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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#include <sot/core/debug.hh> |
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#include <sot/core/exception-feature.hh> |
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#include <sot/core/factory.hh> |
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#include <sot/core/joint-limitator.hh> |
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using namespace std; |
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using namespace dynamicgraph::sot; |
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using namespace dynamicgraph; |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(JointLimitator, "JointLimitator"); |
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JointLimitator::JointLimitator(const string &fName) |
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: Entity(fName), |
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jointSIN(NULL, "JointLimitator(" + name + ")::input(vector)::joint"), |
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upperJlSIN(NULL, "JointLimitator(" + name + ")::input(vector)::upperJl"), |
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lowerJlSIN(NULL, "JointLimitator(" + name + ")::input(vector)::lowerJl"), |
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controlSIN(NULL, |
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"JointLimitator(" + name + ")::input(vector)::controlIN"), |
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controlSOUT(boost::bind(&JointLimitator::computeControl, this, _1, _2), |
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jointSIN << upperJlSIN << lowerJlSIN << controlSIN, |
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"JointLimitator(" + name + ")::output(vector)::control"), |
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widthJlSINTERN(boost::bind(&JointLimitator::computeWidthJl, this, _1, _2), |
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upperJlSIN << lowerJlSIN, |
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"JointLimitator(" + name + ")::input(vector)::widthJl") |
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{ |
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signalRegistration(jointSIN << upperJlSIN << lowerJlSIN << controlSIN |
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<< controlSOUT << widthJlSINTERN); |
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} |
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dynamicgraph::Vector &JointLimitator::computeWidthJl(dynamicgraph::Vector &res, |
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const int &time) { |
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sotDEBUGIN(15); |
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const dynamicgraph::Vector UJL = upperJlSIN.access(time); |
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const dynamicgraph::Vector LJL = lowerJlSIN.access(time); |
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const dynamicgraph::Vector::Index SIZE = UJL.size(); |
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res.resize(SIZE); |
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for (unsigned int i = 0; i < SIZE; ++i) { |
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res(i) = UJL(i) - LJL(i); |
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} |
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sotDEBUGOUT(15); |
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return res; |
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} |
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dynamicgraph::Vector &JointLimitator::computeControl(dynamicgraph::Vector &uOUT, |
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int time) { |
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sotDEBUGIN(15); |
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const dynamicgraph::Vector &q = jointSIN.access(time); |
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const dynamicgraph::Vector &UJL = upperJlSIN.access(time); |
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const dynamicgraph::Vector &LJL = lowerJlSIN.access(time); |
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const dynamicgraph::Vector &uIN = controlSIN.access(time); |
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dynamicgraph::Vector::Index controlSize = uIN.size(); |
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uOUT.resize(controlSize); |
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uOUT.setZero(); |
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dynamicgraph::Vector::Index offset = q.size() - uIN.size(); |
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assert(offset >= 0); |
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for (unsigned int i = 0; i < controlSize; ++i) { |
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double qnext = q(i + offset) + uIN(i) * 0.005; |
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if ((i + offset < 6) || // do not take into account of freeflyer |
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((qnext < UJL(i + offset)) && (qnext > LJL(i + offset)))) { |
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uOUT(i) = uIN(i); |
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} |
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sotDEBUG(25) << i << ": " << qnext << " in? [" << LJL(i) << "," << UJL(i) |
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<< "]" << endl; |
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} |
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sotDEBUGOUT(15); |
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return uOUT; |
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} |
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void JointLimitator::display(std::ostream &os) const { |
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os << "JointLimitator <" << name << "> ... TODO"; |
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} |