Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

IMU test - Fix forward kinematics computation #76

Merged
merged 2 commits into from
May 10, 2024
Merged

IMU test - Fix forward kinematics computation #76

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
50a0296
Refactor and fix forward kinematics
martinaxgloria May 10, 2024
a0ac21c
Delete plot.xml leftover
martinaxgloria May 10, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
31 changes: 19 additions & 12 deletions src/imu/imu.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
#include <yarp/os/Property.h>
#include <yarp/os/Stamp.h>
#include <yarp/os/ResourceFinder.h>
#include <yarp/os/LogStream.h>

#include <robometry/BufferConfig.h>
#include <robometry/BufferManager.h>
Expand Down Expand Up @@ -99,7 +100,7 @@ bool Imu::setup(yarp::os::Property& property)
if(inputSensorsList->size() == 0 || inputSensorsList->get(0).asString() == "all")
{
ROBOTTESTINGFRAMEWORK_TEST_REPORT("Testing all the IMUs available...");

std::string sensorName{""};
yarp::dev::IOrientationSensors* ior;
ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(MASclientDriver.view(ior), "Unable to open the orientation interface");
for(int sensorIndex = 0; sensorIndex < ior->getNrOfOrientationSensors(); sensorIndex++)
Expand Down Expand Up @@ -130,9 +131,6 @@ bool Imu::setup(yarp::os::Property& property)
driverList.push(&MASclientDriver, "alljoints_inertials");
ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(imultiwrap->attachAll(driverList), "Unable to do the attach");
ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(MASremapperDriver.view(iorientation), "Unable to open orientation interface");

outputPort.open("/test-imu/out");
ROBOTTESTINGFRAMEWORK_TEST_REPORT("Opening port "+outputPort.getName()+"...");

iDynTree::Vector3 baseLinkOrientationRad;
baseLinkOrientationRad.zero();
Expand Down Expand Up @@ -180,6 +178,7 @@ void Imu::tearDown()

controlBoardDriver.close();
MASclientDriver.close();
MASremapperDriver.close();

for(int i = 0; i < localBroker.size(); i++)
{
Expand All @@ -193,14 +192,18 @@ void Imu::run()
{
ROBOTTESTINGFRAMEWORK_TEST_REPORT("Starting reading IMU orientation values...");
rpyValues.resize(sensorsList.get(0).asList()->size());
I_R_I_IMU.resize(sensorsList.get(0).asList()->size());

for (int sensorIndex = 0; sensorIndex < sensorsList.get(0).asList()->size(); sensorIndex++)
{
ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(iorientation->getOrientationSensorName(sensorIndex, sensorName), "Unable to obtain rpy measurements.");
std::string sensorName{""};
std::string frameName{""};
double timestamp;
ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(iorientation->getOrientationSensorName(sensorIndex, sensorName), "Unable to obtain sensor name.");
ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(iorientation->getOrientationSensorMeasureAsRollPitchYaw(sensorIndex, rpyValues[sensorIndex], timestamp), "Unable to obtain rpy measurements.");
iorientation->getOrientationSensorFrameName(sensorIndex, frameName);
ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(iorientation->getOrientationSensorFrameName(sensorIndex, frameName), "Unable to obtain frame name.");
iDynTree::Rotation I_R_FK = kinDynComp.getWorldTransform(frameName).getRotation();
I_R_I_IMU = (I_R_FK * ((iDynTree::Rotation::RPY(iDynTree::deg2rad(rpyValues[sensorIndex][0]), iDynTree::deg2rad(rpyValues[sensorIndex][1]), iDynTree::deg2rad(rpyValues[sensorIndex][2]))).inverse()));
I_R_I_IMU[sensorIndex] = (I_R_FK * ((iDynTree::Rotation::RPY(iDynTree::deg2rad(rpyValues[sensorIndex][0]), iDynTree::deg2rad(rpyValues[sensorIndex][1]), iDynTree::deg2rad(rpyValues[sensorIndex][2]))).inverse()));
}

setupBrokers();
Expand All @@ -219,9 +222,13 @@ bool Imu::startMove()
{
for (int sensorIndex = 0; sensorIndex < sensorsList.get(0).asList()->size(); sensorIndex++)
{
sensorName = sensorsList.get(0).asList()->get(sensorIndex).asString();
iorientation->getOrientationSensorMeasureAsRollPitchYaw(sensorIndex, rpyValues[sensorIndex], timestamp);
iorientation->getOrientationSensorFrameName(sensorIndex, frameName);
std::string frameName{""};
std::string sensorName{""};

double timestamp;
ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(iorientation->getOrientationSensorName(sensorIndex, sensorName), "Unable to obtain sensor name.");
ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(iorientation->getOrientationSensorMeasureAsRollPitchYaw(sensorIndex, rpyValues[sensorIndex], timestamp), "Unable to obtain rpy measurements.");
ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(iorientation->getOrientationSensorFrameName(sensorIndex, frameName), "Unable to obtain frame name.");

ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(ienc->getEncoders(positions.data()), "Cannot get joint positions");
ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(ienc->getEncoderSpeeds(velocities.data()), "Cannot get joint velocities");
Expand All @@ -240,7 +247,7 @@ bool Imu::startMove()
gravity);

iDynTree::Rotation expectedImuSignal = kinDynComp.getWorldTransform(frameName).getRotation();
iDynTree::Rotation imuSignal = (I_R_I_IMU * iDynTree::Rotation::RPY(iDynTree::deg2rad(rpyValues[sensorIndex][0]), iDynTree::deg2rad(rpyValues[sensorIndex][1]), iDynTree::deg2rad(rpyValues[sensorIndex][2])));
iDynTree::Rotation imuSignal = (I_R_I_IMU[sensorIndex] * iDynTree::Rotation::RPY(iDynTree::deg2rad(rpyValues[sensorIndex][0]), iDynTree::deg2rad(rpyValues[sensorIndex][1]), iDynTree::deg2rad(rpyValues[sensorIndex][2])));
error = (expectedImuSignal * imuSignal.inverse()).log();

bufferManager.push_back(positions, "joints_state::positions");
Expand All @@ -264,7 +271,7 @@ bool Imu::startMove()

for(int sensorIndex = 0; sensorIndex < sensorsList.get(0).asList()->size(); sensorIndex++)
{
sensorName = sensorsList.get(0).asList()->get(sensorIndex).asString();
auto sensorName = sensorsList.get(0).asList()->get(sensorIndex).asString();
auto maxError = std::max_element(errorTot[sensorIndex].begin(), errorTot[sensorIndex].end());
ROBOTTESTINGFRAMEWORK_TEST_CHECK(*maxError < errorMax, Asserter::format("Testing sensor %s: the max rotation angle error is %f rad!", sensorName.c_str(), *maxError));
}
Expand Down
5 changes: 1 addition & 4 deletions src/imu/imu.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -48,8 +48,6 @@ class Imu : public yarp::robottestingframework::TestCase {
std::string robotName;
std::string portName;
std::string modelName;
std::string frameName;
std::string sensorName;
double errorMax;
yarp::os::Bottle sensorsList;
std::vector<std::string> partsList;
Expand All @@ -69,7 +67,6 @@ class Imu : public yarp::robottestingframework::TestCase {
yarp::sig::Vector velocities;

int axes;
double timestamp;
std::vector<std::string> axesVec;

iDynTree::ModelLoader model;
Expand All @@ -80,7 +77,7 @@ class Imu : public yarp::robottestingframework::TestCase {
iDynTree::Rotation baseLinkOrientation;
iDynTree::Twist baseVelocity;
iDynTree::Transform I_T_base;
iDynTree::Rotation I_R_I_IMU;
std::vector<iDynTree::Rotation> I_R_I_IMU;

robometry::BufferManager bufferManager;

Expand Down
66 changes: 0 additions & 66 deletions src/imu/plot.xml
View file
Open in desktop

This file was deleted.

4 changes: 2 additions & 2 deletions suites/contexts/icub/test_imu.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
robot ${robotname}
model model.urdf
port /${robotname}/alljoints/inertials
remoteControlBoards ("torso", "head", "left_arm", "right_arm")
axesNames ("torso_pitch", "torso_roll", "torso_yaw", "neck_pitch", "neck_roll", "neck_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw")
remoteControlBoards ("torso", "head", "left_arm", "right_arm", "left_leg", "right_leg")
axesNames ("torso_pitch", "torso_roll", "torso_yaw", "neck_pitch", "neck_roll", "neck_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll", "r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll")
sensorsList ("all")
maxError 0.1
7 changes: 7 additions & 0 deletions suites/contexts/icub/test_imu_no_legs.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
robot ${robotname}
model model.urdf
port /${robotname}/alljoints/inertials
remoteControlBoards ("torso", "head", "left_arm", "right_arm")
axesNames ("torso_pitch", "torso_roll", "torso_yaw", "neck_pitch", "neck_roll", "neck_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw")
sensorsList ("all")
maxError 0.1
Loading