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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#include <cmath> |
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#include <sot/core/clamp-workspace.hh> |
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using namespace std; |
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#include <dynamic-graph/factory.h> |
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using namespace dynamicgraph::sot; |
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using namespace dynamicgraph; |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(ClampWorkspace, "ClampWorkspace"); |
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ClampWorkspace::ClampWorkspace(const string &fName) |
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: Entity(fName), |
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positionrefSIN( |
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NULL, "ClampWorkspace(" + name + ")::input(double)::positionref"), |
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positionSIN(NULL, "ClampWorkspace(" + name + ")::input(double)::position") |
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, |
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alphaSOUT(boost::bind(&ClampWorkspace::computeOutput, this, _1, _2), |
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positionrefSIN << positionSIN, |
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"ClampWorkspace(" + name + ")::output(vector)::alpha") |
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, |
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alphabarSOUT(boost::bind(&ClampWorkspace::computeOutputBar, this, _1, _2), |
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positionrefSIN << positionSIN, |
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"ClampWorkspace(" + name + ")::output(vector)::alphabar") |
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, |
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handrefSOUT(boost::bind(&ClampWorkspace::computeRef, this, _1, _2), |
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positionrefSIN << positionSIN, |
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"ClampWorkspace(" + name + ")::output(vector)::ref") |
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, |
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timeUpdate(0) |
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, |
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alpha(6, 6), |
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alphabar(6, 6) |
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, |
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pd(3) |
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, |
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beta(1), |
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scale(0), |
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dm_min(0.019), |
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dm_max(0.025), |
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dm_min_yaw(0.019), |
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dm_max_yaw(0.119), |
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theta_min(-30. * 3.14159 / 180.), |
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theta_max(5. * 3.14159 / 180.), |
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mode(1), |
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frame(FRAME_POINT) |
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{ |
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alpha.setZero(); |
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alphabar.fill(1.); |
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bounds[0] = std::make_pair(0.15, 0.5); |
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bounds[1] = std::make_pair(-0.4, -0.25); |
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bounds[2] = std::make_pair(0.15, 0.55); |
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signalRegistration(positionrefSIN << positionSIN << alphaSOUT << alphabarSOUT |
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<< handrefSOUT); |
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} |
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void ClampWorkspace::update(int time) { |
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if (time <= timeUpdate) { |
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return; |
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} |
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alpha.setZero(); |
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alphabar.setIdentity(); |
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const MatrixHomogeneous &posref = positionrefSIN.access(time); |
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const MatrixHomogeneous &pos = positionSIN.access(time); |
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MatrixHomogeneous prefMw = posref.inverse(Eigen::Affine); |
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prefMp = prefMw * pos; |
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Vector x(prefMp.translation()); |
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for (int i = 0; i < 3; ++i) { |
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double check_min = std::max(x(i) - bounds[i].first, 0.); |
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double check_max = std::max(bounds[i].second - x(i), 0.); |
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double dm = std::min(check_min, check_max); |
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double Y = (dm - dm_min) / (dm_max - dm_min); |
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if (Y < 0) { |
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Y = 0; |
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} |
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if (Y > 1) { |
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Y = 1; |
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} |
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switch (mode) { |
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case 0: |
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alpha(i, i) = 0; |
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alphabar(i, i) = 1; |
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break; |
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case 1: |
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alpha(i, i) = 1; |
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alphabar(i, i) = 0; |
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break; |
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case 2: |
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default: |
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alpha(i, i) = 0.5 * (1 + tanh(1 / Y - 1 / (1 - Y))); |
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alphabar(i, i) = 1 - alpha(i); |
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} |
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if (i == 2) { |
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Y = (dm - dm_min_yaw) / (dm_max_yaw - dm_min_yaw); |
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if (Y < 0) { |
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Y = 0; |
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} |
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if (Y > 1) { |
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Y = 1; |
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} |
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if (mode == 2) { |
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alpha(i + 3, i + 3) = 0.5 * (1 + tanh(1 / Y - 1 / (1 - Y))); |
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alphabar(i + 3, i + 3) = 1 - alpha(i + 3); |
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} |
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} |
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} |
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if (frame == FRAME_POINT) { |
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MatrixHomogeneous prefMp_tmp = prefMp; |
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MatrixHomogeneous pMpref = prefMp.inverse(Eigen::Affine); |
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for (int i = 0; i < 3; ++i) { |
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pMpref(i, 3) = 0; |
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prefMp_tmp(i, 3) = 0; |
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} |
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MatrixTwist pTpref; |
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buildFrom(pMpref, pTpref); |
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MatrixTwist prefTp; |
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buildFrom(prefMp_tmp, prefTp); |
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Matrix tmp; |
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tmp = alpha * prefTp; |
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alpha = pTpref * tmp; |
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tmp = alphabar * prefTp; |
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alphabar = pTpref * tmp; |
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} |
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for (int i = 0; i < 3; ++i) { |
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pd(i) = 0.5 * (bounds[i].first + bounds[i].second); |
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} |
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VectorRollPitchYaw rpy; |
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rpy(0) = 0; |
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rpy(1) = -3.14159256 / 2; |
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rpy(2) = theta_min + (theta_max - theta_min) * (x(1) - bounds[1].first) / |
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(bounds[1].second - bounds[1].first); |
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Eigen::Affine3d _Rd(Eigen::AngleAxisd(rpy(2), Eigen::Vector3d::UnitZ()) * |
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Eigen::AngleAxisd(rpy(1), Eigen::Vector3d::UnitY()) * |
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Eigen::AngleAxisd(rpy(0), Eigen::Vector3d::UnitX())); |
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Rd = _Rd.linear(); |
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Eigen::Affine3d _tmpaffine; |
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_tmpaffine = Eigen::Translation3d(pd); |
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handref = (_tmpaffine * _Rd); |
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timeUpdate = time; |
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} |
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Matrix &ClampWorkspace::computeOutput(Matrix &res, int time) { |
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update(time); |
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res = alpha; |
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return res; |
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} |
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Matrix &ClampWorkspace::computeOutputBar(Matrix &res, int time) { |
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update(time); |
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res = alphabar; |
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return res; |
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} |
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MatrixHomogeneous &ClampWorkspace::computeRef(MatrixHomogeneous &res, |
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int time) { |
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update(time); |
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res = handref; |
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return res; |
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} |
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void ClampWorkspace::display(std::ostream &os) const { |
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os << "ClampWorkspace<" << name << ">" << endl << endl; |
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os << "alpha: " << alpha << endl; |
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os << "pos in ws: " << prefMp << endl; |
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os << "bounds: " << bounds[0].first << " " << bounds[0].second << " " |
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<< bounds[1].first << " " << bounds[1].second << " " << bounds[2].first |
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<< " " << bounds[2].second << endl; |
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} |
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