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/* |
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* Copyright 2014, Oscar E. Ramos Ponce, LAAS-CNRS |
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* |
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*/ |
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#include <dynamic-graph/factory.h> |
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#include <sot/core/debug.hh> |
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#include <sot/core/stop-watch.hh> |
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#include <sot/torque_control/commands-helper.hh> |
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#include <sot/torque_control/joint-trajectory-generator.hh> |
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#include "../include/sot/torque_control/stc-commands.hh" |
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namespace dynamicgraph { |
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namespace sot { |
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namespace torque_control { |
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namespace dynamicgraph = ::dynamicgraph; |
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using namespace dynamicgraph; |
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using namespace dynamicgraph::command; |
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using namespace std; |
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using namespace Eigen; |
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// Size to be aligned "-------------------------------------------------------" |
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#define PROFILE_POSITION_DESIRED_COMPUTATION \ |
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"TrajGen: reference joint traj computation " |
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#define PROFILE_FORCE_DESIRED_COMPUTATION \ |
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"TrajGen: reference force computation " |
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/// Define EntityClassName here rather than in the header file |
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/// so that it can be used by the macros DEFINE_SIGNAL_**_FUNCTION. |
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typedef JointTrajectoryGenerator EntityClassName; |
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/* --- DG FACTORY ---------------------------------------------------- */ |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(JointTrajectoryGenerator, |
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"JointTrajectoryGenerator"); |
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/* ------------------------------------------------------------------- */ |
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/* --- CONSTRUCTION -------------------------------------------------- */ |
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/* ------------------------------------------------------------------- */ |
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JointTrajectoryGenerator::JointTrajectoryGenerator(const std::string& name) |
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: Entity(name), |
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CONSTRUCT_SIGNAL_IN(base6d_encoders, dynamicgraph::Vector), |
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CONSTRUCT_SIGNAL_OUT(q, dynamicgraph::Vector, m_base6d_encodersSIN), |
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CONSTRUCT_SIGNAL_OUT(dq, dynamicgraph::Vector, m_qSOUT), |
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CONSTRUCT_SIGNAL_OUT(ddq, dynamicgraph::Vector, m_qSOUT), |
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CONSTRUCT_SIGNAL(fRightFoot, OUT, dynamicgraph::Vector), |
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CONSTRUCT_SIGNAL(fLeftFoot, OUT, dynamicgraph::Vector), |
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CONSTRUCT_SIGNAL(fRightHand, OUT, dynamicgraph::Vector), |
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CONSTRUCT_SIGNAL(fLeftHand, OUT, dynamicgraph::Vector), |
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m_initSucceeded(false), |
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m_firstIter(true), |
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m_robot_util(RefVoidRobotUtil()) { |
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BIND_SIGNAL_TO_FUNCTION(fRightFoot, OUT, dynamicgraph::Vector); |
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BIND_SIGNAL_TO_FUNCTION(fLeftFoot, OUT, dynamicgraph::Vector); |
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BIND_SIGNAL_TO_FUNCTION(fRightHand, OUT, dynamicgraph::Vector); |
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BIND_SIGNAL_TO_FUNCTION(fLeftHand, OUT, dynamicgraph::Vector); |
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m_status_force.resize(4, JTG_STOP); |
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m_minJerkTrajGen_force.resize(4); |
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m_sinTrajGen_force.resize(4); |
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m_linChirpTrajGen_force.resize(4); |
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m_currentTrajGen_force.resize(4); |
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m_noTrajGen_force.resize(4); |
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m_iterForceSignals.resize(4, 0); |
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Entity::signalRegistration(m_qSOUT << m_dqSOUT << m_ddqSOUT |
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<< m_base6d_encodersSIN << m_fRightFootSOUT |
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<< m_fLeftFootSOUT << m_fRightHandSOUT |
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<< m_fLeftHandSOUT); |
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/* Commands. */ |
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addCommand("init", |
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makeCommandVoid2(*this, &JointTrajectoryGenerator::init, |
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docCommandVoid2("Initialize the entity.", |
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"Time period in seconds (double)", |
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"robotRef (string)"))); |
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addCommand( |
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"getJoint", |
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makeCommandVoid1( |
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*this, &JointTrajectoryGenerator::getJoint, |
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docCommandVoid1("Get the current angle of the specified joint.", |
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"Joint name (string)"))); |
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// const std::string& docstring = ; |
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addCommand("isTrajectoryEnded", |
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new command::IsTrajectoryEnded( |
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*this, "Return whether all joint trajectories have ended")); |
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addCommand("playTrajectoryFile", |
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makeCommandVoid1( |
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*this, &JointTrajectoryGenerator::playTrajectoryFile, |
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docCommandVoid1( |
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"Play the trajectory read from the specified text file.", |
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"(string) File name, path included"))); |
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addCommand("startSinusoid", |
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makeCommandVoid3( |
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*this, &JointTrajectoryGenerator::startSinusoid, |
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docCommandVoid3( |
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"Start an infinite sinusoid motion.", |
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"(string) joint name", "(double) final angle in radians", |
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"(double) time to reach the final angle in sec"))); |
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addCommand("startTriangle", |
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makeCommandVoid4( |
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*this, &JointTrajectoryGenerator::startTriangle, |
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docCommandVoid4( |
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"Start an infinite triangle wave.", "(string) joint name", |
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"(double) final angle in radians", |
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"(double) time to reach the final angle in sec", |
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"(double) time to accelerate in sec"))); |
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addCommand("startConstAcc", |
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makeCommandVoid3( |
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*this, &JointTrajectoryGenerator::startConstAcc, |
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docCommandVoid3( |
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"Start an infinite trajectory with piece-wise constant " |
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"acceleration.", |
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"(string) joint name", "(double) final angle in radians", |
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"(double) time to reach the final angle in sec"))); |
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addCommand( |
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"startForceSinusoid", |
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makeCommandVoid4( |
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*this, &JointTrajectoryGenerator::startForceSinusoid, |
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docCommandVoid4("Start an infinite sinusoid force.", |
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"(string) force name", "(int) force axis in [0, 5]", |
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"(double) final 1d force in N or Nm", |
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"(double) time to reach the final force in sec"))); |
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// addCommand("startForceSinusoid", |
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// makeCommandVoid3(*this, |
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// &JointTrajectoryGenerator::startForceSinusoid, |
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// docCommandVoid3("Start an infinite |
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// sinusoid force.", |
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// "(string) force name", |
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// "(Vector) final 6d force |
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// in N/Nm", |
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// "(double) time to reach |
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// the final force in |
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// sec"))); |
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addCommand( |
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"startLinChirp", |
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makeCommandVoid5( |
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*this, &JointTrajectoryGenerator::startLinearChirp, |
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docCommandVoid5("Start a linear-chirp motion.", "(string) joint name", |
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"(double) final angle in radians", |
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"(double) initial frequency [Hz]", |
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"(double) final frequency [Hz]", |
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"(double) trajectory time [sec]"))); |
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addCommand("startForceLinChirp", |
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makeCommandVoid6( |
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*this, &JointTrajectoryGenerator::startForceLinearChirp, |
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docCommandVoid6("Start a linear-chirp force traj.", |
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"(string) force name", "(int) force axis", |
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"(double) final force in N/Nm", |
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"(double) initial frequency [Hz]", |
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"(double) final frequency [Hz]", |
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"(double) trajectory time [sec]"))); |
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addCommand("moveJoint", |
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makeCommandVoid3( |
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*this, &JointTrajectoryGenerator::moveJoint, |
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docCommandVoid3( |
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"Move the joint to the specified angle with a minimum " |
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"jerk trajectory.", |
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"(string) joint name", "(double) final angle in radians", |
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"(double) time to reach the final angle in sec"))); |
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addCommand( |
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"moveForce", |
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makeCommandVoid4( |
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*this, &JointTrajectoryGenerator::moveForce, |
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docCommandVoid4("Move the force to the specified value with a " |
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"minimum jerk trajectory.", |
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"(string) force name", "(int) force axis", |
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"(double) final force in N/Nm", |
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"(double) time to reach the final force in sec"))); |
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addCommand("stop", |
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makeCommandVoid1( |
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*this, &JointTrajectoryGenerator::stop, |
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docCommandVoid1("Stop the motion of the specified joint, or " |
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"of all joints if no joint name is specified.", |
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"(string) joint name"))); |
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addCommand( |
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"stopForce", |
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makeCommandVoid1(*this, &JointTrajectoryGenerator::stopForce, |
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docCommandVoid1("Stop the specified force trajectort", |
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"(string) force name (rh,lh,lf,rf)"))); |
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} |
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void JointTrajectoryGenerator::init(const double& dt, |
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const std::string& robotRef) { |
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/* Retrieve m_robot_util informations */ |
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std::string localName(robotRef); |
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if (isNameInRobotUtil(localName)) |
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m_robot_util = getRobotUtil(localName); |
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else { |
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SEND_MSG("You should have an entity controller manager initialized before", |
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MSG_TYPE_ERROR); |
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return; |
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} |
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if (dt <= 0.0) return SEND_MSG("Timestep must be positive", MSG_TYPE_ERROR); |
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m_firstIter = true; |
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m_dt = dt; |
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m_status.resize(m_robot_util->m_nbJoints, JTG_STOP); |
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m_minJerkTrajGen.resize(m_robot_util->m_nbJoints); |
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m_sinTrajGen.resize(m_robot_util->m_nbJoints); |
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m_triangleTrajGen.resize(m_robot_util->m_nbJoints); |
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m_constAccTrajGen.resize(m_robot_util->m_nbJoints); |
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m_linChirpTrajGen.resize(m_robot_util->m_nbJoints); |
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m_currentTrajGen.resize(m_robot_util->m_nbJoints); |
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m_noTrajGen.resize(m_robot_util->m_nbJoints); |
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for (long unsigned int i = 0; i < m_robot_util->m_nbJoints; i++) { |
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m_minJerkTrajGen[i] = new MinimumJerkTrajectoryGenerator(dt, 5.0, 1); |
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m_sinTrajGen[i] = new SinusoidTrajectoryGenerator(dt, 5.0, 1); |
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m_triangleTrajGen[i] = new TriangleTrajectoryGenerator(dt, 5.0, 1); |
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m_constAccTrajGen[i] = |
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new ConstantAccelerationTrajectoryGenerator(dt, 5.0, 1); |
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m_linChirpTrajGen[i] = new LinearChirpTrajectoryGenerator(dt, 5.0, 1); |
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m_noTrajGen[i] = new NoTrajectoryGenerator(1); |
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m_currentTrajGen[i] = m_noTrajGen[i]; |
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} |
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m_textFileTrajGen = |
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new TextFileTrajectoryGenerator(dt, m_robot_util->m_nbJoints); |
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for (int i = 0; i < 4; i++) { |
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m_minJerkTrajGen_force[i] = new MinimumJerkTrajectoryGenerator(dt, 5.0, 6); |
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m_sinTrajGen_force[i] = new SinusoidTrajectoryGenerator(dt, 5.0, 6); |
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m_linChirpTrajGen_force[i] = new LinearChirpTrajectoryGenerator(dt, 5.0, 6); |
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m_noTrajGen_force[i] = new NoTrajectoryGenerator(6); |
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m_currentTrajGen_force[i] = m_noTrajGen_force[i]; |
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} |
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m_initSucceeded = true; |
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} |
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/* ------------------------------------------------------------------- */ |
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/* --- SIGNALS ------------------------------------------------------- */ |
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/* ------------------------------------------------------------------- */ |
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DEFINE_SIGNAL_OUT_FUNCTION(q, dynamicgraph::Vector) { |
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if (!m_initSucceeded) { |
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SEND_WARNING_STREAM_MSG( |
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"Cannot compute signal positionDes before initialization!"); |
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return s; |
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} |
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getProfiler().start(PROFILE_POSITION_DESIRED_COMPUTATION); |
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{ |
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// at first iteration store current joints positions |
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if (m_firstIter) { |
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const dynamicgraph::Vector& base6d_encoders = m_base6d_encodersSIN(iter); |
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if (base6d_encoders.size() != |
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static_cast<Eigen::VectorXd::Index>(m_robot_util->m_nbJoints + 6)) { |
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SEND_ERROR_STREAM_MSG("Unexpected size of signal base6d_encoder " + |
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toString(base6d_encoders.size()) + " " + |
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toString(m_robot_util->m_nbJoints + 6)); |
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return s; |
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} |
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for (unsigned int i = 0; i < m_robot_util->m_nbJoints; i++) |
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m_noTrajGen[i]->set_initial_point(base6d_encoders(6 + i)); |
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m_firstIter = false; |
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} |
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if (s.size() != |
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static_cast<Eigen::VectorXd::Index>(m_robot_util->m_nbJoints)) |
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s.resize(m_robot_util->m_nbJoints); |
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if (m_status[0] == JTG_TEXT_FILE) { |
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const VectorXd& qRef = m_textFileTrajGen->compute_next_point(); |
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for (unsigned int i = 0; i < m_robot_util->m_nbJoints; i++) { |
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s(i) = qRef[i]; |
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if (m_textFileTrajGen->isTrajectoryEnded()) { |
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m_noTrajGen[i]->set_initial_point(s(i)); |
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m_status[i] = JTG_STOP; |
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} |
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} |
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if (m_textFileTrajGen->isTrajectoryEnded()) |
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SEND_MSG("Text file trajectory ended.", MSG_TYPE_INFO); |
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} else { |
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for (unsigned int i = 0; i < m_robot_util->m_nbJoints; i++) { |
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s(i) = m_currentTrajGen[i]->compute_next_point()(0); |
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if (m_currentTrajGen[i]->isTrajectoryEnded()) { |
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m_currentTrajGen[i] = m_noTrajGen[i]; |
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m_noTrajGen[i]->set_initial_point(s(i)); |
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m_status[i] = JTG_STOP; |
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SEND_MSG("Trajectory of joint " + m_robot_util->get_name_from_id(i) + |
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" ended.", |
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MSG_TYPE_INFO); |
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} |
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} |
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} |
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} |
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getProfiler().stop(PROFILE_POSITION_DESIRED_COMPUTATION); |
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return s; |
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} |
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DEFINE_SIGNAL_OUT_FUNCTION(dq, dynamicgraph::Vector) { |
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if (!m_initSucceeded) { |
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SEND_WARNING_STREAM_MSG( |
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"Cannot compute signal positionDes before initialization! iter: " + |
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toString(iter)); |
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return s; |
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} |
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if (s.size() != static_cast<Eigen::VectorXd::Index>(m_robot_util->m_nbJoints)) |
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s.resize(m_robot_util->m_nbJoints); |
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if (m_status[0] == JTG_TEXT_FILE) { |
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for (unsigned int i = 0; i < m_robot_util->m_nbJoints; i++) |
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s(i) = m_textFileTrajGen->getVel()[i]; |
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} else |
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for (unsigned int i = 0; i < m_robot_util->m_nbJoints; i++) |
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s(i) = m_currentTrajGen[i]->getVel()(0); |
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return s; |
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} |
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DEFINE_SIGNAL_OUT_FUNCTION(ddq, dynamicgraph::Vector) { |
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if (!m_initSucceeded) { |
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SEND_WARNING_STREAM_MSG( |
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"Cannot compute signal positionDes before initialization!" + |
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toString(iter)); |
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return s; |
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} |
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if (s.size() != static_cast<Eigen::VectorXd::Index>(m_robot_util->m_nbJoints)) |
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s.resize(m_robot_util->m_nbJoints); |
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if (m_status[0] == JTG_TEXT_FILE) { |
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for (unsigned int i = 0; i < m_robot_util->m_nbJoints; i++) |
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s(i) = m_textFileTrajGen->getAcc()[i]; |
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} else |
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for (unsigned int i = 0; i < m_robot_util->m_nbJoints; i++) |
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s(i) = m_currentTrajGen[i]->getAcc()(0); |
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|
348 |
|
|
return s; |
349 |
|
|
} |
350 |
|
|
|
351 |
|
|
DEFINE_SIGNAL_OUT_FUNCTION(fRightFoot, dynamicgraph::Vector) { |
352 |
|
|
// SEND_MSG("Compute force right foot iter "+toString(iter), |
353 |
|
|
// MSG_TYPE_DEBUG); |
354 |
|
|
generateReferenceForceSignal( |
355 |
|
|
"fRightFoot", |
356 |
|
|
static_cast<int>(m_robot_util->m_force_util.get_force_id_right_foot()), s, |
357 |
|
|
iter); |
358 |
|
|
return s; |
359 |
|
|
} |
360 |
|
|
|
361 |
|
|
DEFINE_SIGNAL_OUT_FUNCTION(fLeftFoot, dynamicgraph::Vector) { |
362 |
|
|
generateReferenceForceSignal( |
363 |
|
|
"fLeftFoot", |
364 |
|
|
static_cast<int>(m_robot_util->m_force_util.get_force_id_left_foot()), s, |
365 |
|
|
iter); |
366 |
|
|
return s; |
367 |
|
|
} |
368 |
|
|
|
369 |
|
|
DEFINE_SIGNAL_OUT_FUNCTION(fRightHand, dynamicgraph::Vector) { |
370 |
|
|
generateReferenceForceSignal( |
371 |
|
|
"fRightHand", |
372 |
|
|
static_cast<int>(m_robot_util->m_force_util.get_force_id_right_hand()), s, |
373 |
|
|
iter); |
374 |
|
|
return s; |
375 |
|
|
} |
376 |
|
|
|
377 |
|
|
DEFINE_SIGNAL_OUT_FUNCTION(fLeftHand, dynamicgraph::Vector) { |
378 |
|
|
generateReferenceForceSignal( |
379 |
|
|
"fLeftHand", |
380 |
|
|
static_cast<int>(m_robot_util->m_force_util.get_force_id_left_hand()), s, |
381 |
|
|
iter); |
382 |
|
|
return s; |
383 |
|
|
} |
384 |
|
|
|
385 |
|
|
bool JointTrajectoryGenerator::generateReferenceForceSignal( |
386 |
|
|
const std::string& forceName, int fid, dynamicgraph::Vector& s, int iter) { |
387 |
|
|
if (!m_initSucceeded) { |
388 |
|
|
SEND_WARNING_STREAM_MSG("Cannot compute signal " + forceName + |
389 |
|
|
" before initialization!"); |
390 |
|
|
return false; |
391 |
|
|
} |
392 |
|
|
|
393 |
|
|
getProfiler().start(PROFILE_FORCE_DESIRED_COMPUTATION); |
394 |
|
|
{ |
395 |
|
|
if (s.size() != 6) s.resize(6); |
396 |
|
|
|
397 |
|
|
if (iter > m_iterForceSignals[fid]) { |
398 |
|
|
m_currentTrajGen_force[fid]->compute_next_point(); |
399 |
|
|
// SEND_MSG("Compute force "+forceName+" with id |
400 |
|
|
// "+toString(fid)+": "+toString(fr.transpose()), |
401 |
|
|
// MSG_TYPE_DEBUG); |
402 |
|
|
m_iterForceSignals[fid]++; |
403 |
|
|
} |
404 |
|
|
|
405 |
|
|
const Eigen::VectorXd& fr = m_currentTrajGen_force[fid]->getPos(); |
406 |
|
|
for (unsigned int i = 0; i < 6; i++) s(i) = fr(i); |
407 |
|
|
|
408 |
|
|
if (m_currentTrajGen_force[fid]->isTrajectoryEnded()) { |
409 |
|
|
m_noTrajGen_force[fid]->set_initial_point( |
410 |
|
|
m_currentTrajGen_force[fid]->getPos()); |
411 |
|
|
m_currentTrajGen_force[fid] = m_noTrajGen_force[fid]; |
412 |
|
|
m_status_force[fid] = JTG_STOP; |
413 |
|
|
SEND_MSG("Trajectory of force " + forceName + " ended.", MSG_TYPE_INFO); |
414 |
|
|
} |
415 |
|
|
} |
416 |
|
|
getProfiler().stop(PROFILE_FORCE_DESIRED_COMPUTATION); |
417 |
|
|
|
418 |
|
|
return true; |
419 |
|
|
} |
420 |
|
|
|
421 |
|
|
/* ------------------------------------------------------------------- */ |
422 |
|
|
/* --- COMMANDS ------------------------------------------------------ */ |
423 |
|
|
/* ------------------------------------------------------------------- */ |
424 |
|
|
|
425 |
|
|
void JointTrajectoryGenerator::getJoint(const std::string& jointName) { |
426 |
|
|
unsigned int i; |
427 |
|
|
if (convertJointNameToJointId(jointName, i) == false) return; |
428 |
|
|
const dynamicgraph::Vector& base6d_encoders = |
429 |
|
|
m_base6d_encodersSIN.accessCopy(); |
430 |
|
|
SEND_MSG("Current angle of joint " + jointName + " is " + |
431 |
|
|
toString(base6d_encoders(6 + i)), |
432 |
|
|
MSG_TYPE_INFO); |
433 |
|
|
} |
434 |
|
|
|
435 |
|
|
bool JointTrajectoryGenerator::isTrajectoryEnded() { |
436 |
|
|
bool output = true; |
437 |
|
|
if (m_status[0] == JTG_TEXT_FILE) { |
438 |
|
|
for (unsigned int i = 0; i < m_robot_util->m_nbJoints; i++) { |
439 |
|
|
if (!m_textFileTrajGen->isTrajectoryEnded()) { |
440 |
|
|
output = false; |
441 |
|
|
SEND_MSG("Text file trajectory not ended.", MSG_TYPE_INFO); |
442 |
|
|
return output; |
443 |
|
|
} |
444 |
|
|
} |
445 |
|
|
} else { |
446 |
|
|
for (unsigned int i = 0; i < m_robot_util->m_nbJoints; i++) { |
447 |
|
|
if (!m_currentTrajGen[i]->isTrajectoryEnded()) { |
448 |
|
|
output = false; |
449 |
|
|
SEND_MSG("Trajectory of joint " + m_robot_util->get_name_from_id(i) + |
450 |
|
|
"not ended.", |
451 |
|
|
MSG_TYPE_INFO); |
452 |
|
|
return output; |
453 |
|
|
} |
454 |
|
|
} |
455 |
|
|
} |
456 |
|
|
return output; |
457 |
|
|
} |
458 |
|
|
|
459 |
|
|
void JointTrajectoryGenerator::playTrajectoryFile(const std::string& fileName) { |
460 |
|
|
if (!m_initSucceeded) |
461 |
|
|
return SEND_MSG("Cannot start sinusoid before initialization!", |
462 |
|
|
MSG_TYPE_ERROR); |
463 |
|
|
|
464 |
|
|
for (unsigned int i = 0; i < m_robot_util->m_nbJoints; i++) |
465 |
|
|
if (m_status[i] != JTG_STOP) |
466 |
|
|
return SEND_MSG("You cannot joint " + m_robot_util->get_name_from_id(i) + |
467 |
|
|
" because it is already controlled.", |
468 |
|
|
MSG_TYPE_ERROR); |
469 |
|
|
|
470 |
|
|
if (!m_textFileTrajGen->loadTextFile(fileName)) |
471 |
|
|
return SEND_MSG("Error while loading text file " + fileName, |
472 |
|
|
MSG_TYPE_ERROR); |
473 |
|
|
|
474 |
|
|
// check current configuration is not too far from initial trajectory |
475 |
|
|
// configuration |
476 |
|
|
bool needToMoveToInitConf = false; |
477 |
|
|
const VectorXd& qInit = m_textFileTrajGen->get_initial_point(); |
478 |
|
|
for (unsigned int i = 0; i < m_robot_util->m_nbJoints; i++) |
479 |
|
|
if (fabs(qInit[i] - m_currentTrajGen[i]->getPos()(0)) > 0.001) { |
480 |
|
|
needToMoveToInitConf = true; |
481 |
|
|
SEND_MSG("Joint " + m_robot_util->get_name_from_id(i) + |
482 |
|
|
" is too far from initial configuration so first i will " |
483 |
|
|
"move it there.", |
484 |
|
|
MSG_TYPE_WARNING); |
485 |
|
|
} |
486 |
|
|
|
487 |
|
|
// if necessary move joints to initial configuration |
488 |
|
|
if (needToMoveToInitConf) { |
489 |
|
|
for (unsigned int i = 0; i < m_robot_util->m_nbJoints; i++) { |
490 |
|
|
if (!isJointInRange(i, qInit[i])) return; |
491 |
|
|
|
492 |
|
|
m_minJerkTrajGen[i]->set_initial_point(m_noTrajGen[i]->getPos()); |
493 |
|
|
m_minJerkTrajGen[i]->set_final_point(qInit[i]); |
494 |
|
|
m_minJerkTrajGen[i]->set_trajectory_time(4.0); |
495 |
|
|
m_status[i] = JTG_MIN_JERK; |
496 |
|
|
m_currentTrajGen[i] = m_minJerkTrajGen[i]; |
497 |
|
|
} |
498 |
|
|
return; |
499 |
|
|
} |
500 |
|
|
|
501 |
|
|
for (unsigned int i = 0; i < m_robot_util->m_nbJoints; i++) { |
502 |
|
|
m_status[i] = JTG_TEXT_FILE; |
503 |
|
|
} |
504 |
|
|
} |
505 |
|
|
|
506 |
|
|
void JointTrajectoryGenerator::startSinusoid(const std::string& jointName, |
507 |
|
|
const double& qFinal, |
508 |
|
|
const double& time) { |
509 |
|
|
if (!m_initSucceeded) |
510 |
|
|
return SEND_MSG("Cannot start sinusoid before initialization!", |
511 |
|
|
MSG_TYPE_ERROR); |
512 |
|
|
|
513 |
|
|
unsigned int i; |
514 |
|
|
if (convertJointNameToJointId(jointName, i) == false) return; |
515 |
|
|
if (time <= 0.0) |
516 |
|
|
return SEND_MSG("Trajectory time must be a positive number", |
517 |
|
|
MSG_TYPE_ERROR); |
518 |
|
|
if (m_status[i] != JTG_STOP) |
519 |
|
|
return SEND_MSG( |
520 |
|
|
"You cannot move the specified joint because it is already controlled.", |
521 |
|
|
MSG_TYPE_ERROR); |
522 |
|
|
if (!isJointInRange(i, qFinal)) return; |
523 |
|
|
|
524 |
|
|
m_sinTrajGen[i]->set_initial_point(m_noTrajGen[i]->getPos()); |
525 |
|
|
SEND_MSG( |
526 |
|
|
"Set initial point of sinusoid to " + toString(m_sinTrajGen[i]->getPos()), |
527 |
|
|
MSG_TYPE_DEBUG); |
528 |
|
|
m_sinTrajGen[i]->set_final_point(qFinal); |
529 |
|
|
m_sinTrajGen[i]->set_trajectory_time(time); |
530 |
|
|
m_status[i] = JTG_SINUSOID; |
531 |
|
|
m_currentTrajGen[i] = m_sinTrajGen[i]; |
532 |
|
|
} |
533 |
|
|
|
534 |
|
|
void JointTrajectoryGenerator::startTriangle(const std::string& jointName, |
535 |
|
|
const double& qFinal, |
536 |
|
|
const double& time, |
537 |
|
|
const double& Tacc) { |
538 |
|
|
if (!m_initSucceeded) |
539 |
|
|
return SEND_MSG("Cannot start triangle before initialization!", |
540 |
|
|
MSG_TYPE_ERROR); |
541 |
|
|
|
542 |
|
|
unsigned int i; |
543 |
|
|
if (convertJointNameToJointId(jointName, i) == false) return; |
544 |
|
|
if (m_status[i] != JTG_STOP) |
545 |
|
|
return SEND_MSG( |
546 |
|
|
"You cannot move the specified joint because it is already controlled.", |
547 |
|
|
MSG_TYPE_ERROR); |
548 |
|
|
if (!isJointInRange(i, qFinal)) return; |
549 |
|
|
|
550 |
|
|
m_triangleTrajGen[i]->set_initial_point(m_noTrajGen[i]->getPos()); |
551 |
|
|
SEND_MSG("Set initial point of triangular trajectory to " + |
552 |
|
|
toString(m_triangleTrajGen[i]->getPos()), |
553 |
|
|
MSG_TYPE_DEBUG); |
554 |
|
|
m_triangleTrajGen[i]->set_final_point(qFinal); |
555 |
|
|
|
556 |
|
|
if (!m_triangleTrajGen[i]->set_trajectory_time(time)) |
557 |
|
|
return SEND_MSG("Trajectory time cannot be negative.", MSG_TYPE_ERROR); |
558 |
|
|
|
559 |
|
|
if (!m_triangleTrajGen[i]->set_acceleration_time(Tacc)) |
560 |
|
|
return SEND_MSG( |
561 |
|
|
"Acceleration time cannot be negative or larger than half the " |
562 |
|
|
"trajectory time.", |
563 |
|
|
MSG_TYPE_ERROR); |
564 |
|
|
|
565 |
|
|
m_status[i] = JTG_TRIANGLE; |
566 |
|
|
m_currentTrajGen[i] = m_triangleTrajGen[i]; |
567 |
|
|
} |
568 |
|
|
|
569 |
|
|
void JointTrajectoryGenerator::startConstAcc(const std::string& jointName, |
570 |
|
|
const double& qFinal, |
571 |
|
|
const double& time) { |
572 |
|
|
if (!m_initSucceeded) |
573 |
|
|
return SEND_MSG( |
574 |
|
|
"Cannot start constant-acceleration trajectory before initialization!", |
575 |
|
|
MSG_TYPE_ERROR); |
576 |
|
|
|
577 |
|
|
unsigned int i; |
578 |
|
|
if (convertJointNameToJointId(jointName, i) == false) return; |
579 |
|
|
if (time <= 0.0) |
580 |
|
|
return SEND_MSG("Trajectory time must be a positive number", |
581 |
|
|
MSG_TYPE_ERROR); |
582 |
|
|
if (m_status[i] != JTG_STOP) |
583 |
|
|
return SEND_MSG( |
584 |
|
|
"You cannot move the specified joint because it is already controlled.", |
585 |
|
|
MSG_TYPE_ERROR); |
586 |
|
|
if (!isJointInRange(i, qFinal)) return; |
587 |
|
|
|
588 |
|
|
m_constAccTrajGen[i]->set_initial_point(m_noTrajGen[i]->getPos()); |
589 |
|
|
SEND_MSG("Set initial point of const-acc trajectory to " + |
590 |
|
|
toString(m_constAccTrajGen[i]->getPos()), |
591 |
|
|
MSG_TYPE_DEBUG); |
592 |
|
|
m_constAccTrajGen[i]->set_final_point(qFinal); |
593 |
|
|
m_constAccTrajGen[i]->set_trajectory_time(time); |
594 |
|
|
m_status[i] = JTG_CONST_ACC; |
595 |
|
|
m_currentTrajGen[i] = m_constAccTrajGen[i]; |
596 |
|
|
} |
597 |
|
|
|
598 |
|
|
void JointTrajectoryGenerator::startForceSinusoid(const std::string& forceName, |
599 |
|
|
const int& axis, |
600 |
|
|
const double& fFinal, |
601 |
|
|
const double& time) { |
602 |
|
|
if (!m_initSucceeded) |
603 |
|
|
return SEND_MSG("Cannot start force sinusoid before initialization!", |
604 |
|
|
MSG_TYPE_ERROR); |
605 |
|
|
|
606 |
|
|
unsigned int i; |
607 |
|
|
if (convertForceNameToForceId(forceName, i) == false) return; |
608 |
|
|
if (time <= 0.0) |
609 |
|
|
return SEND_MSG("Trajectory time must be a positive number", |
610 |
|
|
MSG_TYPE_ERROR); |
611 |
|
|
if (axis < 0 || axis > 5) |
612 |
|
|
return SEND_MSG("Axis must be between 0 and 5", MSG_TYPE_ERROR); |
613 |
|
|
if (m_status_force[i] != JTG_STOP) |
614 |
|
|
return SEND_MSG( |
615 |
|
|
"You cannot move the specified force because it is already controlled.", |
616 |
|
|
MSG_TYPE_ERROR); |
617 |
|
|
// EIGEN_CONST_VECTOR_FROM_SIGNAL(fFinal_eig, fFinal); |
618 |
|
|
if (!isForceInRange(i, axis, fFinal)) return; |
619 |
|
|
|
620 |
|
|
VectorXd currentF = m_noTrajGen_force[i]->getPos(); |
621 |
|
|
m_sinTrajGen_force[i]->set_initial_point(currentF); |
622 |
|
|
SEND_MSG("Set initial point of sinusoid to " + |
623 |
|
|
toString(m_sinTrajGen_force[i]->getPos()), |
624 |
|
|
MSG_TYPE_DEBUG); |
625 |
|
|
currentF[axis] = fFinal; |
626 |
|
|
m_sinTrajGen_force[i]->set_final_point(currentF); |
627 |
|
|
m_sinTrajGen_force[i]->set_trajectory_time(time); |
628 |
|
|
m_status_force[i] = JTG_SINUSOID; |
629 |
|
|
m_currentTrajGen_force[i] = m_sinTrajGen_force[i]; |
630 |
|
|
} |
631 |
|
|
|
632 |
|
|
void JointTrajectoryGenerator::startLinearChirp(const string& jointName, |
633 |
|
|
const double& qFinal, |
634 |
|
|
const double& f0, |
635 |
|
|
const double& f1, |
636 |
|
|
const double& time) { |
637 |
|
|
if (!m_initSucceeded) |
638 |
|
|
return SEND_MSG("Cannot start linear chirp before initialization!", |
639 |
|
|
MSG_TYPE_ERROR); |
640 |
|
|
|
641 |
|
|
unsigned int i; |
642 |
|
|
if (convertJointNameToJointId(jointName, i) == false) return; |
643 |
|
|
if (time <= 0.0) |
644 |
|
|
return SEND_MSG("Trajectory time must be a positive number", |
645 |
|
|
MSG_TYPE_ERROR); |
646 |
|
|
if (m_status[i] != JTG_STOP) |
647 |
|
|
return SEND_MSG( |
648 |
|
|
"You cannot move the specified joint because it is already controlled.", |
649 |
|
|
MSG_TYPE_ERROR); |
650 |
|
|
if (!isJointInRange(i, qFinal)) return; |
651 |
|
|
if (f0 > f1) |
652 |
|
|
return SEND_MSG( |
653 |
|
|
"f0 " + toString(f0) + " cannot to be more than f1 " + toString(f1), |
654 |
|
|
MSG_TYPE_ERROR); |
655 |
|
|
if (f0 <= 0.0) |
656 |
|
|
return SEND_MSG("Frequency has to be positive " + toString(f0), |
657 |
|
|
MSG_TYPE_ERROR); |
658 |
|
|
|
659 |
|
|
if (!m_linChirpTrajGen[i]->set_initial_point(m_noTrajGen[i]->getPos())) |
660 |
|
|
return SEND_MSG("Error while setting initial point " + |
661 |
|
|
toString(m_noTrajGen[i]->getPos()), |
662 |
|
|
MSG_TYPE_ERROR); |
663 |
|
|
if (!m_linChirpTrajGen[i]->set_final_point(qFinal)) |
664 |
|
|
return SEND_MSG("Error while setting final point " + toString(qFinal), |
665 |
|
|
MSG_TYPE_ERROR); |
666 |
|
|
if (!m_linChirpTrajGen[i]->set_trajectory_time(time)) |
667 |
|
|
return SEND_MSG("Error while setting trajectory time " + toString(time), |
668 |
|
|
MSG_TYPE_ERROR); |
669 |
|
|
if (!m_linChirpTrajGen[i]->set_initial_frequency(f0)) |
670 |
|
|
return SEND_MSG("Error while setting initial frequency " + toString(f0), |
671 |
|
|
MSG_TYPE_ERROR); |
672 |
|
|
if (!m_linChirpTrajGen[i]->set_final_frequency(f1)) |
673 |
|
|
return SEND_MSG("Error while setting final frequency " + toString(f1), |
674 |
|
|
MSG_TYPE_ERROR); |
675 |
|
|
m_status[i] = JTG_LIN_CHIRP; |
676 |
|
|
m_currentTrajGen[i] = m_linChirpTrajGen[i]; |
677 |
|
|
} |
678 |
|
|
|
679 |
|
|
void JointTrajectoryGenerator::startForceLinearChirp( |
680 |
|
|
const string& forceName, const int& axis, const double& fFinal, |
681 |
|
|
const double& f0, const double& f1, const double& time) { |
682 |
|
|
if (!m_initSucceeded) |
683 |
|
|
return SEND_MSG("Cannot start force linear chirp before initialization!", |
684 |
|
|
MSG_TYPE_ERROR); |
685 |
|
|
|
686 |
|
|
unsigned int i; |
687 |
|
|
if (convertForceNameToForceId(forceName, i) == false) return; |
688 |
|
|
if (time <= 0.0) |
689 |
|
|
return SEND_MSG("Trajectory time must be a positive number", |
690 |
|
|
MSG_TYPE_ERROR); |
691 |
|
|
if (m_status_force[i] != JTG_STOP) |
692 |
|
|
return SEND_MSG( |
693 |
|
|
"You cannot move the specified force because it is already controlled.", |
694 |
|
|
MSG_TYPE_ERROR); |
695 |
|
|
if (!isForceInRange(i, axis, fFinal)) return; |
696 |
|
|
if (f0 > f1) |
697 |
|
|
return SEND_MSG( |
698 |
|
|
"f0 " + toString(f0) + " cannot to be more than f1 " + toString(f1), |
699 |
|
|
MSG_TYPE_ERROR); |
700 |
|
|
if (f0 <= 0.0) |
701 |
|
|
return SEND_MSG("Frequency has to be positive " + toString(f0), |
702 |
|
|
MSG_TYPE_ERROR); |
703 |
|
|
|
704 |
|
|
VectorXd currentF = m_noTrajGen_force[i]->getPos(); |
705 |
|
|
if (!m_linChirpTrajGen_force[i]->set_initial_point(currentF)) |
706 |
|
|
return SEND_MSG("Error while setting initial point " + |
707 |
|
|
toString(m_noTrajGen_force[i]->getPos()), |
708 |
|
|
MSG_TYPE_ERROR); |
709 |
|
|
currentF[axis] = fFinal; |
710 |
|
|
if (!m_linChirpTrajGen_force[i]->set_final_point(currentF)) |
711 |
|
|
return SEND_MSG("Error while setting final point " + toString(fFinal), |
712 |
|
|
MSG_TYPE_ERROR); |
713 |
|
|
if (!m_linChirpTrajGen_force[i]->set_trajectory_time(time)) |
714 |
|
|
return SEND_MSG("Error while setting trajectory time " + toString(time), |
715 |
|
|
MSG_TYPE_ERROR); |
716 |
|
|
if (!m_linChirpTrajGen_force[i]->set_initial_frequency( |
717 |
|
|
Vector6d::Constant(f0))) |
718 |
|
|
return SEND_MSG("Error while setting initial frequency " + toString(f0), |
719 |
|
|
MSG_TYPE_ERROR); |
720 |
|
|
if (!m_linChirpTrajGen_force[i]->set_final_frequency(Vector6d::Constant(f1))) |
721 |
|
|
return SEND_MSG("Error while setting final frequency " + toString(f1), |
722 |
|
|
MSG_TYPE_ERROR); |
723 |
|
|
m_status_force[i] = JTG_LIN_CHIRP; |
724 |
|
|
m_currentTrajGen_force[i] = m_linChirpTrajGen_force[i]; |
725 |
|
|
} |
726 |
|
|
|
727 |
|
|
void JointTrajectoryGenerator::moveJoint(const string& jointName, |
728 |
|
|
const double& qFinal, |
729 |
|
|
const double& time) { |
730 |
|
|
if (!m_initSucceeded) |
731 |
|
|
return SEND_MSG("Cannot move joint before initialization!", MSG_TYPE_ERROR); |
732 |
|
|
|
733 |
|
|
unsigned int i; |
734 |
|
|
if (convertJointNameToJointId(jointName, i) == false) return; |
735 |
|
|
if (time <= 0.0) |
736 |
|
|
return SEND_MSG("Trajectory time must be a positive number", |
737 |
|
|
MSG_TYPE_ERROR); |
738 |
|
|
if (m_status[i] != JTG_STOP) |
739 |
|
|
return SEND_MSG( |
740 |
|
|
"You cannot move the specified joint because it is already controlled.", |
741 |
|
|
MSG_TYPE_ERROR); |
742 |
|
|
if (!isJointInRange(i, qFinal)) return; |
743 |
|
|
|
744 |
|
|
m_minJerkTrajGen[i]->set_initial_point(m_noTrajGen[i]->getPos()); |
745 |
|
|
m_minJerkTrajGen[i]->set_final_point(qFinal); |
746 |
|
|
m_minJerkTrajGen[i]->set_trajectory_time(time); |
747 |
|
|
m_status[i] = JTG_MIN_JERK; |
748 |
|
|
m_currentTrajGen[i] = m_minJerkTrajGen[i]; |
749 |
|
|
} |
750 |
|
|
|
751 |
|
|
void JointTrajectoryGenerator::moveForce(const string& forceName, |
752 |
|
|
const int& axis, const double& fFinal, |
753 |
|
|
const double& time) { |
754 |
|
|
if (!m_initSucceeded) |
755 |
|
|
return SEND_MSG("Cannot move force before initialization!", MSG_TYPE_ERROR); |
756 |
|
|
|
757 |
|
|
unsigned int i; |
758 |
|
|
if (convertForceNameToForceId(forceName, i) == false) return; |
759 |
|
|
if (time <= 0.0) |
760 |
|
|
return SEND_MSG("Trajectory time must be a positive number", |
761 |
|
|
MSG_TYPE_ERROR); |
762 |
|
|
if (m_status_force[i] != JTG_STOP) |
763 |
|
|
return SEND_MSG( |
764 |
|
|
"You cannot move the specified force because it is already controlled.", |
765 |
|
|
MSG_TYPE_ERROR); |
766 |
|
|
if (!isForceInRange(i, axis, fFinal)) return; |
767 |
|
|
|
768 |
|
|
VectorXd currentF = m_noTrajGen_force[i]->getPos(); |
769 |
|
|
m_minJerkTrajGen_force[i]->set_initial_point(currentF); |
770 |
|
|
currentF[axis] = fFinal; |
771 |
|
|
m_minJerkTrajGen_force[i]->set_final_point(currentF); |
772 |
|
|
m_minJerkTrajGen_force[i]->set_trajectory_time(time); |
773 |
|
|
m_status_force[i] = JTG_MIN_JERK; |
774 |
|
|
m_currentTrajGen_force[i] = m_minJerkTrajGen_force[i]; |
775 |
|
|
} |
776 |
|
|
|
777 |
|
|
void JointTrajectoryGenerator::stop(const std::string& jointName) { |
778 |
|
|
if (!m_initSucceeded) |
779 |
|
|
return SEND_MSG("Cannot stop joint before initialization!", MSG_TYPE_ERROR); |
780 |
|
|
|
781 |
|
|
const dynamicgraph::Vector& base6d_encoders = |
782 |
|
|
m_base6d_encodersSIN.accessCopy(); |
783 |
|
|
if (jointName == "all") { |
784 |
|
|
for (unsigned int i = 0; i < m_robot_util->m_nbJoints; i++) { |
785 |
|
|
m_status[i] = JTG_STOP; |
786 |
|
|
// update the initial position |
787 |
|
|
m_noTrajGen[i]->set_initial_point(base6d_encoders(6 + i)); |
788 |
|
|
m_currentTrajGen[i] = m_noTrajGen[i]; |
789 |
|
|
} |
790 |
|
|
return; |
791 |
|
|
} |
792 |
|
|
|
793 |
|
|
unsigned int i; |
794 |
|
|
if (convertJointNameToJointId(jointName, i) == false) return; |
795 |
|
|
m_noTrajGen[i]->set_initial_point( |
796 |
|
|
base6d_encoders(6 + i)); // update the initial position |
797 |
|
|
m_status[i] = JTG_STOP; |
798 |
|
|
m_currentTrajGen[i] = m_noTrajGen[i]; |
799 |
|
|
} |
800 |
|
|
|
801 |
|
|
void JointTrajectoryGenerator::stopForce(const std::string& forceName) { |
802 |
|
|
if (!m_initSucceeded) |
803 |
|
|
return SEND_MSG("Cannot stop force before initialization!", MSG_TYPE_ERROR); |
804 |
|
|
|
805 |
|
|
unsigned int i; |
806 |
|
|
if (convertForceNameToForceId(forceName, i) == false) return; |
807 |
|
|
m_noTrajGen_force[i]->set_initial_point( |
808 |
|
|
m_currentTrajGen_force[i]->getPos()); // update the initial position |
809 |
|
|
m_status_force[i] = JTG_STOP; |
810 |
|
|
m_currentTrajGen_force[i] = m_noTrajGen_force[i]; |
811 |
|
|
} |
812 |
|
|
|
813 |
|
|
/* ------------------------------------------------------------------- */ |
814 |
|
|
// ************************ PROTECTED MEMBER METHODS ******************** |
815 |
|
|
/* ------------------------------------------------------------------- */ |
816 |
|
|
|
817 |
|
|
bool JointTrajectoryGenerator::convertJointNameToJointId( |
818 |
|
|
const std::string& name, unsigned int& id) { |
819 |
|
|
// Check if the joint name exists |
820 |
|
|
sot::Index jid = m_robot_util->get_id_from_name(name); |
821 |
|
|
if (jid < 0) { |
822 |
|
|
SEND_MSG("The specified joint name does not exist", MSG_TYPE_ERROR); |
823 |
|
|
std::stringstream ss; |
824 |
|
|
for (map<string, Index>::const_iterator it = |
825 |
|
|
m_robot_util->m_name_to_id.begin(); |
826 |
|
|
it != m_robot_util->m_name_to_id.end(); it++) |
827 |
|
|
ss << it->first << ", "; |
828 |
|
|
SEND_MSG("Possible joint names are: " + ss.str(), MSG_TYPE_INFO); |
829 |
|
|
return false; |
830 |
|
|
} |
831 |
|
|
id = static_cast<unsigned int>(jid); |
832 |
|
|
return true; |
833 |
|
|
} |
834 |
|
|
|
835 |
|
|
bool JointTrajectoryGenerator::convertForceNameToForceId( |
836 |
|
|
const std::string& name, unsigned int& id) { |
837 |
|
|
// Check if the joint name exists |
838 |
|
|
Index fid = m_robot_util->m_force_util.get_id_from_name(name); |
839 |
|
|
if (fid < 0) { |
840 |
|
|
SEND_MSG("The specified force name does not exist", MSG_TYPE_ERROR); |
841 |
|
|
std::stringstream ss; |
842 |
|
|
for (map<string, Index>::const_iterator it = |
843 |
|
|
m_robot_util->m_force_util.m_name_to_force_id.begin(); |
844 |
|
|
it != m_robot_util->m_force_util.m_name_to_force_id.end(); it++) |
845 |
|
|
ss << it->first << ", "; |
846 |
|
|
SEND_MSG("Possible force names are: " + ss.str(), MSG_TYPE_INFO); |
847 |
|
|
return false; |
848 |
|
|
} |
849 |
|
|
id = (unsigned int)fid; |
850 |
|
|
return true; |
851 |
|
|
} |
852 |
|
|
|
853 |
|
|
bool JointTrajectoryGenerator::isJointInRange(unsigned int id, double q) { |
854 |
|
|
JointLimits jl = m_robot_util->get_joint_limits_from_id(id); |
855 |
|
|
if (q < jl.lower) { |
856 |
|
|
SEND_MSG("Joint " + m_robot_util->get_name_from_id(id) + |
857 |
|
|
", desired angle " + toString(q) + |
858 |
|
|
" is smaller than lower limit " + toString(jl.lower), |
859 |
|
|
MSG_TYPE_ERROR); |
860 |
|
|
return false; |
861 |
|
|
} |
862 |
|
|
if (q > jl.upper) { |
863 |
|
|
SEND_MSG("Joint " + m_robot_util->get_name_from_id(id) + |
864 |
|
|
", desired angle " + toString(q) + |
865 |
|
|
" is larger than upper limit " + toString(jl.upper), |
866 |
|
|
MSG_TYPE_ERROR); |
867 |
|
|
return false; |
868 |
|
|
} |
869 |
|
|
return true; |
870 |
|
|
} |
871 |
|
|
|
872 |
|
|
bool JointTrajectoryGenerator::isForceInRange(unsigned int id, |
873 |
|
|
const Eigen::VectorXd& f) { |
874 |
|
|
ForceLimits fl = m_robot_util->m_force_util.get_limits_from_id(id); |
875 |
|
|
for (unsigned int i = 0; i < 6; i++) |
876 |
|
|
if (f[i] < fl.lower[i] || f[i] > fl.upper[i]) { |
877 |
|
|
SEND_MSG("Desired force " + toString(i) + |
878 |
|
|
" is out of range: " + toString(fl.lower[i]) + " < " + |
879 |
|
|
toString(f[i]) + " < " + toString(fl.upper[i]), |
880 |
|
|
MSG_TYPE_ERROR); |
881 |
|
|
return false; |
882 |
|
|
} |
883 |
|
|
return true; |
884 |
|
|
} |
885 |
|
|
|
886 |
|
|
bool JointTrajectoryGenerator::isForceInRange(unsigned int id, int axis, |
887 |
|
|
double f) { |
888 |
|
|
ForceLimits fl = m_robot_util->m_force_util.get_limits_from_id(id); |
889 |
|
|
if (f < fl.lower[axis] || f > fl.upper[axis]) { |
890 |
|
|
SEND_MSG("Desired force " + toString(axis) + |
891 |
|
|
" is out of range: " + toString(fl.lower[axis]) + " < " + |
892 |
|
|
toString(f) + " < " + toString(fl.upper[axis]), |
893 |
|
|
MSG_TYPE_ERROR); |
894 |
|
|
return false; |
895 |
|
|
} |
896 |
|
|
return true; |
897 |
|
|
} |
898 |
|
|
|
899 |
|
|
/* ------------------------------------------------------------------- */ |
900 |
|
|
/* --- ENTITY -------------------------------------------------------- */ |
901 |
|
|
/* ------------------------------------------------------------------- */ |
902 |
|
|
|
903 |
|
|
void JointTrajectoryGenerator::display(std::ostream& os) const { |
904 |
|
|
os << "JointTrajectoryGenerator " << getName(); |
905 |
|
|
try { |
906 |
|
|
getProfiler().report_all(3, os); |
907 |
|
|
} catch (ExceptionSignal e) { |
908 |
|
|
} |
909 |
|
|
} |
910 |
|
|
} // namespace torque_control |
911 |
|
|
} // namespace sot |
912 |
|
|
} // namespace dynamicgraph |