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/* |
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* Copyright 2014-2017, Andrea Del Prete, Rohan Budhiraja LAAS-CNRS |
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* |
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*/ |
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#include <dynamic-graph/factory.h> |
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#include <Eigen/Dense> |
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#include <sot/core/debug.hh> |
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#include <sot/torque_control/commands-helper.hh> |
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#include <sot/torque_control/motor-model.hh> |
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#include <sot/torque_control/torque-offset-estimator.hh> |
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namespace dynamicgraph { |
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namespace sot { |
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namespace torque_control { |
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#define ALL_INPUT_SIGNALS \ |
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m_base6d_encodersSIN << m_accelerometerSIN << m_jointTorquesSIN \ |
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<< m_gyroscopeSIN |
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#define ALL_OUTPUT_SIGNALS m_jointTorquesEstimatedSOUT |
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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 Eigen; |
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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 TorqueOffsetEstimator EntityClassName; |
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typedef int dummy; |
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/* --- DG FACTORY ------------------------------------------------------- */ |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(TorqueOffsetEstimator, |
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"TorqueOffsetEstimator"); |
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/* --- CONSTRUCTION ----------------------------------------------------- */ |
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/* --- CONSTRUCTION ----------------------------------------------------- */ |
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/* --- CONSTRUCTION ----------------------------------------------------- */ |
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TorqueOffsetEstimator::TorqueOffsetEstimator(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_IN(accelerometer, dynamicgraph::Vector), |
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CONSTRUCT_SIGNAL_IN(gyroscope, dynamicgraph::Vector), |
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CONSTRUCT_SIGNAL_IN(jointTorques, dynamicgraph::Vector), |
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CONSTRUCT_SIGNAL_INNER(collectSensorData, dynamicgraph::Vector, |
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ALL_INPUT_SIGNALS), |
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CONSTRUCT_SIGNAL_OUT(jointTorquesEstimated, dynamicgraph::Vector, |
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m_collectSensorDataSINNER << ALL_INPUT_SIGNALS), |
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sensor_offset_status(PRECOMPUTATION), |
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current_progress(0) { |
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Entity::signalRegistration(ALL_INPUT_SIGNALS << ALL_OUTPUT_SIGNALS); |
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addCommand("init", |
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makeCommandVoid5( |
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*this, &TorqueOffsetEstimator::init, |
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docCommandVoid5( |
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"Initialize the estimator", "urdfFilePath", |
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"Homogeneous transformation from chest frame to IMU frame", |
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"Maximum angular velocity allowed in either axis", |
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"Freeflyer joint name", "chest joint name"))); |
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addCommand("computeOffset", |
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makeCommandVoid2( |
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*this, &TorqueOffsetEstimator::computeOffset, |
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docCommandVoid2("Compute the offset for sensor calibration", |
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"Number of iteration to average over.", |
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"Maximum allowed offset"))); |
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addCommand( |
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"getSensorOffsets", |
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makeDirectGetter( |
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*this, &jointTorqueOffsets, |
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docDirectGetter("Return the computed sensor offsets", "vector"))); |
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// encSignals.clear(); |
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// accSignals.clear(); |
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// gyrSignals.clear(); |
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// tauSignals.clear(); |
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// stdVecJointTorqueOffsets.clear(); |
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} |
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/* --- COMMANDS ---------------------------------------------------------- */ |
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/* --- COMMANDS ---------------------------------------------------------- */ |
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/* --- COMMANDS ---------------------------------------------------------- */ |
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void TorqueOffsetEstimator::init(const std::string& robotRef, |
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const Eigen::Matrix4d& m_torso_X_imu_, |
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const double& gyro_epsilon_, |
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const std::string& ffJointName, |
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const std::string& torsoJointName) { |
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try { |
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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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std::cerr << "m_robot_util:" << m_robot_util << std::endl; |
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} else { |
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SEND_MSG( |
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"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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pinocchio::urdf::buildModel(m_robot_util->m_urdf_filename, |
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pinocchio::JointModelFreeFlyer(), m_model); |
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// assert(m_model.nq == N_JOINTS+7); |
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// assert(m_model.nv == N_JOINTS+6); |
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jointTorqueOffsets.resize(m_model.nv - 6); |
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jointTorqueOffsets.setZero(); |
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ffIndex = m_model.getJointId(ffJointName); |
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torsoIndex = m_model.getJointId(torsoJointName); |
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} catch (const std::exception& e) { |
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std::cout << e.what(); |
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SEND_MSG("Init failed: Could load URDF :" + m_robot_util->m_urdf_filename, |
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MSG_TYPE_ERROR); |
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return; |
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} |
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m_data = new pinocchio::Data(m_model); |
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m_torso_X_imu.rotation() = m_torso_X_imu_.block<3, 3>(0, 0); |
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m_torso_X_imu.translation() = m_torso_X_imu_.block<3, 1>(0, 3); |
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gyro_epsilon = gyro_epsilon_; |
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} |
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void TorqueOffsetEstimator::computeOffset(const int& nIterations, |
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const double& epsilon_) { |
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if (sensor_offset_status == PRECOMPUTATION) { |
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SEND_MSG("Starting offset computation with no. iterations:" + nIterations, |
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MSG_TYPE_DEBUG); |
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n_iterations = nIterations; |
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epsilon = epsilon_; |
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sensor_offset_status = INPROGRESS; |
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} else if (sensor_offset_status == INPROGRESS) { |
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SEND_MSG("Collecting input signals. Please keep the graph running", |
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MSG_TYPE_WARNING); |
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} else { // sensor_offset_status == COMPUTED |
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SEND_MSG("Recomputing offset with no. iterations:" + nIterations, |
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MSG_TYPE_DEBUG); |
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// stdVecJointTorqueOffsets.clear(); |
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current_progress = 0; |
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jointTorqueOffsets.setZero(); |
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n_iterations = nIterations; |
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epsilon = epsilon_; |
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sensor_offset_status = INPROGRESS; |
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} |
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return; |
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} |
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DEFINE_SIGNAL_INNER_FUNCTION(collectSensorData, dummy) { |
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if (sensor_offset_status == INPROGRESS) { |
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const Eigen::VectorXd& gyro = m_gyroscopeSIN(iter); |
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if (gyro.array().abs().maxCoeff() >= gyro_epsilon) { |
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SEND_MSG("Very High Angular Rotations.", MSG_TYPE_ERROR_STREAM); |
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} |
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// Check the current iteration status |
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int i = current_progress; |
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if (i < n_iterations) { |
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SEND_MSG("Collecting signals for iteration no:" + i, |
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MSG_TYPE_DEBUG_STREAM); |
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const Eigen::VectorXd& sot_enc = m_base6d_encodersSIN(iter); |
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const Eigen::VectorXd& IMU_acc = m_accelerometerSIN(iter); |
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const Eigen::VectorXd& tau = m_jointTorquesSIN(iter); |
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Eigen::VectorXd enc(m_model.nq); |
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// joints_sot_to_urdf(sot_enc.tail(m_model.nv-6), enc.tail(m_model.nv-6)); |
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enc.tail(m_model.nv - 6) = sot_enc.tail(m_model.nv - 6); |
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// base_sot_to_urdf(sot_enc.head<6>(), enc.head<7>()); |
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enc.head<6>().setZero(); |
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enc[6] = 1.0; |
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// Get the transformation from ff(f) to torso (t) to IMU(i) frame: |
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// fMi = oMf^-1 * fMt * tMi |
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pinocchio::forwardKinematics(m_model, *m_data, enc); |
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// pinocchio::SE3 fMi = |
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// m_data->oMi[ffIndex].inverse()*m_data->oMi[torsoIndex]*m_torso_X_imu; |
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pinocchio::SE3 oMimu = m_data->oMi[torsoIndex] * m_torso_X_imu; |
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// Move the IMU signal to the base frame. |
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// angularAcceleration is zero. Intermediate frame acc and velocities are |
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// zero |
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const dynamicgraph::Vector acc = |
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oMimu.rotation() * IMU_acc; // Torso Acceleration |
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// Deal with gravity predefined in robot model. Robot Z should be pointing |
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// upwards |
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m_model.gravity.linear() = acc; |
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// Set fixed for DEBUG |
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// m_model.gravity.linear() = m_model.gravity981; |
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const Eigen::VectorXd& tau_rnea = pinocchio::rnea( |
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m_model, *m_data, enc, Eigen::VectorXd::Zero(m_model.nv), |
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Eigen::VectorXd::Zero(m_model.nv)); |
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const Eigen::VectorXd current_offset = |
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tau - tau_rnea.tail(m_model.nv - 6); |
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if (current_offset.array().abs().maxCoeff() >= epsilon) { |
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SEND_MSG("Too high torque offset estimated for iteration" + i, |
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MSG_TYPE_ERROR); |
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assert(false); |
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} |
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// encSignals.push_back(_enc); |
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// accSignals.push_back(_acc); |
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// gyrSignals.push_back(_gyr); |
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// tauSignals.push_back(_tau); |
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jointTorqueOffsets += current_offset; |
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current_progress++; |
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} else if (i == n_iterations) { |
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// Find the mean, enough signals collected |
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jointTorqueOffsets /= n_iterations; |
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sensor_offset_status = COMPUTED; |
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} else { // i > n_iterations |
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// Doesn't reach here. |
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assert(false && "Error in collectSensorData. "); |
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} |
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} |
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// else { // sensor_offset_status == COMPUTED |
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// } |
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return s; |
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} |
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DEFINE_SIGNAL_OUT_FUNCTION(jointTorquesEstimated, dynamicgraph::Vector) { |
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m_collectSensorDataSINNER(iter); |
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if (s.size() != m_model.nv - 6) s.resize(m_model.nv - 6); |
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if (sensor_offset_status == PRECOMPUTATION || |
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sensor_offset_status == INPROGRESS) { |
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s = m_jointTorquesSIN(iter); |
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} else { // sensor_offset_status == COMPUTED |
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const dynamicgraph::Vector& inputTorques = m_jointTorquesSIN(iter); |
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s = inputTorques - jointTorqueOffsets; |
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} |
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return s; |
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} |
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void TorqueOffsetEstimator::display(std::ostream& os) const { |
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os << "TorqueOffsetEstimator" << getName() << ":\n"; |
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try { |
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getProfiler().report_all(3, os); |
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} catch (ExceptionSignal e) { |
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} |
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} |
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} // namespace torque_control |
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} // namespace sot |
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} // namespace dynamicgraph |