Updated documentation
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Luca Warmenhoven
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## Motion Tracking System
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## Motion Tracking System -- Pepper
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---
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To capture the user's motion with the sensing devices, we'll need to use a tracking system that calculates the
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path the user makes to be able to determine the user's position and orientation, and therefore whether the movement
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that was made correlates to the provided path.
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This is done by some calculations in the `MotionProcessor` class. To get started, create an instance of the `MotionProcessor` class and call the `processMotion` method with the `MotionData` object as a parameter. This will return a `MotionResult` object that contains the calculated path.
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### Introduction
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The robot motion tracking system is a system that allows the robot to track the user's motion and provide feedback
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based on the user's motion. The system consists of a Web Server, which actively listens for incoming data from the
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two ESP8266 modules. The ESP8266 modules are connected to the robot and are responsible for tracking the user's motion.
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These sensors send rotation data to the Web Server, which can then be parsed and used to provide feedback to the user.
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### System Architecture
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The system consists of three main components: the Web Server, the ESP8266 modules, and the Pepper robot. The Web Server
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is responsible for receiving data from the ESP8266 modules and processing it. The ESP8266 modules are responsible for
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sending rotation data to the web server, which is then parsed.
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### Parsing Data
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To parse the data received by the web server, one must utilize the class `InputProcessor`. This class is responsible for
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both starting the server and processing data received by the server. To start parsing data, one can do the following:
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```java
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// create the motion processor
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MotionProcessor motionProcessor = new MotionProcessor();
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InputProcessor processor = new InputProcessor();
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processor.startListening(); // This starts the web server.
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```
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To start listening for input, one must call the following method:
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To parse data received by the server, one can register an event listener with the `InputProcessor` class. This event listener
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will be called whenever new data is received by the server. To register an event listener, one can do the following:
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```java
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// start listening for input
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motionProcessor.startListening();
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processor.setInputHandler(new IInputHandler() {
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@Override
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public void accept(Vector3f rotationVector, int sensorId) {
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// Do something with the input.
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}
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});
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```
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Calling this function creates a WebSocket server, which the sensing devices can connect to.
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The `MotionProcessor` class will then start listening for a set of messages that start with specified kind of keywords.
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The messages always start with the keyword, separated by a space, and then the data is sent.
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The default data separator is `;`.
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An example of the message format is shown below:
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### Providing Feedback
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If one wants to provide feedback to the user, one must first provide an exercise to the `InputProcessor` object.
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This can be done by calling the `setExercise(Exercise exercise)` method. This method takes an `Exercise` object as a parameter.
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This object contains information about the exercise, such as the name of the exercise, the muscle group it targets, and the
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video associated with the exercise. One can then check the status of the current exercise by calling one of the following
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methods:
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```java
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// Sending data
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"data accelerationX;accelerationY;accelerationZ;rotationX;rotationY;rotationZ" // all values are floats
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processor.getCurrentProgress(); // Returns the current progress of the exercise as a scalar (0 - 1)
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// Changing the sample rate
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"sampleRate rate" // rate is an integer
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processor.getError(int sensorId, float time); // Get the error offset for a given sensor at a given time
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// Calibrating the zero point
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"zero x;y;z" // x, y, z are floats
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```
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processor.getAverageError(int sensorId); // Get the average error for a given sensor
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To add a custom message received handler, one can simply call the following method:
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processor.secondsPassed(); // Get the number of seconds that have passed since the exercise started
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```java
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// Add a custom message handler
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motionProcessor.setMotionDataEventHandler((Vector3 vector) -> { ... });
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```
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*Note: The message handler provides a vector as a parameter; this vector is already converted from relative acceleration and rotation.*
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processor.hasFinished(); // Check if the exercise has finished
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### Error checking
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To check whether the made movements correlate with a given path, one must check for their differences.
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This can be done by a few implemented methods:
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***Get the error of a vector compared to a path***
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```java
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GesturePath path = new GesturePath.Builder()
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.addVector(...)
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.build();
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Vector3 referencePoint = new Vector3(...);
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double error = motionProcessor.getError(path, referencePoint);
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```
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***Get the average error of a computed path to a `GesturePath`***
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```java
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GesturePath path = new GesturePath.Builder()
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.addVector(...)
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.build();
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double error = motionProcessor.getAverageError(path);
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```
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***Get a list of error values from a computed path to a `GesturePath`***
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```java
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GesturePath path = new GesturePath.Builder()
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.addVector(...)
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.build();
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List<Double> errorList = motionProcessor.getErrors(path);
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```
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### Example
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An example of how to use a motion tracking system is shown below:
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```java
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// create the motion processor
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MotionProcessor motionProcessor = new MotionProcessor();
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// Create a gesture path
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GesturePath.Builder pathBuilder = new GesturePath.Builder();
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for ( int i = 0; i < 100; i++ )
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pathBuilder.addVector(new Vector3(i, i, i));
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GesturePath path = pathBuilder.build();
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// Set the path
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for ( int i = 0; i < 100; i++ ) {
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motionProcessor.addMotionData(new MotionData(i, i, i, i, i, i));
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}
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// Get error values
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List<Double> errorList = motionProcessor.getErrors(path);
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// Get average error
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double averageError = motionProcessor.getAverageError(path);
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// Now you can do whatever you want with these results.
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```
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