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forceSensorPlugin_impl.cpp.bak20140214
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forceSensorPlugin_impl.cpp.bak20140214
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// FOR THE PIVOT APPROACH TO WORK::init YOU MUST INCLUDE A -DPIVOTAPPROACH FLAG IN THE MAKEFILE AT ~/forceSensorPlugin_Pivot/server/Makefile.
/***************************************************************************************************************************************************/
// This code is called when the HIRO Simulation is called.
// Three main functions are called:
// 1) Init
// - Initialize translation and rotation parameters for both arms. Allocates Right and Left arm clases and force sensor classes.
// 2) Setup
// - Called when the Simulator Start Control Button is pressed
// - Sets up initial force values, joint angles, and cartesian positions.
// - Calls Initialization routine on hiroArm clases.
// - Reads calibration and trajectory files.
// 3) Control
// - Executes selected control methods through control mode parameters.
// - Input and Output pass the RobotState.
// - struct RobotState:
// {
// DblSequence angle; // As input it is the current position. When outputed it's the desired position.
// DblSequence velocity;
// DblSequence torque;
// sequence<DblSequence6> force;
// sequence<DblSequence3> rateGyro;
// sequence<DblSequence3> accel;
// sequence<DblSequence9> attitude;
// DblSequence3 zmp;
// DblSequence3 basePos;
// DblSequence9 baseAtt;
// sequence<ImageData> image;
// LongSequence dio;
// };
// - Output:
// - By writing reference angle updates, the HIRO simulation will move to the requested angles.
//
// - Modifications based on "serverv0.1" (09.05.12)
// - Deleted "setDirectTeachingAxis(::CORBA::ULong axisflag)". (09.05.13)
// - Deleted "setInertiaDamping(::CORBA::ULong mx,::CORBA::ULong dx)", (09.05.13)
// - Added "setRPWbySensor(::CORBA::ULong r,::CORBA::ULong p, ::CORBA::ULong w)", (09.05.13)
// - Added Control starts by DTES signal( not via corba)
/***************************************************************************************************************************************************/
#include "Body.h" // In DynamicsSimulator/server
#include <sstream>
#include <cstdlib>
#include <ctime> // compute cycle time
#include <sys/time.h>
#include "iob.h" // Controller/IOServer/include
#include "forceSensorPlugin_impl.h"
//----------------------------------------------------------------------------------------------------------------------------------------------------
extern "C" {
#include <unistd.h> // Provides access to the POSIX operating system API
#include <stdio.h>
}
//-----------------------------------------------------------------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------------------------------------
// HARDWARE BIT-WISE SWITCH DEFINITIONS
// The HIRO robot is connected to a hardware box that can be modified in four ways to achieve different behvaiors.
#define MSSL 0x80000000 // Motion Select Switch-> left
#define MSSR 0x40000000 // Motion Select Switch-> right
#define ASSL 0x20000000 // Axis Select Switch-> left
#define ASSR 0x10000000 // Axis Select Switch-> right
#define DTES 0x08000000 // DT enable switch (for data acquisition)
//----------------------------------------------------------------------------------------------------------------------------------------------------
// Debugging
#define DB_TIME 0 // Used to print timing duration of functions
#define FORCE_TEST 0 // Used to test if force drivers are working in Old HIRO
#define SIMULATION_TEST 1 // Used to test certain pieces of code within the control method for testing purposes
#define DEBUG 1 // Used to test temporary cerr statements
//----------------------------------------------------------------------------------------------------------------------------------------------------
// GLOBALS
unsigned long long distate; // Digital state parameter. Holds bit values.
double size;
//----------------------------------------------------------------------------------------------------------------------------------------------------
//Left Arm Enable
#define LEFT_ARM 1 //Used to enable the left Arm
/***************************** Allocate Plugin*********************************/
//class forceSensorPlugin_impl: public plugin,
////Virtual public POA_SamplePlugin, virtual public PortableServer::RefCountServantBase
//{};
plugin *create_plugin(istringstream &strm)
{
forceSensorPlugin_impl *cpImpl = new forceSensorPlugin_impl(strm);
return cpImpl;
}
void forceSensorPlugin_impl::test()
{
cout << "test" << endl;
}
/***************************** Create Plugin*********************************/
// Constructor
//forceSensorPlugin_impl::forceSensorPlugin_impl(istringstream &strm)
forceSensorPlugin_impl::forceSensorPlugin_impl(istringstream &strm)
{
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin_impl entered constructor" << std::endl;
#endif
DT = 0.005; // [sec]
assigned_time = 0.002; // assigned_time = 2[ms]
// Test Flags used within the control method
initControl = 0;
testFlag = 0;
num_test = 0;
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin_impl(): reading files" << std::endl;
#endif
// Read Arm and Gain parameters
readInitialFile("ArmParam"); // Velocity and Accelretion Gains and Trajectories
readGainFile("GainParam"); // GainP and GainR for HNL modes
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin_impl(): finished reading files" << std::endl;
#endif
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin_impl(): initializing variables" << std::endl;
#endif
// Pivot Approach Variables Initialization
for(int i=0;i<3;i++)
{
CurXYZ(i) =0.0;
}
for(int i=0;i<6;i++)
{
CurrentForces(i) =0.0;
CurrentAngles(i) =0.0;
JointAngleUpdate(i) =0.0;
#ifdef LEFT_ARM
L_JointAngleUpdate(i) = 0.0;
#endif
}
for(int i=0;i<3;i++)
for(int j=0;j<3;j++){
CurRot(i,j) = 0.0;
#ifdef LEFT_ARM
L_CurRot(i,j) = 0.0;
#endif
}
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin_impl(): finished initializing variables" << std::endl;
#endif
// Flags
initFlag = false;
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin_impl: leaving constructor" << std::endl;
#endif
}
forceSensorPlugin_impl::~forceSensorPlugin_impl()
{
close_ifs();
#ifdef WRITELOG
if(ostr_astate.is_open())
ostr_astate.close();
ostr_astate.clear();
if(ostr_rstate.is_open())
ostr_rstate.close();
ostr_rstate.clear();
if(ostr_force.is_open())
ostr_force.close();
ostr_force.clear();
if(ostr_worldforce.is_open())
ostr_worldforce.close();
ostr_force.clear();
#endif
}
/***************************** Initialize Plugin*********************************/
// Runs when similuator script is activated.
// Initializes Left and Right Arm Position/Rotation Variables
// Calls force sensor Contstructor
// Calls Left and Right arm Constructors
// TODO: Add POA single_thread or main_thread policy to this server.(needed?)
/********************************************************************************/
void forceSensorPlugin_impl::init(void)
{
// Local Variables
// e = wrist
// h = hand
// fs = force sensor
// P = position, R = rotation
vector3 ePh; // Wrist to EndEffector Translation
matrix33 eRh; // Wrist to EndEffector Rotation
vector3 hPfs; // EndEffector to Force Sense translation
matrix33 hRfs; // EndEffector to Force Sensor Tool Center Point Rotation
std::cout << "In init()" << std::endl;
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin::init()" << std::endl;
#endif
/*------------------------------------------------------------------------------- Load model file -------------------------------------------------------------------------------*/
if (!CORBA::is_nil(manager->orb))
{
// body data
std::cout << "loading Model: " << manager->url << std::endl;
body = OpenHRP::loadBodyFromModelLoader((manager->url).c_str(),manager->orb); // 使用方法は // http://www.openrtp.jp/openhrp3/jp/calc_model.html
}
else
std::cout << "manager->orb is nil" << std::endl;
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin::init() - exiting" << std::endl;
#endif
/*------------------------------------------------------------------------------- Setup Force Sensor -------------------------------------------------------*/
// ------------------ FORCE SENSOR ------------------------//
// Open the oldHIro IFS sensor
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin::Opening the ifs force lib" << std::endl;
#endif
#ifndef SIMULATION
open_ifs();
#endif
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin::init() - Closeing the ifs force lib" << std::endl;
#endif
#ifndef SIMULATION
// if (!fs->init())
// std::cerr << "error: fs->init()" << std::endl;
#endif
/*------------------------------------------------------------------------------- Setup LEFT and RIGHT arms angle limits -------------------------------------*/
float ang_limit_sub[ARM_DOF][5];
#if LEFT_ARM
//---------------------- LEFT arm ----------------------------//
#ifdef DEBUG_PLUGIN
std::cout << "ang_limit_sub left arm: " << std::endl;
#endif
for (int i = 0; i < ARM_DOF; i++)
{
for (int j = 0; j < 5; j++)
{
ang_limit_sub[i][j] = ang_limit[9 + i][j];
#ifdef DEBUG_PLUGIN
std::cout << ang_limit_sub[i][j] << " ";
#endif
}
#ifdef DEBUG_PLUGIN
std::cout << std::endl;
#endif
}
/***************************** Initialize Variables *************************************/
/*********************** LEFT ARM ****************************/
// Position and Rotation Variables
//ePh = -0.052, 0.0, 0.0;
ePh = 0.0, 0.0,0.0; //0.0715, 0.0, 0.0; // Wrist to EndEffector translation
eRh = 1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0; // Wrist to EndEffector rotation
hPfs = (0.0085 + (0.0315 / 2)), 0.0, 0.0; // Wrist to Force Sensor Tool Center Point
// Allocate the Master Arm for Hiro (Left Arm)
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin::Allocating LEFT hiroArm" << std::endl;
#endif
int left_NUM_q0 = 9;
lArm = new hiroArmMas("left", body, left_NUM_q0, DT, ang_limit_sub, ePh, eRh, hPfs);
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin::Finished allocating LEFT hiroArm" << std::endl;
#endif
// Set the force pointer
// lArm->set_FSptr(fs, 0); // Connect to Force Sensor
// arg2: int *full_scale
#endif
/*********************** RIGHT ARM ****************************/
#ifdef DEBUG_PLUGIN
std::cout << "Right Arm: ang_limit_sub right arm: " << std::endl;
#endif
#ifdef PIVOTAPPROACH
// Position and Rotation Variables in local wrist coordinates. rot mat={0 0 -1 0 1 0 1 0 0}
ePh = 0.0, 0.0,0.0;// -0.051, 0.0020, -0.0225; //0.0, 0.0,0.0; //0.025, 0.0, -0.063; // -0.063, 0.0, -0.025; // -0.127, 0.025, 0.0; //-0.127, -0.03, -0.005; // Wrist to EndEffector (TCP) translation.
// This accounts for the end-effector that holds the camera molds in the pivot approach.
// -0.127=height,0.025=frontal, 0.0=horizontal
eRh = 1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0;
// Wrist to EndEffector rotation
hPfs = 0.063 + (0.0315 / 2), 0.0, 0.0; // EndEffector to Force Sensor Tool Center Point Translation //hPfs = 53+(31.5/2), 0.0, 60.0;
hRfs = get_rot33(Y, M_PI / 2.0) * get_rot33(Z, -(3 * M_PI / 4.0)); // EndEffector to Force Sensor Tool Center Point Rotation
// Allocate the Master Arm for Hiro (Left Arm)
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin()::Allocating RIGHT hiroArm" << std::endl;
#endif
// Allocate the slave arm - right arm
int NUM_q0 = 3; // Joint angle at which the right arm starts
rArm = new hiroArmSla("right", body, NUM_q0, DT, ang_limit_sub, ePh, eRh, hPfs, hRfs);
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin()::Finished allocating RIGHT hiroArm" << std::endl;
#endif
//rArm->set_FSptr(fs, 1);
//initialize_ifs(0);
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin::Finished allocating LEFT hiroArm" << std::endl;
#endif
// Assign Joint Angle Limits
for(int i = 0; i < ARM_DOF; i++){ // 6 DOF per arm
for(int j = 0; j < 5; j++){
ang_limit_sub[i][j] = ang_limit[3 + i][j];
#ifdef DEBUG_PLUGIN
std::cout << ang_limit_sub[i][j] << " ";
#endif
}
#ifdef DEBUG_PLUGIN
std::cout << std::endl;
#endif
}
// If not PivotApproach
#else
// Position and Rotation Variables
ePh = -0.12, 0.0, 0.0; // Wrist to EndEffector translation //ePh = -(53.0+31.5+16.0), 0.0, -60.0;
eRh = 1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0; // Wrist to EndEffector rotation
hPfs = 0.074 + (0.0315 / 2), 0.0, 0.0; // EndEffector to Force Sensor Tool Center Point Translation //hPfs = 53+(31.5/2), 0.0, 60.0;
hRfs = get_rot33(Y, M_PI / 2.0) * get_rot33(Z, -(3 * M_PI / 4.0)); // EndEffector to Force Sensor Tool Center Point Rotation
// Allocate the slave arm - right arm
int NUM_q0 = 3; // Joint angle at which the right arm starts
rArm = new hiroArmSla("right", body, NUM_q0, DT, ang_limit_sub, ePh, eRh, hPfs, hRfs);
//rArm->set_FSptr(fs, 1);
//IFS_Init(CHANNEL,FULL_SCALE);
// Assign Joint Angle Limits
for(int i = 0; i < ARM_DOF; i++){ // 6 DOF per arm
for(int j = 0; j < 5; j++){
ang_limit_sub[i][j] = ang_limit[3 + i][j];
#ifdef DEBUG_PLUGIN
std::cout << ang_limit_sub[i][j] << " ";
#endif
}
#ifdef DEBUG_PLUGIN
std::cout << std::endl;
#endif
}
#endif // If pivot approach
/*************************************** Initialize Control Flags ***************************************/
f_gravity_comp[0] = f_gravity_comp[1] = false;
controlmode_nr = NotControlled;
controlmode_r = NotControlled;
#ifdef PIVOTAPPROACH // set the controlmode_nr and controlmode_r parameters to PivotApproach to implement this control mode in ::control
controlmode_nr = PivotApproach; // Set the enumeration to both controlmode_nr and r
controlmode_r = PivotApproach;
#elif IMPEDANCE // set the controlmode_nr and controlmode_r parameters to ImpedanceControl to implement this control mode
// controlmode_nr = ImpedanceControl;
// controlmode_r = ImpedanceControl;
#endif
#ifdef WRITELOG
ostr_astate.open("./astate.dat");
if(!ostr_astate.is_open())
std::cerr << "astate.dat was not opened." << std::endl;
ostr_rstate.open("./rstate.dat");
if(!ostr_rstate.is_open())
std::cerr << "rstate.dat was not opened." << std::endl;
ostr_force.open("./localforce.dat");
if(!ostr_force.is_open())
std::cerr << "localforce.dat was not opened." << std::endl;
ostr_worldforce.open("./worldforce.dat");
if(!ostr_worldforce.is_open())
std::cerr << "worldforce.dat was not opened." << std::endl;
#endif
#ifdef PLUGIN_DEBUG2
std::cout << "out init()" << std::endl;
#endif
}
/******************************************************************************************************************************************/
// Setup()
// Sets up initial force values, joint angles, and cartesian positions.
// Calls Initialization routine on hiroArm clases.
// Reads calibration and trajectory files.
// This routine is called when "Start Control" is clicked on the HIRO Simulation dialogue that pops out when the script is started.
// Followed by ::control
/******************************************************************************************************************************************/
bool forceSensorPlugin_impl::setup(RobotState *rs, RobotState *mc)
{
// 1) Local variable initialization
int ret = 0;
double CurAngles[15] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin::setup() - entered" << std::endl;
#endif
/*------------------------------------------------------------- Simulation ---------------------------------------------------*/
#ifdef SIMULATION
for(int i=0; i<6; i++)
rArm->raw_forces[i] = rs->force[0][i];
#endif
#ifdef DEBUG_PLUGIN
cerr << "forceSensorPlugin::setup() - finished\n";
#endif
// ----------------------------------------------------------- FORCE SENSOR -----------------------------------------------------------------/
#ifndef SIMULATION
initialize_ifs(0);
initialize_ifs(1);
#endif
#ifndef SIMULATION
rs->angle[8] -= 0.531117;
#endif
/*------------------------------------------------------------ Current Joint Angles --------------------------------------------------------*/
// 2) Set the desired robot state angles equal to the motion command angles, to avoid jump in the data or a discontinuity
// Set output angles to input angles
for (unsigned int i=0; i<DOF; ++i) // 15 DoF
{
body->joint(i)->q = rs->angle[i];
mc->angle[i] = rs->angle[i];
CurAngles[i] = rs->angle[i]; // Set the local variables to this
}
int NUM_q0=3;
// And also set CurrentAngles -- private member variable -- to rs->angle
CurrentAngles[0]=rs->angle[NUM_q0];
CurrentAngles[1]=rs->angle[NUM_q0+1];
CurrentAngles[2]=rs->angle[NUM_q0+2];
CurrentAngles[3]=rs->angle[NUM_q0+3];
CurrentAngles[4]=rs->angle[NUM_q0+4];
CurrentAngles[5]=rs->angle[NUM_q0+5];
#ifdef LEFT_ARM
int left_NUM_q0 = 9;
L_CurrentAngles[0]=rs->angle[left_NUM_q0];
L_CurrentAngles[1]=rs->angle[left_NUM_q0+1];
L_CurrentAngles[2]=rs->angle[left_NUM_q0+2];
L_CurrentAngles[3]=rs->angle[left_NUM_q0+3];
L_CurrentAngles[4]=rs->angle[left_NUM_q0+4];
L_CurrentAngles[5]=rs->angle[left_NUM_q0+5];
#endif
#ifndef SIMULATION
mc->angle[8] += 0.531117;
#endif
#ifdef DEBUG_PLUGIN
std::cerr << "\n\nThe 15 body joint angles in radians are: "
<< CurAngles[0] << "\t" << CurAngles[1] << "\t" << CurAngles[2] << "\t" << CurAngles[3] << "\t" << CurAngles[4] << "\t" << CurAngles[5] << "\t"
<< CurAngles[6] << "\t" << CurAngles[7] << "\t" << CurAngles[8] << "\t" << CurAngles[9] << "\t" << CurAngles[10] << "\t" << CurAngles[11]
<< CurAngles[12]<< "\t" << CurAngles[13] << "\t"<< CurAngles[14]<< "\t"
<< "\n/--------------------------------------------------------------------------------------------------------------------------------------------------------------------/" << std::endl;
#endif
// 3) Calculate the Fwd Kinematics=>Cartesian Positions
body->calcForwardKinematics();
/****************************************** PIVOT APPROACH SETUP ************************************************************/
#ifdef PIVOTAPPROACH
// 4) Initialization routine:
// Compute the position vector and rotation matrix from base to the wrist the robot has moved to HOMING POSITION
// This routine behave's different according to user. Assign Desired Behavior.
// Kensuke: read position and force data for both arms.
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin::setup() - Arm Initialization" << std::endl;
#endif
#ifdef LEFT_ARM
lArm->init(body->link(LARM_JOINT5)->p, body->link(LARM_JOINT5)->attitude(), CurAngles);
if(DEBUG)
{
// Number of joints
int n2=0;
n2 = lArm->m_path->numJoints();
cerr << "forceSensorPlugin::setup(). LEFT Num Joints: " << n2 << std::endl;
// Position
vector3 rpy2(0);
lArm->set_OrgPosRot(L_CurXYZ,rpy2);
cerr << "forceSensorPlugin::setup(). LEFT Current Position: " << L_CurXYZ << std::endl;
cerr << "forceSensorPlugin::setup(). LEFT Current Pose: " << rpy2 << std::endl;
// Angles
cerr << "forceSensorPlugin::setup(). LEFT Current Angles (radians):\t" << L_CurrentAngles << std::endl;
}
#endif
//set up right hand
ret = rArm->init(body->link(RARM_JOINT5)->p, body->link(RARM_JOINT5)->attitude(),CurAngles); // Body object 15 DOF. Need link8 or RARM_JOINT5.
// Update the latest data angles and position
if(DEBUG)
{
// Number of joints
int n=0;
n = rArm->m_path->numJoints();
cerr << "forceSensorPlugin::setup(). RIGHT Num Joints: " << n << std::endl;
// Position
vector3 rpy(0);
rArm->set_OrgPosRot(CurXYZ,rpy);
cerr << "forceSensorPlugin::setup(). RIGHT Current Position: " << CurXYZ << std::endl;
cerr << "forceSensorPlugin::setup(). RIGHT Current Pose: " << rpy << std::endl;
// Angles
cerr << "forceSensorPlugin::setup(). RIGHT Current Angles (radians):\t" << CurrentAngles << std::endl;
}
// Check result
if(ret==-1)
{
#ifdef DEBUG_PLUGIN
std::cerr << "\nProgram Failed!!";
#endif
}
else
{
#ifdef DEBUGC_PLUGIN2
std::cerr <<"forceSensorPlugin::setup() - Initialization was successful!" << std::endl;
#endif
}
#endif
/****************************************** PIVOT APPROACH ************************************************************/
#ifdef PIVOTAPPROACH
controlmode_nr = PivotApproach;
controlmode_r = PivotApproach;
#endif
//~ if((fp_nitta=fopen(f_name1.c_str(),"w"))==NULL){
//~ std::cerr<< "file open error!!" << std::endl; //~ }
// Exit
#ifdef DEBUG_PLUGIN
std::cerr << "forceSensorPlugin::setup() - Exiting" << std::endl;
#endif
return true;
}
/******************************************************************************************************************************************/
// Control()
// The control function is called by the GrxUI simulation every 2-5ms. This method implements the control routine that will control HIRO.
// This function is passed the RobotState rs which i a structure containing all the data of the robot:
//
// struct RobotState:
// {
// DblSequence angle;
// DblSequence velocity;
// DblSequence torque;
// sequence<DblSequence6> force;
// sequence<DblSequence3> rateGyro;
// sequence<DblSequence3> accel;
// sequence<DblSequence9> attitude;
// DblSequence3 zmp;
// DblSequence3 basePos;
// DblSequence9 baseAtt;
// sequence<ImageData> image;
// LongSequence dio;
// };
//
// Function performs the following tasks:
// - Read Joint Angles from Simulation
// - Compute corresponding Cartesian Coordinates
//
// The second part uses a case-switch statement to determine the control command.
// New control modes can be inserted here
/******************************************************************************************************************************************/
void forceSensorPlugin_impl::control(RobotState *rs, RobotState *mc)
{
// Local variable
int ret = 0;
#ifndef SIMULATION
rs->angle[8] -= 0.531117;
#endif
//---------------------------------------- FORCE TEST ------------------------------------------/
if(!FORCE_TEST)
{
#ifdef DEBUG_PLUGIN
std::cerr << "/----------------------------------\nforceSensorPlugin::control() - entered\n-------------------------------------/\n\n" << std::endl;
#endif
// Initial code
if(initControl==0)
{
// Initialize the iteration
rArm->m_time=0;
#ifdef LEFT_ARM
lArm->m_time=0;
#endif
if(DEBUG)
{
#ifdef LEFT_ARM
vector3 rpy2(0);
lArm->set_OrgPosRot(L_CurXYZ,rpy2);
lArm->m_path->calcInverseKinematics(L_CurXYZ,L_CurRot);
for(int i=0;i<6;i++)
L_CurrentAngles(i) = lArm->m_path->joint(i)->q;
#endif
// Update the latest data angles and position
vector3 rpy(0);
rArm->set_OrgPosRot(CurXYZ,rpy);
rArm->m_path->calcInverseKinematics(CurXYZ,CurRot);
for (int i=0;i<6;i++)
CurrentAngles(i) = rArm->m_path->joint(i)->q;
cerr << "\n\nforceSensorPlugin::control()-Current time is:\t" << DT*double(rArm->get_Iteration()) << std::endl;
cerr << "forceSensorPlugin::control()-Current position is:\t" << CurXYZ << std::endl;
cerr << "forceSensorPlugin::control()-Current pose is:\t" << rpy << std::endl;
cerr << "forceSensorPlugin::control()-Current Angles (radians) are:\t" << CurrentAngles << std::endl;
}
// Change the flag
initControl=1;
}
// Simulation test is used to skip code that is enclosed the if function.
if(SIMULATION_TEST)
{
// Timing
timeval startTime, endTime; // create variables
double duration = 0;
if(DB_TIME)
{
gettimeofday(&startTime,NULL); // Initialize startTime
}
/*-------------------------------------------------------------- Arm Selection ---------------------------------------------------*/
// What arm will you use. Left = 0 index. Right = 1 index.
bool f_control[2];
f_control[0] = false;
f_control[1] = true;
#ifdef LEFT_ARM
f_control[0] = true;
#endif
// Set controlmode _r equal to _nr
#if 0
if (controlmode_r != controlmode_nr)
controlmode_r = controlmode_nr;
#endif
/*----------------------------------------------------------- Simulation Force Values ----------------------------------------*/
#ifdef SIMULATION
for(int i=0; i<6; i++) rArm->raw_forces[i] = rs->force[0][i];
#else
#if 0
// Read DIN state
read_di(distate);
DioState = distate >> 32;
#endif
#ifdef DEBUG_PLUGIN
std::cerr << "Getting Force Values" << std::endl;
#endif
#endif
#ifdef DEBUG_PLUGIN
std::cerr << "The control mode for the PivotApproach should say 6. Currently it is: " << controlmode_r << std::endl;
#endif
/*------------------------------------------------------------ INITIALIZATION STAGE ----------------------------------------------*/
if(initFlag==false)
{
/*---------------------- Angle Update --------------------------*/
// For the first iteration make sure that output angles are the same as input angles for all 15 DOF.
for (unsigned int i = 0; i < DOF; ++i)
{
body->joint(i)->q = rs->angle[i]; // the body object is for the entire body 15 DoF
mc->angle[i] = rs->angle[i];
}
//for(int i=0; i<ARM_DOF; i++) //body->joint(i)->q = rs->angle[i+3]; // Copy the latest actual angles into our private member variable.
// change flag
initFlag = true;
//controlmode_pre = controlmode_r;
#ifdef DEBUG_PLUGIN
std::cerr << "\n/---------------------------------------------------------------------------------------------------------------------------\n"
"forceSensorPlugin - The 15 current angles in radians are:\t" << rs->angle[0]/**rad2degC*/ << "\t" << rs->angle[1]/**rad2degC*/ << "\t" << rs->angle[2]/**rad2degC*/ << "\t"
<< rs->angle[3]/**rad2degC*/ << "\t" << rs->angle[4]/**rad2degC*/ << "\t" << rs->angle[5]/**rad2degC*/ << "\t"
<< rs->angle[6]/**rad2degC*/ << "\t" << rs->angle[7]/**rad2degC*/ << "\t" << rs->angle[8]/**rad2degC*/ << "\t"
<< rs->angle[9]/**rad2degC*/ << "\t" << rs->angle[10]/**rad2degC*/<< "\t" << rs->angle[11]/**rad2degC*/<< "\t"
<< rs->angle[12]/**rad2degC*/<< "\t" << rs->angle[13]/**rad2degC*/<< "\t" << rs->angle[14]/**rad2degC*/<<
"\n/------------------------------------------------------------------------------------------------------------\n" << std::endl;
#endif
// Timing
if(DB_TIME)
{
// Get end time
gettimeofday(&endTime,NULL);
// Compute duration
duration = (double)(endTime.tv_sec - startTime.tv_sec) * 1000.0; // Get from sec to msec
duration += (double)(endTime.tv_usec - startTime.tv_usec) / 1000.0; // From usec to msec
// Print out the duration of the function
std::cerr << "Duration of forceSensorPlugin::control() is: " << duration << "ms." << std::endl;
}
} // End initFlag
/*----------------------------------------------------------------------------------------------------------------------------------------------------------*/
#ifdef DEBUG_PLUGIN
std::cerr << "Calculate Fwd Kins" << std::endl;
#endif
// Calculate cartesian positions
body->calcForwardKinematics();
#ifdef DEBUG_PLUGIN
std::cerr << "Update the current position data." << std::endl;
#endif
// Update cartesian position of robot arms
//lArm->update_currposdata(); // Gets base2wrist translation/rotation, and base2endeffector translation/rotation
rArm->update_currposdata(); // And, current joint angles for the respective arm
#ifdef LEFT_ARM
lArm->update_currposdata();
#endif
/*------------------------------------------------------------- Select Control Mode-----------------------------------------------------------------------*/
// There are eight control modes: NotControlled, GravityCompensation, ResetGravityCompensation, BirateralControl, DirectTeaching, Impedance Control, and Pivot Approach
#ifdef DEBUG_PLUGIN
std::cerr << "Current mode is: " << controlmode_r << std::endl;
#endif
switch (controlmode_r)
{
/*--------------------------------------------------------------------------- Not Controlled ----------------------------------------------------*/
case NotControlled:
#ifdef DEBUG_PLUGIN
std::cout << "NotControlled" << std::endl;
#endif
f_control[0] = f_control[1] = false;
break;
/*-------------------------------------------------------------------------------------------- Gravity Compensaation ---------------------------------------------------------------------------------------*/
case GravityCompensation:
#ifdef DEBUG_PLUGIN
std::cout << "GravityCompensation" << std::endl;
#endif
// Go to the Initial Position
// (A) LEFT ARM
if (!f_gravity_comp[0])
{
// Call gravity compsensation
int res_gc;
res_gc = lArm->gravity_comp();
#ifdef DEBUG_PLUGIN
std::cout << "Gravity Compensation: res_gc = " << res_gc << std::endl;
#endif
// Success
if (res_gc == 1)
{
f_gravity_comp[0] = true;
num_test = 0;
}
else if (res_gc == 0)
f_control[0] = true;
}
// (B) RIGHT ARM
else if (!f_gravity_comp[1])
{
// Call gravity compensation
int res_gc;
res_gc = rArm->gravity_comp();
#ifdef DEBUG_PLUGIN
std::cout << "Gravity Compensation: res_gc = " << res_gc << std::endl;
#endif
// Success
if (res_gc == 1)
{
f_gravity_comp[1] = true;
num_test = 0;
}
else if (res_gc == 0)
f_control[1] = true;
}
// Manual Algorithm
else
{
// force sensor data の チェック
lArm->update_currforcedata(); //~ lArm->savedata();
rArm->update_currforcedata(); //~ rArm->savedata();
vector3 rF_gc[2], rM_gc[2];
// Get forces and moments
lArm->get_forces(rF_gc[0], rM_gc[0]);
rArm->get_forces(rF_gc[1], rM_gc[1]);
if (num_test < 2000)
{
if (num_test == 0)
{
// Initialize
for (int i = 0; i < 2; i++)
{
F_ave[i] = 0.0, 0.0, 0.0;
M_ave[i] = 0.0, 0.0, 0.0;
F_sd[i] = 0.0, 0.0, 0.0;
M_sd[i] = 0.0, 0.0, 0.0;
F_err_max[i] = -100.0, -100.0, -100.0;
M_err_max[i] = -100.0, -100.0, -100.0;
}
}
// Compute Averages for Force and Moment
for (int i = 0; i < 2; i++)
{
F_ave[i] += rF_gc[i];
M_ave[i] += rM_gc[i];
// Limit Error Computations
for (int j = 0; j < 3; j++)
{
// Square Error
F_sd[i][j] += rF_gc[i][j] * rF_gc[i][j];
M_sd[i][j] += rM_gc[i][j] * rM_gc[i][j];
// Check Limits
if (F_err_max[i][j] < fabs(rF_gc[i][j]))
F_err_max[i][j] = fabs(rF_gc[i][j]);
if (M_err_max[i][j] < fabs(rM_gc[i][j]))
M_err_max[i][j] = fabs(rM_gc[i][j]);
}
}
// Increase number counter
num_test++;
/*lArm->get_raw_forces(fout);
fprintf(fp_nitta,"%f %f %f %f %f %f\n",fout[0],fout[1],fout[2],fout[0],fout[1],fout[2]);
*/
}
else if (num_test == 2000)
{
std::string f_name1 = "/home/hrpuser/yamanobe/data/fs.dat";
if ((fp = fopen(f_name1.c_str(), "a")) == NULL) std::cerr << "file open error!!" << std::endl;
for (int i = 0; i < 2; i++)
{
// Compute averages by dividing by number of elements
F_ave[i] = (1.0 / 2000) * F_ave[i];
M_ave[i] = (1.0 / 2000) * M_ave[i];
for (int j = 0; j < 3; j++)
{
F_sd[i][j] = sqrt(
((1.0 / 2000) * F_sd[i][j])
- (F_ave[i][j] * F_ave[i][j]));
M_sd[i][j] = sqrt(
((1.0 / 2000) * M_sd[i][j])
- (M_ave[i][j] * M_ave[i][j]));
}
F_zero_lim[i] = -100;
M_zero_lim[i] = -100;
double tmp;
for (int j = 0; j < 3; j++)
{
tmp = fabs(F_ave[i][j]) + F_sd[i][j];
if (tmp > F_zero_lim[i])
F_zero_lim[i] = tmp;
tmp = fabs(M_ave[i][j]) + M_sd[i][j];
if (tmp > M_zero_lim[i])
M_zero_lim[i] = tmp;
}
F_zero_lim[i] = 2.0 * F_zero_lim[i];
M_zero_lim[i] = 2.0 * M_zero_lim[i];
fprintf(fp, "sensor %d:\n", i);
fprintf(fp, "average: %f %f %f %f %f %f\n", F_ave[i][0],
F_ave[i][1], F_ave[i][2], M_ave[i][0], M_ave[i][1],
M_ave[i][2]);
fprintf(fp, "s_deviation: %f %f %f %f %f %f\n", F_sd[i][0],
F_sd[i][1], F_sd[i][2], M_sd[i][0], M_sd[i][1],
M_sd[i][2]);
fprintf(fp, "max_error: %f %f %f %f %f %f\n",
F_err_max[i][0], F_err_max[i][1], F_err_max[i][2],
M_err_max[i][0], M_err_max[i][1], M_err_max[i][2]);
fprintf(fp, "zero_limit: %f %f\n\n", F_zero_lim[i],
M_zero_lim[i]);
#ifdef DEBUG_PLUGIN
std::cout << "error of rF_gc = " << F_ave << std::endl;
std::cout << "error of rM_gc = " << M_ave << std::endl;
std::cout << "max error F" << F_err_max << std::endl;
std::cout << "max error M" << M_err_max << std::endl;
#endif
}
std::cout << "Gravity Compensation is finished." << std::endl;
//~ fprintf(fv_L,"Gravity compensation is finished.\n");
//~ fprintf(fv_R,"Gravity compensation is finished.\n");
fclose(fp);
num_test++;
}
}
break;
/*---------------------------------------------------------------------------------------------- Reset Gravity Compensation -----------------------------------------------------------------------------------------*/
case ResetGravityCompensation:
#ifdef DEBUG_PLUGIN
std::cout << "ResetGravityCompensation" << std::endl;
#endif
lArm->reset_gravity_comp();
rArm->reset_gravity_comp();
f_gravity_comp[0] = f_gravity_comp[1] = false;
break;
case BirateralControl:
#ifdef DEBUG_PLUGIN
std::cout << "BirateralControl" << std::endl;
#endif
/*~ if(controlmode_r != controlmode_pre){
//~ ofs.open("q_birateral.log");
//~ if(!ofs.is_open()) std::cerr << "ERROR: can't open q_birateral.log" << std::endl;
~ }*/
// Once gravity compensation has taken place
if (f_gravity_comp[0] && f_gravity_comp[1])
{
//~ if(1){
bool f_new = false;
if (controlmode_r != controlmode_pre)
f_new = true;
// Get force data
lArm->update_currforcedata();
rArm->update_currforcedata();
// Declare force and moment master and slave vectors
vector3 rF_gc_mas, rM_gc_mas;
vector3 rF_gc_sla, rM_gc_sla;