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What the project is
We are using nine interfaces to study pose transformation
Six of those interfaces use the cursor, and the other three use speech
Mouse click:
When the user clicks on one of the arrows, the end effector will translate in the direction of that arrow as the user moves the cursor. When the user clicks a second time, the end effector will stop moving. If the user clicks on the ring around the end effector, the end effector will subsequently rotate as they move the cursor around the window. When the user clicks a second time, the end effector will stop.
Mouse drag:
The user can drag the end effector along one of the four cardinal directions by using the arrows. They can also click on the ring and drag it in order to change the orientation of the end effector.
Mouse click:
Once the user clicks on the end effector, it follows their cursor as they move there cursor around the window. When the user clicks a second time, the end effector stops moving. If the user clicks on the ring around the end effector, the end effector will subsequently rotate as they move the cursor around the window. When the user clicks a second time, the end effector will stop rotating.
Mouse drag:
The user can drag the end effector to any desired position. They can also click on the ring and drag in order to change the orientation of the end effector.
Mouse click:
The user's first click determines the positon of the end effector (where it will move to). The user then moves the cursor around to determine the end effector's orientation. The end effector will point from where the mouse was first click to where the mouse is clicked for the second time.
Mouse drag:
Upon a mousedown even (the user presses the mouse down) the position of the end effector is set. The user can then drag the mouse around and let up the mouse when the desired orientation has been achieved.
The user can give one of the following commands "left", "right", "up", "down", "clockwise", "counterclockwise" or "stop". When one of the directional commands is given, the end effector begins moving in that direction, and will continue to do so until another command is given. In order to successfully achieve the goal pose, the end effector must be stopped on top of the goal pose.
The end effector is surrounded by arrows that point away from it in all directions. Each arrow has a number associated with it, and for the user to move the end effector in the direction that the arrow points, the end user says the number associated with that arrow. When this happens, the end effector begins moving in the direction that the arrows points, and will continue to do so until the user issues the "stop" command, at which point the end effector will stop moving. In order to successfully achieve the goal pose, the end effector must be stopped on top of the goal pose.
A grid is overlaid on top of the workspace, and each grid cell has a number. When the user says the number of the desired grid cell, the original grid is cleared and a new grid is created within the specified grid cell. The grid and grid cells continue to shrink in this manner until the grid cell is small enough to specify a particular pixel to trigger a mouse event on. At this point the position of the end effector is set. The orientation is then specified by a circle the surrounding end effector with numbered slices for the user to choose from. Once the user has said the number of the desired slice, a new set of slices are created within the slice selected allowing the user to narrow down and select the desired orientation.
If you click and drag within the area of the triangle, then it will only rotate to the location of the cursor.
If you click and drag beyond the area of the triangle, then it will rotate and translate to the location of the cursor.