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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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/* SOT */ |
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#include <sot/core/debug.hh> |
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class ControlGR__INIT { |
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public: |
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ControlGR__INIT(void) { dynamicgraph::sot::DebugTrace::openFile(); } |
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}; |
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ControlGR__INIT ControlGR_initiator; |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#include <dynamic-graph/factory.h> |
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#include <sot/core/binary-op.hh> |
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#include <sot/core/control-gr.hh> |
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using namespace dynamicgraph; |
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using namespace dynamicgraph::sot; |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(ControlGR, "ControlGR"); |
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const double ControlGR::TIME_STEP_DEFAULT = .001; |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#define __SOT_ControlGR_INIT |
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ControlGR::ControlGR(const std::string &name) |
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: Entity(name), |
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TimeStep(0), |
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matrixASIN(NULL, "ControlGR(" + name + ")::input(matrix)::matrixA"), |
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accelerationSIN(NULL, |
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"ControlGR(" + name + ")::input(vector)::acceleration"), |
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gravitySIN(NULL, "ControlGR(" + name + ")::input(vector)::gravity"), |
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controlSOUT(boost::bind(&ControlGR::computeControl, this, _1, _2), |
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matrixASIN << accelerationSIN << gravitySIN, |
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"ControlGR(" + name + ")::output(vector)::control") { |
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init(TimeStep); |
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Entity::signalRegistration(matrixASIN << accelerationSIN << gravitySIN |
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<< controlSOUT); |
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} |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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void ControlGR::init(const double &Stept) { |
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TimeStep = Stept; |
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return; |
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} |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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void ControlGR::display(std::ostream &os) const { |
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os << "ControlGR " << getName(); |
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try { |
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os << "control = " << controlSOUT; |
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} catch (ExceptionSignal e) { |
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} |
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os << " (" << TimeStep << ") "; |
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} |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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double &ControlGR::setsize(int dimension) |
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{ |
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_dimension = dimension; |
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return _dimension; |
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} |
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dynamicgraph::Vector &ControlGR::computeControl(dynamicgraph::Vector &tau, |
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int t) { |
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sotDEBUGIN(15); |
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const dynamicgraph::Matrix &matrixA = matrixASIN(t); |
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const dynamicgraph::Vector &acceleration = accelerationSIN(t); |
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const dynamicgraph::Vector &gravity = gravitySIN(t); |
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dynamicgraph::Vector::Index size = acceleration.size(); |
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tau.resize(size); |
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// tau*=0; |
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/* for(unsigned i = 0u; i < size; ++i) |
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{ |
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tp = gravity(i); |
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tau(i) = acceleration; |
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tau(i) *= matrixA; |
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tau(i) += tp; |
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}*/ |
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tau = matrixA * acceleration; |
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sotDEBUG(15) << "torque = A*ddot(q)= " << matrixA * acceleration << std::endl; |
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tau += gravity; |
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/* |
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tau(1) *= 0; |
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tau(7) *= 0; |
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tau(24) *=0; |
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tau(17)=0;*/ |
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sotDEBUG(15) << "matrixA =" << matrixA << std::endl; |
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sotDEBUG(15) << "acceleration =" << acceleration << std::endl; |
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sotDEBUG(15) << "gravity =" << gravity << std::endl; |
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sotDEBUG(15) << "gravity compensation torque =" << tau << std::endl; |
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sotDEBUGOUT(15); |
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return tau; |
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} |