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hiroArm.cpp
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hiroArm.cpp
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/** This class is called by forceSensorPlugin_impl
* @file hiroArm.cpp
* @brief arm class for HIRO
* @author Natsuki Yamanobe
* @date 2011/02/16
* @note
*/
//----------------------------------------------------------------------------------------------------------------------------------------------------
// Includes
//----------------------------------------------------------------------------------------------------------------------------------------------------
#include "hiroArm.h"
//----------------------------------------------------------------------------------------------------------------------------------------------------
// Namespaces
//----------------------------------------------------------------------------------------------------------------------------------------------------
using OpenHRP::dmatrix;
using std::pow;
using std::sqrt;
using std::exp;
using std::ceil;
//----------------------------------------------------------------------------------------------------------------------------------------------------
// DEFINITIONS
//----------------------------------------------------------------------------------------------------------------------------------------------------
// Directories
//----------------------------------------------------------------------------------------------------------------------------------------------------
// Main Directories
#define READ_DIR "./data/PivotApproach"
#define WRITE_DIR "./data/Results"
// To Read Data
#define SL_APPROACH_FILE "/PA10/pivotApproachState1.dat" // Waypoints for State1 in StraightLineApproach for the PA10 Robot
#define PIVOT_APPROACH_FILE "/PA10/PA10_pivotApproachState1.dat" // Waypoints for State1 in PivotApproach for the PA10 Robot
#define SIDE_APPROACH_FILE "/HIRO/R_sideApproachState.dat" // Waypoints for State1 in SideApproach for the HIRO Robot
#define FAILURE_CHARAC_FILE "/FC/failureCaseYDir.dat" // Waypoints for State1 in FailureCase. Three files: failureCaseXDir.dat, failureCaseYDir.dat, and failureCaseXRoll.dat
//====the two arm data file by Diro======
#define TWOARM_HSA_FILE "/HIRO/R_sideApproachState.dat"
//----------------------------------------------------------------------------------------------------------------------------------------------------
// To Write Data (used in AssemblyStrategy::OpenFiles)
// For Right Arm
#define R_ANGLES_FILE "/R_Angles.dat" // Save joint angles of robot
#define R_CARTPOS_FILE "/R_CartPos.dat" // Save CartPos of End-Effector in world coordinates
#define R_STATE_FILE "/R_State.dat" // Save State Transition times for SideApproach
#define R_FORCES_FILE "/R_Torques.dat" // Save Joint Torques for robot
#define R_MANIP_TEST_FILE "/R_manipulationTestAxis.dat" // Used to test force and moment controllers behavior
// For Left Arm
#define L_ANGLES_FILE "/L_Angles.dat" // Save joint angles of robot
#define L_CARTPOS_FILE "/L_CartPos.dat" // Save CartPos of End-Effector in world coordinates
#define L_STATE_FILE "/L_State.dat" // Save State Transition times for SideApproach
#define L_FORCES_FILE "/L_Torques.dat" // Save Joint Torques for robot
#define L_MANIP_TEST_FILE "/L_manipulationTestAxis.dat" // Used to test force and moment controllers behavior
//----------------------------------------------------------------------------------------------------------------------------------------------------
// DEBUGGING
//----------------------------------------------------------------------------------------------------------------------------------------------------
#define DB_TIME 0 // Used to print timing duration of functions
//----------------------------------------------------------------------------------------------------------------------------------------------------
// TEST MODE
//----------------------------------------------------------------------------------------------------------------------------------------------------
#define TEST 0 // If true, a test is activated to see the response of the force/moment controllers. Reads an int from file to know which axis to activate.
//----------------------------------------------------------------------------------------------------------------------------------------------------
// CONTROL METHODS
//----------------------------------------------------------------------------------------------------------------------------------------------------
#define USE_MOTION_DAT 0 // Should be zero if used with control basis approach or reading a trajectory from file
#define CONTROL_BASIS 1 // If using the control basis approach
//----------------------------------------------------------------------------------------------------------------------------------------------------
// ASSEMBLY STRATEGY TYPES
//----------------------------------------------------------------------------------------------------------------------------------------------------
#define STRAIGHT_LINE_FLAG 0 // Masking Flags to determine which trajectory to choose
#define PIVOT_APPROACH_FLAG 0 // Pivot approach. If true, STRAIGHT_LINE_FLAG=0,SIDE_APPROACH_FLAG=0, FAILURE_CHARAC_FLAG=0.
#define SIDE_APPROACH_FLAG 0 // Similar to PivotApproach but no alignment. If true, STRAIGHT_LINE_FLAG=0,PIVOT_APPROACH_FLAG=0,FAILURE_CHARAC_FLAG=0.
#define FAILURE_CHARAC_FLAG 0 // Uses params from SideApproach. If true, STRAIGHT_LINE_FLAG=0,PIVOT_APPROACH_FLAG=0,SIDE_APPROACH_FLAG=0.
// If used, change the ConstraintForceSolver.cpp (L77) NEGATIVE_VELOCITY_RATIO_FOR_PENETRATION from 3.5 to 10 and compile (make).
// ==== Diro ======
#define TWOARM_HSA_FLAG 1 // If used, for the two arms' strategy.
//----------------------------------------------------------------------------------------------------------------------------------------------------
#define STRAIGHT_LINE_APPROACH 1 // Numbers assigned in correlation to the enumeration CtrlStrategy in AssemblyStrategy.h
#define PIVOT_APPROACH 2
#define SIDE_APPROACH 3
#define FAILURE_CHARAC 4
// ==== Diro ======
#define TWOARM_HSA 5
#define LEFT_ARM_HOLD 6
//----------------------------------------------------------------------------------------------------------------------------------------------------
// ASSIGN VARIABLES TO BE USED WITH PA->INITIALIZE(...)
//----------------------------------------------------------------------------------------------------------------------------------------------------
#if(USE_MOTION_DAT==0) //I.e. We are using the control basis approach, then choose between strategies. File name assigned during constructor to private member.
// (A) Define the Control Strategy
#define CONTROL_TYPE CONTROL_BASIS
// (B) Define the Assembly Strategy
#if(STRAIGHT_LINE_FLAG)
#define MOTION_FILE SL_APPROACH_FILE
#define APPROACH_TYPE STRAIGHT_LINE_APPROACH
#elif(PIVOT_APPROACH_FLAG)
#define MOTION_FILE PIVOT_APPROACH_FILE
#define APPROACH_TYPE PIVOT_APPROACH
#elif(SIDE_APPROACH_FLAG)
#define MOTION_FILE SIDE_APPROACH_FILE
#define APPROACH_TYPE SIDE_APPROACH
// ==== Diro ======
#elif(TWOARM_HSA_FLAG)
#define MOTION_FILE TWOARM_HSA_FILE
#define APPROACH_TYPE TWOARM_HSA
#elif(FAILURE_CHARAC_FLAG)
#define MOTION_FILE FAILURE_CHARAC_FILE
#define APPROACH_TYPE FAILURE_CHARAC
#endif
#else
#define CONTROL_TYPE USE_MOTION_DAT
#if(STRAIGHT_LINE_FLAG)
#define MOTION_FILE SL_APPROACH_FILE
#define APPROACH_TYPE STRAIGHT_LINE_APPROACH
#elif(PIVOT_APPROACH_FLAG)
#define MOTION_FILE PIVOT_APPROACH_FILE
#define APPROACH_TYPE PIVOT_APPROACH
#elif(SIDE_APPROACH_FLAG)
#define MOTION_FILE SIDE_APPROACH_FILE
#define APPROACH_TYPE SIDE_APPROACH
#elif(FAILURE_CHARAC_FLAG)
#define MOTION_FILE FAILURE_CHARAC_FILE
#define APPROACH_TYPE FAILURE_CHARAC
#endif
#endif
//----------------------------------------------------------------------------------------------------------------------------------------------------
// Constructor Definition : Variable Initialisation List
//----------------------------------------------------------------------------------------------------------------------------------------------------
hiroArm::hiroArm(std::string name_in, BodyPtr body_in, unsigned int num_q0_in, double period_in, float ang_limits_in[6][5], vector3 ePh_in, matrix33 eRh_in, vector3 hPfs_in)
:f_moving(false), f_reached(false), initFlag(false), m_time(0),
f_gc(false), f_gc_init(false), step_gc(0), fp1(NULL),
mass(0.0), GACC(9.8), wait_step(200), fp2(NULL),
/*fs(0),*/ step_fs(0), max_step_fs(500), fp3(NULL),
MAX_JVEL(0.5), TIME_LIMIT(100.0), MIN_PERIOD(1.0e-9), TOLERANCE(1.0e-6)
{
#ifdef DEBUG_PLUGIN2
std::cerr << "hiroArm(): Entering hiroArm constructor" << std::endl;
#endif
// Save to local members
name = name_in; // Right or left arm
body = body_in; // Body object extracted from ModelLoader
NUM_q0 = num_q0_in; // Which joint is the starting joint. Right arm=3, Left arm=9
DEL_T = period_in; // Time step set at 0.0005 secs in calling function
for(int i = 0; i < ARM_DOF; i++){
for(int j = 0; j < 5; j++){
ang_limits[i][j] = ang_limits_in[i][j]; // Set angle limits
}
}
// Arms' Current state
ePh = ePh_in; // Wrist 2 End Effector Left: <0.0715, 0.0, 0.0>, Right: <-0.12,0.0,0.0>
eRh = eRh_in; // Equivalent Rotation matrix. Set to the identity matrix.
hPfs = hPfs_in; //
#ifdef DEBUG_PLUGIN2
std::cerr << "hiroArm(): Setting body links." << std::endl;
#endif
// Set Body linksOB
//Link* S0 = body->link(CHEST_JOINT); // SO link starts at the chest joint. It's the first link, then two for the head, then six for the right arm, then six for the left arm
Link* S0 = body->joint(CHEST_JOINT0);
//Link* W6 = body->joint(NUM_q0 + ARM_DOF - 1); // The wrist occurs six links later (i.e.start+6-1).
Link* W6;
if(NUM_q0 == RARM_JOINT0)
W6 = body->joint(RARM_JOINT5); // Is it joint or link?
else
W6 = body->joint(LARM_JOINT5); // Is it joint or link?
if(!S0)
std::cerr << "S0 is null\n";
if(!W6)
std::cerr << "W6 is null\n";
#ifdef DEBUG_PLUGIN2
std::cerr << "hiroArm(): Getting the joint path." << std::endl;
#endif
m_path = body->getJointPath(S0,W6); // Base to Wrist Path
#ifdef DEBUG_PLUGIN2
cout << "Joint path:" << m_path->numJoints() << std::endl;
cerr << m_path->joint(0)->name << std::endl;
cerr << m_path->joint(1)->name << std::endl;
cerr << m_path->joint(2)->name << std::endl;
cerr << m_path->joint(3)->name << std::endl;
cerr << m_path->joint(4)->name << std::endl;
cerr << m_path->joint(5)->name << std::endl;
#endif
#if 0
m_path->setMaxIKIter(200); // Maximum limit of iterations to numerically compute the inverse kinematics
#endif
// Inverse Kinematics gains for
ikGains[0] = 0.3;
ikGains[1] = 0.6;
ikGains[2] = 0.7;
ikGains[3] = 0.8;
ikRot[0] = 1e-2;
ikRot[1] = 1e-7;
ikRot[2] = 1e-8;
ikRot[3] = 1e-10;
ikTrans[0] = 1e-2;
ikTrans[1] = 1e-7;
ikTrans[2] = 1e-8;
ikTrans[3] = 1e-10;
// Program Design Parameters
p_param.method = CONSTANT_VELOCITY; // Interpolation Method: Velocity
p_param.max_jvel = MAX_JVEL; // With MAX_JVEL as maximum joint velocity limit = 0.5
controlmode = NOCONTROL; // One of six control modes. No control.
//******************************************** Pivot Approach ***********************************************************************/
// Takes the following parameters int NUM_q0, vector3 base2endEffectorPos, matrix33 base2endEffectorRot, dmatrix jacobian, double curr_time, vector6 curr_force
vector3 pos(0);
matrix33 rot;//x(0);
double momentGainFactor = 10.0; // Used to scale the gain for the control basis for the moment.
#ifdef DEBUG_PLUGIN2
std::cerr << "hiroArm(): Getting current position and attitude values" << std::endl;
#endif
#ifdef DEBUG_PLUGIN2
std::cerr << "hiroArm(): Retrieving the position" << std::endl;
#endif
// HOMING Position and rotation matrix for right arm's WRSIT
// Right arm's last joint is joint 8 (index starts at 0, chest pan tilt...)
pos=m_path->joint(5)->p; // instead of RARM_JOINT5 i had 5 before.
#ifdef DEBUG_PLUGIN2
std::cerr << "hiroArm(): Position retrieved" << std::endl;
#endif
#ifdef DEBUG_PLUGIN2
std::cerr << "hiroArm(): Retrieving the attitude." << std::endl;
#endif
//rot=m_path->joint(5)->attitude(); // used in linux simulation
rot=m_path->joint(5)->segmentAttitude(); // Instead of RARM_JOINT5 I had a 5 before.
#ifdef DEBUG_PLUGIN2
std::cerr << "hiroArm(): Attitude retrieved." << std::endl;
#endif
#ifdef DEBUG_PLUGIN2
std::cerr << "hiroArm(): Allocating AssemblyStrategy" << std::endl;
#endif
// Pivot Approach variables
PA = new AssemblyStrategy(NUM_q0,pos,rot,ePh,momentGainFactor); // Wrist position, Wrist Rotation Matrix, Wrist2EndEffXform
#ifdef DEBUG_PLUGIN2
std::cerr << "hiroArm(): Finished allocating AssemblyStrategy" << std::endl;
#endif
#ifdef DEBUG_PLUGIN2
std::cout << "hiroArm: exit constructor" << std::endl;
#endif
}
// Destructor
hiroArm::~hiroArm()
{
fclose(fp1);
fclose(fp2);
fclose(fp3);
}
/*************************************************************************************************************/
// Init()
/*************************************************************************************************************/
void hiroArm::init()
{
update_currposdata();
rPh_ref = rPh;
rRh_ref = rRh;
q_ref = q;
}
/*************************************************************************************************************/
// init(vector3 pos, matrix33 rot, double CurAngles[15])
// Initialization Routine for a selected arm. Compute the position vector and rotation matrix from base to end effector
// Different behavior according to user.
// Kensuke: Open position and force data for left and right arms.
// Yamanobe: reads force, position, and velocity information.
/*************************************************************************************************************/
//int hiroArm::init(vector3 pos, matrix33 rot, double CurAngles[15])
//{
// // Local variables
//#ifdef DEBUG_PLUGIN2
// std::cerr << "\nhiroArm::init - entered" << std::endl;
//#endif
// int ret = 0;
//
//#ifdef PIVOTAPPROACH
// //******************************************** Pivot Approach ***********************************************************************/
//
// /*************************************** Initialize Strategy ***************************************/
// // PA can use three optional user specified files to read or write information (designed for one arm):
// // Read: Trajectory File - Reads Trajectory.
// // Write: State File - writes times at which new states start.
// // Forces File - writes forces and moments experienced by the simulation
// // If no arguments are passed, the files can be found at:
// // /home/hrpuser/forceSensorPlugin_Pivot/data/PivotApproach/
//
// // Path trunk
// // Folder where robot joint angles, cart. position, and forces will be saved and desired trajectory read from.
//
// // Assign path trunk to each of the FIVE char variables
// strcpy(TrajState1, READ_DIR);
// strcpy(TrajState2, READ_DIR);
// strcpy(manipTest, READ_DIR);
// strcpy(Angles, WRITE_DIR);
// strcpy(CartPos, WRITE_DIR);
// strcpy(State, WRITE_DIR);
// strcpy(Forces, WRITE_DIR);
//
// // Concatenate with appropriate endings
// strcat(TrajState1, MOTION_FILE); // Desired Trajectory
// strcat(TrajState2, "/PA10/PA10_pivotApproachState2.dat"); // Desired Trajectory
// strcat(manipTest, MANIP_TEST_FILE); // What test axis do you want to try
// strcat(Angles, ANGLES_FILE); // Robot Joint Angles
// strcat(CartPos, CARTPOS_FILE); // Cartesian Positions
// strcat(State, STATE_FILE); // New States Time Occurrence
// strcat(Forces, FORCES_FILE); // Robot Forces/Moments
//
// // Initialize AssemblyStrategy Class:
// // 1) Open files associated with the directories to read/write data
// // 2) Assign homing Cartesian Position, Joint Angles, and Rotation matrix position.
// // 3) Assign Motion and Control Strategies
// // 4) Declare and Allocate Filtering Object (consider using a static object instead for faster real-time performance).
// ret=PA->Initialize(TrajState1,TrajState2,Angles,CartPos,State,Forces, // Data Directories
// pos, rot, CurAngles, // Homing Data
// APPROACH_TYPE, CONTROL_TYPE); // Assembly Strategy and Control Method Used
//
//#endif
//
// // Compute the current position vector and rotation matrix from base to end effector and current joint angles.
// update_currposdata();
// rPh_ref = rPh; // Base2EndEff position translation
// rRh_ref = rRh; // Base2EndEff rotation matrix
// q_ref = q; // At home joint angles
//
//#ifdef DEBUG_PLUGIN2
// std::cerr << "\nhiroArm::init - exited" << std::endl;
//#endif
//
// return ret;
//}
void hiroArm::savedata()
{
// Initialization
vector3 tmp = OpenHRP::rpyFromRot(rRh); // Get RPY terms for the wrist
// Hand (not arm) Gravity Compensation terms for force and moment
fprintf(fp1,"%f %f %f %f %f %f\n", rFh_gc[0], rFh_gc[1], rFh_gc[2], rMh_gc[0], rMh_gc[1],rMh_gc[2]);
fprintf(fp2,"%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\n",rPh[0], rPh[1], rPh[2], // Position translation from base 2 end effector
tmp[0], tmp[1], tmp[2], // RPY terms
rRh(0,0),rRh(0,1),rRh(0,2), // Rotation matrix terms for base 2 end effector
rRh(1,0),rRh(1,1),rRh(1,2),
rRh(2,0),rRh(2,1),rRh(2,2));
/*printf(fp1,"%f %f %f %f %f %f\n",rFfs_gc[0],rFfs_gc[1],rFfs_gc[2],rMfs_gc[0],rMfs_gc[1],rMfs_gc[2]); arm terms
vector3 tmp = OpenHRP::rpyFromRot(rRh);
fprintf(fp2,"%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\n",rPh[0],rPh[1],rPh[2],tmp[0],tmp[1],tmp[2], rRh(0,0),rRh(0,1),rRh(0,2), rRh(1,0),rRh(1,1),rRh(1,2), rRh(2,0),rRh(2,1),rRh(2,2));
*/
}
/*******************************************************************************************************
// get_name()
// Return whether right or left arm
*******************************************************************************************************/
std::string hiroArm::get_name() { return name; }
/********************************************************************************
* update_currposdata()
* Update current arm configuration by:
* First, retreving:
* The wrist position,
* The base2wrist rotation, and
* The current joint angles of the body
* Second, by computing the:
* base2EndEffectorPosition
*********************************************************************************/
void hiroArm::update_currposdata()
{
// base2wrist position. Homing pos: <0.3019, -0.1724, 0.064>
rPe = body->joint(NUM_q0 + ARM_DOF -1)->p;
#ifdef DEBUG_PLUGIN2
cerr << "hiroArm::updated_currposdata - rPe is: " << rPe(0) << " " << rPe(1) << " " << rPe(2) << std::endl;
#endif
// base2wrist rotation matrix
rRe = body->joint(NUM_q0 + ARM_DOF -1)->segmentAttitude();
// Current joint angles
for(int i=0; i<ARM_DOF; i++)
q[i] = body->joint(NUM_q0 + i)->q;
wrist2EndEffXform(/*in*/rPe, /*in*/rRe, /*out*/rPh, /*out*/rRh);
#ifdef DEBUG_PLUGIN2
cerr << "hiroArm::updated_currposdata - rPh is: " << rPh(0) << " " << rPh(1) << " " << rPh(2) << std::endl;
#endif
}
/********************************************************************************
* wrist2EndEffXform()
* Takes the base2wrist position and rotation and transforms them to base2endeff
* position and orientation
*********************************************************************************/
void hiroArm::wrist2EndEffXform(/*in*/vector3 rPe, /*in*/matrix33 rRe, /*out*/vector3& rPh, /*out*/matrix33& rRh)
{
// base2EndEffector
// Caculation rPh & rRh from rPe & rRe
rRh = rRe * eRh; // base2EndEffRot=base2wristRot*wrist2EndEffRot
rPh = rPe + rRe * ePh; // base2EndEffPos=base2wristPos + transformed wrist2EndEffPos
//rRh = rRe;
//rPh = rPe;
}
/********************************************************************************
* wrist2EndEffXform()
* Takes the base2wrist position and rotation and transforms them to base2endeff
* position and orientation
*********************************************************************************/
void hiroArm::EndEff2wristXform(/*in*/vector3 rPh, /*in*/matrix33 rRh, /*out*/vector3& rPe)
{
// base2EndEffector
// Caculation rPh & rRh from rPe & rRe
rPe = rPh - rRe * ePh; // base2EndEffPos=base2wristPos + transformed wrist2EndEffPos
//rPe = rPh;
}
/*******************************************************************************************************
// get_qref()
// Retrieve reference joint angle in degrees
*******************************************************************************************************/
dvector6 hiroArm::get_qref()
{
#ifdef DEBUG_PLUGIN2
std::cout << "q_ref in hiroArm::get_qref: " << q_ref*180/M_PI << std::endl;
#endif
return q_ref;
}
/*******************************************************************************************************
// get_qcur()
// Retrieve currentjoint angle in degrees
*******************************************************************************************************/
dvector6 hiroArm::get_qcur()
{
#ifdef DEBUG_PLUGIN2
std::cout << "q_ref in get_qref: " << q_ref*180/M_PI << std::endl;
#endif
return q;
}
/*******************************************************************************************************
// update_currforcedata()
// Return latest force and moment data.
// If gravitational compensation is consider, it uses that information to compute the latest values
*******************************************************************************************************/
void hiroArm::update_currforcedata()
{
// update current force-moment data
// if(fs != 0)
// {
double f_out[6];
// A) Read raw forces
//get_raw_forces(f_out); // Updated Aug 2012 for OldHiro
ifs_read_data(0,f_out);
// B) Separate them into force and moment
for(int i=0; i<3; i++)
{
fsF_raw[i] = f_out[i];
fsM_raw[i] = f_out[i+3];
}
// If gravitational component flag is true
if(f_gc)
{
// Calculate the hand's gravitational force and moment
calc_gc_forces(rFfs_gc, rMfs_gc); // Arm's force and moment
calc_gc_forces_at_hand(rFh_gc, rMh_gc); // Hand's force and moment
}
// }
}
#if 0
/******************************************************************************************************/
// set_FSptr()
// Set the Force Sensor pointer from the niitaFs class. Give an identifier for left and right arms.
// Left arm has id 0.
/******************************************************************************************************/
void hiroArm::set_FSptr(nittaFS *fs_in, int NO_fs_in)
{
fs = fs_in;
NO_fs = NO_fs_in;
}
#endif
/*******************************************************************************************************
// get_forces()
// Retrieve the HAND's gravity compensation terms for force and moment
*******************************************************************************************************/
bool hiroArm::get_forces(vector3 &rFh_gc_out, vector3 &rMh_gc_out)
{
if(f_gc)
{
rFh_gc_out = rFh_gc; // force
rMh_gc_out = rMh_gc; // moment
return true;
}
else return false;
}
/*******************************************************************************************************
// get_curr_handpos()
// Retrieve the HAND's position translation vector and rotation matrix from base to end-effecter
*******************************************************************************************************/
void hiroArm::get_curr_handpos(vector3 &rPh_out, matrix33 &rRh_out){
rPh_out = rPh; // base2endeffecter translation vector
rRh_out = rRh; // base2endeffecter rotation matrix
}
/*******************************************************************************************************
// set_ref_handpos()
// Write the HAND's reference position translation vector and rotation matrix from base to end-effecter
*******************************************************************************************************/
void hiroArm::set_ref_handpos(vector3 rPh_ref_in, matrix33 rRh_ref_in)
{
rPh_ref = rPh_ref_in; // position
rRh_ref = rRh_ref_in; // rotation
}
/*******************************************************************************************************
// get_ref_handpos()
// Retrieve the HAND's reference position translation vector and rotation matrix from base to end-effecter
*******************************************************************************************************/
void hiroArm::get_ref_handpos(vector3 &rPh_ref_out, matrix33 &rRh_ref_out)
{
rPh_ref_out = rPh_ref;
rRh_ref_out = rRh_ref;
}
/*******************************************************************************************************
// get_Iteration()
// Retrieve the current iteration of the simulation
*******************************************************************************************************/
unsigned long hiroArm::get_Iteration()
{
return m_time;
}
/*******************************************************************************************************
// set_Iteration()
// Increase iteration by one
*******************************************************************************************************/
void hiroArm::set_Iteration()
{
m_time++;
}
/*******************************************************************************************************
// velocity_control()
// Used in Bilateral control.
// Takes in rdP, rate of change in position; rW, rate of change in orientation.
*******************************************************************************************************/
bool hiroArm::velocity_control(vector3 rdP, vector3 rW, bool f_new)
{
// If NOT vel control or NOT new, assign base2endeffector pos/rot, reference angles, and set to vel control
if((controlmode != VEL_CONTROL) || f_new)
{
rPh_ref = rPh;
rRh_ref = rRh;
q_ref = q;
controlmode = VEL_CONTROL;
}
// 1) Calculate the next step joint-angle using the Jacobian.
dvector6 q_next, dq;
dvector6 dx; // velocity at the arm end frame
// Change the input velocity from endeffector to wrist
vector3 rdPe, rWe; // base-to-wrist
rWe = rW;
rdPe = rdP + cross(rW, (rRe*(-ePh)));
for(int i=0; i<3; ++i)
{
dx(i) =rdPe(i); // Lin Velocity at wrist
dx(i+3) =rWe(i); // Angular Velocity at Wrist
//~ dx(i)=rdP(i);
//~ dx(i+3)=rW(i);
}
//~ fprintf(fp3,"%f %f %f %f %f %f %f %f %f %f %f %f %f %d %d %d:: %f %f %f %f %f %f:: %f %f %f %f %f %f\n",rdP(0),rdP(1),rdP(2),rW(0),rW(1),rW(2), dx(0),dx(1),dx(2),dx(3),dx(4),dx(5), suprate,jlimit,lim_tmp,mability,q(0),q(1),q(2),q(3),q(4),q(5),q_ref(0),q_ref(1),q_ref(2),q_ref(3),q_ref(4),q_ref(5));
// 2) Check angular velocity limit
double suprate = 1; // Suppression rate. Change the value of dx for each iteration of computation
int supflag = 0; // Flag: Joint angles surppased
int supexit = 1; // While loop flag
dmatrix jacob(6,6), inv_jacob(6,6);
// Compute the Jacobian and the Pseudoinverse
jacob = m_path->Jacobian(); //inv_jacob = OpenHRP::inverse(jacob);
bool ret = OpenHRP::calcPseudoInverse(jacob, inv_jacob,1.0e-18);
// Check if correct
if(ret !=0)
{
std::cout << "ERROR(velocity_control): calcPseudoInverse ret = " << ret << std::endl;
return false;
}
// 3) Calculate the next step joint-angle
while(supexit)
{
// Joint-Angle Step = inv_Jacobian*Velocity Step
//~ dq = prod(OpenHRP::inverse(m_path->Jacobian()),dx);
dq = prod(inv_jacob, dx);
// Check angle limits for each axis
for(int i=0; i<ARM_DOF; i++)
{
// If limits surpased
if(fabs(dq(i)) > ang_limits[i][2])
{
//~ if(fabs(dq(i)) > MAX_JVEL){
supflag=1;
#ifdef DEBUG_PLUGIN2
std::cout << "dq = " << dq << std::endl;
std::cout << "suprate = " << suprate << std::endl;
#endif
}
// if(fabs(nextdth(i)) > 5*deg2radC) supflag=1;
}
// Update the suppresion value used to update the step velocity parameter
if(supflag)
{
suprate -= 0.1;
supflag = 0;
}
// An admissible computation for the next step joint-angle has been achieved
else
supexit=0;
dx = suprate * dx;
}
//~ std::cout<< "jacob: " << jacob << std::endl;
//~ std::cout<< "inv_jacob: " << inv_jacob << std::endl;
//~ std::cout<< "inv_jacob * jacob: " << prod(inv_jacob,jacob) << std::endl;
//~ std::cout<< "dq" << dq << std::endl;
//~ std::cout<< "jacob*dq" << prod(jacob,dq) << std::endl;
//~ std::cout << std::endl;
// 4) Update the joint angle reference position by adding the step update to the current position
q_next = q_ref + DEL_T * dq;
// 5) Check lower and upper joint limits
bool flag = false;
bool jlimit = true;
// For each axis
for(int i=0; i<ARM_DOF; i++)
{
if(q_next(i) < ang_limits[i][0] || q_next(i) > ang_limits[i][1])
jlimit = false;
}
// If limits have been surpassed, then
if(jlimit)
{
// Check the difference limit between q_next and q_cur
bool jdifflimit = true;
// If the difference is greater than the limit
for(int i=0; i<ARM_DOF; i++)
{
if(fabs(q_next(i)-q(i)) > ang_limits[i][2] * DEL_T)
jdifflimit = false;
}
// If the difference is not greater than the limit:
// We have a singularity. Perform manipulability to avoid the singularity.
if(jdifflimit)
{
// Skip the point and set the joint angle to q_next
// ublas det(,), trans, prod. jacobian is dmatrix type(ublas)
for(int i = 0; i < ARM_DOF; i++)
body->joint(NUM_q0 + i)->q = q_next(i);
// Then compute the forward kinmeatics
body->calcForwardKinematics();
// Compute the determinant of the Jacobian at this new position
//bool mability = true;
double det_value = OpenHRP::det(m_path->Jacobian());
// Recompute Fwd Kinematics for current position
for(int i = 0; i < ARM_DOF; i++)
body->joint(NUM_q0 + i)->q = q(i);
body->calcForwardKinematics();
// If the determinant is not zero,
if(fabs(det_value) > 0.00001)
flag = true;
}
}
// joint limit avoidance // double LAUpLimit[6]={84,114,-1,249,94,124}; // double LALoLimit[6]={-84,-174,-154,-60,-94,-124};
//~ fprintf(fp3,"%f %f %f %f %f %f:: %f %d %d %d:: %f %f %f %f %f %f:: %f %f %f %f %f %f\n",rdP(0),rdP(1),rdP(2),rW(0),rW(1),rW(2), suprate,jlimit,lim_tmp,mability,q(0),q(1),q(2),q(3),q(4),q(5),q_ref(0),q_ref(1),q_ref(2),q_ref(3),q_ref(4),q_ref(5));
fprintf(fp3,"%f %f %f %f %f %f %f %f %f %f %f %f %f %d %f %f %f %f %f %f %f %f %f %f %f %f %f %f\n",
rdP(0),rdP(1),rdP(2), // Position
rW(0),rW(1),rW(2), // Orientation
dx(0),dx(1),dx(2), // Lin Vel
dx(3),dx(4),dx(5), // Rotational Vel
suprate, jlimit, // Params
dq(0), dq(1), dq(2), dq(3), dq(4), dq(5), // Joint Vel
q_next(0), q_next(1), q_next(2), q_next(3), q_next(4), q_next(5)); // Next Joint position
#ifdef DEBUG_PLUGIN2
std::cout << "q_ref = " << q_ref << std::endl;
std::cout << "q = " << q << std::endl;
#endif
// Set the reference joint position to q_next
if(flag)
{
q_ref = q_next;
return true;
}
else
return false;
}
/****************************************************************************************************
// Impedance Control
// Mapping from generalized velocities to generalized forces
** Sets the damping and inertia coefficient values
****************************************************************************************************/
bool hiroArm::impedance_control()
// DSRG's direct teaching function
{
// If control mode is not set to impedance_control mode, correct.
if(controlmode != IMP_CONTROL)
{
rPh_ref = rPh;
rRh_ref = rRh;
controlmode = IMP_CONTROL;
}
// 1a) Set desired inertia and damping factor(for POSITION)
const double Dlh[2]= {100,250}; // Threshold of damping coef.[low, high]
const double vlh[2]= {0.005,0.1}; // Threshold of velocity. [low, high]
double Dxth[3]; // Damping coefficients
double Mxth[3]; // Inertia coefficients With values 5,15,20
#if 1
// double size = sqrt(pow(rdXd(X),2)+pow(rdXd(Y),2)+pow(rdXd(Z),2));
// Norm of velocity. Measure of velocity.
double size = sqrt(pow(rdXd(X),2)+pow(rdXd(Y),2)+pow(rdXd(Z),2));
for(int i=0; i<3; i++)
{
// If the velocity is under our velocity threshold: low velocity zone
if(fabs(size) <= vlh[0])
{
// Set the damping and inertia coefficients
Dxth[i]= Dlh[1];
Mxth[i]=3;
}
// Middle velocity zone
else if(fabs(size) > vlh[0] && fabs(size)< vlh[1] )
{
Dxth[i]= ((Dlh[0]-Dlh[1])/(vlh[1]-vlh[0]))*(fabs(rdXd(i))-vlh[0])+Dlh[1];
Mxth[i]=5;
}
// High velocity zone
else if(fabs(size) >= vlh[1])
{
Dxth[i]= Dlh[0];
Mxth[i]=10;
}
// Other case
else
{
Dxth[i]= Dlh[1];
Mxth[i]=15;
}
}
#endif
// Place coefficients in matrix form
Mt = Mxth[X],0,0, 0,Mxth[Y],0, 0,0,Mxth[Z];
Dt = Dxth[X],0,0, 0,Dxth[Y],0, 0,0,Dxth[Z];
//1b) Set desired inertia and damping factor(for ROTATION)
const double Drlh[2]= {15,40}; // threshold of damping coef.[low, high]
const double vrlh[2]= {0.2,0.7}; // thrheshold of velocity. [low, high]
double Drth[3]; // Damping coefficients for wrist={10,10,10};
double Mrth[3]; // Inertia coefficients for wrist={1,1,1};
#if 1
size = sqrt(pow(rdRd(X),2)+pow(rdRd(Y),2)+pow(rdRd(Z),2));
for(int i=0; i<3; i++)
{
// Low velocity zone
if(fabs(size) <= vrlh[0])
{
Drth[i]= Drlh[1];
Mrth[i]=1;
}
// Middle velocity zone
else if(fabs(size) > vrlh[0] && fabs(size)< vrlh[1] )
{
Drth[i]= ((Drlh[0]-Drlh[1])/(vrlh[1]-vrlh[0]))*(fabs(rdRd(i))-vrlh[0])+Drlh[1];
Mrth[i]=3;
}
// High velocity zone
else if(fabs(size) >= vrlh[1])
{
Drth[i]= Dlh[0];
Mrth[i]=5;
}
// Other
else
{
Drth[i]= Drlh[1];
Mrth[i]=7;
}
}
#endif
// Compile damping and inertia coefficients for rotation into a matrix
Mr = Mrth[X],0,0, 0,Mrth[Y],0, 0,0,Mrth[Z];
Dr = Drth[X],0,0, 0,Drth[Y],0, 0,0,Drth[Z];
/* Mt = 10, 0, 0, 0, 10, 0, 0, 0, 10;
Dt = 100, 0, 0, 0, 100, 0, 0, 0, 100;
Mr = 5, 0, 0, 0, 5, 0, 0, 0, 5;
Dr = 15, 0, 0, 0, 15, 0, 0, 0, 15;*/
// Compute the velocity updates in the position and orientation
for(int i=0;i<3; i++)
{
rdXd(i) = exp((-Dt(i,i)/Mt(i,i))*DEL_T)*rdXd(i)+((1-exp((-Dt(i,i)/Mt(i,i))*DEL_T))/Dt(i,i))*rFfs_gc(i);
rdRd(i) = exp((-Dr(i,i)/Mr(i,i))*DEL_T)*rdRd(i)+((1-exp((-Dr(i,i)/Mr(i,i))*DEL_T))/Dr(i,i))*rMfs_gc(i);
rRd(i) = rdRd(i)*DEL_T;
}
//rRd=ASMRo*rRd;
rPh_ref += rdXd*DEL_T;
rRh_ref = rRh_ref * get_rot33(Z,rRd(Z))*get_rot33(Y,rRd(Y))*get_rot33(X,rRd(X)); //RzRyRx
#ifdef DEBUG_PLUGIN2
std::cout << "direct teaching: " << std::endl;
std::cout << "rdXd = " << rdXd << std::endl;
std::cout << "rFfs_gc = " << rFfs_gc << std::endl;
std::cout << "rMfs_gc = " << rMfs_gc << std::endl;
#endif
// Target hand first position, fortation, and then calculation
// 目標手先位置・姿勢の計算 (rPh_ref, rRh_ref --> rPe_ref, rRe_ref --> q_ref)
// robot2endeffector to robot2wrist
calc_rPe_rRe(rPh_ref, rRh_ref, rPe_ref, rRe_ref);
bool ret;
dvector6 q_ref_tmp;
// Compute reference joint angles
ret = calc_qref(rPe_ref, rRe_ref, q_ref_tmp);
if(ret) q_ref = q_ref_tmp;
#ifdef DEBUG_PLUGIN2
std::cout << "q_ref = " << q_ref << std::endl;
std::cout << "q = " << q << std::endl;
#endif
return ret;
}
#ifdef IMPEDANCE
bool hiroArm::impedance_control2()
{
if(controlmode != IMP_CONTROL)
{
rPh_ref = rPh; // Set the base2wrist parameters as ref params: position
rRh_ref = rRh;
controlmode = IMP_CONTROL; // Change the control mode to impedance control
}
// Inertia and damping matrix coefficients for position/orientation
Mt = 10, 0, 0, 0, 10, 0, 0, 0, 10;
Dt = 100, 0, 0, 0, 100, 0, 0, 0, 100;
Mr = 5, 0, 0, 0, 5, 0, 0, 0, 5;
Dr = 15, 0, 0, 0, 15, 0, 0, 0, 15;
matrix33 Kt, Kr;
Kt = 200, 0, 0, 0, 200, 0, 0, 0, 200;
Kr = 100, 0, 0, 0, 100, 0, 0, 0, 100;
matrix33 Ft, Fr;
Kt = 2, 0, 0, 0, 2, 0, 0, 0, 2;
Kr = 1, 0, 0, 0, 1, 0, 0, 0, 1;
// Desired position and rotation data
vector3 rXd_des, rRd_des, rFd_des, rMd_des;
if(!fin_rpos.eof()) fin_rpos >> rXd_des(0); // Right Pos Data is read in
if(!fin_rpos.eof()) fin_rpos >> rXd_des(1);
if(!fin_rpos.eof()) fin_rpos >> rXd_des(2);
if(!fin_rpos.eof()) fin_rpos >> rRd_des(0); // Right Rot Data is read in
if(!fin_rpos.eof()) fin_rpos >> rRd_des(1);
if(!fin_rpos.eof()) fin_rpos >> rRd_des(2);
for(int i=0; i<9; i++)
{
double t;
fin_rpos >> t;
}
// Desired Force and Moment Data
if(!fin_rfc.eof()) fin_rfc >> rFd_des(0); // Right Force Data is read in
if(!fin_rfc.eof()) fin_rfc >> rFd_des(1);
if(!fin_rfc.eof()) fin_rfc >> rFd_des(2);
if(!fin_rfc.eof()) fin_rfc >> rMd_des(0);
if(!fin_rfc.eof()) fin_rfc >> rMd_des(1);
if(!fin_rfc.eof()) fin_rfc >> rMd_des(2);
// k*pos_error - t*force_error...
for(int i=0;i<3; i++)
{
rdXd(i) = rdXd(i) - (Dt(i,i)*rdXd(i) + Kt(i,i)*(rPh_ref(i) - rXd_des(i)) - Ft(i,i)*(rFfs_gc(i) - rFd_des(i)))/Mt(i,i)*DEL_T; //rdXd(i) = exp((-Dt(i,i)/Mt(i,i))*DEL_T)*rdXd(i)+((1-exp((-Dt(i,i)/Mt(i,i))*DEL_T))/Dt(i,i))*rFfs_gc(i);
rdRd(i) = rdRd(i) - (Dr(i,i)*rdRd(i) + Kr(i,i)*(OpenHRP::rpyFromRot(rRh_ref)(i) - rRd_des(i)) - Fr(i,i)*(rMfs_gc(i) - rMd_des(i)))/Mr(i,i)*DEL_T; //rdRd(i) = exp((-Dr(i,i)/Mr(i,i))*DEL_T)*rdRd(i)+((1-exp((-Dr(i,i)/Mr(i,i))*DEL_T))/Dr(i,i))*rMfs_gc(i);
rRd(i) = rdRd(i)*DEL_T; //rRd=ASMRo*rRd;
}
rPh_ref += rdXd*DEL_T;
rRh_ref = rRh_ref * get_rot33(Z,rRd(Z))*get_rot33(Y,rRd(Y))*get_rot33(X,rRd(X)); // RzRyRx
#ifdef DEBUG_PLUGIN2
std::cout << "rXd_des = " << rXd_des << std::endl;
std::cout << "direct teaching: " << std::endl;
std::cout << "rdXd = " << rdXd << std::endl;
std::cout << "rXd = " << rPh_ref << std::endl;
std::cout << "rFfs_gc = " << rFfs_gc << std::endl;
std::cout << "rMfs_gc = " << rMfs_gc << std::endl;
#endif
// 目標手先位置・姿勢の計算 (rPh_ref, rRh_ref --> rPe_ref, rRe_ref --> q_ref)
calc_rPe_rRe(rPh_ref, rRh_ref, rPe_ref, rRe_ref);
bool ret;
dvector6 q_ref_tmp;
ret = calc_qref(rPe_ref, rRe_ref, q_ref_tmp);
if(ret) q_ref = q_ref_tmp;
#ifdef DEBUG_PLUGIN2
std::cout << "q_ref = " << q_ref << std::endl;
std::cout << "q = " << q << std::endl;
#endif
return ret;
}
#endif
//------------------------------------------------------------------------------------------
// PivotApproach(...)
// Two modes.
// (1) A test mode that allows you test the force controller as part of the control
// basis for a desired axis. That axis is indicated by a file found in data/PivotApproach/manipulationTestAxis.dat
//
// (2) Actual Pivot Approach.
// There are three modes (other than testing) thus far:
// 1. StraightLineApproach, originally implemented with the PA10.
// 2. PivotApproach: implemented by HIRO on a two snap cantilever snap.