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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 <dynamic-graph/command-getter.h> |
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#include <dynamic-graph/command-setter.h> |
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#include <dynamic-graph/command.h> |
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#include <dynamic-graph/factory.h> |
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#include <sot/dynamic-pinocchio/angle-estimator.h> |
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#include <sot/core/debug.hh> |
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using namespace dynamicgraph::sot; |
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using namespace dynamicgraph; |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(AngleEstimator, "AngleEstimator"); |
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AngleEstimator::AngleEstimator(const std::string& name) |
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: Entity(name), |
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sensorWorldRotationSIN( |
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NULL, "sotAngleEstimator(" + name + |
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")::input(MatrixRotation)::sensorWorldRotation"), |
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sensorEmbeddedPositionSIN( |
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NULL, "sotAngleEstimator(" + name + |
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")::input(MatrixHomo)::sensorEmbeddedPosition"), |
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contactWorldPositionSIN(NULL, |
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"sotAngleEstimator(" + name + |
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")::input(MatrixHomo)::contactWorldPosition"), |
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contactEmbeddedPositionSIN( |
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NULL, "sotAngleEstimator(" + name + |
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")::input(MatrixHomo)::contactEmbeddedPosition") |
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, |
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anglesSOUT(boost::bind(&AngleEstimator::computeAngles, this, _1, _2), |
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sensorWorldRotationSIN << sensorEmbeddedPositionSIN |
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<< contactWorldPositionSIN |
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<< contactEmbeddedPositionSIN, |
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"sotAngleEstimator(" + name + ")::output(Vector)::angles"), |
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flexibilitySOUT(boost::bind(&AngleEstimator::computeFlexibilityFromAngles, |
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this, _1, _2), |
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anglesSOUT, |
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"sotAngleEstimator(" + name + |
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")::output(matrixRotation)::flexibility"), |
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driftSOUT( |
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boost::bind(&AngleEstimator::computeDriftFromAngles, this, _1, _2), |
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anglesSOUT, |
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"sotAngleEstimator(" + name + ")::output(matrixRotation)::drift"), |
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sensorWorldRotationSOUT( |
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boost::bind(&AngleEstimator::computeSensorWorldRotation, this, _1, |
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_2), |
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anglesSOUT << sensorWorldRotationSIN, |
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"sotAngleEstimator(" + name + |
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")::output(matrixRotation)::sensorCorrectedRotation"), |
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waistWorldRotationSOUT( |
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boost::bind(&AngleEstimator::computeWaistWorldRotation, this, _1, _2), |
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sensorWorldRotationSOUT << sensorEmbeddedPositionSIN, |
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"sotAngleEstimator(" + name + |
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")::output(matrixRotation)::waistWorldRotation"), |
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waistWorldPositionSOUT( |
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boost::bind(&AngleEstimator::computeWaistWorldPosition, this, _1, _2), |
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flexibilitySOUT << contactEmbeddedPositionSIN, |
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"sotAngleEstimator(" + name + |
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")::output(MatrixHomogeneous)::waistWorldPosition"), |
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waistWorldPoseRPYSOUT( |
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boost::bind(&AngleEstimator::computeWaistWorldPoseRPY, this, _1, _2), |
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waistWorldPositionSOUT, |
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"sotAngleEstimator(" + name + |
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")::output(vectorRollPitchYaw)::waistWorldPoseRPY") |
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, |
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jacobianSIN(NULL, "sotAngleEstimator(" + name + ")::input()::jacobian"), |
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qdotSIN(NULL, "sotAngleEstimator(" + name + ")::input()::qdot"), |
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xff_dotSOUT( |
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boost::bind(&AngleEstimator::compute_xff_dotSOUT, this, _1, _2), |
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jacobianSIN << qdotSIN, |
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"sotAngleEstimator(" + name + ")::output(vector)::xff_dot"), |
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qdotSOUT(boost::bind(&AngleEstimator::compute_qdotSOUT, this, _1, _2), |
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xff_dotSOUT << qdotSIN, |
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"sotAngleEstimator(" + name + ")::output(vector)::qdotOUT") |
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, |
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fromSensor_(true) { |
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sotDEBUGIN(5); |
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signalRegistration(sensorWorldRotationSIN); |
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signalRegistration(sensorEmbeddedPositionSIN); |
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signalRegistration(contactWorldPositionSIN); |
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signalRegistration(contactEmbeddedPositionSIN); |
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signalRegistration(anglesSOUT); |
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signalRegistration(flexibilitySOUT); |
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signalRegistration(driftSOUT); |
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signalRegistration(sensorWorldRotationSOUT); |
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signalRegistration(waistWorldRotationSOUT); |
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signalRegistration(waistWorldPositionSOUT); |
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signalRegistration(waistWorldPoseRPYSOUT); |
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signalRegistration(jacobianSIN); |
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signalRegistration(qdotSIN); |
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signalRegistration(xff_dotSOUT); |
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signalRegistration(qdotSOUT); |
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/* Commands. */ |
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{ |
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std::string docstring; |
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docstring = |
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" \n" |
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" Set flag specifying whether angle is measured from sensors or " |
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"simulated.\n" |
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" \n" |
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" Input:\n" |
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" - a boolean value.\n" |
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" \n"; |
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addCommand("setFromSensor", |
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new ::dynamicgraph::command::Setter<AngleEstimator, bool>( |
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*this, &AngleEstimator::fromSensor, docstring)); |
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docstring = |
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" \n" |
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" Get flag specifying whether angle is measured from sensors or " |
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"simulated.\n" |
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" \n" |
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" No input,\n" |
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" return a boolean value.\n" |
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" \n"; |
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addCommand("getFromSensor", |
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new ::dynamicgraph::command::Getter<AngleEstimator, bool>( |
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*this, &AngleEstimator::fromSensor, docstring)); |
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} |
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sotDEBUGOUT(5); |
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} |
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AngleEstimator::~AngleEstimator(void) { |
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sotDEBUGIN(5); |
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sotDEBUGOUT(5); |
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return; |
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} |
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/* --- SIGNALS -------------------------------------------------------------- */ |
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/* --- SIGNALS -------------------------------------------------------------- */ |
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/* --- SIGNALS -------------------------------------------------------------- */ |
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dynamicgraph::Vector& AngleEstimator::computeAngles(dynamicgraph::Vector& res, |
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const int& time) { |
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sotDEBUGIN(15); |
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res.resize(3); |
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const MatrixRotation& worldestRchest = sensorWorldRotationSIN(time); |
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sotDEBUG(35) << "worldestRchest = " << std::endl << worldestRchest; |
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const MatrixHomogeneous& waistMchest = sensorEmbeddedPositionSIN(time); |
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MatrixRotation waistRchest; |
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waistRchest = waistMchest.linear(); |
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const MatrixHomogeneous& waistMleg = contactEmbeddedPositionSIN(time); |
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MatrixRotation waistRleg; |
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waistRleg = waistMleg.linear(); |
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MatrixRotation chestRleg; |
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chestRleg = waistRchest.transpose() * waistRleg; |
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MatrixRotation worldestRleg; |
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worldestRleg = worldestRchest * chestRleg; |
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sotDEBUG(35) << "worldestRleg = " << std::endl << worldestRleg; |
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/* Euler angles with following code: (-z)xy, -z being the yaw drift, x the |
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* first flexibility and y the second flexibility. */ |
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const double TOLERANCE_TH = 1e-6; |
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const MatrixRotation& R = worldestRleg; |
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if ((fabs(R(0, 1)) < TOLERANCE_TH) && (fabs(R(1, 1)) < TOLERANCE_TH)) { |
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/* This means that cos(X) is very low, ie flex1 is close to 90deg. |
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* I take the case into account, but it is bloody never going |
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* to happens. */ |
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if (R(2, 1) > 0) |
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res(0) = M_PI / 2; |
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else |
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res(0) = -M_PI / 2; |
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res(2) = atan2(-R(0, 2), R(0, 0)); |
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res(1) = 0; |
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/* To sum up: if X=PI/2, then Y and Z are in singularity. |
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* we cannot decide both of then. I fixed Y=0, which |
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* means that all the measurement coming from the sensor |
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* is assumed to be drift of the gyro. */ |
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} else { |
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double& X = res(0); |
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double& Y = res(1); |
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double& Z = res(2); |
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Y = atan2(R(2, 0), R(2, 2)); |
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Z = atan2(R(0, 1), R(1, 1)); |
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if (fabs(R(2, 0)) > fabs(R(2, 2))) { |
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X = atan2(R(2, 1) * sin(Y), R(2, 0)); |
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} else { |
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X = atan2(R(2, 1) * cos(Y), R(2, 2)); |
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} |
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} |
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sotDEBUG(35) << "angles = " << res; |
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sotDEBUGOUT(15); |
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return res; |
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} |
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/* compute the transformation matrix of the flexibility, ie |
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* feetRleg. |
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*/ |
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MatrixRotation& AngleEstimator::computeFlexibilityFromAngles( |
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MatrixRotation& res, const int& time) { |
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sotDEBUGIN(15); |
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const dynamicgraph::Vector& angles = anglesSOUT(time); |
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double cx = cos(angles(0)); |
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double sx = sin(angles(0)); |
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double cy = cos(angles(1)); |
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double sy = sin(angles(1)); |
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res(0, 0) = cy; |
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res(0, 1) = 0; |
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res(0, 2) = -sy; |
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res(1, 0) = -sx * sy; |
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res(1, 1) = cx; |
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res(1, 2) = -sx * cy; |
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res(2, 0) = cx * sy; |
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res(2, 1) = sx; |
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res(2, 2) = cx * cy; |
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sotDEBUGOUT(15); |
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return res; |
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} |
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/* Compute the rotation matrix of the drift, ie the |
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* transfo from the world frame to the estimated (drifted) world |
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* frame: worldRworldest. |
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*/ |
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MatrixRotation& AngleEstimator::computeDriftFromAngles(MatrixRotation& res, |
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const int& time) { |
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sotDEBUGIN(15); |
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const dynamicgraph::Vector& angles = anglesSOUT(time); |
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double cz = cos(angles(2)); |
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double sz = sin(angles(2)); |
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res(0, 0) = cz; |
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res(0, 1) = -sz; |
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res(0, 2) = 0; |
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/* z is the positive angle (R_{-z} has been computed |
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*in the <angles> function). Thus, the /-/sin(z) is in 0,1. */ |
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res(1, 0) = sz; |
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res(1, 1) = cz; |
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res(1, 2) = 0; |
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res(2, 0) = 0; |
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res(2, 1) = 0; |
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res(2, 2) = 1; |
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sotDEBUGOUT(15); |
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return res; |
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} |
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MatrixRotation& AngleEstimator::computeSensorWorldRotation(MatrixRotation& res, |
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const int& time) { |
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sotDEBUGIN(15); |
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const MatrixRotation& worldRworldest = driftSOUT(time); |
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const MatrixRotation& worldestRsensor = sensorWorldRotationSIN(time); |
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res = worldRworldest * worldestRsensor; |
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sotDEBUGOUT(15); |
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return res; |
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} |
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MatrixRotation& AngleEstimator::computeWaistWorldRotation(MatrixRotation& res, |
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const int& time) { |
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sotDEBUGIN(15); |
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// chest = sensor |
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const MatrixRotation& worldRsensor = sensorWorldRotationSOUT(time); |
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const MatrixHomogeneous& waistMchest = sensorEmbeddedPositionSIN(time); |
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MatrixRotation waistRchest; |
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waistRchest = waistMchest.linear(); |
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res = worldRsensor * waistRchest.transpose(); |
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sotDEBUGOUT(15); |
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return res; |
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} |
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MatrixHomogeneous& AngleEstimator::computeWaistWorldPosition( |
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MatrixHomogeneous& res, const int& time) { |
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sotDEBUGIN(15); |
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const MatrixHomogeneous& waistMleg = contactEmbeddedPositionSIN(time); |
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const MatrixHomogeneous& contactPos = contactWorldPositionSIN(time); |
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MatrixHomogeneous legMwaist(waistMleg.inverse()); |
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MatrixHomogeneous tmpRes; |
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if (fromSensor_) { |
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const MatrixRotation& Rflex = flexibilitySOUT(time); // footRleg |
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MatrixHomogeneous footMleg; |
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footMleg.linear() = Rflex; |
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footMleg.translation().setZero(); |
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tmpRes = footMleg * legMwaist; |
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} else { |
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tmpRes = legMwaist; |
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} |
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res = contactPos * tmpRes; |
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sotDEBUGOUT(15); |
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return res; |
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} |
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dynamicgraph::Vector& AngleEstimator::computeWaistWorldPoseRPY( |
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dynamicgraph::Vector& res, const int& time) { |
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const MatrixHomogeneous& M = waistWorldPositionSOUT(time); |
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VectorRollPitchYaw r = (M.linear().eulerAngles(2, 1, 0)).reverse(); |
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dynamicgraph::Vector t(3); |
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t = M.translation(); |
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res.resize(6); |
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for (int i = 0; i < 3; ++i) { |
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res(i) = t(i); |
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res(i + 3) = r(i); |
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} |
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return res; |
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} |
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/* --- VELOCITY SIGS -------------------------------------------------------- */ |
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dynamicgraph::Vector& AngleEstimator::compute_xff_dotSOUT( |
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dynamicgraph::Vector& res, const int& time) { |
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const dynamicgraph::Matrix& J = jacobianSIN(time); |
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const dynamicgraph::Vector& dq = qdotSIN(time); |
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const Eigen::DenseIndex nr = J.rows(), nc = J.cols() - 6; |
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assert(nr == 6); |
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dynamicgraph::Matrix Ja(nr, nc); |
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dynamicgraph::Vector dqa(nc); |
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for (int j = 0; j < nc; ++j) { |
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for (int i = 0; i < nr; ++i) Ja(i, j) = J(i, j + 6); |
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dqa(j) = dq(j + 6); |
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} |
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dynamicgraph::Matrix Jff(6, 6); |
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for (int j = 0; j < 6; ++j) |
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for (int i = 0; i < 6; ++i) Jff(i, j) = J(i, j); |
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res.resize(nr); |
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res = (Jff.inverse() * (Ja * dqa)) * (-1); |
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return res; |
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} |
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dynamicgraph::Vector& AngleEstimator::compute_qdotSOUT( |
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dynamicgraph::Vector& res, const int& time) { |
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const dynamicgraph::Vector& dq = qdotSIN(time); |
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const dynamicgraph::Vector& dx = xff_dotSOUT(time); |
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assert(dx.size() == 6); |
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const Eigen::DenseIndex nr = dq.size(); |
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res.resize(nr); |
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res = dq; |
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for (int i = 0; i < 6; ++i) res(i) = dx(i); |
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return res; |
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} |