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Fix clearCalibrationMatrices #47

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merged 2 commits into from
Sep 20, 2024
Merged

Fix clearCalibrationMatrices #47

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987dcc8
reset the IMU_R_link matrix to the one read by config file
davidegorbani Sep 20, 2024
28ee781
fix comments
davidegorbani Sep 20, 2024
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9 changes: 6 additions & 3 deletions src/IK/include/BiomechanicalAnalysis/IK/InverseKinematics.h
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Original file line number Diff line number Diff line change
Expand Up @@ -133,8 +133,9 @@ class HumanIK
{
std::shared_ptr<BipedalLocomotion::IK::SO3Task> task;
int nodeNumber;
manif::SO3d IMU_R_link; // Rotation matrix from the IMU to related link, set through config
// file
manif::SO3d IMU_R_link; // Rotation matrix from the IMU to related link
manif::SO3d IMU_R_link_init; // Initial value of the rotation matrix from the IMU to related link, set through config
// file
manif::SO3d calibrationMatrix = manif::SO3d::Identity(); // Initialization (to Identity) of
// Rotation matrix from the World
// to the World of the IMU, which
Expand All @@ -151,7 +152,9 @@ class HumanIK
struct GravityTaskStruct
{
std::shared_ptr<BipedalLocomotion::IK::GravityTask> task;
manif::SO3d IMU_R_link;
manif::SO3d IMU_R_link; // Rotation matrix from the IMU to related link
manif::SO3d IMU_R_link_init; // Initial value of the rotation matrix from the IMU to related link, set through config
// file
manif::SO3d calibrationMatrix = manif::SO3d::Identity();
Eigen::Vector2d weight;
int nodeNumber;
Expand Down
15 changes: 8 additions & 7 deletions src/IK/src/InverseKinematics.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -327,17 +327,16 @@ bool HumanIK::clearCalibrationMatrices()
for (auto& [node, data] : m_OrientationTasks)
{
data.calibrationMatrix = manif::SO3d::Identity();
data.IMU_R_link = manif::SO3d::Identity();
data.IMU_R_link = m_OrientationTasks[node].IMU_R_link_init;
}
for (auto& [node, data] : m_GravityTasks)
{
data.calibrationMatrix = manif::SO3d::Identity();
data.IMU_R_link = manif::SO3d::Identity();
data.IMU_R_link = m_GravityTasks[node].IMU_R_link_init;
}
return true;
}


bool HumanIK::calibrateWorldYaw(std::unordered_map<int, nodeData> nodeStruct)
{
// reset the robot state
Expand Down Expand Up @@ -624,7 +623,7 @@ bool HumanIK::initializeOrientationTask(const std::string& taskName,
if (taskHandler->getParameter("rotation_matrix", rotation_matrix))
{
// Convert rotation matrix to ManifRot and assign it to IMU_R_link
m_OrientationTasks[nodeNumber].IMU_R_link
m_OrientationTasks[nodeNumber].IMU_R_link_init
= BipedalLocomotion::Conversions::toManifRot(Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>>(rotation_matrix.data()));
} else
{
Expand All @@ -637,8 +636,9 @@ bool HumanIK::initializeOrientationTask(const std::string& taskName,
logPrefix,
taskName,
frame_name);
m_OrientationTasks[nodeNumber].IMU_R_link.setIdentity();
m_OrientationTasks[nodeNumber].IMU_R_link_init.setIdentity();
}
m_OrientationTasks[nodeNumber].IMU_R_link = m_OrientationTasks[nodeNumber].IMU_R_link_init;
//*****************************************************************************************************

// Initialize the SO3Task object
Expand Down Expand Up @@ -714,7 +714,7 @@ bool HumanIK::initializeGravityTask(const std::string& taskName,
if (taskHandler->getParameter("rotation_matrix", rotation_matrix))
{
// Convert rotation matrix to ManifRot and assign it to IMU_R_link
m_GravityTasks[nodeNumber].IMU_R_link
m_GravityTasks[nodeNumber].IMU_R_link_init
= BipedalLocomotion::Conversions::toManifRot(Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>>(rotation_matrix.data()));
} else
{
Expand All @@ -727,8 +727,9 @@ bool HumanIK::initializeGravityTask(const std::string& taskName,
logPrefix,
taskName,
frame_name);
m_GravityTasks[nodeNumber].IMU_R_link.setIdentity();
m_GravityTasks[nodeNumber].IMU_R_link_init.setIdentity();
}
m_GravityTasks[nodeNumber].IMU_R_link = m_GravityTasks[nodeNumber].IMU_R_link_init;

//*****************************************************************************************************

Expand Down
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