Size MenuItem::GetMinSize() const
{
Size sz1 = GetTextSize(text, font);
Size sz2(0, 0);
if(accel) {
sz2 = GetTextSize(GetKeyDesc(accel), font);
sz2.cx += Zx(12);
}
Size lsz = min(maxiconsize, licon.GetSize());
Size rsz = ricon.GetSize();
return AddFrameSize(Size(max(lsz.cx, leftgap) + sz1.cx + max(sz2.cx, (rsz.cx ? Zx(16) : 0))
+ max(rsz.cx, Zx(16)) + textgap + Zx(10),
max(max(lsz.cy, rsz.cy) + Zy(4), sz1.cy + Zy(6))));
}
void HelpWindow::SetZoom()
{
zoom.d = 1000000 / Zy(800);
current_link = Null;
GoTo0(topic);
Refresh();
}
virtual Size GetStdSize(const Value& q) const {
ValueArray va = q;
Size sz = GetTextSize(String(va[0]), fnt);
sz.cx += Zx(20);
sz.cy = max(sz.cy, Zy(16));
return sz;
}
int
KinematicSolver::forward(btTransform& pose) const {
TRACER_ENTER_SCOPE("KinematicSolver::forward()");
if (false && forwardKinTimestamp_ == arm_->timestamp()) {
pose = forwardKinCached_;
return 0;
}
Arm::IdType armId_new = arm_->id();
int armId = armIdFromSerial(arm_->id());
pose = actual_world_to_ik_world(armId)
* Tw2b
* Zs(THS_TO_IK(armId,arm_->getJointById(Joint::IdType::SHOULDER_)->position()))
* Xu
* Ze(THE_TO_IK(armId,arm_->getJointById(Joint::IdType::ELBOW_)->position()))
* Xf
* Zr(THR_TO_IK(armId,arm_->getJointById(Joint::IdType::ROTATION_)->position()))
* Zi(D_TO_IK(armId,arm_->getJointById(Joint::IdType::INSERTION_)->position()))
* Xip
* Zp(THP_TO_IK(armId,arm_->getJointById(Joint::IdType::WRIST_)->position()))
* Xpy
* Zy(THY_TO_IK_FROM_FINGERS(armId,arm_->getJointById(Joint::IdType::FINGER1_)->position(),arm_->getJointById(Joint::IdType::FINGER2_)->position()))
* Tg;
//int grasp = MECH_GRASP_FROM_MECH_FINGERS(armId,arm_->getJointById(Joint::Type::GRIPPER1_)->position(),arm_->getJointById(Joint::Type::GRIPPER2_)->position());
const_cast<KinematicSolver*>(this)->forwardKinCached_ = pose;
const_cast<KinematicSolver*>(this)->forwardKinTimestamp_ = arm_->timestamp();
return 0;
}
void SIC_StdFont(EscEscape& e)
{
if(e.GetCount() == 1)
e = EscFont(StdFont()(Zy(e.Int(0))));
else
e = EscFont(StdFont());
}
NewPackageFileWindow::NewPackageFileWindow()
{
CtrlLayoutOKCancel(*this, "New package file");
type.SetLineCy(max(Zy(16), Draw::GetStdFontCy()));
type.SetDropLines(20);
Type("cpp", "C++ source file");
Type("h", "C++ header file");
type.AddSeparator();
Type("lay", "Layout file (dialog templates)");
Type("iml", "Image file (icons)");
Type("icpp", "Initialization C++ source file");
Type("usc", "Escape script file (scripting TheIDE)");
Type("witz", "Skylark template file (web framework files)");
Type("qtf", "U++ rich text file");
type.AddSeparator();
Type("json", "JSON file");
Type("xml", "XML file");
Type("html", "HTML file");
Type("css", "CSS file");
type.AddSeparator();
Type("sch", "SQL schema file");
Type("ddl", "SQL DDL script file");
Type("sql", "SQL script file");
type.AddSeparator();
Type("java", "Java");
Type("js", "JavaScript");
Type("py", "Python");
type.AddSeparator();
Type("", "Other");
name << [=] {
String ext = GetFileExt(~~name);
if(ext.GetCount()) {
ext = ext.Mid(1);
type <<= type.HasKey(ext) ? ext : Null;
}
Sync();
};
name <<= ".cpp";
type <<= "cpp";
type << [=] {
String ext = ~type;
if(ext.GetCount()) {
String h = ~name;
name <<= ForceExt(h, "." + ext);
int q = GetFileTitle(h).GetCount();
name.SetSelection(q, q);
}
Sync();
};
Sync();
}
SelectPackageDlg::SelectPackageDlg(const char *title, bool selectvars_, bool main)
: selectvars(selectvars_)
{
CtrlLayoutOKCancel(*this, title);
Sizeable().Zoomable();
Icon(IdeImg::MainPackage(), IdeImg::PackageLarge());
base.AutoHideSb();
base.NoGrid();
base.AddColumn("Assembly");
base.WhenCursor = THISBACK(OnBase);
base.WhenBar = THISBACK(ToolBase);
base.WhenLeftDouble = THISBACK(OnBaseEdit);
ok.WhenAction = clist.WhenLeftDouble = alist.WhenLeftDouble = THISBACK(OnOK);
cancel.WhenAction = WhenClose = THISBACK(OnCancel);
clist.Columns(4);
clist.WhenEnterItem = clist.WhenKillCursor = THISBACK(ListCursor);
alist.AddColumn("Package").Add(3);
alist.AddColumn("Nest");
alist.AddColumn("Description");
alist.AddIndex();
alist.ColumnWidths("108 79 317");
alist.WhenCursor = THISBACK(ListCursor);
alist.EvenRowColor();
alist.SetLineCy(max(Zy(16), Draw::GetStdFontCy()));
list.Add(clist.SizePos());
list.Add(alist.SizePos());
splitter.Horz(base, list);
splitter.SetPos(2000);
splitter.Zoom(selectvars ? -1 : 1);
newu <<= THISBACK(OnNew);
filter <<= THISBACK(OnFilter);
filter.Add(MAIN|FIRST, "Main packages of first nest");
filter.Add(MAIN, "All main packages");
filter.Add(FIRST, "All packages of first nest");
filter.Add(0, "All packages");
filter <<= main ? MAIN|FIRST : 0;
progress.Hide();
brief <<= THISBACK(SyncBrief);
search.NullText("Search (Ctrl+K)", StdFont().Italic(), SColorDisabled());
search <<= THISBACK(SyncList);
search.SetFilter(CharFilterDefaultToUpperAscii);
SyncBrief();
description.NullText("Package description (Alt+Enter)", StdFont().Italic(), SColorDisabled());
description <<= THISBACK(ChangeDescription);
ActiveFocus(brief ? (Ctrl&)clist : (Ctrl&)alist);
clist.BackPaintHint();
alist.BackPaintHint();
base.BackPaintHint();
loadi = 0;
loading = false;
clist.WhenBar = alist.WhenBar = THISBACK(PackageMenu);
}
ParaFormatting::ParaFormatting()
{
CtrlLayout(*this);
tabtype.Add(ALIGN_LEFT, t_("Left"));
tabtype.Add(ALIGN_RIGHT, t_("Right"));
tabtype.Add(ALIGN_CENTER, t_("Centered"));
tabfill.Add(0, t_("None"));
tabfill.Add(1, t_("...."));
tabfill.Add(2, t_("----"));
tabfill.Add(3, t_("__"));
tabs.AddColumn(t_("Tab position"), 2).Edit(tabpos).SetConvert(tabpos);
tabs.AddColumn(t_("Type"), 2).Edit(tabtype).SetConvert(tabtype).InsertValue(ALIGN_LEFT);
tabs.AddColumn(t_("Fill"), 1).Edit(tabfill).SetConvert(tabfill).InsertValue(0);
tabs.ColumnWidths("103 89 78");
tabs.Appending().Removing().NoAskRemove();
tabs.WhenAcceptEdit = tabs.WhenArrayAction = THISBACK(SetMod);
linespacing.Add(0, "1.0");
linespacing.Add(-1, "1.5");
linespacing.Add(-2, "2.0");
bullet.Add(RichPara::BULLET_NONE, RichEditImg::NoneBullet());
bullet.Add(RichPara::BULLET_ROUND, RichEditImg::RoundBullet());
bullet.Add(RichPara::BULLET_ROUNDWHITE, RichEditImg::RoundWhiteBullet());
bullet.Add(RichPara::BULLET_BOX, RichEditImg::BoxBullet());
bullet.Add(RichPara::BULLET_BOXWHITE, RichEditImg::BoxWhiteBullet());
bullet.Add(RichPara::BULLET_TEXT, RichEditImg::TextBullet());
bullet.SetDisplay(CenteredHighlightImageDisplay());
bullet.SetLineCy(RichEditImg::RoundBullet().GetHeight() + Zy(2));
for(int i = 0; i < 8; i++) {
DropList& list = n[i];
list.Add(Null);
list.Add(RichPara::NUMBER_NONE, " - ");
list.Add(RichPara::NUMBER_1, "1, 2, 3");
list.Add(RichPara::NUMBER_0, "0, 1, 2");
list.Add(RichPara::NUMBER_a, "a, b, c");
list.Add(RichPara::NUMBER_A, "A, B, C");
list.Add(RichPara::NUMBER_i, "i, ii, iii");
list.Add(RichPara::NUMBER_I, "I, II, III");
list <<= THISBACK(SetupIndent);
}
before_number <<=
after_number <<=
reset_number <<=
bullet <<= THISBACK(SetupIndent);
EnableNumbering();
rulerink.NullText("---");
rulerstyle.SetDisplay(Single<RulerStyleDisplay>());
rulerstyle.Add(Null);
rulerstyle.Add(RichPara::RULER_SOLID);
rulerstyle.Add(RichPara::RULER_DOT);
rulerstyle.Add(RichPara::RULER_DASH);
}
NAMESPACE_UPP
#define LLOG(x) // DLOG(x)
#define LTIMING(x) // RTIMING(x)
MenuItemBase::MenuItemBase()
{
accel = 0;
state = 0;
isenabled = true;
type = 0;
font = StdFont();
leftgap = Zx(16);
textgap = Zy(6);
accesskey = 0;
NoWantFocus();
style = &MenuBar::StyleDefault();
Transparent();
maxiconsize = Size(INT_MAX, INT_MAX);
}
int TopMenuItem::GetStdHeight(Font font)
{
return font.Info().GetHeight() + Zy(7);
}
void MenuItem::Paint(Draw& w)
{
int q = text.Find('\t');
String txt, keydesc;
if(accel)
keydesc = GetKeyDesc(accel);
if(q >= 0) {
keydesc = text.Mid(q + 1);
txt = text.Mid(0, q);
}
else
txt = text;
state = GetVisualState();
bool hl = state != NORMAL;
Size sz = GetSize();
if(hl) {
if(GUI_GlobalStyle() >= GUISTYLE_XP)
ChPaint(w, 0, 0, sz.cx, sz.cy, style->item);
else
w.DrawRect(sz, SColorHighlight);
}
UPP::Image li = licon;
if(li.IsEmpty()) {
switch(type) {
case CHECK0: li = CtrlImg::MenuCheck0(); break;
case CHECK1: li = CtrlImg::MenuCheck1(); break;
case RADIO0: li = CtrlImg::MenuRadio0(); break;
case RADIO1: li = CtrlImg::MenuRadio1(); break;
}
}
Size isz = li.GetSize();
// Size isz = min(maxiconsize, imsz);
// if(isz != imsz)
// li = CachedRescale(li, isz);
int iy = (sz.cy - isz.cy) / 2;
bool chk = false;
int x = Zx(2);
if(!licon.IsEmpty() && type) {
chk = type == CHECK1 || type == RADIO1;
if(GUI_GlobalStyle() >= GUISTYLE_XP) {
if(chk && !hl)
DrawXPButton(w, RectC(0, iy - Zy(2), isz.cx + Zx(4), isz.cy + Zy(4)),
BUTTON_EDGE|BUTTON_CHECKED);
}
else {
w.DrawRect(x - Zx(1), iy - Zy(1), isz.cx + Zx(2), isz.cy + Zy(2),
chk ? Blend(SColorFace, SColorLight) : SColorFace);
DrawBorder(w, x - Zx(2), iy - Zy(2), isz.cx + Zx(4), isz.cy + Zy(4),
chk ? ThinInsetBorder : ThinOutsetBorder);
}
}
if(isenabled)
DrawHighlightImage(w, x, iy, li, hl || chk, true);
else
w.DrawImage(x, iy, DisabledImage(li));
x = max(isz.cx, leftgap) + textgap;
isz = GetTextSize(text, StdFont());
DrawMenuText(w, x, (sz.cy - isz.cy) / 2, txt, font, isenabled, hl, style->menutext,
style->itemtext);
isz = ricon.GetSize();
if(isenabled)
w.DrawImage(sz.cx - isz.cx, (sz.cy - isz.cy) / 2, ricon, hl ? style->itemtext : style->menutext);
else
w.DrawImage(sz.cx - isz.cx, (sz.cy - isz.cy) / 2, DisabledImage(ricon));
x = sz.cx - max(isz.cx, Zx(16)) - Zx(1);
if(!IsEmpty(keydesc)) {
isz = GetTextSize(keydesc, StdFont());
UPP::DrawMenuText(w, x - isz.cx - Zx(2), (sz.cy - isz.cy) / 2, keydesc, font, isenabled, hl,
0, SColorMenuMark(), style->itemtext, false);
}
}
InverseKinematicsReportPtr
KinematicSolver::internalInverseSoln(const btTransform& pose, Arm* arm,const InverseKinematicsOptions& options) const {
TRACER_ENTER_SCOPE("KinematicSolver::internalInverseSoln(arm@%p)",arm);
InverseKinematicsReportPtr report(new InverseKinematicsReport());
Arm::IdType armId_new = arm_->id();
int armId = armIdFromSerial(arm_->id());
// desired tip position
// btVector3 currentPoint = btVector3(mech->pos.x,mech->pos.y,mech->pos.z) / MICRON_PER_M;
// btVector3 actualPoint = btVector3(pos_d->x,pos_d->y,pos_d->z) / MICRON_PER_M;
// btMatrix3x3 actualOrientation = toBt(ori_d->R);
// btTransform actualPose(actualOrientation,actualPoint);
// btTransform actualPose_fk = pose;
// tb_angles currentPoseAngles = tb_angles(mech->ori.R);
// tb_angles actualPoseAngles = tb_angles(ori_d->R);
//float grasp = GRASP_TO_IK(armId,mech->ori_d.grasp);
float grasp = arm->getJointById(Joint::IdType::GRASP_)->position();
// if (print) {
// log_msg("j s % 2.1f e % 2.1f r % 2.1f i % 1.3f p % 2.1f y % 2.1f g % 2.1f g1 % 2.1f g2 % 2.1f",
// arm->getJointById(Joint::Type::SHOULDER_)->position() RAD2DEG,
// arm->getJointById(Joint::Type::ELBOW_)->position() RAD2DEG,
// arm->getJointById(Joint::Type::TOOL_ROT_)->position() RAD2DEG,
// arm->getJointById(Joint::Type::INSERTION__)->position(),
// arm->getJointById(Joint::Type::WRIST_)->position() RAD2DEG,
// fix_angle(arm->getJointById(Joint::Type::GRIPPER1_)->position() - arm->getJointById(Joint::Type::GRIPPER2_)->position()) / 2 RAD2DEG,
// (arm->getJointById(Joint::Type::GRIPPER1_)->position() + arm->getJointById(Joint::Type::GRIPPER2_)->position()) RAD2DEG,
// arm->getJointById(Joint::Type::GRIPPER1_)->position() RAD2DEG,arm->getJointById(Joint::Type::GRIPPER2_)->position() RAD2DEG);
// log_msg("v s % 2.1f e % 2.1f r % 2.1f i % 1.3f p % 2.1f y % 2.1f g % 2.1f g1 % 2.1f g2 % 2.1f",
// arm->getJointById(Joint::Type::SHOULDER].jvel RAD2DEG,
// arm->getJointById(Joint::Type::ELBOW].jvel RAD2DEG,
// arm->getJointById(Joint::Type::TOOL_ROT].jvel RAD2DEG,
// arm->getJointById(Joint::Type::INSERTION_].jvel,
// arm->getJointById(Joint::Type::WRIST].jvel RAD2DEG,
// (arm->getJointById(Joint::Type::GRASP1].jvel - arm->getJointById(Joint::Type::GRASP2].jvel) / 2 RAD2DEG,
// arm->getJointById(Joint::Type::GRASP1].jvel + arm->getJointById(Joint::Type::GRASP2].jvel RAD2DEG,
// arm->getJointById(Joint::Type::GRASP1].jvel RAD2DEG,arm->getJointById(Joint::Type::GRASP2].jvel RAD2DEG);
// log_msg("t s % 1.3f e % 1.3f r % 1.3f i % 1.3f p % 1.3f g1 % 1.3f g2 % 1.3f",arm->getJointById(Joint::Type::SHOULDER].tau_d,
// arm->getJointById(Joint::Type::ELBOW].tau_d,arm->getJointById(Joint::Type::TOOL_ROT].tau_d,arm->getJointById(Joint::Type::INSERTION_].tau_d,arm->getJointById(Joint::Type::WRIST].tau_d,
// arm->getJointById(Joint::Type::GRASP1].tau_d,arm->getJointById(Joint::Type::GRASP2].tau_d);
// log_msg("d s %d e %d r %d i %d p %d g1 %d g2 %d",tToDACVal(&(arm->getJointById(Joint::Type::SHOULDER])),
// tToDACVal(&(arm->getJointById(Joint::Type::ELBOW])),tToDACVal(&(arm->getJointById(Joint::Type::TOOL_ROT])),tToDACVal(&(arm->getJointById(Joint::Type::INSERTION_])),tToDACVal(&(arm->getJointById(Joint::Type::WRIST])),
// tToDACVal(&(arm->getJointById(Joint::Type::GRASP1])),tToDACVal(&(arm->getJointById(Joint::Type::GRASP2])));
// log_msg("cp (% 1.3f,% 1.3f,% 1.3f\typr (% 1.3f,% 1.3f,% 1.3f))",
// currentPoint.x(),currentPoint.y(),currentPoint.z(),
// currentPoseAngles.yaw_deg,currentPoseAngles.pitch_deg,currentPoseAngles.roll_deg);
// log_msg("pt (% 1.3f,% 1.3f,% 1.3f)\typr (% 1.3f,% 1.3f,% 1.3f)\tg % 1.3f",
// actualPoint.x(),actualPoint.y(),actualPoint.z(),
// actualPoseAngles.yaw_deg,actualPoseAngles.pitch_deg,actualPoseAngles.roll_deg,
// grasp);
//
// btVector3 point = actualPose_fk.getOrigin();
// tb_angles angles = tb_angles(actualPose_fk.getBasis());
// log_msg("fp (% 1.3f,% 1.3f,% 1.3f)\typr (% 2.1f,% 2.1f,% 2.1f)\tg % 1.3f",
// point.x(),point.y(),point.z(),
// angles.yaw_deg,angles.pitch_deg,angles.roll_deg,
// grasp);
//
// }
/*
* Actual pose is in the actual world frame, so we have <actual_world to gripper>
* The ik world frame is the base frame.
* Therefore, we need <base to actual_world> to get <base to gripper>.
* <base to actual_world> is inverse of <actual_world to base>
*
* Since the ik is based on the yaw frame (to which the gripper is fixed), we
* take the pose of the yaw frame, not the gripper frame
*/
btTransform ik_pose = ik_world_to_actual_world(armId) * pose * Tg.inverse();
btMatrix3x3 ik_orientation = ik_pose.getBasis();
btVector3 ik_point = ik_pose.getOrigin();
tb_angles ikPoseAngles = tb_angles(ik_pose);
// if (print) {
// log_msg("ik (%0.4f,%0.4f,%0.4f)\typr (%0.4f,%0.4f,%0.4f)",
// ik_point.x(),ik_point.y(),ik_point.z(),
// ikPoseAngles.yaw_deg,ikPoseAngles.pitch_deg,ikPoseAngles.roll_deg);
// }
float ths_offset, thr_offset, thp_offset;
if (arm->isGold()) {
ths_offset = SHOULDER_OFFSET_GOLD;
thr_offset = TOOL_ROT_OFFSET_GOLD;
thp_offset = WRIST_OFFSET_GOLD;
} else {
ths_offset = SHOULDER_OFFSET_GREEN;
thr_offset = TOOL_ROT_OFFSET_GREEN;
thp_offset = WRIST_OFFSET_GREEN;
}
const float th12 = THETA_12;
const float th23 = THETA_23;
const float ks12 = sin(th12);
const float kc12 = cos(th12);
const float ks23 = sin(th23);
const float kc23 = cos(th23);
const float dw = DW;
btTransform Tworld_to_gripper = ik_pose;
btTransform Tgripper_to_world = ik_pose.inverse();
// if (print) {
// log_msg("Tw2g: %d",PRINT_EVERY);
// for (int i=0;i<3;i++) {
// log_msg(" %0.4f\t%0.4f\t%0.4f\t%0.4f",ik_pose.getBasis()[i][0],ik_pose.getBasis()[i][1],ik_pose.getBasis()[i][2],ik_pose.getOrigin()[i]);
// }
// }
btVector3 origin_in_gripper_frame = Tgripper_to_world.getOrigin();
float px = origin_in_gripper_frame.x();
float py = origin_in_gripper_frame.y();
float pz = origin_in_gripper_frame.z();
float thy = atan2f(py,-px);
float thp;
if (fabs(thy) < 0.001) {
thp = atan2f(-pz, -px/cos(thy) - dw);
// if (print) { log_msg("zero thy: %0.4f, (%0.4f, %0.4f, %0.4f)",thp,px,py,pz); }
} else {
thp = atan2f(-pz, py/sin(thy) - dw);
}
float d = -pz / sin(thp);
float d_act, thp_act, thy_act, g1_act, g2_act;
d_act = D_FROM_IK(armId,d);
thp_act = THP_FROM_IK(armId,thp);
thy_act = THY_FROM_IK(armId,thy,grasp);
g1_act = FINGER1_FROM_IK(armId,thy,grasp);
g2_act = FINGER2_FROM_IK(armId,thy,grasp);
//check angles
int validity1[4];
bool valid1 = checkJointLimits1(d_act,thp_act,g1_act,g2_act,validity1);
if (!valid1) {
// if (_curr_rl == 3 && !(DISABLE_ALL_PRINTING)) {
// printf("ik %d invalid --1-- d [%d] % 2.4f \tp [%d] % 3.1f\ty [%d %d] % 3.1f\n",
// armId,
// validity1[0], d_act,
// validity1[1], thp_act RAD2DEG,
// validity1[2],validity1[3], thy_act RAD2DEG);
// }
return report;
}
//set joints
//setJointsWithLimits1(mech,d_act,thp_act,thy_act,grasp);
btVector3 z_roll_in_world = btTransform(Zi(d) * Xip * Zp(thp) * Xpy * Zy(thy) * Tg * Tgripper_to_world).invXform(btVector3(0,0,1));
btVector3 x_roll_in_world = btTransform(Zi(d) * Xip * Zp(thp) * Xpy * Zy(thy) * Tg * Tgripper_to_world).invXform(btVector3(1,0,0));
float zx = z_roll_in_world.x();
float zy = z_roll_in_world.y();
float zz = z_roll_in_world.z();
float xx = x_roll_in_world.x();
float xy = x_roll_in_world.y();
float xz = x_roll_in_world.z();
float cthe = (zy + kc12*kc23) / (ks12*ks23);
float the_1 = acos(cthe);
float the_2 = -acos(cthe);
float the_opt[2];
the_opt[0] = the_1;
the_opt[1] = the_2;
float ths_opt[2];
float thr_opt[2];
bool opts_valid[2];
float validity2[2][4];
float ths_act[2];
float the_act[2];
float thr_act[2];
for (int i=0;i<2;i++) {
float sthe_tmp = sin(the_opt[i]);
float C1 = ks12*kc23 + kc12*ks23*cthe;
float C2 = ks23 * sthe_tmp;
float C3 = C2 + C1*C1 / C2;
ths_opt[i] = atan2(
-sgn(C3)*(zx - C1 * zz / C2),
sgn(C3)*(zz + C1 * zx / C2));
float sths_tmp = sin(ths_opt[i]);
float cths_tmp = cos(ths_opt[i]);
float C4 = ks12 * sin(the_opt[i]);
float C5 = kc12 * ks23 + ks12 * kc23 * cos(the_opt[i]);
float C6 = kc23*(sthe_tmp * sths_tmp - kc12*cthe*cths_tmp) + cths_tmp*ks12*ks23;
float C7 = cthe*sths_tmp + kc12*cths_tmp*sthe_tmp;
thr_opt[i] = atan2(
(xx - C7 * xy / C4) / (C6 + C7*C5/C4),
(xx + C6 * xy / C5) / (-C6*C4/C5 - C7));
ths_act[i] = THS_FROM_IK(armId,ths_opt[i]);
the_act[i] = THE_FROM_IK(armId,the_opt[i]);
thr_act[i] = THR_FROM_IK(armId,thr_opt[i]);
// if (print) {
// log_msg("j s % 3.1f e % 3.1f r % 3.1f i % 1.3f p % 3.1f y % 3.1f g % 3.1f g1 % 3.1f g2 % 3.1f",
// arm->getJointById(Joint::Type::SHOULDER_)->position() RAD2DEG,
// arm->getJointById(Joint::Type::ELBOW_)->position() RAD2DEG,
// arm->getJointById(Joint::Type::TOOL_ROT_)->position() RAD2DEG,
// arm->getJointById(Joint::Type::INSERTION__)->position(),
// arm->getJointById(Joint::Type::WRIST_)->position() RAD2DEG,
// THY_MECH_FROM_FINGERS(armIdFromMechType(mech->type),arm->getJointById(Joint::Type::GRIPPER1_)->position(), arm->getJointById(Joint::Type::GRIPPER2_)->position()) RAD2DEG,//fix_angle(arm->getJointById(Joint::Type::GRIPPER2_)->position() - arm->getJointById(Joint::Type::GRIPPER1_)->position(),0) / 2 RAD2DEG,
// mech->ori.grasp * 1000. RAD2DEG,
// fix_angle(arm->getJointById(Joint::Type::GRIPPER1_)->position() + arm->getJointById(Joint::Type::GRIPPER2_)->position(),0) RAD2DEG,
// arm->getJointById(Joint::Type::GRIPPER1_)->position() RAD2DEG, arm->getJointById(Joint::Type::GRIPPER2_)->position() RAD2DEG);
// log_msg("%d s % 3.1f e % 3.1f r % 3.1f i % 1.3f p % 3.1f y % 3.1f g % 3.1f g1 % 3.1f g2 % 3.1f",i,
// ths_act[i] RAD2DEG,
// the_act[i] RAD2DEG,
// thr_act[i] RAD2DEG,
// d_act,
// thp_act RAD2DEG,
// thy_act RAD2DEG,
// grasp RAD2DEG,
// g1_act RAD2DEG,
// g2_act RAD2DEG);
//
// if (ths_act != ths_act) {
// log_msg("C1 %0.4f\tC2 %0.4f\tC3 %0.4f\tC4 %0.4f\tC5 %0.4f\tC6 %0.4f\tC7 %0.4f\t",C1,C2,C3,C4,C5,C6,C7);
// log_msg("ks23 %0.4f\tsthe_tmp %0.4f",ks23 , sthe_tmp);
// log_msg("cthe %0.4f\tzy %0.4f\tkc12 %0.4f\tkc23 %0.4f\tks12 %0.4f\tks23 %0.4f",cthe,zy,kc12,kc23,ks12,ks23);
// }
// }
bool valid2 = checkJointLimits2(ths_act[i],the_act[i],thr_act[i],validity2[i]);
opts_valid[i] = valid2;
if (valid2) {
float ths_diff, the_diff, d_diff, thr_diff, thp_diff, thg1_diff, thg2_diff;
//set joints
setJointsWithLimits1(arm,d_act,thp_act,g1_act,g2_act);
setJointsWithLimits2(arm,ths_act[i],the_act[i],thr_act[i]);
ths_diff = arm->getJointById(Joint::IdType::SHOULDER_)->position() - ths_act[i];
the_diff = arm->getJointById(Joint::IdType::ELBOW_)->position() - the_act[i];
d_diff = arm->getJointById(Joint::IdType::INSERTION_)->position() - d_act;
thr_diff = arm->getJointById(Joint::IdType::ROTATION_)->position() - thr_act[i];
thp_diff = arm->getJointById(Joint::IdType::WRIST_)->position() - thp_act;
thg1_diff = arm->getJointById(Joint::IdType::FINGER1_)->position() - g1_act;
thg2_diff = arm->getJointById(Joint::IdType::FINGER2_)->position() - g2_act;
/*
ths_diff = arm->getJointById(Joint::Type::SHOULDER_)->position()_d - ths_act;
the_diff = arm->getJointById(Joint::Type::ELBOW_)->position()_d - the_act;
d_diff = arm->getJointById(Joint::Type::INSERTION__)->position()_d - d_act;
thr_diff = arm->getJointById(Joint::Type::TOOL_ROT_)->position()_d - thr_act;
thp_diff = arm->getJointById(Joint::Type::WRIST_)->position()_d - thp_act;
thg1_diff = arm->getJointById(Joint::Type::GRIPPER1_)->position()_d - g1_act;
thg2_diff = arm->getJointById(Joint::Type::GRIPPER2_)->position()_d - g2_act;
*/
// if (print) {
// log_msg("%d s % 2.1f e % 2.1f r % 2.1f i % 1.3f p % 2.1f g % 2.1f g1 % 2.1f g2 % 2.1f",i,
// arm->getJointById(Joint::Type::SHOULDER_)->position()_d RAD2DEG,
// arm->getJointById(Joint::Type::ELBOW_)->position()_d RAD2DEG,
// arm->getJointById(Joint::Type::TOOL_ROT_)->position()_d RAD2DEG,
// arm->getJointById(Joint::Type::INSERTION__)->position()_d,
// arm->getJointById(Joint::Type::WRIST_)->position()_d RAD2DEG,
// grasp RAD2DEG,
// arm->getJointById(Joint::Type::GRIPPER1_)->position()_d RAD2DEG,
// arm->getJointById(Joint::Type::GRIPPER2_)->position()_d RAD2DEG);
// log_msg("diff:");
// log_msg("R s %0.4f e %0.4f r %0.4f d %0.4f p %0.4f g1 %0.4f g2 %0.4f",
// ths_diff,the_diff,thr_diff,d_diff,thp_diff,thg1_diff,thg2_diff);
// log_msg("D s %0.4f e %0.4f r %0.4f d %0.4f p %0.4f g1 %0.4f g2 %0.4f",
// ths_diff*180/M_PI,the_diff*180/M_PI,thr_diff*180/M_PI,d_diff,
// thp_diff*180/M_PI,thg1_diff*180/M_PI,thg2_diff*180/M_PI);
//
// }
//
// if (i==1 && _curr_rl == 3) {
// //printf("ik ok! %d\n",_ik_counter);
// }
}
}
if (opts_valid[0]) {
report->success_ = true;
return report;
} else if (opts_valid[1]) {
// bool ENABLE_PARTIAL_INVALID_IK_PRINTING = false;
// if (ENABLE_PARTIAL_INVALID_IK_PRINTING && (_curr_rl == 3 || print) && !(DISABLE_ALL_PRINTING)) {
// printf("ik %d ok **2** s %1.4f %1.4f\te %1.4f %1.4f\tr %1.4f %1.4f\n",
// armId,
// ths_act[0] RAD2DEG,validity2[0][0],
// the_act[0] RAD2DEG,validity2[0][1],
// thr_act[0] RAD2DEG,validity2[0][2]);
// /*
// printf("%7d d %0.4f \tp %0.4f \ty %0.4f\n",_ik_counter,
// d_act,thp_act RAD2DEG,thy_act RAD2DEG);
// printf("x (%f, %f, %f) z (%f, %f, %f) %f\n",xx,xy,xz,zx,zy,zz,cthe);
// printf("norms %f %f\n",x_roll_in_world.length(),z_roll_in_world.length());
// printf("(zy + kc12*kc23): %f (%f, %f)\n",(zy + kc12*kc23),zy, kc12*kc23);
// printf("(ks12*ks23): %f\n",(ks12*ks23));
// */
// }
report->success_ = true;
return report;
} else {
const float maxValidDist = 3 DEG2RAD;
float valid_dist[2];
for (int i=0;i<2;i++) {
float sum = 0;
for (int j=0;j<3;j++) {
float v = fabs(validity2[i][j]);
sum += v*v;
}
valid_dist[i] = sqrt(sum);
}
bool use0 = valid_dist[0] < maxValidDist && valid_dist[0] < valid_dist[1];
bool use1 = valid_dist[1] < maxValidDist && valid_dist[0] > valid_dist[1];
printf("ik validity distances: (%s | %s) % 1.3f\t%f\n",use0?"Y":" ",use1?"Y":" ",valid_dist[0],valid_dist[1]);
if (valid_dist[0] < maxValidDist && valid_dist[0] < valid_dist[1]) {
printf("setting joints to ik soln 1\n");
setJointsWithLimits1(arm,d_act,thp_act,g1_act,g2_act);
setJointsWithLimits2(arm,ths_act[0],the_act[0],thr_act[0]);
} else if (valid_dist[1] < maxValidDist) {
printf("setting joints to ik soln 2\n");
setJointsWithLimits1(arm,d_act,thp_act,g1_act,g2_act);
setJointsWithLimits2(arm,ths_act[1],the_act[1],thr_act[1]);
}
// if ((_curr_rl == 3 || print) && !(DISABLE_ALL_PRINTING)) {
// printf("ik %d invalid **2** s %1.4f % 2.1f\te %1.4f % 2.1f\tr %1.4f % 2.1f\n",
// armId,
// ths_act[0] RAD2DEG,validity2[0][0] RAD2DEG,
// the_act[0] RAD2DEG,validity2[0][1] RAD2DEG,
// thr_act[0] RAD2DEG,validity2[0][2] RAD2DEG);
// printf(" s %1.4f % 2.1f\te %1.4f % 2.1f\tr %1.4f % 2.1f\n",
// ths_act[1] RAD2DEG,validity2[1][0] RAD2DEG,
// the_act[1] RAD2DEG,validity2[1][1] RAD2DEG,
// thr_act[1] RAD2DEG,validity2[1][2] RAD2DEG);
// }
return report;
}
return report;
}
void SIC_Courier(EscEscape& e)
{
e = EscFont(Courier(Zy(e.Int(0))));
}
void SIC_Roman(EscEscape& e)
{
e = EscFont(Roman(Zy(e.Int(0))));
}
void SIC_Arial(EscEscape& e)
{
e = EscFont(Arial(Zy(e.Int(0))));
}
void VideoFluids::trackVelocity(Matrix& Zn1,Matrix& Zn,Matrix& U,Matrix& V)
{
Matrix Zx(height,width),Zy(height,width),ZZx(height,width),ZZy(height,width),Zt(height,width),ZZt(height,width),ZZtx(height,width),ZZty(height,width);
Matrix Au1(height,width),Au2(height,width),Av1(height,width),Av2(height,width);
Matrix Z2x(height,width),Z2y(height,width),Z2(height,width);
Matrix Cu(height,width),Cv(height,width);
Matrix tmp(height,width),tmp1(height,width);
Matrix U_old(height,width),V_old(height,width),Ux(height,width),Uy(height,width),Vx(height,width),Vy(height,width),Uax(height,width),Uay(height,width),Vax(height,width),Vay(height,width),Uxy(height,width),Vxy(height,width);
Matrix Coe(height,width);
Zt = Zn;
Zt -= Zn1;
DotMul(Zn,Zt,ZZt);
Zn.output("Zn.txt");
Zn1.output("Zn1.txt");
Zt.output("Zt.txt");
Partial(ZZt,ZZtx,AXIS_X);
Partial(ZZt,ZZty,AXIS_Y);
Partial(Zn,Zx,AXIS_X);
Partial(Zn,Zy,AXIS_Y);
DotMul(Zn,Zx,ZZx);
DotMul(Zn,Zy,ZZy);
DotMul(Zx,Zx,Au1);
Partial(ZZx,tmp,AXIS_X);
Au1-=tmp;
DotMul(Zn,Zn,tmp);
Au1+=tmp;
Au1+=2*alpha*alpha;
DotMul(Zx,Zy,Au2);
Partial(ZZy,tmp,AXIS_X);
Au2-=tmp;
DotMul(Zx,Zy,Av1);
Partial(ZZx,tmp,AXIS_Y);
Av1-=tmp;
DotMul(Zy,Zy,Av2);
Partial(ZZy,tmp,AXIS_Y);
Av2-=tmp;
DotMul(Zn,Zn,tmp);
Av2+=tmp;
Av2+=2*alpha*alpha;
DotMul(Zn,Zn,Z2);
Partial(Z2,Z2x,AXIS_X);
Partial(Z2,Z2y,AXIS_Y);
for (int i = 0;i<height;i++)
for (int j = 0;j<width;j++)
Coe[i][j] = 1.0/(Au1[i][j]*Av2[i][j]-Au2[i][j]*Av1[i][j]);
U = 0.0;
V = 0.0;
for (int iter_time = 0;iter_time<iterationTime;iter_time++)
{
V_old = V;
U_old = U;
Partial(U,Ux,AXIS_X);
Partial(U,Uy,AXIS_Y);
Partial(V,Vx,AXIS_X);
Partial(V,Vy,AXIS_Y);
Partial(Vx,Vxy,AXIS_Y);
Partial(Ux,Uxy,AXIS_Y);
Average(U,Uax,AXIS_X);
Average(U,Uay,AXIS_Y);
Average(V,Vax,AXIS_X);
Average(V,Vay,AXIS_Y);
DotMul(Z2x,Ux,Cu);
DotMul(ZZy,Vx,tmp);
Cu += tmp;
tmp = ZZx*-1;
tmp+=Z2x;
DotMul(tmp,Vy,tmp1);
Cu+=tmp1;
tmp = Z2;
tmp+=alpha*alpha;
DotMul(tmp,Uax,tmp1);
Cu+=tmp1;
tmp1=Uay;
tmp1*=alpha*alpha;
Cu+=tmp1;
DotMul(Z2,Vxy,tmp1);
Cu+=tmp1;
DotMul(Zx,Zt,tmp);
Cu-=tmp;
Cu+=ZZtx;
DotMul(Z2y,Vy,Cv);
DotMul(ZZx,Uy,tmp);
Cv += tmp;
tmp = ZZy;
tmp*=-1;
tmp+=Z2y;
DotMul(tmp,Ux,tmp1);
Cv+=tmp1;
tmp = Z2;
tmp+=alpha*alpha;
DotMul(tmp,Vay,tmp1);
Cv+=tmp1;
tmp1=Vax;
tmp1*=alpha*alpha;
Cv+=tmp1;
DotMul(Z2,Uxy,tmp1);
Cv+=tmp1;
DotMul(Zy,Zt,tmp);
Cv-=tmp;
Cv+=ZZty;
for (int i = 0;i<height;i++)
for (int j = 0;j<width;j++)
{
U[i][j] = Coe[i][j]*(Av2[i][j]*Cu[i][j]-Au2[i][j]*Cv[i][j]);
V[i][j] = Coe[i][j]*(-Av1[i][j]*Cu[i][j]+Au1[i][j]*Cv[i][j]);
}
for (int i = 0;i<height;i++)
{
U[i][0] = U[i][1];
U[i][width-1] = U[i][width-2];
V[i][0] = V[i][1];
V[i][width-1] =V[i][width-2];
}
for (int i = 0;i<width;i++)
{
U[0][i] = U[1][i];
U[height-1][i] = U[height-2][i];
V[0][i] = V[1][i];
V[height-1][i] =V[height-2][i];
}
FILE* fp;
// Au1.output("Au1.txt");
// Au2.output("Au2.txt");
// Av1.output("Av1.txt");
// Av2.output("Av2.txt");
// Cu.output("Cu.txt");
// Cv.output("Cv.txt");
float d1 = Difference(U,U_old);
float d2 = Difference(V,V_old);
// U.output("U.txt");
// U_old.output("U_old.txt");
// V.output("V.txt");
cout<<d1<<' '<<d2<<endl;
if (d1<iterationTorlerance && d2<iterationTorlerance)
break;
}
U.output("U.txt");
cv::Mat showV(height,width,CV_8UC3);
float lowv=10000000,lowu=10000000,highu=-10000000,highv=-1000000;
for(int j=0;j<height;j++){
for(int k=0;k<width;k++){
if(U[j][k]>highu)
highu=U[j][k];
if(U[j][k]<lowu)
lowu=U[j][k];
if(V[j][k]>highv)
highv=V[j][k];
if(V[j][k]<lowv)
lowv=V[j][k];
}
}
for(int j=0;j<height;j++){
for(int k=0;k<width;k++){
//printf("%d %d\n",j,k);
//if(sfs_list[i][j][k]<low)
// showH.at<uchar>(j,k)=0;
//else
float u=(U[j][k]-lowu)/(highu-lowu);
float v=(V[j][k]-lowv)/(highv-lowv);
if(u>0.5)
showV.at<cv::Vec3b>(j,k)[2]=255;
else
showV.at<cv::Vec3b>(j,k)[2]=255*u;
if(v>0.5){
showV.at<cv::Vec3b>(j,k)[0]=255;
showV.at<cv::Vec3b>(j,k)[1]=255*(1-v);
}
else{
showV.at<cv::Vec3b>(j,k)[1]=255;
showV.at<cv::Vec3b>(j,k)[0]=255*v;
}
}
}
cv::imwrite("testV.bmp",showV);
printf("show you");
}
