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// Copyright (c) 2012 CNRS |
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// Author: Florent Lamiraux, Joseph Mirabel |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#include "robot.impl.hh" |
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#include <hpp/corbaserver/manipulation/server.hh> |
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#include <hpp/manipulation/device.hh> |
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#include <hpp/manipulation/handle.hh> |
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#include <hpp/manipulation/srdf/util.hh> |
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#include <hpp/pinocchio/collision-object.hh> |
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#include <hpp/pinocchio/gripper.hh> |
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#include <hpp/pinocchio/humanoid-robot.hh> |
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#include <hpp/pinocchio/joint.hh> |
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#include <hpp/pinocchio/urdf/util.hh> |
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#include <hpp/util/debug.hh> |
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#include <hpp/util/exception-factory.hh> |
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#include <pinocchio/multibody/model.hpp> |
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#include "tools.hh" |
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namespace hpp { |
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namespace manipulation { |
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namespace impl { |
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namespace { |
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using core::Container; |
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using pinocchio::Gripper; |
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DevicePtr_t getOrCreateRobot(ProblemSolverPtr_t p, |
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const std::string& name = "Robot") { |
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DevicePtr_t r = p->robot(); |
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if (r) return r; |
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pinocchio::DevicePtr_t robot(p->createRobot(name)); |
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assert(HPP_DYNAMIC_PTR_CAST(Device, robot)); |
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p->robot(robot); |
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return HPP_STATIC_PTR_CAST(Device, robot); |
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} |
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JointPtr_t getJointByBodyNameOrThrow(ProblemSolverPtr_t p, |
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const std::string& n) { |
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DevicePtr_t r = getRobotOrThrow(p); |
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JointPtr_t j = r->getJointByBodyName(n); |
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return j; |
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} |
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template <typename GripperOrHandle> |
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GripperOrHandle copy(const GripperOrHandle& in, const DevicePtr_t& device, |
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const std::string& p); |
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template <> |
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GripperPtr_t copy(const GripperPtr_t& in, const DevicePtr_t& device, |
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const std::string& p) { |
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Transform3s position = (in->joint() ? in->joint()->currentTransformation() * |
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in->objectPositionInJoint() |
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: in->objectPositionInJoint()); |
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pinocchio::Model& model = device->model(); |
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const std::string name = p + in->name(); |
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if (model.existFrame(name)) |
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throw std::invalid_argument("Could not add the gripper because a frame \'" + |
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name + "\" already exists."); |
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model.addFrame(::pinocchio::Frame(name, model.getJointId("universe"), |
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model.getFrameId("universe"), position, |
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::pinocchio::OP_FRAME)); |
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GripperPtr_t out = Gripper::create(name, device); |
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out->clearance(in->clearance()); |
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return out; |
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} |
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template <> |
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HandlePtr_t copy(const HandlePtr_t& in, const DevicePtr_t& device, |
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const std::string& p) { |
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Transform3s position = |
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(in->joint() ? in->joint()->currentTransformation() * in->localPosition() |
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: in->localPosition()); |
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HandlePtr_t out = |
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Handle::create(p + in->name(), position, device, JointPtr_t()); |
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out->clearance(in->clearance()); |
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return out; |
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} |
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template <typename Object> |
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void copy(const Container<Object>& from, Container<Object>& to, |
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const DevicePtr_t& d, const std::string& prefix) { |
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typedef Container<Object> Container_t; |
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for (typename Container_t::const_iterator it = from.map.begin(); |
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it != from.map.end(); it++) { |
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Object obj = copy<Object>(it->second, d, prefix); |
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to.add(obj->name(), obj); |
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} |
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} |
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} // namespace |
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Robot::Robot() : server_(0x0) {} |
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ProblemSolverPtr_t Robot::problemSolver() { return server_->problemSolver(); } |
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void Robot::insertRobotModel(const char* robotName, const char* rootJointType, |
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const char* urdfName, const char* srdfName) { |
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insertRobotModelOnFrame(robotName, "universe", rootJointType, urdfName, |
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srdfName); |
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} |
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void Robot::insertRobotModelOnFrame(const char* robotName, |
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const char* frameName, |
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const char* rootJointType, |
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const char* urdfName, |
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const char* srdfName) { |
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try { |
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DevicePtr_t robot = getOrCreateRobot(problemSolver()); |
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if (robot->robotFrames(robotName).size() > 0) |
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HPP_THROW(std::invalid_argument, |
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"A robot named " << robotName << " already exists"); |
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if (!robot->model().existFrame(frameName)) |
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HPP_THROW(std::invalid_argument, "No frame named " << frameName << "."); |
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pinocchio::FrameIndex frame = robot->model().getFrameId(frameName); |
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pinocchio::urdf::loadModel(robot, frame, robotName, rootJointType, urdfName, |
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srdfName); |
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if (!std::string(srdfName).empty()) { |
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srdf::loadModelFromFile(robot, robotName, srdfName); |
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} |
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problemSolver()->resetProblem(); |
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} catch (const std::exception& exc) { |
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throw Error(exc.what()); |
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} |
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} |
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void Robot::insertRobotModelFromString(const char* robotName, |
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const char* rootJointType, |
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const char* urdfString, |
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const char* srdfString) { |
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insertRobotModelOnFrameFromString(robotName, "universe", rootJointType, |
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urdfString, srdfString); |
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} |
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void Robot::insertRobotModelOnFrameFromString(const char* robotName, |
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const char* frameName, |
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const char* rootJointType, |
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const char* urdfString, |
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const char* srdfString) { |
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try { |
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DevicePtr_t robot = getOrCreateRobot(problemSolver()); |
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if (robot->robotFrames(robotName).size() > 0) |
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HPP_THROW(std::invalid_argument, |
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"A robot named " << robotName << " already exists"); |
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if (!robot->model().existFrame(frameName)) |
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HPP_THROW(std::invalid_argument, "No frame named " << frameName << "."); |
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pinocchio::FrameIndex frame = robot->model().getFrameId(frameName); |
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pinocchio::urdf::loadModelFromString(robot, frame, robotName, rootJointType, |
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urdfString, srdfString); |
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srdf::loadModelFromXML(robot, robotName, srdfString); |
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problemSolver()->resetProblem(); |
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} catch (const std::exception& exc) { |
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throw Error(exc.what()); |
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} |
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} |
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void Robot::insertRobotSRDFModel(const char* robotName, const char* srdfPath) { |
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try { |
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DevicePtr_t robot = getOrCreateRobot(problemSolver()); |
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srdf::loadModelFromFile(robot, robotName, srdfPath); |
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hpp::pinocchio::urdf::loadSRDFModel(robot, robotName, srdfPath); |
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problemSolver()->resetProblem(); |
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} catch (const std::exception& exc) { |
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throw Error(exc.what()); |
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} |
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} |
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void Robot::insertRobotSRDFModelFromString(const char* robotName, |
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const char* srdfString) { |
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try { |
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DevicePtr_t robot = getOrCreateRobot(problemSolver()); |
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srdf::loadModelFromXML(robot, robotName, srdfString); |
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hpp::pinocchio::urdf::loadSRDFModelFromString(robot, robotName, srdfString); |
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problemSolver()->resetProblem(); |
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} catch (const std::exception& exc) { |
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throw Error(exc.what()); |
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} |
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} |
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void Robot::insertHumanoidModel(const char* robotName, |
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const char* rootJointType, const char* urdfName, |
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const char* srdfName) { |
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try { |
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DevicePtr_t robot = getOrCreateRobot(problemSolver()); |
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if (robot->robotFrames(robotName).size() > 0) |
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HPP_THROW(std::invalid_argument, |
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"A robot named " << robotName << " already exists"); |
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pinocchio::urdf::loadModel(robot, 0, robotName, rootJointType, urdfName, |
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srdfName); |
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pinocchio::urdf::setupHumanoidRobot(robot, robotName); |
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srdf::loadModelFromFile(robot, robotName, srdfName); |
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problemSolver()->resetProblem(); |
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} catch (const std::exception& exc) { |
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throw Error(exc.what()); |
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} |
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} |
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void Robot::insertHumanoidModelFromString(const char* robotName, |
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const char* rootJointType, |
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const char* urdfString, |
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const char* srdfString) { |
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try { |
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DevicePtr_t robot = getOrCreateRobot(problemSolver()); |
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if (robot->robotFrames(robotName).size() > 0) |
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HPP_THROW(std::invalid_argument, |
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"A robot named " << robotName << " already exists"); |
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pinocchio::urdf::loadModelFromString(robot, 0, robotName, rootJointType, |
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urdfString, srdfString); |
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pinocchio::urdf::setupHumanoidRobot(robot, robotName); |
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srdf::loadModelFromXML(robot, robotName, srdfString); |
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problemSolver()->resetProblem(); |
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} catch (const std::exception& exc) { |
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throw Error(exc.what()); |
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} |
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} |
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void Robot::loadEnvironmentModel(const char* urdfName, const char* srdfName, |
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const char* prefix) { |
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try { |
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DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
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std::string p(prefix); |
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DevicePtr_t object = Device::create(p); |
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pinocchio::urdf::loadModel(object, 0, "", "anchor", urdfName, ""); |
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srdf::loadModelFromFile(object, "", srdfName); |
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object->computeForwardKinematics(pinocchio::JOINT_POSITION); |
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object->updateGeometryPlacements(); |
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// Detach objects from joints |
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problemSolver()->addObstacle(object, true, true); |
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// Add contact shapes. |
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typedef core::Container<JointAndShapes_t>::Map_t ShapeMap; |
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const ShapeMap& m = object->jointAndShapes.map; |
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for (ShapeMap::const_iterator it = m.begin(); it != m.end(); it++) { |
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JointAndShapes_t shapes; |
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for (JointAndShapes_t::const_iterator itT = it->second.begin(); |
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itT != it->second.end(); ++itT) { |
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Transform3s M(Transform3s::Identity()); |
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if (itT->first) M = itT->first->currentTransformation(); |
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Shape_t newShape(itT->second.size()); |
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for (std::size_t i = 0; i < newShape.size(); ++i) |
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newShape[i] = M.act(itT->second[i]); |
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shapes.push_back(JointAndShape_t(JointPtr_t(), newShape)); |
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} |
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problemSolver()->jointAndShapes.add(p + it->first, shapes); |
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} |
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copy(object->handles, robot->handles, robot, p); |
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copy(object->grippers, robot->grippers, robot, p); |
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problemSolver()->resetProblem(); |
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} catch (const std::exception& exc) { |
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throw hpp::Error(exc.what()); |
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} |
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} |
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void Robot::loadEnvironmentModelFromString(const char* urdfString, |
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const char* srdfString, |
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const char* prefix) { |
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try { |
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DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
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std::string p(prefix); |
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DevicePtr_t object = Device::create(p); |
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// TODO replace "" by p and remove `p +` in what follows |
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pinocchio::urdf::loadModelFromString(object, 0, "", "anchor", urdfString, |
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srdfString); |
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srdf::loadModelFromXML(object, "", srdfString); |
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object->computeForwardKinematics(hpp::pinocchio::JOINT_POSITION); |
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object->updateGeometryPlacements(); |
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// Detach objects from joints |
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problemSolver()->addObstacle(object, true, true); |
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// Add contact shapes. |
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typedef core::Container<JointAndShapes_t>::Map_t ShapeMap; |
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const ShapeMap& m = object->jointAndShapes.map; |
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for (ShapeMap::const_iterator it = m.begin(); it != m.end(); it++) { |
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JointAndShapes_t shapes; |
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for (JointAndShapes_t::const_iterator itT = it->second.begin(); |
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itT != it->second.end(); ++itT) { |
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Transform3s M(Transform3s::Identity()); |
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if (itT->first) M = itT->first->currentTransformation(); |
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Shape_t newShape(itT->second.size()); |
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for (std::size_t i = 0; i < newShape.size(); ++i) |
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newShape[i] = M.act(itT->second[i]); |
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shapes.push_back(JointAndShape_t(JointPtr_t(), newShape)); |
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} |
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problemSolver()->jointAndShapes.add(p + it->first, shapes); |
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} |
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copy(object->handles, robot->handles, robot, p); |
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|
✗ |
copy(object->grippers, robot->grippers, robot, p); |
| 322 |
|
✗ |
problemSolver()->resetProblem(); |
| 323 |
|
✗ |
} catch (const std::exception& exc) { |
| 324 |
|
✗ |
throw hpp::Error(exc.what()); |
| 325 |
|
|
} |
| 326 |
|
|
} |
| 327 |
|
|
|
| 328 |
|
✗ |
Transform__slice* Robot::getRootJointPosition(const char* robotName) { |
| 329 |
|
|
try { |
| 330 |
|
✗ |
DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
| 331 |
|
✗ |
std::string n(robotName); |
| 332 |
|
✗ |
FrameIndices_t frameIdx = robot->robotFrames(robotName); |
| 333 |
|
✗ |
if (frameIdx.size() == 0) |
| 334 |
|
✗ |
throw hpp::Error("Root of subtree with the provided prefix not found"); |
| 335 |
|
✗ |
const pinocchio::Model& model = robot->model(); |
| 336 |
|
✗ |
const ::pinocchio::Frame& rf = model.frames[frameIdx[0]]; |
| 337 |
|
✗ |
double* res = new Transform_; |
| 338 |
|
✗ |
if (rf.type == ::pinocchio::JOINT) |
| 339 |
|
✗ |
Transform3sTohppTransform(model.jointPlacements[rf.parent], res); |
| 340 |
|
|
else |
| 341 |
|
✗ |
Transform3sTohppTransform(rf.placement, res); |
| 342 |
|
✗ |
return res; |
| 343 |
|
✗ |
} catch (const std::exception& exc) { |
| 344 |
|
✗ |
throw Error(exc.what()); |
| 345 |
|
|
} |
| 346 |
|
|
} |
| 347 |
|
|
|
| 348 |
|
✗ |
void Robot::setRootJointPosition(const char* robotName, |
| 349 |
|
|
const ::hpp::Transform_ position) { |
| 350 |
|
|
try { |
| 351 |
|
✗ |
DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
| 352 |
|
✗ |
std::string n(robotName); |
| 353 |
|
✗ |
Transform3s T; |
| 354 |
|
✗ |
hppTransformToTransform3s(position, T); |
| 355 |
|
✗ |
robot->setRobotRootPosition(n, T); |
| 356 |
|
✗ |
robot->computeForwardKinematics(); |
| 357 |
|
✗ |
} catch (const std::exception& exc) { |
| 358 |
|
✗ |
throw Error(exc.what()); |
| 359 |
|
|
} |
| 360 |
|
|
} |
| 361 |
|
|
|
| 362 |
|
✗ |
void Robot::addHandle(const char* linkName, const char* handleName, |
| 363 |
|
|
const ::hpp::Transform_ localPosition, double clearance, |
| 364 |
|
|
const ::hpp::boolSeq& mask) { |
| 365 |
|
|
try { |
| 366 |
|
✗ |
DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
| 367 |
|
✗ |
JointPtr_t joint = getJointByBodyNameOrThrow(problemSolver(), linkName); |
| 368 |
|
✗ |
Transform3s T; |
| 369 |
|
|
|
| 370 |
|
|
const ::pinocchio::Frame& linkFrame = |
| 371 |
|
✗ |
robot->model().frames[robot->model().getFrameId(std::string(linkName))]; |
| 372 |
|
✗ |
assert(linkFrame.type == ::pinocchio::BODY); |
| 373 |
|
|
|
| 374 |
|
✗ |
pinocchio::JointIndex index(0); |
| 375 |
|
✗ |
std::string jointName("universe"); |
| 376 |
|
✗ |
if (joint) { |
| 377 |
|
✗ |
index = joint->index(); |
| 378 |
|
✗ |
jointName = joint->name(); |
| 379 |
|
|
} |
| 380 |
|
✗ |
hppTransformToTransform3s(localPosition, T); |
| 381 |
|
|
HandlePtr_t handle = |
| 382 |
|
✗ |
Handle::create(handleName, linkFrame.placement * T, robot, joint); |
| 383 |
|
✗ |
handle->clearance(clearance); |
| 384 |
|
✗ |
handle->mask(corbaServer::boolSeqToVector(mask, 6)); |
| 385 |
|
✗ |
robot->handles.add(handleName, handle); |
| 386 |
|
✗ |
assert(robot->model().existFrame(jointName)); |
| 387 |
|
✗ |
FrameIndex previousFrame(robot->model().getFrameId(jointName)); |
| 388 |
|
✗ |
robot->model().addFrame(::pinocchio::Frame(handleName, index, previousFrame, |
| 389 |
|
✗ |
linkFrame.placement * T, |
| 390 |
|
|
::pinocchio::OP_FRAME)); |
| 391 |
|
|
// Recreate pinocchio data after modifying model |
| 392 |
|
✗ |
robot->createData(); |
| 393 |
|
✗ |
} catch (const std::exception& exc) { |
| 394 |
|
✗ |
throw Error(exc.what()); |
| 395 |
|
|
} |
| 396 |
|
|
} |
| 397 |
|
|
|
| 398 |
|
✗ |
void Robot::addGripper(const char* linkName, const char* gripperName, |
| 399 |
|
|
const ::hpp::Transform_ p, double clearance) { |
| 400 |
|
|
try { |
| 401 |
|
✗ |
DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
| 402 |
|
✗ |
JointPtr_t joint = getJointByBodyNameOrThrow(problemSolver(), linkName); |
| 403 |
|
✗ |
Transform3s T; |
| 404 |
|
|
|
| 405 |
|
|
const ::pinocchio::Frame& linkFrame = |
| 406 |
|
✗ |
robot->model().frames[robot->model().getFrameId(std::string(linkName))]; |
| 407 |
|
✗ |
assert(linkFrame.type == ::pinocchio::BODY); |
| 408 |
|
|
|
| 409 |
|
✗ |
pinocchio::JointIndex index(0); |
| 410 |
|
✗ |
std::string jointName("universe"); |
| 411 |
|
✗ |
if (joint) { |
| 412 |
|
✗ |
index = joint->index(); |
| 413 |
|
✗ |
jointName = joint->name(); |
| 414 |
|
|
} |
| 415 |
|
✗ |
hppTransformToTransform3s(p, T); |
| 416 |
|
✗ |
assert(robot->model().existFrame(jointName)); |
| 417 |
|
✗ |
FrameIndex previousFrame(robot->model().getFrameId(jointName)); |
| 418 |
|
✗ |
robot->model().addFrame( |
| 419 |
|
✗ |
::pinocchio::Frame(gripperName, index, previousFrame, |
| 420 |
|
✗ |
linkFrame.placement * T, ::pinocchio::OP_FRAME)); |
| 421 |
|
|
// Recreate pinocchio data after modifying model |
| 422 |
|
✗ |
robot->createData(); |
| 423 |
|
✗ |
GripperPtr_t gripper = Gripper::create(gripperName, robot); |
| 424 |
|
✗ |
gripper->clearance(clearance); |
| 425 |
|
✗ |
robot->grippers.add(gripperName, gripper); |
| 426 |
|
|
// hppDout (info, "add Gripper: " << *gripper); |
| 427 |
|
✗ |
} catch (const std::exception& exc) { |
| 428 |
|
✗ |
throw Error(exc.what()); |
| 429 |
|
|
} |
| 430 |
|
|
} |
| 431 |
|
|
|
| 432 |
|
✗ |
char* Robot::getGripperPositionInJoint(const char* gripperName, |
| 433 |
|
|
::hpp::Transform__out position) { |
| 434 |
|
|
try { |
| 435 |
|
✗ |
DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
| 436 |
|
✗ |
GripperPtr_t gripper = robot->grippers.get(gripperName); |
| 437 |
|
✗ |
if (!gripper) throw Error("This gripper does not exists."); |
| 438 |
|
✗ |
const Transform3s& t = gripper->objectPositionInJoint(); |
| 439 |
|
✗ |
Transform3sTohppTransform(t, position); |
| 440 |
|
✗ |
if (gripper->joint()) |
| 441 |
|
✗ |
return c_str(gripper->joint()->name()); |
| 442 |
|
|
else |
| 443 |
|
✗ |
return c_str("universe"); |
| 444 |
|
✗ |
} catch (const std::exception& exc) { |
| 445 |
|
✗ |
throw Error(exc.what()); |
| 446 |
|
|
} |
| 447 |
|
|
} |
| 448 |
|
|
|
| 449 |
|
✗ |
char* Robot::getHandlePositionInJoint(const char* handleName, |
| 450 |
|
|
::hpp::Transform__out position) { |
| 451 |
|
|
try { |
| 452 |
|
✗ |
DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
| 453 |
|
✗ |
HandlePtr_t handle = robot->handles.get(handleName); |
| 454 |
|
✗ |
if (!handle) throw Error("This handle does not exists."); |
| 455 |
|
✗ |
const Transform3s& t = handle->localPosition(); |
| 456 |
|
✗ |
Transform3sTohppTransform(t, position); |
| 457 |
|
✗ |
if (handle->joint()) |
| 458 |
|
✗ |
return c_str(handle->joint()->name()); |
| 459 |
|
|
else |
| 460 |
|
✗ |
return c_str("universe"); |
| 461 |
|
✗ |
} catch (const std::exception& exc) { |
| 462 |
|
✗ |
throw Error(exc.what()); |
| 463 |
|
|
} |
| 464 |
|
|
} |
| 465 |
|
|
|
| 466 |
|
✗ |
void Robot::setHandlePositionInJoint(const char* handleName, |
| 467 |
|
|
const ::hpp::Transform_ position) { |
| 468 |
|
|
try { |
| 469 |
|
✗ |
DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
| 470 |
|
✗ |
HandlePtr_t handle = robot->handles.get(handleName); |
| 471 |
|
✗ |
std::string name_str(handleName); |
| 472 |
|
✗ |
if (!handle) |
| 473 |
|
✗ |
throw std::invalid_argument("Robot does not have any handle named " + |
| 474 |
|
✗ |
name_str); |
| 475 |
|
✗ |
Transform3s t; |
| 476 |
|
✗ |
hppTransformToTransform3s(position, t); |
| 477 |
|
✗ |
handle->localPosition(t); |
| 478 |
|
✗ |
} catch (const std::exception& exc) { |
| 479 |
|
✗ |
throw Error(exc.what()); |
| 480 |
|
|
} |
| 481 |
|
|
} |
| 482 |
|
|
|
| 483 |
|
|
} // namespace impl |
| 484 |
|
|
} // namespace manipulation |
| 485 |
|
|
} // namespace hpp |
| 486 |
|
|
|