Directory: | ./ |
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File: | src/robot.impl.cc |
Date: | 2024-12-13 15:50:05 |
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Lines: | 123 | 743 | 16.6% |
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1 | // Copyright (C) 2009, 2010 by Florent Lamiraux, Thomas Moulard, JRL. | ||
2 | // | ||
3 | |||
4 | // Redistribution and use in source and binary forms, with or without | ||
5 | // modification, are permitted provided that the following conditions are | ||
6 | // met: | ||
7 | // | ||
8 | // 1. Redistributions of source code must retain the above copyright | ||
9 | // notice, this list of conditions and the following disclaimer. | ||
10 | // | ||
11 | // 2. Redistributions in binary form must reproduce the above copyright | ||
12 | // notice, this list of conditions and the following disclaimer in the | ||
13 | // documentation and/or other materials provided with the distribution. | ||
14 | // | ||
15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
16 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
17 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
18 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
21 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
22 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
23 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
24 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
25 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
26 | // DAMAGE. | ||
27 | // | ||
28 | // This software is provided "as is" without warranty of any kind, | ||
29 | // either expressed or implied, including but not limited to the | ||
30 | // implied warranties of fitness for a particular purpose. | ||
31 | // | ||
32 | // See the COPYING file for more information. | ||
33 | |||
34 | #include "robot.impl.hh" | ||
35 | |||
36 | #include <coal/BVH/BVH_model.h> | ||
37 | #include <coal/shape/geometric_shapes.h> | ||
38 | |||
39 | #include <hpp/corbaserver/server-plugin.hh> | ||
40 | #include <hpp/core/config-validations.hh> | ||
41 | #include <hpp/core/configuration-shooter.hh> | ||
42 | #include <hpp/core/distance-between-objects.hh> | ||
43 | #include <hpp/core/problem.hh> | ||
44 | #include <hpp/core/weighed-distance.hh> | ||
45 | #include <hpp/pinocchio/body.hh> | ||
46 | #include <hpp/pinocchio/center-of-mass-computation.hh> | ||
47 | #include <hpp/pinocchio/collision-object.hh> | ||
48 | #include <hpp/pinocchio/configuration.hh> | ||
49 | #include <hpp/pinocchio/device.hh> | ||
50 | #include <hpp/pinocchio/frame.hh> | ||
51 | #include <hpp/pinocchio/fwd.hh> | ||
52 | #include <hpp/pinocchio/humanoid-robot.hh> | ||
53 | #include <hpp/pinocchio/joint-collection.hh> | ||
54 | #include <hpp/pinocchio/joint.hh> | ||
55 | #include <hpp/pinocchio/liegroup-element.hh> | ||
56 | #include <hpp/pinocchio/liegroup.hh> | ||
57 | #include <hpp/pinocchio/urdf/util.hh> | ||
58 | #include <hpp/util/debug.hh> | ||
59 | #include <hpp/util/exception-factory.hh> | ||
60 | #include <iostream> | ||
61 | #include <pinocchio/fwd.hpp> | ||
62 | #include <pinocchio/multibody/fcl.hpp> | ||
63 | #include <pinocchio/multibody/geometry.hpp> | ||
64 | #include <pinocchio/multibody/model.hpp> | ||
65 | |||
66 | #include "hpp/pinocchio_idl/robots-fwd.hh" | ||
67 | #include "tools.hh" | ||
68 | |||
69 | namespace hpp { | ||
70 | namespace corbaServer { | ||
71 | namespace impl { | ||
72 | using pinocchio::Data; | ||
73 | using pinocchio::FrameIndex; | ||
74 | using pinocchio::JointIndex; | ||
75 | using pinocchio::Model; | ||
76 | |||
77 | namespace { | ||
78 | using CORBA::Long; | ||
79 | using CORBA::ULong; | ||
80 | const ::pinocchio::FrameType JOINT_FRAME = | ||
81 | (::pinocchio::FrameType)(::pinocchio::JOINT | ::pinocchio::FIXED_JOINT); | ||
82 | |||
83 | ✗ | static void localSetJointBounds(const JointPtr_t& joint, vector_t jointBounds) { | |
84 | static const value_type inf = std::numeric_limits<value_type>::infinity(); | ||
85 | ✗ | if (jointBounds.size() % 2 == 1) { | |
86 | ✗ | HPP_THROW(std::invalid_argument, "Expect a vector of even size"); | |
87 | } | ||
88 | ✗ | for (std::size_t i = 0; i < (std::size_t)jointBounds.size() / 2; i++) { | |
89 | ✗ | value_type& vMin = jointBounds[2 * i]; | |
90 | ✗ | value_type& vMax = jointBounds[2 * i + 1]; | |
91 | ✗ | if (vMin > vMax) { | |
92 | ✗ | vMin = -inf; | |
93 | ✗ | vMax = inf; | |
94 | } | ||
95 | } | ||
96 | Eigen::Map<vector_t, Eigen::Unaligned, Eigen::InnerStride<2> > lower( | ||
97 | ✗ | &jointBounds[0], (jointBounds.size() + 1) / 2); | |
98 | Eigen::Map<vector_t, Eigen::Unaligned, Eigen::InnerStride<2> > upper( | ||
99 | ✗ | &jointBounds[1], (jointBounds.size()) / 2); | |
100 | ✗ | joint->lowerBounds(lower); | |
101 | ✗ | joint->upperBounds(upper); | |
102 | } | ||
103 | |||
104 | ✗ | static floatSeq* localGetJointBounds(const JointPtr_t& joint) { | |
105 | ✗ | std::size_t jointNbDofs = joint->configSize(); | |
106 | ✗ | floatSeq* ret = new floatSeq; | |
107 | ✗ | ret->length((ULong)(2 * jointNbDofs)); | |
108 | ✗ | for (std::size_t iDof = 0; iDof < jointNbDofs; iDof++) { | |
109 | ✗ | if (joint->isBounded(iDof)) { | |
110 | ✗ | (*ret)[(ULong)(2 * iDof)] = joint->lowerBound(iDof); | |
111 | ✗ | (*ret)[(ULong)(2 * iDof + 1)] = joint->upperBound(iDof); | |
112 | } else { | ||
113 | ✗ | (*ret)[(ULong)(2 * iDof)] = 1; | |
114 | ✗ | (*ret)[(ULong)(2 * iDof + 1)] = 0; | |
115 | } | ||
116 | } | ||
117 | ✗ | return ret; | |
118 | } | ||
119 | } // end of namespace. | ||
120 | |||
121 | // -------------------------------------------------------------------- | ||
122 | |||
123 |
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16 | Robot::Robot() : server_(NULL) {} |
124 | |||
125 | // -------------------------------------------------------------------- | ||
126 | |||
127 | 98 | core::ProblemSolverPtr_t Robot::problemSolver() { | |
128 | 98 | return server_->problemSolver(); | |
129 | } | ||
130 | |||
131 | // -------------------------------------------------------------------- | ||
132 | |||
133 | 6 | void Robot::createRobot(const char* inRobotName) { | |
134 |
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6 | std::string robotName(inRobotName); |
135 |
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6 | DevicePtr_t robot(problemSolver()->createRobot(robotName)); |
136 |
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6 | problemSolver()->robot(robot); |
137 | 6 | } | |
138 | |||
139 | // -------------------------------------------------------------------- | ||
140 | |||
141 | 7 | char* Robot::getRobotName() { | |
142 |
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7 | DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
143 |
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14 | return c_str(robot->name()); |
144 | 7 | } | |
145 | |||
146 | // -------------------------------------------------------------------- | ||
147 | |||
148 | ✗ | void Robot::loadRobotModel(const char* robotName, const char* rootJointType, | |
149 | const char* urdfName, const char* srdfName) { | ||
150 | try { | ||
151 | ✗ | pinocchio::DevicePtr_t device(problemSolver()->createRobot(robotName)); | |
152 | ✗ | hpp::pinocchio::urdf::loadModel(device, 0, "", std::string(rootJointType), | |
153 | ✗ | std::string(urdfName), | |
154 | ✗ | std::string(srdfName)); | |
155 | // Add device to the planner | ||
156 | ✗ | problemSolver()->robot(device); | |
157 | ✗ | } catch (const std::exception& exc) { | |
158 | hppDout(error, exc.what()); | ||
159 | ✗ | throw hpp::Error(exc.what()); | |
160 | } | ||
161 | } | ||
162 | |||
163 | // -------------------------------------------------------------------- | ||
164 | |||
165 | ✗ | void Robot::loadHumanoidModel(const char* robotName, const char* rootJointType, | |
166 | const char* urdfName, const char* srdfName) { | ||
167 | try { | ||
168 | pinocchio::HumanoidRobotPtr_t robot( | ||
169 | ✗ | pinocchio::HumanoidRobot::create(robotName)); | |
170 | ✗ | hpp::pinocchio::urdf::loadModel(robot, 0, "", std::string(rootJointType), | |
171 | ✗ | std::string(urdfName), | |
172 | ✗ | std::string(srdfName)); | |
173 | ✗ | hpp::pinocchio::urdf::setupHumanoidRobot(robot); | |
174 | // Add robot to the planner | ||
175 | ✗ | problemSolver()->robot(robot); | |
176 | ✗ | } catch (const std::exception& exc) { | |
177 | hppDout(error, exc.what()); | ||
178 | ✗ | throw hpp::Error(exc.what()); | |
179 | } | ||
180 | } | ||
181 | |||
182 | // -------------------------------------------------------------------- | ||
183 | |||
184 | 2 | void Robot::loadRobotModelFromString(const char* robotName, | |
185 | const char* rootJointType, | ||
186 | const char* urdfString, | ||
187 | const char* srdfString) { | ||
188 | try { | ||
189 |
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4 | pinocchio::DevicePtr_t device(problemSolver()->createRobot(robotName)); |
190 |
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6 | hpp::pinocchio::urdf::loadModelFromString( |
191 |
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6 | device, 0, "", std::string(rootJointType), std::string(urdfString), |
192 |
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4 | std::string(srdfString)); |
193 | // Add device to the planner | ||
194 |
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2 | problemSolver()->robot(device); |
195 |
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2 | } catch (const std::exception& exc) { |
196 | hppDout(error, exc.what()); | ||
197 | ✗ | throw hpp::Error(exc.what()); | |
198 | } | ||
199 | 2 | } | |
200 | |||
201 | // -------------------------------------------------------------------- | ||
202 | |||
203 | ✗ | void Robot::loadHumanoidModelFromString(const char* robotName, | |
204 | const char* rootJointType, | ||
205 | const char* urdfString, | ||
206 | const char* srdfString) { | ||
207 | try { | ||
208 | pinocchio::HumanoidRobotPtr_t robot( | ||
209 | ✗ | pinocchio::HumanoidRobot::create(robotName)); | |
210 | ✗ | hpp::pinocchio::urdf::loadModelFromString( | |
211 | ✗ | robot, 0, "", std::string(rootJointType), std::string(urdfString), | |
212 | ✗ | std::string(srdfString)); | |
213 | ✗ | hpp::pinocchio::urdf::setupHumanoidRobot(robot); | |
214 | // Add robot to the planner | ||
215 | ✗ | problemSolver()->robot(robot); | |
216 | ✗ | } catch (const std::exception& exc) { | |
217 | hppDout(error, exc.what()); | ||
218 | ✗ | throw hpp::Error(exc.what()); | |
219 | } | ||
220 | } | ||
221 | |||
222 | // -------------------------------------------------------------------- | ||
223 | |||
224 | ✗ | Long Robot::getConfigSize() { | |
225 | try { | ||
226 | ✗ | return (Long)getRobotOrThrow(problemSolver())->configSize(); | |
227 | ✗ | } catch (const std::exception& exc) { | |
228 | hppDout(error, exc.what()); | ||
229 | ✗ | throw hpp::Error(exc.what()); | |
230 | } | ||
231 | } | ||
232 | |||
233 | // -------------------------------------------------------------------- | ||
234 | |||
235 | ✗ | Long Robot::getNumberDof() { | |
236 | try { | ||
237 | ✗ | return (Long)getRobotOrThrow(problemSolver())->numberDof(); | |
238 | ✗ | } catch (const std::exception& exc) { | |
239 | hppDout(error, exc.what()); | ||
240 | ✗ | throw hpp::Error(exc.what()); | |
241 | } | ||
242 | } | ||
243 | |||
244 | // -------------------------------------------------------------------- | ||
245 | |||
246 | template <typename T> | ||
247 | 26 | void addJoint(Model& model, const JointIndex parent, | |
248 | const Transform3s& placement, const std::string& name) { | ||
249 |
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26 | JointIndex jid = model.addJoint(parent, T(), placement, name); |
250 |
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26 | model.addJointFrame(jid, -1); |
251 | 26 | } | |
252 | |||
253 | 13 | void Robot::appendJoint(const char* parentName, const char* jointName, | |
254 | const char* jointType, const Transform_ pos) { | ||
255 | using namespace pinocchio; | ||
256 |
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13 | DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
257 | 13 | Model& model = robot->model(); | |
258 | |||
259 |
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13 | std::string pn(parentName); |
260 |
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13 | std::string jn(jointName); |
261 |
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13 | std::string jt(jointType); |
262 | |||
263 | // Find parent joint | ||
264 | 13 | JointIndex pid = 0; | |
265 |
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13 | if (!pn.empty()) { |
266 |
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11 | if (!model.existJointName(pn)) |
267 | ✗ | throw Error(("Joint " + pn + " not found.").c_str()); | |
268 |
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11 | pid = model.getJointId(pn); |
269 | } | ||
270 | |||
271 | // Check that joint of this name does not already exist. | ||
272 |
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13 | if (model.existJointName(jn)) |
273 | ✗ | throw Error(("Joint " + jn + " already exists.").c_str()); | |
274 | |||
275 | // Fill position matrix | ||
276 |
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13 | Transform3s posMatrix = toTransform3s(pos); |
277 | |||
278 | // Determine type of joint. | ||
279 |
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13 | if (jt == "FreeFlyer") |
280 |
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2 | addJoint<JointCollection::JointModelFreeFlyer>(model, pid, posMatrix, jn); |
281 |
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11 | else if (jt == "Planar") |
282 |
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1 | addJoint<JointCollection::JointModelPlanar>(model, pid, posMatrix, jn); |
283 |
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10 | else if (jt == "RX") |
284 |
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1 | addJoint<JointCollection::JointModelRX>(model, pid, posMatrix, jn); |
285 |
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9 | else if (jt == "RUBX") |
286 |
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1 | addJoint<JointCollection::JointModelRUBX>(model, pid, posMatrix, jn); |
287 |
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8 | else if (jt == "RY") |
288 |
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1 | addJoint<JointCollection::JointModelRY>(model, pid, posMatrix, jn); |
289 |
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7 | else if (jt == "RUBY") |
290 |
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1 | addJoint<JointCollection::JointModelRUBY>(model, pid, posMatrix, jn); |
291 |
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6 | else if (jt == "RZ") |
292 |
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1 | addJoint<JointCollection::JointModelRZ>(model, pid, posMatrix, jn); |
293 |
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5 | else if (jt == "RUBZ") |
294 |
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1 | addJoint<JointCollection::JointModelRUBZ>(model, pid, posMatrix, jn); |
295 |
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4 | else if (jt == "PX") |
296 |
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1 | addJoint<JointCollection::JointModelPX>(model, pid, posMatrix, jn); |
297 |
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3 | else if (jt == "PY") |
298 |
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1 | addJoint<JointCollection::JointModelPY>(model, pid, posMatrix, jn); |
299 |
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2 | else if (jt == "PZ") |
300 |
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1 | addJoint<JointCollection::JointModelPZ>(model, pid, posMatrix, jn); |
301 |
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1 | else if (jt == "Translation") |
302 |
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1 | addJoint<JointCollection::JointModelTranslation>(model, pid, posMatrix, jn); |
303 | else { | ||
304 | ✗ | std::ostringstream oss; | |
305 | ✗ | oss << "Joint type \"" << jt << "\" does not exist."; | |
306 | hppDout(error, oss.str()); | ||
307 | ✗ | throw hpp::Error(oss.str().c_str()); | |
308 | } | ||
309 | |||
310 |
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13 | robot->createData(); |
311 | 13 | } | |
312 | |||
313 | // -------------------------------------------------------------------- | ||
314 | |||
315 | 1 | Names_t* Robot::getJointNames() { | |
316 | try { | ||
317 |
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1 | DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
318 | 1 | const Model& model = robot->model(); | |
319 |
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2 | return toNames_t((++model.names.begin()), model.names.end()); |
320 |
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1 | } catch (const std::exception& exc) { |
321 | ✗ | throw hpp::Error(exc.what()); | |
322 | } | ||
323 | } | ||
324 | |||
325 | // -------------------------------------------------------------------- | ||
326 | |||
327 | ✗ | Names_t* Robot::getJointTypes() { | |
328 | try { | ||
329 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
330 | ✗ | const Model& model = robot->model(); | |
331 | ✗ | std::vector<std::string> types(model.names.size() - 1); | |
332 | ✗ | for (std::size_t i = 0; i < types.size(); ++i) | |
333 | ✗ | types[i] = model.joints[i + 1].shortname(); | |
334 | ✗ | return toNames_t(types.begin(), types.end()); | |
335 | ✗ | } catch (const std::exception& exc) { | |
336 | ✗ | throw hpp::Error(exc.what()); | |
337 | } | ||
338 | } | ||
339 | |||
340 | // -------------------------------------------------------------------- | ||
341 | |||
342 | 1 | Names_t* Robot::getAllJointNames() { | |
343 | try { | ||
344 |
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1 | DevicePtr_t robot = problemSolver()->robot(); |
345 |
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1 | if (!robot) return new Names_t(0, 0, Names_t::allocbuf(0)); |
346 | // Compute number of real urdf joints | ||
347 | 1 | const Model& model = robot->model(); | |
348 | 1 | std::vector<std::string> jns; | |
349 |
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26 | for (std::size_t i = 0; i < model.frames.size(); ++i) |
350 |
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25 | jns.push_back(model.frames[i].name); |
351 |
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1 | return toNames_t(jns.begin(), jns.end()); |
352 |
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1 | } catch (const std::exception& exc) { |
353 | ✗ | throw hpp::Error(exc.what()); | |
354 | } | ||
355 | } | ||
356 | |||
357 | // -------------------------------------------------------------------- | ||
358 | |||
359 | ✗ | Names_t* Robot::getChildJointNames(const char* jointName) { | |
360 | try { | ||
361 | ✗ | DevicePtr_t robot = problemSolver()->robot(); | |
362 | ✗ | if (!robot) return new Names_t(0, 0, Names_t::allocbuf(0)); | |
363 | // Compute number of real urdf joints | ||
364 | ✗ | JointPtr_t j = robot->getJointByName(std::string(jointName)); | |
365 | ✗ | ULong size = (ULong)j->numberChildJoints(); | |
366 | ✗ | char** nameList = Names_t::allocbuf(size); | |
367 | ✗ | Names_t* jointNames = new Names_t(size, size, nameList); | |
368 | ✗ | for (std::size_t i = 0; i < size; ++i) { | |
369 | ✗ | const JointPtr_t joint = j->childJoint(i); | |
370 | ✗ | nameList[i] = c_str(joint->name()); | |
371 | } | ||
372 | ✗ | return jointNames; | |
373 | ✗ | } catch (const std::exception& exc) { | |
374 | ✗ | throw hpp::Error(exc.what()); | |
375 | } | ||
376 | } | ||
377 | |||
378 | // -------------------------------------------------------------------- | ||
379 | |||
380 | ✗ | char* Robot::getParentJointName(const char* jointName) { | |
381 | try { | ||
382 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
383 | ✗ | const std::string jn(jointName); | |
384 | ✗ | const Frame f = robot->getFrameByName(jn); | |
385 | |||
386 | char* name; | ||
387 | ✗ | if (f.isRootFrame()) { | |
388 | ✗ | name = CORBA::string_dup(""); | |
389 | } else { | ||
390 | // TODO if f.parentFrame is not of type JOINT or FIXED_JOINT | ||
391 | // we should continue to loop on the parent. | ||
392 | ✗ | name = c_str(f.parentFrame().name()); | |
393 | } | ||
394 | ✗ | return name; | |
395 | ✗ | } catch (const std::exception& exc) { | |
396 | ✗ | throw hpp::Error(exc.what()); | |
397 | } | ||
398 | } | ||
399 | |||
400 | // -------------------------------------------------------------------- | ||
401 | ✗ | Transform__slice* Robot::getRootJointPosition() { | |
402 | try { | ||
403 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
404 | ✗ | Frame root = robot->rootFrame(); | |
405 | ✗ | return toHppTransform(root.positionInParentFrame()); | |
406 | ✗ | } catch (const std::exception& exc) { | |
407 | ✗ | throw Error(exc.what()); | |
408 | } | ||
409 | } | ||
410 | |||
411 | // -------------------------------------------------------------------- | ||
412 | |||
413 | ✗ | void Robot::setRootJointPosition(const Transform_ position) { | |
414 | try { | ||
415 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
416 | ✗ | Transform3s t3f(toTransform3s(position)); | |
417 | ✗ | robot->rootFrame().positionInParentFrame(t3f); | |
418 | ✗ | robot->computeForwardKinematics(); | |
419 | ✗ | } catch (const std::exception& exc) { | |
420 | ✗ | throw Error(exc.what()); | |
421 | } | ||
422 | } | ||
423 | |||
424 | // -------------------------------------------------------------------- | ||
425 | |||
426 | ✗ | void Robot::setJointPositionInParentFrame(const char* jointName, | |
427 | const Transform_ position) { | ||
428 | try { | ||
429 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
430 | ✗ | Frame frame = robot->getFrameByName(jointName); | |
431 | ✗ | frame.positionInParentFrame(toTransform3s(position)); | |
432 | ✗ | robot->computeForwardKinematics(); | |
433 | ✗ | } catch (const std::exception& exc) { | |
434 | ✗ | throw Error(exc.what()); | |
435 | } | ||
436 | } | ||
437 | |||
438 | // -------------------------------------------------------------------- | ||
439 | |||
440 | ✗ | hpp::floatSeq* Robot::getJointConfig(const char* jointName) { | |
441 | try { | ||
442 | // Get robot in hppPlanner object. | ||
443 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
444 | ✗ | Frame frame = robot->getFrameByName(jointName); | |
445 | ✗ | if (frame.isFixed()) return new hpp::floatSeq(); | |
446 | ✗ | JointPtr_t joint = frame.joint(); | |
447 | ✗ | if (!joint) return new hpp::floatSeq(); | |
448 | ✗ | vector_t config = robot->currentConfiguration(); | |
449 | ✗ | size_type ric = joint->rankInConfiguration(); | |
450 | ✗ | size_type dim = joint->configSize(); | |
451 | ✗ | return vectorToFloatSeq(config.segment(ric, dim)); | |
452 | ✗ | } catch (const std::exception& exc) { | |
453 | ✗ | throw hpp::Error(exc.what()); | |
454 | } | ||
455 | } | ||
456 | |||
457 | // -------------------------------------------------------------------- | ||
458 | |||
459 | 12 | char* Robot::getJointType(const char* jointName) { | |
460 | try { | ||
461 | // Get robot in hppPlanner object. | ||
462 |
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12 | DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
463 |
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24 | Frame frame = robot->getFrameByName(jointName); |
464 | 12 | std::string name; | |
465 |
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12 | if (frame.isFixed()) return CORBA::string_dup("anchor"); |
466 |
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12 | JointPtr_t joint = frame.joint(); |
467 |
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12 | if (!joint) return CORBA::string_dup("anchor"); |
468 |
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12 | return c_str(joint->jointModel().shortname()); |
469 |
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12 | } catch (const std::exception& exc) { |
470 | ✗ | throw hpp::Error(exc.what()); | |
471 | } | ||
472 | } | ||
473 | |||
474 | // -------------------------------------------------------------------- | ||
475 | |||
476 | ✗ | void Robot::setJointConfig(const char* jointName, const hpp::floatSeq& q) { | |
477 | try { | ||
478 | // Get robot in hppPlanner object. | ||
479 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
480 | ✗ | JointPtr_t joint = robot->getJointByName(jointName); | |
481 | ✗ | if (!joint) { | |
482 | ✗ | std::ostringstream oss("Robot has no joint with name "); | |
483 | ✗ | oss << jointName; | |
484 | hppDout(error, oss.str()); | ||
485 | ✗ | throw hpp::Error(oss.str().c_str()); | |
486 | } | ||
487 | ✗ | vector_t config = robot->currentConfiguration(); | |
488 | ✗ | size_type ric = joint->rankInConfiguration(); | |
489 | ✗ | size_type dim = joint->configSize(); | |
490 | ✗ | if (dim != (size_type)q.length()) { | |
491 | ✗ | throw Error("Wrong configuration dimension"); | |
492 | } | ||
493 | ✗ | for (size_type i = 0; i < dim; i++) config[ric + i] = q[(ULong)i]; | |
494 | ✗ | robot->currentConfiguration(config); | |
495 | ✗ | robot->computeForwardKinematics(); | |
496 | ✗ | } catch (const std::exception& exc) { | |
497 | ✗ | throw hpp::Error(exc.what()); | |
498 | } | ||
499 | } | ||
500 | |||
501 | // -------------------------------------------------------------------- | ||
502 | |||
503 | ✗ | floatSeq* Robot::jointIntegrate(const floatSeq& jointCfg, const char* jointName, | |
504 | const floatSeq& dq, bool saturate) { | ||
505 | try { | ||
506 | // Get robot in hppPlanner object. | ||
507 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
508 | ✗ | JointPtr_t joint = robot->getJointByName(jointName); | |
509 | ✗ | if (!joint) { | |
510 | ✗ | std::ostringstream oss("Robot has no joint with name "); | |
511 | ✗ | oss << jointName; | |
512 | hppDout(error, oss.str()); | ||
513 | ✗ | throw hpp::Error(oss.str().c_str()); | |
514 | } | ||
515 | ✗ | const size_type nq = joint->configSize(), nv = joint->numberDof(); | |
516 | ✗ | if (nv != (size_type)dq.length()) { | |
517 | ✗ | throw Error("Wrong speed dimension"); | |
518 | } | ||
519 | ✗ | LiegroupElement q(floatSeqToVector(jointCfg, nq), | |
520 | ✗ | joint->configurationSpace()); | |
521 | ✗ | q += floatSeqToVector(dq, nv); | |
522 | ✗ | if (saturate) { | |
523 | ✗ | for (size_type i = 0; i < nq; ++i) { | |
524 | ✗ | value_type ub = joint->upperBound(i); | |
525 | ✗ | value_type lb = joint->lowerBound(i); | |
526 | ✗ | q.vector()[i] = std::min(ub, std::max(lb, q.vector()[i])); | |
527 | } | ||
528 | } | ||
529 | ✗ | return vectorToFloatSeq(q.vector()); | |
530 | ✗ | } catch (const std::exception& exc) { | |
531 | ✗ | throw hpp::Error(exc.what()); | |
532 | } | ||
533 | } | ||
534 | |||
535 | // -------------------------------------------------------------------- | ||
536 | |||
537 | ✗ | hpp::floatSeqSeq* Robot::getCurrentTransformation(const char* jointName) { | |
538 | try { | ||
539 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
540 | ✗ | JointPtr_t joint = robot->getJointByName(jointName); | |
541 | ✗ | if (!joint) { | |
542 | ✗ | std::ostringstream oss("Robot has no joint with name "); | |
543 | ✗ | oss << jointName; | |
544 | hppDout(error, oss.str()); | ||
545 | ✗ | throw hpp::Error(oss.str().c_str()); | |
546 | } | ||
547 | |||
548 | // join translation & rotation into homog. transformation | ||
549 | ✗ | const Transform3s& T = joint->currentTransformation(); | |
550 | ✗ | Eigen::Matrix<hpp::pinocchio::value_type, 4, 4> trafo; | |
551 | ✗ | trafo.block<3, 3>(0, 0) = T.rotation(); | |
552 | ✗ | trafo.block<3, 1>(0, 3) = T.translation(); | |
553 | ✗ | trafo.block<1, 4>(3, 0) << 0, 0, 0, 1; | |
554 | ✗ | return matrixToFloatSeqSeq(trafo); | |
555 | ✗ | } catch (const std::exception& exc) { | |
556 | ✗ | throw Error(exc.what()); | |
557 | } | ||
558 | } | ||
559 | |||
560 | // -------------------------------------------------------------------- | ||
561 | |||
562 | ✗ | Transform__slice* Robot::getJointPosition(const char* jointName) { | |
563 | try { | ||
564 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
565 | ✗ | Frame frame = robot->getFrameByName(jointName); | |
566 | ✗ | return toHppTransform(frame.currentTransformation()); | |
567 | ✗ | } catch (const std::exception& exc) { | |
568 | ✗ | throw Error(exc.what()); | |
569 | } | ||
570 | } | ||
571 | |||
572 | // -------------------------------------------------------------------- | ||
573 | |||
574 | ✗ | TransformSeq* Robot::getJointsPosition(const floatSeq& dofArray, | |
575 | const Names_t& jointNames) { | ||
576 | try { | ||
577 | using hpp::pinocchio::DeviceSync; | ||
578 | ✗ | DevicePtr_t _robot = getRobotOrThrow(problemSolver()); | |
579 | ✗ | Configuration_t config = floatSeqToConfig(_robot, dofArray, true); | |
580 | ✗ | DeviceSync robot(_robot); | |
581 | ✗ | robot.currentConfiguration(config); | |
582 | ✗ | robot.computeForwardKinematics(); | |
583 | ✗ | robot.computeFramesForwardKinematics(); | |
584 | |||
585 | ✗ | const Model& model(robot.model()); | |
586 | ✗ | const Data& data(robot.data()); | |
587 | ✗ | TransformSeq* transforms = new TransformSeq(); | |
588 | ✗ | transforms->length(jointNames.length()); | |
589 | ✗ | std::string n; | |
590 | ✗ | for (CORBA::ULong i = 0; i < jointNames.length(); ++i) { | |
591 | ✗ | n = jointNames[i]; | |
592 | ✗ | if (!model.existFrame(n)) { | |
593 | ✗ | HPP_THROW(Error, "Robot has no frame with name " << n); | |
594 | } | ||
595 | ✗ | FrameIndex joint = model.getFrameId(n); | |
596 | ✗ | if (model.frames.size() <= (std::size_t)joint) | |
597 | ✗ | HPP_THROW(Error, | |
598 | "Frame index of joint " << n << " out of bounds: " << joint); | ||
599 | |||
600 | ✗ | toHppTransform(data.oMf[joint], (*transforms)[i]); | |
601 | } | ||
602 | ✗ | return transforms; | |
603 | ✗ | } catch (const std::exception& exc) { | |
604 | ✗ | throw Error(exc.what()); | |
605 | } | ||
606 | } | ||
607 | |||
608 | // -------------------------------------------------------------------- | ||
609 | |||
610 | ✗ | floatSeq* Robot::getJointVelocity(const char* jointName) { | |
611 | try { | ||
612 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
613 | ✗ | Frame frame = robot->getFrameByName(jointName); | |
614 | ✗ | vector_t w = frame.jacobian() * robot->currentVelocity(); | |
615 | ✗ | w.head<3>() = frame.currentTransformation().rotation() * w.head<3>(); | |
616 | ✗ | w.tail<3>() = frame.currentTransformation().rotation() * w.tail<3>(); | |
617 | ✗ | return vectorToFloatSeq(w); | |
618 | ✗ | } catch (const std::exception& exc) { | |
619 | ✗ | throw Error(exc.what()); | |
620 | } | ||
621 | } | ||
622 | |||
623 | // -------------------------------------------------------------------- | ||
624 | |||
625 | ✗ | floatSeq* Robot::getJointVelocityInLocalFrame(const char* jointName) { | |
626 | try { | ||
627 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
628 | ✗ | Frame frame = robot->getFrameByName(jointName); | |
629 | ✗ | return vectorToFloatSeq(frame.jacobian() * robot->currentVelocity()); | |
630 | ✗ | } catch (const std::exception& exc) { | |
631 | ✗ | throw Error(exc.what()); | |
632 | } | ||
633 | } | ||
634 | |||
635 | // -------------------------------------------------------------------- | ||
636 | |||
637 | ✗ | Transform__slice* Robot::getJointPositionInParentFrame(const char* jointName) { | |
638 | try { | ||
639 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
640 | ✗ | Frame frame = robot->getFrameByName(jointName); | |
641 | ✗ | return toHppTransform(frame.positionInParentFrame()); | |
642 | ✗ | } catch (const std::exception& exc) { | |
643 | ✗ | throw Error(exc.what()); | |
644 | } | ||
645 | } | ||
646 | |||
647 | // -------------------------------------------------------------------- | ||
648 | |||
649 | 12 | Long Robot::getJointNumberDof(const char* jointName) { | |
650 | try { | ||
651 |
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12 | DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
652 |
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24 | Frame frame = robot->getFrameByName(jointName); |
653 |
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12 | if (frame.isFixed()) return 0; |
654 |
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12 | JointPtr_t joint = frame.joint(); |
655 |
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12 | return (joint ? (Long)joint->numberDof() : 0); |
656 |
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12 | } catch (const std::exception& exc) { |
657 | ✗ | throw Error(exc.what()); | |
658 | } | ||
659 | } | ||
660 | |||
661 | // -------------------------------------------------------------------- | ||
662 | |||
663 | 12 | Long Robot::getJointConfigSize(const char* jointName) { | |
664 | try { | ||
665 |
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12 | DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
666 |
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24 | Frame frame = robot->getFrameByName(jointName); |
667 |
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12 | if (frame.isFixed()) return 0; |
668 |
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12 | JointPtr_t joint = frame.joint(); |
669 |
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12 | return (joint ? (Long)joint->configSize() : 0); |
670 |
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12 | } catch (const std::exception& exc) { |
671 | ✗ | throw Error(exc.what()); | |
672 | } | ||
673 | } | ||
674 | |||
675 | // -------------------------------------------------------------------- | ||
676 | |||
677 | ✗ | floatSeq* Robot::getJointBounds(const char* jointName) { | |
678 | try { | ||
679 | // Get robot in ProblemSolver object. | ||
680 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
681 | // get joint | ||
682 | ✗ | JointPtr_t joint = robot->getJointByName(jointName); | |
683 | ✗ | if (!joint) { | |
684 | ✗ | HPP_THROW(std::invalid_argument, "Joint " << jointName << " not found."); | |
685 | } | ||
686 | ✗ | return localGetJointBounds(joint); | |
687 | ✗ | } catch (const std::exception& exc) { | |
688 | ✗ | throw hpp::Error(exc.what()); | |
689 | } | ||
690 | } | ||
691 | |||
692 | // -------------------------------------------------------------------- | ||
693 | |||
694 | ✗ | void Robot::setJointBounds(const char* jointName, const floatSeq& jointBounds) { | |
695 | try { | ||
696 | // Get robot in ProblemSolver object. | ||
697 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
698 | |||
699 | // get joint | ||
700 | ✗ | JointPtr_t joint = robot->getJointByName(jointName); | |
701 | ✗ | localSetJointBounds(joint, floatSeqToVector(jointBounds)); | |
702 | ✗ | } catch (const std::exception& exc) { | |
703 | ✗ | throw hpp::Error(exc.what()); | |
704 | } | ||
705 | } | ||
706 | |||
707 | // -------------------------------------------------------------------- | ||
708 | |||
709 | ✗ | Transform__slice* Robot::getLinkPosition(const char* linkName) { | |
710 | try { | ||
711 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
712 | ✗ | if (!robot->model().existBodyName(std::string(linkName))) { | |
713 | ✗ | HPP_THROW(Error, "Robot has no link with name " << linkName); | |
714 | } | ||
715 | ✗ | FrameIndex body = robot->model().getBodyId(std::string(linkName)); | |
716 | ✗ | const ::pinocchio::Frame& frame = robot->model().frames[body]; | |
717 | ✗ | JointIndex joint = frame.parent; | |
718 | ✗ | if (frame.type != ::pinocchio::BODY) | |
719 | ✗ | HPP_THROW(Error, linkName << " is not a link"); | |
720 | ✗ | if (robot->model().joints.size() <= (std::size_t)joint) | |
721 | ✗ | HPP_THROW(Error, "Joint index of link " << linkName | |
722 | << " out of bounds: " << joint); | ||
723 | |||
724 | ✗ | Transform3s T = robot->data().oMi[joint] * frame.placement; | |
725 | ✗ | return toHppTransform(T); | |
726 | ✗ | } catch (const std::exception& exc) { | |
727 | ✗ | throw Error(exc.what()); | |
728 | } | ||
729 | } | ||
730 | |||
731 | // -------------------------------------------------------------------- | ||
732 | |||
733 | ✗ | TransformSeq* Robot::getLinksPosition(const floatSeq& dofArray, | |
734 | const Names_t& linkNames) { | ||
735 | try { | ||
736 | using hpp::pinocchio::DeviceSync; | ||
737 | ✗ | DevicePtr_t _robot = getRobotOrThrow(problemSolver()); | |
738 | ✗ | Configuration_t config = floatSeqToConfig(_robot, dofArray, true); | |
739 | ✗ | DeviceSync robot(_robot); | |
740 | ✗ | robot.currentConfiguration(config); | |
741 | ✗ | robot.computeFramesForwardKinematics(); | |
742 | |||
743 | ✗ | const Model& model(robot.model()); | |
744 | ✗ | const Data& data(robot.data()); | |
745 | ✗ | TransformSeq* transforms = new TransformSeq(); | |
746 | ✗ | transforms->length(linkNames.length()); | |
747 | ✗ | std::string n; | |
748 | ✗ | for (CORBA::ULong i = 0; i < linkNames.length(); ++i) { | |
749 | ✗ | n = linkNames[i]; | |
750 | ✗ | if (!model.existBodyName(n)) { | |
751 | ✗ | HPP_THROW(Error, "Robot has no link with name " << n); | |
752 | } | ||
753 | ✗ | FrameIndex body = model.getBodyId(n); | |
754 | ✗ | const ::pinocchio::Frame& frame = model.frames[body]; | |
755 | ✗ | if (frame.type != ::pinocchio::BODY) | |
756 | ✗ | HPP_THROW(Error, n << " is not a link"); | |
757 | |||
758 | ✗ | toHppTransform(data.oMf[body], (*transforms)[i]); | |
759 | } | ||
760 | ✗ | return transforms; | |
761 | ✗ | } catch (const std::exception& exc) { | |
762 | ✗ | throw Error(exc.what()); | |
763 | } | ||
764 | } | ||
765 | |||
766 | // -------------------------------------------------------------------- | ||
767 | |||
768 | ✗ | Names_t* Robot::getLinkNames(const char* jointName) { | |
769 | try { | ||
770 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
771 | ✗ | const Model& model = robot->model(); | |
772 | ✗ | Frame frame = robot->getFrameByName(jointName); | |
773 | |||
774 | ✗ | std::vector<std::string> names; | |
775 | ✗ | for (size_type i = 0; i < (size_type)model.frames.size(); ++i) { | |
776 | ✗ | const ::pinocchio::Frame& f = model.frames[i]; | |
777 | ✗ | if (f.type == ::pinocchio::BODY && f.previousFrame == frame.index()) | |
778 | ✗ | names.push_back(f.name); | |
779 | } | ||
780 | ✗ | return toNames_t(names.begin(), names.end()); | |
781 | ✗ | } catch (const std::exception& exc) { | |
782 | ✗ | throw Error(exc.what()); | |
783 | } | ||
784 | } | ||
785 | |||
786 | // -------------------------------------------------------------------- | ||
787 | |||
788 | ✗ | void Robot::setDimensionExtraConfigSpace(ULong dimension) { | |
789 | // Get robot in ProblemSolver object. | ||
790 | try { | ||
791 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
792 | ✗ | robot->setDimensionExtraConfigSpace(dimension); | |
793 | ✗ | } catch (const std::exception& exc) { | |
794 | ✗ | throw hpp::Error(exc.what()); | |
795 | } | ||
796 | } | ||
797 | |||
798 | ✗ | ULong Robot::getDimensionExtraConfigSpace() { | |
799 | // Get robot in ProblemSolver object. | ||
800 | ULong dim; | ||
801 | try { | ||
802 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
803 | ✗ | dim = (ULong)robot->extraConfigSpace().dimension(); | |
804 | ✗ | } catch (const std::exception& exc) { | |
805 | ✗ | throw hpp::Error(exc.what()); | |
806 | } | ||
807 | ✗ | return dim; | |
808 | } | ||
809 | |||
810 | // -------------------------------------------------------------------- | ||
811 | |||
812 | ✗ | void Robot::setExtraConfigSpaceBounds(const hpp::floatSeq& bounds) { | |
813 | using hpp::pinocchio::ExtraConfigSpace; | ||
814 | // Get robot in ProblemSolver object. | ||
815 | try { | ||
816 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
817 | ✗ | ExtraConfigSpace& extraCS = robot->extraConfigSpace(); | |
818 | ✗ | size_type nbBounds = (size_type)bounds.length(); | |
819 | ✗ | size_type dimension = extraCS.dimension(); | |
820 | ✗ | if (nbBounds == 2 * dimension) { | |
821 | ✗ | for (size_type iDof = 0; iDof < dimension; ++iDof) { | |
822 | ✗ | double vMin = bounds[(ULong)(2 * iDof)]; | |
823 | ✗ | double vMax = bounds[(ULong)(2 * iDof + 1)]; | |
824 | ✗ | if (vMin <= vMax) { | |
825 | /* Dof is actually bounded */ | ||
826 | ✗ | extraCS.lower(iDof) = vMin; | |
827 | ✗ | extraCS.upper(iDof) = vMax; | |
828 | } else { | ||
829 | /* Dof is not bounded */ | ||
830 | ✗ | extraCS.lower(iDof) = -std::numeric_limits<double>::infinity(); | |
831 | ✗ | extraCS.upper(iDof) = +std::numeric_limits<double>::infinity(); | |
832 | } | ||
833 | } | ||
834 | } else { | ||
835 | ✗ | std::ostringstream oss("Expected list of "); | |
836 | ✗ | oss << 2 * dimension << "float, got " << nbBounds << "."; | |
837 | ✗ | throw hpp::Error(oss.str().c_str()); | |
838 | } | ||
839 | ✗ | } catch (const std::exception& exc) { | |
840 | ✗ | throw hpp::Error(exc.what()); | |
841 | } | ||
842 | } | ||
843 | |||
844 | // -------------------------------------------------------------------- | ||
845 | |||
846 | ✗ | void Robot::setCurrentConfig(const hpp::floatSeq& dofArray) { | |
847 | try { | ||
848 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
849 | // Create a config for robot initialized with dof vector. | ||
850 | ✗ | Configuration_t config = floatSeqToConfig(robot, dofArray, true); | |
851 | ✗ | robot->currentConfiguration(config); | |
852 | ✗ | robot->computeForwardKinematics(); | |
853 | ✗ | robot->computeFramesForwardKinematics(); | |
854 | ✗ | } catch (const std::exception& exc) { | |
855 | ✗ | throw hpp::Error(exc.what()); | |
856 | } | ||
857 | } | ||
858 | |||
859 | // -------------------------------------------------------------------- | ||
860 | |||
861 | ✗ | hpp::floatSeq* Robot::shootRandomConfig() { | |
862 | try { | ||
863 | ✗ | core::ProblemPtr_t p = problemSolver()->problem(); | |
864 | ✗ | if (p) { | |
865 | ✗ | Configuration_t q; | |
866 | ✗ | p->configurationShooter()->shoot(q); | |
867 | ✗ | return vectorToFloatSeq(q); | |
868 | ✗ | } else { | |
869 | ✗ | throw Error("No problem in the ProblemSolver"); | |
870 | } | ||
871 | ✗ | } catch (const std::exception& exc) { | |
872 | ✗ | throw hpp::Error(exc.what()); | |
873 | } | ||
874 | } | ||
875 | |||
876 | // -------------------------------------------------------------------- | ||
877 | |||
878 | ✗ | hpp::floatSeq* Robot::getCurrentConfig() { | |
879 | try { | ||
880 | // Get robot in hppPlanner object. | ||
881 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
882 | ✗ | vector_t config = robot->currentConfiguration(); | |
883 | ✗ | assert(robot->configSize() == config.size()); | |
884 | ✗ | return vectorToFloatSeq(config); | |
885 | ✗ | } catch (const std::exception& exc) { | |
886 | ✗ | throw hpp::Error(exc.what()); | |
887 | } | ||
888 | } | ||
889 | |||
890 | // -------------------------------------------------------------------- | ||
891 | |||
892 | ✗ | hpp::floatSeq* Robot::getCurrentVelocity() { | |
893 | try { | ||
894 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
895 | ✗ | vector_t qDot = robot->currentVelocity(); | |
896 | ✗ | assert(robot->numberDof() == qDot.size()); | |
897 | ✗ | return vectorToFloatSeq(qDot); | |
898 | ✗ | } catch (const std::exception& exc) { | |
899 | ✗ | throw hpp::Error(exc.what()); | |
900 | } | ||
901 | } | ||
902 | |||
903 | // -------------------------------------------------------------------- | ||
904 | |||
905 | ✗ | void Robot::setCurrentVelocity(const hpp::floatSeq& qDot) { | |
906 | try { | ||
907 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
908 | ✗ | robot->currentVelocity(floatSeqToVector(qDot, robot->numberDof())); | |
909 | ✗ | robot->computeForwardKinematics(); | |
910 | ✗ | } catch (const std::exception& exc) { | |
911 | ✗ | throw hpp::Error(exc.what()); | |
912 | } | ||
913 | } | ||
914 | |||
915 | // -------------------------------------------------------------------- | ||
916 | |||
917 | ✗ | Names_t* Robot::getJointInnerObjects(const char* jointName) { | |
918 | ✗ | Names_t* innerObjectSeq = 0x0; | |
919 | ✗ | JointPtr_t joint; | |
920 | try { | ||
921 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
922 | ✗ | joint = robot->getJointByName(std::string(jointName)); | |
923 | ✗ | if (!joint) { | |
924 | hppDout(error, "No joint with name " << jointName); | ||
925 | ✗ | innerObjectSeq = new Names_t(0); | |
926 | ✗ | return innerObjectSeq; | |
927 | } | ||
928 | ✗ | BodyPtr_t body = joint->linkedBody(); | |
929 | ✗ | if (!body) { | |
930 | hppDout(error, "Joint " << jointName << " has no body."); | ||
931 | ✗ | innerObjectSeq = new Names_t(0); | |
932 | ✗ | return innerObjectSeq; | |
933 | } | ||
934 | |||
935 | ✗ | if (body->nbInnerObjects() > 0) { | |
936 | // Allocate result now that the size is known. | ||
937 | ✗ | ULong size = (ULong)body->nbInnerObjects(); | |
938 | ✗ | char** nameList = Names_t::allocbuf(size); | |
939 | ✗ | innerObjectSeq = new Names_t(size, size, nameList); | |
940 | ✗ | for (size_type i = 0; i < body->nbInnerObjects(); i++) { | |
941 | ✗ | CollisionObjectConstPtr_t object = body->innerObjectAt(i); | |
942 | ✗ | nameList[i] = c_str(object->name()); | |
943 | } | ||
944 | } else { | ||
945 | ✗ | innerObjectSeq = new Names_t(0); | |
946 | } | ||
947 | ✗ | return innerObjectSeq; | |
948 | ✗ | } catch (const std::exception& exc) { | |
949 | ✗ | throw hpp::Error(exc.what()); | |
950 | } | ||
951 | } | ||
952 | |||
953 | // -------------------------------------------------------------------- | ||
954 | |||
955 | ✗ | Names_t* Robot::getJointOuterObjects(const char* jointName) { | |
956 | ✗ | Names_t* outerObjectSeq = 0x0; | |
957 | ✗ | JointPtr_t joint; | |
958 | |||
959 | try { | ||
960 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
961 | ✗ | joint = robot->getJointByName(std::string(jointName)); | |
962 | ✗ | if (!joint) { | |
963 | hppDout(error, "No joint with name " << jointName); | ||
964 | ✗ | outerObjectSeq = new Names_t(0); | |
965 | ✗ | return outerObjectSeq; | |
966 | } | ||
967 | ✗ | BodyPtr_t body = joint->linkedBody(); | |
968 | ✗ | if (!body) { | |
969 | hppDout(error, "Joint " << jointName << " has no body."); | ||
970 | ✗ | outerObjectSeq = new Names_t(0); | |
971 | ✗ | return outerObjectSeq; | |
972 | } | ||
973 | |||
974 | ✗ | if (body->nbOuterObjects() > 0) { | |
975 | // Allocate result now that the size is known. | ||
976 | ✗ | ULong size = (ULong)body->nbOuterObjects(); | |
977 | ✗ | char** nameList = Names_t::allocbuf(size); | |
978 | ✗ | outerObjectSeq = new Names_t(size, size, nameList); | |
979 | ✗ | for (size_type i = 0; i < body->nbOuterObjects(); i++) { | |
980 | ✗ | CollisionObjectConstPtr_t object = body->outerObjectAt(i); | |
981 | ✗ | nameList[i] = c_str(object->name()); | |
982 | } | ||
983 | } else { | ||
984 | ✗ | outerObjectSeq = new Names_t(0); | |
985 | } | ||
986 | ✗ | return outerObjectSeq; | |
987 | ✗ | } catch (const std::exception& exc) { | |
988 | ✗ | throw hpp::Error(exc.what()); | |
989 | } | ||
990 | } | ||
991 | |||
992 | // -------------------------------------------------------------------- | ||
993 | |||
994 | ✗ | CollisionObjectConstPtr_t Robot::getObjectByName(const char* name) { | |
995 | try { | ||
996 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
997 | ✗ | for (size_type i = 0; i < robot->nbObjects(); ++i) { | |
998 | ✗ | CollisionObjectConstPtr_t object = robot->objectAt(i); | |
999 | ✗ | if (object->name() == name) { | |
1000 | ✗ | return object; | |
1001 | } | ||
1002 | } | ||
1003 | ✗ | throw std::runtime_error("robot has no object with name " + | |
1004 | ✗ | std::string(name)); | |
1005 | ✗ | } catch (const std::exception& exc) { | |
1006 | ✗ | throw hpp::Error(exc.what()); | |
1007 | } | ||
1008 | } | ||
1009 | |||
1010 | // -------------------------------------------------------------------- | ||
1011 | |||
1012 | ✗ | void Robot::getObjectPosition(const char* objectName, Transform_ cfg) { | |
1013 | try { | ||
1014 | ✗ | CollisionObjectConstPtr_t object = getObjectByName(objectName); | |
1015 | ✗ | Transform3s transform = object->getTransform(); | |
1016 | ✗ | toHppTransform(transform, cfg); | |
1017 | ✗ | return; | |
1018 | ✗ | } catch (const std::exception& exc) { | |
1019 | ✗ | throw hpp::Error(exc.what()); | |
1020 | } | ||
1021 | } | ||
1022 | |||
1023 | // -------------------------------------------------------------------- | ||
1024 | |||
1025 | ✗ | void Robot::isConfigValid(const hpp::floatSeq& dofArray, Boolean& validity, | |
1026 | CORBA::String_out report) { | ||
1027 | try { | ||
1028 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
1029 | ✗ | Configuration_t config = floatSeqToConfig(robot, dofArray, true); | |
1030 | ✗ | core::ValidationReportPtr_t validationReport; | |
1031 | ✗ | validity = problemSolver()->problem()->configValidations()->validate( | |
1032 | config, validationReport); | ||
1033 | ✗ | if (validity) { | |
1034 | ✗ | report = CORBA::string_dup(""); | |
1035 | } else { | ||
1036 | ✗ | std::ostringstream oss; | |
1037 | ✗ | oss << *validationReport; | |
1038 | ✗ | report = CORBA::string_dup(oss.str().c_str()); | |
1039 | } | ||
1040 | ✗ | } catch (const std::exception& exc) { | |
1041 | ✗ | throw hpp::Error(exc.what()); | |
1042 | } | ||
1043 | } | ||
1044 | |||
1045 | // -------------------------------------------------------------------- | ||
1046 | |||
1047 | ✗ | void Robot::distancesToCollision(hpp::floatSeq_out distances, | |
1048 | Names_t_out innerObjects, | ||
1049 | Names_t_out outerObjects, | ||
1050 | hpp::floatSeqSeq_out innerPoints, | ||
1051 | hpp::floatSeqSeq_out outerPoints) { | ||
1052 | try { | ||
1053 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
1054 | const DistanceBetweenObjectsPtr_t& distanceBetweenObjects = | ||
1055 | ✗ | problemSolver()->distanceBetweenObjects(); | |
1056 | ✗ | robot->computeDistances(); | |
1057 | ✗ | const pinocchio::GeomModel& geomModel(robot->geomModel()); | |
1058 | ✗ | const pinocchio::GeomData& geomData(robot->geomData()); | |
1059 | |||
1060 | ✗ | distanceBetweenObjects->computeDistances(); | |
1061 | ✗ | const CollisionPairs_t& cps = distanceBetweenObjects->collisionPairs(); | |
1062 | ✗ | const DistanceResults_t& drs = distanceBetweenObjects->distanceResults(); | |
1063 | |||
1064 | ✗ | const std::size_t nbAutoCol = geomModel.collisionPairs.size(); | |
1065 | ✗ | const std::size_t nbObsCol = drs.size(); | |
1066 | ✗ | const std::size_t nbDistPairs = nbAutoCol + nbObsCol; | |
1067 | |||
1068 | ✗ | hpp::core::vector_t dists(nbDistPairs); | |
1069 | ✗ | std::vector<std::string> innerObj(nbDistPairs); | |
1070 | ✗ | std::vector<std::string> outerObj(nbDistPairs); | |
1071 | ✗ | hpp::core::matrix_t innerPts(nbDistPairs, 3); | |
1072 | ✗ | hpp::core::matrix_t outerPts(nbDistPairs, 3); | |
1073 | |||
1074 | ✗ | for (std::size_t i = 0; i < nbAutoCol; ++i) { | |
1075 | ✗ | const ::pinocchio::CollisionPair& cp(geomModel.collisionPairs[i]); | |
1076 | ✗ | dists[i] = geomData.distanceResults[i].min_distance; | |
1077 | ✗ | innerObj[i] = geomModel.geometryObjects[cp.first].name; | |
1078 | ✗ | outerObj[i] = geomModel.geometryObjects[cp.second].name; | |
1079 | |||
1080 | ✗ | innerPts.row(i) = geomData.distanceResults[i].nearest_points[0]; | |
1081 | ✗ | outerPts.row(i) = geomData.distanceResults[i].nearest_points[1]; | |
1082 | } | ||
1083 | ✗ | for (std::size_t i = 0; i < nbObsCol; ++i) { | |
1084 | ✗ | dists[nbAutoCol + i] = drs[i].min_distance; | |
1085 | ✗ | innerObj[nbAutoCol + i] = cps[i].first->name(); | |
1086 | ✗ | outerObj[nbAutoCol + i] = cps[i].second->name(); | |
1087 | |||
1088 | ✗ | innerPts.row(nbAutoCol + i) = drs[i].nearest_points[0]; | |
1089 | ✗ | outerPts.row(nbAutoCol + i) = drs[i].nearest_points[1]; | |
1090 | } | ||
1091 | ✗ | distances = vectorToFloatSeq(dists); | |
1092 | ✗ | innerObjects = toNames_t(innerObj.begin(), innerObj.end()); | |
1093 | ✗ | outerObjects = toNames_t(outerObj.begin(), outerObj.end()); | |
1094 | ✗ | innerPoints = matrixToFloatSeqSeq(innerPts); | |
1095 | ✗ | outerPoints = matrixToFloatSeqSeq(outerPts); | |
1096 | ✗ | } catch (const std::exception& exc) { | |
1097 | ✗ | throw hpp::Error(exc.what()); | |
1098 | } | ||
1099 | } | ||
1100 | |||
1101 | // -------------------------------------------------------------------- | ||
1102 | |||
1103 | ✗ | void Robot::autocollisionCheck(hpp::boolSeq_out collide) { | |
1104 | try { | ||
1105 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
1106 | ✗ | robot->collisionTest(false); | |
1107 | ✗ | const pinocchio::GeomModel& geomModel(robot->geomModel()); | |
1108 | ✗ | const pinocchio::GeomData& geomData(robot->geomData()); | |
1109 | |||
1110 | ✗ | const std::size_t nbColPairs = geomModel.collisionPairs.size(); | |
1111 | |||
1112 | ✗ | boolSeq* col_ptr = new boolSeq(); | |
1113 | ✗ | col_ptr->length((ULong)nbColPairs); | |
1114 | ✗ | collide = col_ptr; | |
1115 | |||
1116 | ✗ | for (std::size_t i = 0; i < nbColPairs; ++i) | |
1117 | ✗ | (*col_ptr)[(ULong)i] = geomData.collisionResults[i].isCollision(); | |
1118 | ✗ | } catch (const std::exception& exc) { | |
1119 | ✗ | throw hpp::Error(exc.what()); | |
1120 | } | ||
1121 | } | ||
1122 | |||
1123 | // -------------------------------------------------------------------- | ||
1124 | |||
1125 | ✗ | void Robot::autocollisionPairs(Names_t_out innerObjects, | |
1126 | Names_t_out outerObjects, boolSeq_out active) { | ||
1127 | try { | ||
1128 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
1129 | ✗ | const pinocchio::GeomModel& geomModel(robot->geomModel()); | |
1130 | ✗ | const pinocchio::GeomData& geomData(robot->geomData()); | |
1131 | |||
1132 | ✗ | const std::size_t nbAutoCol = geomModel.collisionPairs.size(); | |
1133 | |||
1134 | ✗ | std::vector<std::string> innerObj(nbAutoCol); | |
1135 | ✗ | std::vector<std::string> outerObj(nbAutoCol); | |
1136 | |||
1137 | ✗ | boolSeq* active_ptr = new boolSeq(); | |
1138 | ✗ | active_ptr->length((ULong)nbAutoCol); | |
1139 | ✗ | active = active_ptr; | |
1140 | |||
1141 | ✗ | for (std::size_t i = 0; i < nbAutoCol; ++i) { | |
1142 | ✗ | const ::pinocchio::CollisionPair& cp(geomModel.collisionPairs[i]); | |
1143 | ✗ | innerObj[i] = geomModel.geometryObjects[cp.first].name; | |
1144 | ✗ | outerObj[i] = geomModel.geometryObjects[cp.second].name; | |
1145 | ✗ | (*active_ptr)[(ULong)i] = geomData.activeCollisionPairs[i]; | |
1146 | } | ||
1147 | ✗ | innerObjects = toNames_t(innerObj.begin(), innerObj.end()); | |
1148 | ✗ | outerObjects = toNames_t(outerObj.begin(), outerObj.end()); | |
1149 | ✗ | } catch (const std::exception& exc) { | |
1150 | ✗ | throw hpp::Error(exc.what()); | |
1151 | } | ||
1152 | } | ||
1153 | |||
1154 | // -------------------------------------------------------------------- | ||
1155 | |||
1156 | ✗ | void Robot::setAutoCollision(const char* innerObject, const char* outerObject, | |
1157 | bool active) { | ||
1158 | try { | ||
1159 | ✗ | core::ProblemSolverPtr_t ps = problemSolver(); | |
1160 | ✗ | DevicePtr_t robot = getRobotOrThrow(ps); | |
1161 | |||
1162 | ✗ | const pinocchio::GeomModel& geomModel(robot->geomModel()); | |
1163 | ✗ | pinocchio::GeomData& geomData(robot->geomData()); | |
1164 | |||
1165 | ✗ | if (!geomModel.existGeometryName(innerObject)) | |
1166 | ✗ | HPP_THROW(Error, "Object " << innerObject << " not found"); | |
1167 | ✗ | if (!geomModel.existGeometryName(outerObject)) | |
1168 | ✗ | HPP_THROW(Error, "Object " << outerObject << " not found"); | |
1169 | ✗ | pinocchio::GeomIndex idxI = geomModel.getGeometryId(innerObject); | |
1170 | ✗ | pinocchio::GeomIndex idxO = geomModel.getGeometryId(outerObject); | |
1171 | ::pinocchio::PairIndex pid = | ||
1172 | ✗ | geomModel.findCollisionPair(::pinocchio::CollisionPair(idxI, idxO)); | |
1173 | |||
1174 | ✗ | if (pid >= geomModel.collisionPairs.size()) { | |
1175 | ✗ | HPP_THROW(Error, "Collision pair (" << innerObject << ", " << outerObject | |
1176 | << ") not found"); | ||
1177 | } | ||
1178 | |||
1179 | ✗ | if (active) | |
1180 | ✗ | geomData.activateCollisionPair(pid); | |
1181 | else | ||
1182 | ✗ | geomData.deactivateCollisionPair(pid); | |
1183 | |||
1184 | ✗ | ps->initValidations(); | |
1185 | ✗ | } catch (const std::exception& exc) { | |
1186 | ✗ | throw hpp::Error(exc.what()); | |
1187 | } | ||
1188 | } | ||
1189 | |||
1190 | // -------------------------------------------------------------------- | ||
1191 | |||
1192 | ✗ | Double Robot::getMass() { | |
1193 | try { | ||
1194 | ✗ | return getRobotOrThrow(problemSolver())->mass(); | |
1195 | ✗ | } catch (const std::exception& exc) { | |
1196 | ✗ | throw hpp::Error(exc.what()); | |
1197 | } | ||
1198 | } | ||
1199 | |||
1200 | // -------------------------------------------------------------------- | ||
1201 | |||
1202 | ✗ | hpp::floatSeq* Robot::getCenterOfMass() { | |
1203 | try { | ||
1204 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
1205 | ✗ | robot->computeForwardKinematics(); | |
1206 | ✗ | return vectorToFloatSeq(robot->positionCenterOfMass()); | |
1207 | ✗ | } catch (const std::exception& exc) { | |
1208 | ✗ | throw hpp::Error(exc.what()); | |
1209 | } | ||
1210 | } | ||
1211 | |||
1212 | // -------------------------------------------------------------------- | ||
1213 | |||
1214 | ✗ | hpp::floatSeq* Robot::getCenterOfMassVelocity() { | |
1215 | try { | ||
1216 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
1217 | ✗ | robot->computeForwardKinematics(pinocchio::COMPUTE_ALL); | |
1218 | ✗ | return vectorToFloatSeq(robot->jacobianCenterOfMass() * | |
1219 | ✗ | robot->currentVelocity()); | |
1220 | ✗ | } catch (const std::exception& exc) { | |
1221 | ✗ | throw hpp::Error(exc.what()); | |
1222 | } | ||
1223 | } | ||
1224 | |||
1225 | // -------------------------------------------------------------------- | ||
1226 | |||
1227 | ✗ | hpp::floatSeqSeq* Robot::getJacobianCenterOfMass() { | |
1228 | try { | ||
1229 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
1230 | ✗ | robot->computeForwardKinematics(pinocchio::COMPUTE_ALL); | |
1231 | ✗ | const ComJacobian_t& jacobian = robot->jacobianCenterOfMass(); | |
1232 | ✗ | return matrixToFloatSeqSeq(jacobian); | |
1233 | ✗ | } catch (const std::exception& exc) { | |
1234 | ✗ | throw hpp::Error(exc.what()); | |
1235 | } | ||
1236 | } | ||
1237 | |||
1238 | // -------------------------------------------------------------------- | ||
1239 | |||
1240 | ✗ | void Robot::createPolyhedron(const char* polyhedronName) { | |
1241 | ✗ | objectMap_.createPolyhedron(polyhedronName); | |
1242 | } | ||
1243 | |||
1244 | // -------------------------------------------------------------------- | ||
1245 | |||
1246 | ✗ | void Robot::createBox(const char* name, Double x, Double y, Double z) { | |
1247 | ✗ | objectMap_.createBox(name, x, y, z); | |
1248 | } | ||
1249 | |||
1250 | // -------------------------------------------------------------------- | ||
1251 | |||
1252 | 12 | void Robot::createSphere(const char* name, Double radius) { | |
1253 |
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12 | objectMap_.createSphere(name, radius); |
1254 | 12 | } | |
1255 | |||
1256 | // -------------------------------------------------------------------- | ||
1257 | |||
1258 | ✗ | void Robot::createCylinder(const char* name, Double radius, Double length) { | |
1259 | ✗ | objectMap_.createCylinder(name, radius, length); | |
1260 | } | ||
1261 | |||
1262 | // -------------------------------------------------------------------- | ||
1263 | |||
1264 | ✗ | ULong Robot::addPoint(const char* polyhedronName, Double x, Double y, | |
1265 | Double z) { | ||
1266 | ✗ | return static_cast<Long>(objectMap_.addPoint(polyhedronName, x, y, z)); | |
1267 | } | ||
1268 | |||
1269 | // -------------------------------------------------------------------- | ||
1270 | |||
1271 | ✗ | ULong Robot::addTriangle(const char* polyhedronName, ULong pt1, ULong pt2, | |
1272 | ULong pt3) { | ||
1273 | return static_cast<ULong>( | ||
1274 | ✗ | objectMap_.addTriangle(polyhedronName, pt1, pt2, pt3)); | |
1275 | } | ||
1276 | |||
1277 | // -------------------------------------------------------------------- | ||
1278 | |||
1279 | 12 | void Robot::addObjectToJoint(const char* jointName, const char* objectName, | |
1280 | const Transform_ pos) { | ||
1281 | using namespace pinocchio; | ||
1282 |
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12 | DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
1283 | 12 | Model& model = robot->model(); | |
1284 | 12 | GeomModel& geomModel = robot->geomModel(); | |
1285 | |||
1286 |
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12 | std::string jn(jointName); |
1287 |
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12 | std::string on(objectName); |
1288 | |||
1289 | // Find parent joint | ||
1290 |
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12 | if (!model.existJointName(jn)) |
1291 | ✗ | throw Error(("Joint " + jn + " not found.").c_str()); | |
1292 |
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12 | JointIndex jid = model.getJointId(jn); |
1293 | |||
1294 |
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12 | Transform3s placement = toTransform3s(pos); |
1295 | |||
1296 | try { | ||
1297 |
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24 | CollisionGeometryPtr_t geometry = objectMap_.geometry(objectName); |
1298 | |||
1299 |
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12 | FrameIndex bid = model.addBodyFrame(on, jid, placement); |
1300 |
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24 | GeometryObject geom(on, bid, jid, geometry, placement); |
1301 |
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12 | GeomIndex idx = geomModel.addGeometryObject(geom, model); |
1302 |
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78 | for (GeomIndex i = 0; i < idx; ++i) { |
1303 |
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66 | if (geomModel.geometryObjects[i].parentJoint != jid) |
1304 |
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66 | geomModel.addCollisionPair(::pinocchio::CollisionPair(i, idx)); |
1305 | } | ||
1306 | |||
1307 |
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12 | robot->createData(); |
1308 |
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12 | robot->createGeomData(); |
1309 |
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12 | problemSolver()->resetProblem(); |
1310 |
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12 | } catch (const std::exception& exc) { |
1311 | ✗ | throw hpp::Error(exc.what()); | |
1312 | } | ||
1313 | 12 | } | |
1314 | |||
1315 | ✗ | void Robot::addPartialCom(const char* comName, const Names_t& jointNames) { | |
1316 | try { | ||
1317 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
1318 | pinocchio::CenterOfMassComputationPtr_t comc = | ||
1319 | ✗ | pinocchio::CenterOfMassComputation::create(robot); | |
1320 | |||
1321 | ✗ | for (ULong i = 0; i < jointNames.length(); ++i) { | |
1322 | ✗ | std::string name(jointNames[i]); | |
1323 | ✗ | JointPtr_t j = robot->getJointByName(name); | |
1324 | ✗ | if (!j) throw hpp::Error("One joint not found."); | |
1325 | ✗ | comc->add(j); | |
1326 | } | ||
1327 | ✗ | problemSolver()->centerOfMassComputations.add(std::string(comName), comc); | |
1328 | ✗ | } catch (const std::exception& exc) { | |
1329 | ✗ | throw hpp::Error(exc.what()); | |
1330 | } | ||
1331 | } | ||
1332 | |||
1333 | ✗ | hpp::floatSeq* Robot::getPartialCom(const char* comName) { | |
1334 | try { | ||
1335 | ✗ | if (!problemSolver()->centerOfMassComputations.has(comName)) { | |
1336 | ✗ | HPP_THROW(std::invalid_argument, | |
1337 | "Partial COM " << comName << " not found."); | ||
1338 | } | ||
1339 | pinocchio::CenterOfMassComputationPtr_t comc = | ||
1340 | ✗ | problemSolver()->centerOfMassComputations.get(comName); | |
1341 | ✗ | comc->compute(hpp::pinocchio::COM); | |
1342 | ✗ | return vectorToFloatSeq(comc->com()); | |
1343 | ✗ | } catch (const std::exception& exc) { | |
1344 | ✗ | throw hpp::Error(exc.what()); | |
1345 | } | ||
1346 | } | ||
1347 | |||
1348 | ✗ | hpp::floatSeq* Robot::getVelocityPartialCom(const char* comName) { | |
1349 | try { | ||
1350 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
1351 | ✗ | if (!problemSolver()->centerOfMassComputations.has(comName)) { | |
1352 | ✗ | HPP_THROW(std::invalid_argument, | |
1353 | "Partial COM " << comName << " not found."); | ||
1354 | } | ||
1355 | pinocchio::CenterOfMassComputationPtr_t comc = | ||
1356 | ✗ | problemSolver()->centerOfMassComputations.get(comName); | |
1357 | ✗ | comc->compute(hpp::pinocchio::JACOBIAN); | |
1358 | ✗ | return vectorToFloatSeq(comc->jacobian() * robot->currentVelocity()); | |
1359 | ✗ | } catch (const std::exception& exc) { | |
1360 | ✗ | throw hpp::Error(exc.what()); | |
1361 | } | ||
1362 | } | ||
1363 | |||
1364 | ✗ | hpp::floatSeqSeq* Robot::getJacobianPartialCom(const char* comName) { | |
1365 | try { | ||
1366 | ✗ | if (!problemSolver()->centerOfMassComputations.has(comName)) { | |
1367 | ✗ | HPP_THROW(std::invalid_argument, | |
1368 | "Partial COM " << comName << " not found."); | ||
1369 | } | ||
1370 | pinocchio::CenterOfMassComputationPtr_t comc = | ||
1371 | ✗ | problemSolver()->centerOfMassComputations.get(comName); | |
1372 | ✗ | comc->compute(hpp::pinocchio::JACOBIAN); | |
1373 | ✗ | return matrixToFloatSeqSeq(comc->jacobian()); | |
1374 | ✗ | } catch (const std::exception& exc) { | |
1375 | ✗ | throw hpp::Error(exc.what()); | |
1376 | } | ||
1377 | } | ||
1378 | |||
1379 | hpp::pinocchio_idl::CenterOfMassComputation_ptr | ||
1380 | ✗ | Robot::getCenterOfMassComputation(const char* name) { | |
1381 | ✗ | const std::string cn(name); | |
1382 | ✗ | core::ProblemSolverPtr_t ps = problemSolver(); | |
1383 | ✗ | if (!ps->centerOfMassComputations.has(cn)) | |
1384 | ✗ | throw Error(("CenterOfMassComputation " + cn + " not found").c_str()); | |
1385 | |||
1386 | hpp::pinocchio_idl::CenterOfMassComputation_var d = | ||
1387 | makeServantDownCast<pinocchio_impl::CenterOfMassComputation>( | ||
1388 | ✗ | server_->parent(), ps->centerOfMassComputations.get(cn)); | |
1389 | ✗ | return d._retn(); | |
1390 | } | ||
1391 | |||
1392 | ✗ | floatSeq* Robot::getRobotAABB() { | |
1393 | ✗ | DevicePtr_t robot = getRobotOrThrow(problemSolver()); | |
1394 | try { | ||
1395 | ✗ | coal::AABB aabb = robot->computeAABB(); | |
1396 | ✗ | vector_t v(6); | |
1397 | ✗ | v.head<3>() = aabb.min_; | |
1398 | ✗ | v.tail<3>() = aabb.max_; | |
1399 | ✗ | return vectorToFloatSeq(v); | |
1400 | ✗ | } catch (const std::exception& exc) { | |
1401 | ✗ | throw hpp::Error(exc.what()); | |
1402 | } | ||
1403 | } | ||
1404 | } // end of namespace impl. | ||
1405 | } // end of namespace corbaServer. | ||
1406 | } // end of namespace hpp. | ||
1407 |