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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/factory.h> |
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#include <sot/dynamic-pinocchio/force-compensation.h> |
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#include <sot/core/debug.hh> |
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#include <sot/core/macros-signal.hh> |
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using namespace dynamicgraph::sot; |
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using namespace dynamicgraph; |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(ForceCompensationPlugin, |
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"ForceCompensation"); |
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/* --- PLUGIN --------------------------------------------------------------- */ |
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/* --- PLUGIN --------------------------------------------------------------- */ |
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/* --- PLUGIN --------------------------------------------------------------- */ |
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ForceCompensation::ForceCompensation(void) : usingPrecompensation(false) {} |
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ForceCompensationPlugin::ForceCompensationPlugin(const std::string& name) |
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: Entity(name), |
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calibrationStarted(false) |
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, |
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torsorSIN(NULL, |
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"sotForceCompensation(" + name + ")::input(vector6)::torsorIN"), |
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worldRhandSIN(NULL, "sotForceCompensation(" + name + |
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")::input(MatrixRotation)::worldRhand") |
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, |
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handRsensorSIN(NULL, "sotForceCompensation(" + name + |
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")::input(MatrixRotation)::handRsensor"), |
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translationSensorComSIN(NULL, "sotForceCompensation(" + name + |
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")::input(vector3)::sensorCom"), |
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gravitySIN(NULL, |
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"sotForceCompensation(" + name + ")::input(vector6)::gravity"), |
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precompensationSIN(NULL, "sotForceCompensation(" + name + |
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")::input(vector6)::precompensation"), |
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gainSensorSIN(NULL, |
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"sotForceCompensation(" + name + ")::input(matrix6)::gain"), |
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deadZoneLimitSIN(NULL, "sotForceCompensation(" + name + |
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")::input(vector6)::deadZoneLimit"), |
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transSensorJointSIN(NULL, "sotForceCompensation(" + name + |
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")::input(vector6)::sensorJoint"), |
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inertiaJointSIN(NULL, "sotForceCompensation(" + name + |
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")::input(matrix6)::inertiaJoint"), |
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velocitySIN( |
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NULL, "sotForceCompensation(" + name + ")::input(vector6)::velocity"), |
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accelerationSIN(NULL, "sotForceCompensation(" + name + |
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")::input(vector6)::acceleration") |
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, |
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handXworldSOUT( |
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SOT_INIT_SIGNAL_2(ForceCompensation::computeHandXworld, worldRhandSIN, |
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MatrixRotation, translationSensorComSIN, |
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dynamicgraph::Vector), |
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"sotForceCompensation(" + name + |
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")::output(MatrixForce)::handXworld"), |
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handVsensorSOUT(SOT_INIT_SIGNAL_1(ForceCompensation::computeHandVsensor, |
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handRsensorSIN, MatrixRotation), |
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"sotForceCompensation(" + name + |
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")::output(MatrixForce)::handVsensor"), |
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torsorDeadZoneSIN(NULL, "sotForceCompensation(" + name + |
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")::input(vector6)::torsorNullifiedIN") |
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, |
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sensorXhandSOUT( |
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SOT_INIT_SIGNAL_2(ForceCompensation::computeSensorXhand, |
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handRsensorSIN, MatrixRotation, transSensorJointSIN, |
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dynamicgraph::Vector), |
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"sotForceCompensation(" + name + |
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")::output(MatrixForce)::sensorXhand") |
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// ,inertiaSensorSOUT( SOT_INIT_SIGNAL_2( |
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// ForceCompensation::computeInertiaSensor, |
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// inertiaJointSIN,dynamicgraph::Matrix, |
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// sensorXhandSOUT,MatrixForce ), |
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// "ForceCompensation("+name+")::output(MatrixForce)::inertiaSensor" |
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// ) |
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, |
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momentumSOUT( |
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SOT_INIT_SIGNAL_4(ForceCompensation::computeMomentum, velocitySIN, |
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dynamicgraph::Vector, accelerationSIN, |
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dynamicgraph::Vector, sensorXhandSOUT, MatrixForce, |
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inertiaJointSIN, dynamicgraph::Matrix), |
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"sotForceCompensation(" + name + ")::output(Vector6)::momentum"), |
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momentumSIN(NULL, "sotForceCompensation(" + name + |
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")::input(vector6)::momentumIN") |
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, |
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torsorCompensatedSOUT( |
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SOT_INIT_SIGNAL_7( |
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ForceCompensation::computeTorsorCompensated, torsorSIN, |
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dynamicgraph::Vector, precompensationSIN, dynamicgraph::Vector, |
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gravitySIN, dynamicgraph::Vector, handXworldSOUT, MatrixForce, |
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handVsensorSOUT, MatrixForce, gainSensorSIN, dynamicgraph::Matrix, |
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momentumSIN, dynamicgraph::Vector), |
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"sotForceCompensation(" + name + ")::output(Vector6)::torsor"), |
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torsorDeadZoneSOUT( |
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SOT_INIT_SIGNAL_2(ForceCompensation::computeDeadZone, |
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torsorDeadZoneSIN, dynamicgraph::Vector, |
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deadZoneLimitSIN, dynamicgraph::Vector), |
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"sotForceCompensation(" + name + |
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")::output(Vector6)::torsorNullified"), |
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calibrationTrigerSOUT( |
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boost::bind(&ForceCompensationPlugin::calibrationTriger, this, _1, |
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_2), |
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torsorSIN << worldRhandSIN, |
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"sotForceCompensation(" + name + |
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")::output(Dummy)::calibrationTriger") { |
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sotDEBUGIN(5); |
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signalRegistration(torsorSIN); |
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signalRegistration(worldRhandSIN); |
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signalRegistration(handRsensorSIN); |
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signalRegistration(translationSensorComSIN); |
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signalRegistration(gravitySIN); |
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signalRegistration(precompensationSIN); |
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signalRegistration(gainSensorSIN); |
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signalRegistration(deadZoneLimitSIN); |
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signalRegistration(transSensorJointSIN); |
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signalRegistration(inertiaJointSIN); |
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signalRegistration(velocitySIN); |
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signalRegistration(accelerationSIN); |
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signalRegistration(handXworldSOUT); |
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signalRegistration(handVsensorSOUT); |
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signalRegistration(torsorDeadZoneSIN); |
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signalRegistration(sensorXhandSOUT); |
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signalRegistration(momentumSOUT); |
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signalRegistration(momentumSIN); |
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signalRegistration(torsorCompensatedSOUT); |
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signalRegistration(torsorDeadZoneSOUT); |
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signalRegistration(calibrationTrigerSOUT); |
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torsorDeadZoneSIN.plug(&torsorCompensatedSOUT); |
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// By default, I choose: momentum is not compensated. |
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// momentumSIN.plug( &momentumSOUT ); |
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dynamicgraph::Vector v(6); |
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v.fill(0); |
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momentumSIN = v; |
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sotDEBUGOUT(5); |
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} |
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ForceCompensationPlugin::~ForceCompensationPlugin(void) { return; } |
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/* --- CALIB --------------------------------------------------------------- */ |
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/* --- CALIB --------------------------------------------------------------- */ |
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/* --- CALIB --------------------------------------------------------------- */ |
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MatrixRotation ForceCompensation::I3; |
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void ForceCompensation::clearCalibration(void) { |
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torsorList.clear(); |
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rotationList.clear(); |
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} |
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void ForceCompensation::addCalibrationValue( |
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const dynamicgraph::Vector& /*torsor*/, |
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const MatrixRotation& /*worldRhand*/) { |
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sotDEBUGIN(45); |
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// sotDEBUG(25) << "Add torsor: t"<<torsorList.size() <<" = " << torsor; |
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// sotDEBUG(25) << "Add Rotation: wRh"<<torsorList.size() <<" = " << |
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// worldRhand; |
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// torsorList.push_back(torsor); |
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// rotationList.push_back(worldRhand); |
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sotDEBUGOUT(45); |
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} |
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dynamicgraph::Vector ForceCompensation::calibrateTransSensorCom( |
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const dynamicgraph::Vector& gravity, |
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const MatrixRotation& /*handRsensor*/) { |
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// sotDEBUGIN(25); |
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// dynamicgraph::Vector grav3(3); |
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// dynamicgraph::Vector Rgrav3(3),tau(3),Rtau(3); |
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// for( unsigned int j=0;j<3;++j ) { grav3(j)=gravity(j); } |
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// std::list< dynamicgraph::Vector >::iterator iterTorsor = |
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// torsorList.begin(); std::list< MatrixRotation >::const_iterator |
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// iterRotation |
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// = rotationList.begin(); |
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// const unsigned int NVAL = torsorList.size(); |
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// if( 0==NVAL ) |
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// { |
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// dynamicgraph::Vector zero(3); zero.fill(0); |
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// return zero; |
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// } |
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// if(NVAL!=rotationList.size() ) |
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// { |
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// // TODO: ERROR THROW |
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// } |
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// dynamicgraph::Matrix torsors( 3,NVAL ); |
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// dynamicgraph::Matrix gravitys( 3,NVAL ); |
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// for( unsigned int i=0;i<NVAL;++i ) |
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// { |
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// if( |
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// (torsorList.end()==iterTorsor)||(rotationList.end()==iterRotation) ) |
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// { |
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// // TODO: ERROR THROW |
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// break; |
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// } |
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// const dynamicgraph::Vector & torsor = *iterTorsor; |
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// const MatrixRotation & worldRhand = *iterRotation; |
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// for( unsigned int j=0;j<3;++j ) { tau(j)=torsor(j+3); } |
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// handRsensor.multiply(tau,Rtau); |
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// worldRhand.transpose().multiply( grav3,Rgrav3 ); |
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// for( unsigned int j=0;j<3;++j ) |
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// { |
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// torsors( j,i ) = -Rtau(j); |
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// gravitys( j,i ) = Rgrav3(j); |
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// } |
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// sotDEBUG(35) << "R" << i << " = " << worldRhand; |
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// sotDEBUG(35) << "Rtau" << i << " = " << Rtau; |
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// sotDEBUG(35) << "Rg" << i << " = " << Rgrav3; |
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// iterTorsor++; iterRotation++; |
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// } |
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// sotDEBUG(35) << "Rgs = " << gravitys; |
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// sotDEBUG(35) << "Rtaus = " << torsors; |
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// dynamicgraph::Matrix gravsInv( gravitys.nbCols(),gravitys.nbRows() ); |
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// sotDEBUG(25) << "Compute the pinv..." << std::endl; |
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// gravitys.pseudoInverse(gravsInv); |
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// sotDEBUG(25) << "Compute the pinv... [DONE]" << std::endl; |
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// sotDEBUG(25) << "gravsInv = " << gravsInv << std::endl; |
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// dynamicgraph::Matrix Skew(3,3); |
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// torsors.multiply( gravsInv,Skew ); |
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// sotDEBUG(25) << "Skew = " << Skew << std::endl; |
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// dynamicgraph::Vector sc(3); |
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// sc(0)=(Skew(2,1)-Skew(1,2))*.5 ; |
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// sc(1)=(Skew(0,2)-Skew(2,0))*.5 ; |
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// sc(2)=(Skew(1,0)-Skew(0,1))*.5 ; |
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// sotDEBUG(15) << "SC = " << sc << std::endl; |
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// /* TAKE the antisym constraint into account inside the minimization pbm. |
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// */ |
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// sotDEBUGOUT(25); |
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// return sc; |
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return gravity; |
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} |
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dynamicgraph::Vector ForceCompensation::calibrateGravity( |
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const MatrixRotation& /*handRsensor*/, bool /*precompensationCalibration*/, |
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const MatrixRotation& /*hand0RsensorArg*/) { |
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sotDEBUGIN(25); |
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// MatrixRotation hand0Rsensor; |
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// if( &hand0Rsensor==&I3 ) hand0Rsensor.setIdentity(); |
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// else hand0Rsensor=hand0RsensorArg; |
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// std::list< dynamicgraph::Vector >::const_iterator iterTorsor = |
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// torsorList.begin(); std::list< MatrixRotation >::const_iterator |
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// iterRotation |
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// = rotationList.begin(); |
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// const unsigned int NVAL = torsorList.size(); |
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// if(NVAL!=rotationList.size() ) |
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// { |
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// // TODO: ERROR THROW |
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// } |
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// if( 0==NVAL ) |
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// { |
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// dynamicgraph::Vector zero(6); zero.fill(0); |
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// return zero; |
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// } |
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// dynamicgraph::Vector force(3),forceHand(3),forceWorld(3); |
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// dynamicgraph::Vector sumForce(3); sumForce.fill(0); |
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// for( unsigned int i=0;i<NVAL;++i ) |
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// { |
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// if( |
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// (torsorList.end()==iterTorsor)||(rotationList.end()==iterRotation) ) |
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// { |
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// // TODO: ERROR THROW |
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// break; |
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// } |
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// const dynamicgraph::Vector & torsor = *iterTorsor; |
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// const MatrixRotation & R = *iterRotation; |
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// /* The sensor read [-] the value, and the grav is [-] the sensor |
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// force. |
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// * [-]*[-] = [+] -> force = + torsor(1:3). */ |
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// for( unsigned int j=0;j<3;++j ) { force(j)=-torsor(j); } |
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// handRsensor.multiply(force,forceHand); |
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// if( usingPrecompensation ) |
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// { |
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// dynamicgraph::Matrix R_I(3,3); R_I = R.transpose(); |
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// R_I -= hand0Rsensor; |
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// R_I.pseudoInverse(.01).multiply( forceHand,forceWorld ); |
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// } |
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// else |
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// { R.multiply( forceHand,forceWorld ); } |
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// sotDEBUG(35) << "R(" << i << "*3+1:" << i << "*3+3,:) = " << R << |
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// "';"; sotDEBUG(35) << "rhFs(" << i << "*3+1:" << i << "*3+3) = " << |
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// forceHand; sotDEBUG(45) << "fworld(" << i << "*3+1:" << i << "*3+3) = |
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// " << forceWorld; |
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// sumForce+= forceWorld; |
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// iterTorsor++; iterRotation++; |
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// } |
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// sumForce*= (1./NVAL); |
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// sotDEBUG(35) << "Fmean = " << sumForce; |
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// sumForce.resize(6,false); |
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// sumForce(3)=sumForce(4)=sumForce(5)=0.; |
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// sotDEBUG(25)<<"mg = " << sumForce<<std::endl; |
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sotDEBUGOUT(25); |
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dynamicgraph::Vector sumForce(3); |
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sumForce.fill(0); |
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return sumForce; |
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} |
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/* --- SIGNALS -------------------------------------------------------------- */ |
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/* --- SIGNALS -------------------------------------------------------------- */ |
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/* --- SIGNALS -------------------------------------------------------------- */ |
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MatrixForce& ForceCompensation::computeHandXworld( |
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const MatrixRotation& worldRhand, |
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const dynamicgraph::Vector& transSensorCom, MatrixForce& res) { |
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sotDEBUGIN(35); |
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sotDEBUG(25) << "wRrh = " << worldRhand << std::endl; |
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sotDEBUG(25) << "SC = " << transSensorCom << std::endl; |
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MatrixHomogeneous scRw; |
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scRw.linear() = worldRhand.transpose(); |
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scRw.translation() = transSensorCom; |
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sotDEBUG(25) << "scMw = " << scRw << std::endl; |
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///////////////////////////// |
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// res.buildFrom( scRw ); |
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Eigen::Vector3d _t = scRw.translation(); |
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MatrixRotation R(scRw.linear()); |
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Eigen::Matrix3d Tx; |
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Tx << 0, -_t(2), _t(1), _t(2), 0, -_t(0), -_t(1), _t(0), 0; |
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Eigen::Matrix3d sk; |
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sk = Tx * R; |
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|
359 |
|
|
res.block<3, 3>(0, 0) = R; |
360 |
|
|
res.block<3, 3>(0, 3).setZero(); |
361 |
|
|
res.block<3, 3>(3, 0) = sk; |
362 |
|
|
res.block<3, 3>(3, 3) = R; |
363 |
|
|
//////////////////////////// |
364 |
|
|
|
365 |
|
|
sotDEBUG(15) << "scXw = " << res << std::endl; |
366 |
|
|
|
367 |
|
|
sotDEBUGOUT(35); |
368 |
|
|
return res; |
369 |
|
|
} |
370 |
|
|
|
371 |
|
|
MatrixForce& ForceCompensation::computeHandVsensor( |
372 |
|
|
const MatrixRotation& handRsensor, MatrixForce& res) { |
373 |
|
|
sotDEBUGIN(35); |
374 |
|
|
|
375 |
|
|
for (unsigned int i = 0; i < 3; ++i) |
376 |
|
|
for (unsigned int j = 0; j < 3; ++j) { |
377 |
|
|
res(i, j) = handRsensor(i, j); |
378 |
|
|
res(i + 3, j + 3) = handRsensor(i, j); |
379 |
|
|
res(i + 3, j) = 0.; |
380 |
|
|
res(i, j + 3) = 0.; |
381 |
|
|
} |
382 |
|
|
|
383 |
|
|
sotDEBUG(25) << "hVs" << res << std::endl; |
384 |
|
|
|
385 |
|
|
sotDEBUGOUT(35); |
386 |
|
|
return res; |
387 |
|
|
} |
388 |
|
|
|
389 |
|
|
MatrixForce& ForceCompensation::computeSensorXhand( |
390 |
|
|
const MatrixRotation& /*handRsensor*/, |
391 |
|
|
const dynamicgraph::Vector& transJointSensor, MatrixForce& res) { |
392 |
|
|
sotDEBUGIN(35); |
393 |
|
|
|
394 |
|
|
/* Force Matrix to pass from the joint frame (ie frame located |
395 |
|
|
* at the position of the motor, in which the acc is computed by Spong) |
396 |
|
|
* to the frame SensorHand where all the forces are expressed (ie |
397 |
|
|
* frame located at the sensor position bu oriented like the hand). */ |
398 |
|
|
|
399 |
|
|
Eigen::Matrix3d Tx; |
400 |
|
|
Tx << 0, -transJointSensor(2), transJointSensor(1), transJointSensor(2), 0, |
401 |
|
|
-transJointSensor(0), -transJointSensor(1), transJointSensor(0), 0; |
402 |
|
|
|
403 |
|
|
res.block<3, 3>(0, 0).setIdentity(); |
404 |
|
|
res.block<3, 3>(0, 3).setZero(); |
405 |
|
|
res.block<3, 3>(3, 0) = Tx; |
406 |
|
|
res.block<3, 3>(3, 3).setIdentity(); |
407 |
|
|
|
408 |
|
|
sotDEBUG(25) << "shXJ" << res << std::endl; |
409 |
|
|
|
410 |
|
|
sotDEBUGOUT(35); |
411 |
|
|
return res; |
412 |
|
|
} |
413 |
|
|
|
414 |
|
|
// dynamicgraph::Matrix& ForceCompensation:: |
415 |
|
|
// computeInertiaSensor( const dynamicgraph::Matrix& inertiaJoint, |
416 |
|
|
// const MatrixForce& sensorXhand, |
417 |
|
|
// dynamicgraph::Matrix& res ) |
418 |
|
|
// { |
419 |
|
|
// sotDEBUGIN(35); |
420 |
|
|
|
421 |
|
|
// /* Inertia felt at the sensor position, expressed in the orientation |
422 |
|
|
// * of the hand. */ |
423 |
|
|
|
424 |
|
|
// res.resize(6,6); |
425 |
|
|
// sensorXhand.multiply( inertiaJoint,res ); |
426 |
|
|
|
427 |
|
|
// sotDEBUGOUT(35); |
428 |
|
|
// return res; |
429 |
|
|
// } |
430 |
|
|
|
431 |
|
|
dynamicgraph::Vector& ForceCompensation::computeTorsorCompensated( |
432 |
|
|
const dynamicgraph::Vector& torqueInput, |
433 |
|
|
const dynamicgraph::Vector& torquePrecompensation, |
434 |
|
|
const dynamicgraph::Vector& gravity, const MatrixForce& handXworld, |
435 |
|
|
const MatrixForce& handVsensor, const dynamicgraph::Matrix& gainSensor, |
436 |
|
|
const dynamicgraph::Vector& momentum, dynamicgraph::Vector& res) |
437 |
|
|
|
438 |
|
|
{ |
439 |
|
|
sotDEBUGIN(35); |
440 |
|
|
/* Torsor in the sensor frame: K*(-torsred-gamma)+sVh*hXw*mg */ |
441 |
|
|
/* Torsor in the hand frame: hVs*K*(-torsred-gamma)+hXw*mg */ |
442 |
|
|
/* With gamma expressed in the sensor frame (gamma_s = sVh*gamma_h) */ |
443 |
|
|
|
444 |
|
|
sotDEBUG(25) << "t_nc = " << torqueInput; |
445 |
|
|
dynamicgraph::Vector torquePrecompensated(6); |
446 |
|
|
// if( usingPrecompensation ) |
447 |
|
|
torquePrecompensated = torqueInput + torquePrecompensation; |
448 |
|
|
// else { torquePrecompensated = torqueInput; } |
449 |
|
|
sotDEBUG(25) << "t_pre = " << torquePrecompensated; |
450 |
|
|
|
451 |
|
|
dynamicgraph::Vector torqueS(6), torqueRH(6); |
452 |
|
|
torqueS = gainSensor * torquePrecompensated; |
453 |
|
|
res = handVsensor * torqueS; |
454 |
|
|
sotDEBUG(25) << "t_rh = " << res; |
455 |
|
|
|
456 |
|
|
dynamicgraph::Vector grh(6); |
457 |
|
|
grh = handXworld * gravity; |
458 |
|
|
grh *= -1; |
459 |
|
|
sotDEBUG(25) << "g_rh = " << grh; |
460 |
|
|
|
461 |
|
|
res += grh; |
462 |
|
|
sotDEBUG(25) << "fcomp = " << res; |
463 |
|
|
|
464 |
|
|
res += momentum; |
465 |
|
|
sotDEBUG(25) << "facc = " << res; |
466 |
|
|
|
467 |
|
|
/* TODO res += m xddot */ |
468 |
|
|
|
469 |
|
|
sotDEBUGOUT(35); |
470 |
|
|
return res; |
471 |
|
|
} |
472 |
|
|
|
473 |
|
|
dynamicgraph::Vector& ForceCompensation::crossProduct_V_F( |
474 |
|
|
const dynamicgraph::Vector& velocity, const dynamicgraph::Vector& force, |
475 |
|
|
dynamicgraph::Vector& res) { |
476 |
|
|
/* [ v;w] x [ f;tau ] = [ w x f; v x f + w x tau ] */ |
477 |
|
|
Eigen::Vector3d v, w, f, tau; |
478 |
|
|
for (unsigned int i = 0; i < 3; ++i) { |
479 |
|
|
v(i) = velocity(i); |
480 |
|
|
w(i) = velocity(i + 3); |
481 |
|
|
f(i) = force(i); |
482 |
|
|
tau(i) = force(i + 3); |
483 |
|
|
} |
484 |
|
|
Eigen::Vector3d res1(3), res2a(3), res2b(3); |
485 |
|
|
res1 = w.cross(f); |
486 |
|
|
res2a = v.cross(f); |
487 |
|
|
res2b = w.cross(tau); |
488 |
|
|
res2a += res2b; |
489 |
|
|
|
490 |
|
|
res.resize(6); |
491 |
|
|
for (unsigned int i = 0; i < 3; ++i) { |
492 |
|
|
res(i) = res1(i); |
493 |
|
|
res(i + 3) = res2a(i); |
494 |
|
|
} |
495 |
|
|
return res; |
496 |
|
|
} |
497 |
|
|
|
498 |
|
|
dynamicgraph::Vector& ForceCompensation::computeMomentum( |
499 |
|
|
const dynamicgraph::Vector& velocity, |
500 |
|
|
const dynamicgraph::Vector& acceleration, const MatrixForce& sensorXhand, |
501 |
|
|
const dynamicgraph::Matrix& inertiaJoint, dynamicgraph::Vector& res) { |
502 |
|
|
sotDEBUGIN(35); |
503 |
|
|
|
504 |
|
|
/* Fs + Fext = I acc + V x Iv */ |
505 |
|
|
dynamicgraph::Vector Iacc(6); |
506 |
|
|
Iacc = inertiaJoint * acceleration; |
507 |
|
|
res.resize(6); |
508 |
|
|
res = sensorXhand * Iacc; |
509 |
|
|
|
510 |
|
|
dynamicgraph::Vector Iv(6); |
511 |
|
|
Iv = inertiaJoint * velocity; |
512 |
|
|
dynamicgraph::Vector vIv(6); |
513 |
|
|
crossProduct_V_F(velocity, Iv, vIv); |
514 |
|
|
dynamicgraph::Vector XvIv(6); |
515 |
|
|
XvIv = sensorXhand * vIv; |
516 |
|
|
res += XvIv; |
517 |
|
|
|
518 |
|
|
sotDEBUGOUT(35); |
519 |
|
|
return res; |
520 |
|
|
} |
521 |
|
|
|
522 |
|
|
dynamicgraph::Vector& ForceCompensation::computeDeadZone( |
523 |
|
|
const dynamicgraph::Vector& torqueInput, |
524 |
|
|
const dynamicgraph::Vector& deadZone, dynamicgraph::Vector& res) { |
525 |
|
|
sotDEBUGIN(35); |
526 |
|
|
|
527 |
|
|
if (torqueInput.size() > deadZone.size()) return res; |
528 |
|
|
res.resize(torqueInput.size()); |
529 |
|
|
for (int i = 0; i < torqueInput.size(); ++i) { |
530 |
|
|
const double th = fabs(deadZone(i)); |
531 |
|
|
if ((torqueInput(i) < th) && (torqueInput(i) > -th)) { |
532 |
|
|
res(i) = 0; |
533 |
|
|
} else if (torqueInput(i) < 0) |
534 |
|
|
res(i) = torqueInput(i) + th; |
535 |
|
|
else |
536 |
|
|
res(i) = torqueInput(i) - th; |
537 |
|
|
} |
538 |
|
|
|
539 |
|
|
sotDEBUGOUT(35); |
540 |
|
|
return res; |
541 |
|
|
} |
542 |
|
|
|
543 |
|
|
ForceCompensationPlugin::sotDummyType& |
544 |
|
|
ForceCompensationPlugin::calibrationTriger( |
545 |
|
|
ForceCompensationPlugin::sotDummyType& dummy, int /*time*/) { |
546 |
|
|
// sotDEBUGIN(45); |
547 |
|
|
// if(! calibrationStarted ) { sotDEBUGOUT(45); return dummy=0; } |
548 |
|
|
|
549 |
|
|
// addCalibrationValue( torsorSIN(time),worldRhandSIN(time) ); |
550 |
|
|
// sotDEBUGOUT(45); |
551 |
|
|
return dummy = 1; |
552 |
|
|
} |