath();
//full top lens
visionctx.beginPath();
visionctx.strokeStyle = "black";
visionctx.moveTo(320, 100);
visionctx.lineTo(330, 100);
visionctx.stroke();
visionctx.closePath();
visionctx.beginPath();
visionctx.strokeStyle = "black";
visionctx.moveTo(320, 220);
visionctx.lineTo(330, 220);
visionctx.stroke();
visionctx.closePath();
visionctx.beginPath();
visionctx.strokeStyle = "black";
visionctx.moveTo(325, 100);
visionctx.lineTo(325, 220);
visionctx.stroke();
visionctx.closePath();
visionctx.beginPath();
visionctx.fillStyle = "red";
visionctx.textAlign = "left";
visionctx.fillText("4000 px, 120 cm", 330, 160);
visionctx.closePath();
}
/*
document.getElementById("animate").addEventListener("click", printMouse);
document.getElementById("animate").onmousedown = dragMouse;
function dragMouse(e){
document.onmousemove = printMouse;
document.onmouseup = closeDragElement;
}
function closeDragElement(e){
document.onmouseup = null;
document.onmousemove = null;
}
function printMouse(event){
document.getElementById("AroundPointA").style.width = null;
document.getElementById("AroundPointA").style.height = null;
document.getElementById("AroundPointA").style.border = null;
document.getElementById("AroundPointA").style.top = null;
document.getElementById("AroundPointA").style.left = null;
document.getElementById("AroundPointB").style.width = null;
document.getElementById("AroundPointB").style.height = null;
document.getElementById("AroundPointB").style.border = null;
document.getElementById("AroundPointB").style.top = null;
document.getElementById("AroundPointB").style.left = null;
document.getElementById("AroundPointC").style.width = null;
document.getElementById("AroundPointC").style.height = null;
document.getElementById("AroundPointC").style.border = null;
document.getElementById("AroundPointC").style.top = null;
document.getElementById("AroundPointC").style.left = null;
document.getElementById("blackPoint").style.left = null;
document.getElementById("blackPoint").style.top = null;
document.getElementById("blackPoint").style.width = null;
document.getElementById("blackPoint").style.height = null;
var bounds = event.target.getBoundingClientRect();
var xclick = 1.0*event.clientX-1.0*bounds.left;
var yclick = 1.0*event.clientY-1.0*bounds.top;
var arad = Math.sqrt((xclick-155)*(xclick-155)+(yclick-105)*(yclick-105));
document.getElementById("AroundPointA").style.width = 2*arad+"px";
document.getElementById("AroundPointA").style.height = 2*arad+"px";
document.getElementById("AroundPointA").style.border = "3px solid red";
document.getElementById("AroundPointA").style.top = 105-arad-2.5+"px";
document.getElementById("AroundPointA").style.left = 155-arad-3+"px";
var brad = Math.sqrt((xclick-455)*(xclick-455)+(yclick-405)*(yclick-405));
document.getElementById("AroundPointB").style.width = 2*brad+"px";
document.getElementById("AroundPointB").style.height = 2*brad+"px";
document.getElementById("AroundPointB").style.border = "3px solid yellow";
document.getElementById("AroundPointB").style.top = 400-brad+5-2.5+"px";
document.getElementById("AroundPointB").style.left = 450-brad+5-3+"px";
var crad = Math.sqrt((xclick-805)*(xclick-805)+(yclick-255)*(yclick-255));
document.getElementById("AroundPointC").style.width = 2*crad+"px";
document.getElementById("AroundPointC").style.height = 2*crad+"px";
document.getElementById("AroundPointC").style.border = "3px solid blue";
document.getElementById("AroundPointC").style.top = 250-crad+5-2.5+"px";
document.getElementById("AroundPointC").style.left = 800-crad+5-3+"px";
document.getElementById("blackPoint").style.left = (xclick - 5).toString() + "px";
document.getElementById("blackPoint").style.top = (yclick - 5).toString() + "px";
document.getElementById("blackPoint").style.width = "10px";
document.getElementById("blackPoint").style.height = "10px";
}*/
function getPosition() {
var ax = document.getElementById("ax").value;
var ay = document.getElementById("ay").value;
var bx = document.getElementById("bx").value;
var by = document.getElementById("by").value;
var cx = document.getElementById("cx").value;
var cy = document.getElementById("cy").value;
var ad = document.getElementById("ad").value;
var bd = document.getElementById("bd").value;
var cd = document.getElementById("cd").value;
if (ax.length == 0 || ay.length == 0 || bx.length == 0 || by.length == 0 || cx.length == 0 || cy.length == 0 ||
ad.length == 0 || bd.length == 0 || cd.length == 0){
window.alert("Fill out all boxes!");
return;
}
var x_coeff = 2.0*(bx-ax);
var y_coeff = 2.0*(by-ay);
var b = (ad*ad-bd*bd+by*by-ay*ay+bx*bx-ax*ax)/y_coeff;
var m = -x_coeff/y_coeff;
//document.getElementById("LocalizedAnswer").innerHTML = m+" "+b;
var A = (1+m*m);
var B = -2*ax+2*m*(b-ay);
var C = ax*ax+(b-ay)*(b-ay)-ad*ad;
var discrim = B*B-4*A*C;
//document.getElementById("LocalizedAnswer").innerHTML = A+" "+B+" "+C;
document.getElementById("LocalizedAnswer").style.visibility = "visible";
if (discrim < 0.0){
document.getElementById("LocalizedAnswer").innerHTML = "Does Not Exist!";
return;
}
var x1 = (-B+Math.sqrt(discrim))/(2*A);
var x2 = (-B-Math.sqrt(discrim))/(2*A);
var y1 = m*x1+b;
var y2 = m*x2+b;
if (Math.abs((x1-cx)*(x1-cx)+(y1-cy)*(y1-cy)-cd*cd) <= 0.01){
document.getElementById("LocalizedAnswer").innerHTML = "("+x1+","+y1+")";
redx = parseFloat(ax); redy = parseFloat(ay); blux = parseFloat(bx); bluy = parseFloat(by); yelx = parseFloat(cx); yely = parseFloat(cy);
drawAnimation(parseFloat(ad), parseFloat(bd), parseFloat(cd), parseFloat(x1), parseFloat(y1));
return;
}
if (Math.abs((x2-cx)*(x2-cx)+(y2-cy)*(y2-cy)-cd*cd) <= 0.01){
document.getElementById("LocalizedAnswer").innerHTML = "("+x2+","+y2+")";
redx = parseFloat(ax); redy = parseFloat(ay); blux = parseFloat(bx); bluy = parseFloat(by); yelx = parseFloat(cx); yely = parseFloat(cy);
drawAnimation(parseFloat(ad), parseFloat(bd), parseFloat(cd), parseFloat(x2), parseFloat(y2));
return;
}
document.getElementById("LocalizedAnswer").innerHTML = "Does Not Exist!";
}
function getOrientation() {
var w = document.getElementById("w").value;
var r = document.getElementById("rad").value;
var angle = document.getElementById("theta").value;
var rws = document.getElementById("rws").value;
var lws = document.getElementById("lws").value;
var t = document.getElementById("t").value;
if (w.length == 0 || r.length == 0 || angle.length == 0 || rws.length == 0 || lws.length == 0 || t.length == 0){
window.alert("Fill out all boxes!");
return;
}
document.getElementById("OrientationAnswer").style.visibility = "visible";
var add = r/w*(rws-lws)*t;
var newangle = parseFloat(angle)+add;
document.getElementById("OrientationAnswer").innerHTML = newangle;
}
function getDistance() {
var cameraD = document.getElementById("cameraD").value;
var focalL = document.getElementById("focalL").value;
var sensorW = document.getElementById("sensorW").value;
var lcpd = document.getElementById("lcpd").value;
var rcpd = document.getElementById("rcpd").value;
var pixelNum = document.getElementById("pixelNum").value;
if (cameraD.length == 0 || focalL.length == 0 || sensorW.length == 0 || lcpd.length == 0 || rcpd.length == 0 || pixelNum.length == 0){
window.alert("Fill out all boxes!");
return;
}
cameraD *= 10;
var leftSlope = (pixelNum/2-parseFloat(lcpd))*sensorW/pixelNum/focalL;
var rightSlope = (pixelNum/2-parseFloat(rcpd))*sensorW/pixelNum/focalL;
document.getElementById("DistanceAnswer").style.visibility = "visible";
if (Math.abs(rightSlope-leftSlope) <= 0.0001){
document.getElementById("DistanceAnswer").innerHTML = "Does Not Exist!";
return;
}
var ans = cameraD/(rightSlope-leftSlope);
ans /= 100;
document.getElementById("DistanceAnswer").innerHTML = ans+" cm";
}
function getAngle() {
var lx1 = document.getElementById("lx1").value;
var ly1 = document.getElementById("ly1").value;
var lx2 = document.getElementById("lx2").value;
var ly2 = document.getElementById("ly2").value;
var rx1 = document.getElementById("rx1").value;
var ry1 = document.getElementById("ry1").value;
var pg = document.getElementById("pg").value;
if (lx1.length == 0 || ly1.length == 0 || ly1.length == 0 || ly2.length == 0 || rx1.length == 0 || ry1.length == 0 || pg.length == 0){
window.alert("Fill out all boxes!");
return;
}
document.getElementById("AngleAnswer").style.visibility = "visible";
if (lx2 == lx1){
var a = 1.0;
var c = -lx1;
var err = Math.abs(a*rx1+c)/a;
} else {
var a = -(ly2-ly1)/(lx2-lx1);
var b = 1.0;
var c = -a*lx1-b*ly1;
var err = Math.abs(a*rx1+b*ry1+c)/Math.sqrt(a*a+b*b);
}
var cross = (ly2-ly1)*(rx1-lx2)-(lx2-lx1)*(ry1-ly2);
var move = Math.abs(err)*pg;
if (cross < 0)
document.getElementById("AngleAnswer").innerHTML = "The steering angle is " + move + " degrees to the left";
else if (cross > 0)
document.getElementById("AngleAnswer").innerHTML = "The steering angle is " + move + " degrees to the right";
else
document.getElementById("AngleAnswer").innerHTML = "The robot is already on the path";
}
</script>
</body>
</html>