/* Pair : row,column */
int lee_algo(Pair* source, Pair* target){
int i, j, v1, v2;
Pair p, v, step[4] = {{1,0},{0,1},{-1,0},{0,-1}};
/* initialize all cells like unvisited */
for(i=0; i<sz.r; ++i){
for(j=0; j<sz.c; ++j){
W[i][j] = -1;
}
}
q_clear();
p_set(W,source,0);
q_push(source);
while(!q_empty()){
p = q_pop();
for(i=0; i<4; ++i){
v = p_sum(step+i,&p);
v1 = p_get(Z,&p);
v2 = p_get(Z,&v);
#ifdef DEBUG
printf("try: %d,%d\n",v.r,v.c);
#endif
if(p_in(&v) && p_get(W,&v)==-1 && (v1-v2 <= 3) && (v1-v2 >= -1) && can_go(&v)){
#ifdef DEBUG
printf("from: %d,%d go: %d,%d\n",p.r,p.c,v.r,v.c);
#endif
p_set(W,&v,p_get(W,&p)+1);
q_push(&v);
if(p_eq(&v,target)) break;
}
}
if(p_eq(&v,target)) break;
}
#ifdef DEBUG
printf("q: %d\n",q_empty());
#endif
return p_get(W,target);
}
int hadlock_algo(Pair* source, Pair* target){
int i, j, v1, v2, res;
Pair p, v, step[4] = {{1,0},{0,1},{-1,0},{0,-1}};
/* initialize all cells like unvisited */
for(i=0; i<sz.r; ++i){
for(j=0; j<sz.c; ++j){
W[i][j] = -1;
}
}
q_clear();
p_set(W,source,0);
q_push(source);
while(!q_empty()){
p = q_pop();
for(i=0; i<4; ++i){
v = p_sum(step+i,&p);
v1 = p_get(Z,&p);
v2 = p_get(Z,&v);
if(p_in(&v) && (p_get(W,&v)==-1 || (p_get(W,&v)>p_get(W,&p))) && (v1-v2 <= 3) && (v1-v2 >= -1) && can_go(&v)){
if(p_mhtn_norm(&v,target) < p_mhtn_norm(&p,target)){
p_set(W,&v,p_get(W,&p));
q_push_back(&v);
}else{ /* > */
/*if(!(p_get(W,&v)!=-1 || (p_get(W,&v)==p_get(W,&p)+1))){ */
p_set(W,&v,p_get(W,&p)+1);
q_push_front(&v);
}
if(p_eq(&v,target)){
break;
}
}
}
if(p_eq(&v,target)) break;
}
res = p_get(W,target);
if(res != -1) res = 2*res+p_mhtn_norm(source,target);
return res;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "leg_kinematics");
KDL::Tree tree;
KDL::Chain chain;
ros::NodeHandle node;
KDL::ChainFkSolverPos_recursive* fk_solver;
KDL::HP_ChainIkSolverPos_NR_JL *ik_solver_pos;
KDL::ChainIkSolverVel_pinv* ik_solver_vel;
std::string robot_desc_string;
node.param("robot_description", robot_desc_string, std::string("robot_description"));
if (!kdl_parser::treeFromString(robot_desc_string, tree)) {
ROS_ERROR("Failed to construct kdl tree");
return false;
}
if (!tree.getChain("base_link", "tibia_foot_r1", chain)) {
ROS_ERROR("Failed to construct kdl chain");
return false;
}
ROS_INFO("Construct kdl chain");
// unsigned int nj = chain.getNrOfJoints();
// unsigned int js = chain.getNrOfSegments();
// std_msgs::String msg;
// std::stringstream ss;
// ss << "# J: " << nj << " # S: " << js;
// msg.data = ss.str();
// ROS_INFO("Construct kdl tree");
// ROS_INFO("%s", msg.data.c_str()) ;
fk_solver = new KDL::ChainFkSolverPos_recursive(chain);
ik_solver_vel = new KDL::ChainIkSolverVel_pinv(chain);
// Eigen::MatrixXd matrix_Mx = Eigen::MatrixXd::Identity(6,6);
// matrix_Mx(3,3) = 0; matrix_Mx(4,4) = 0; matrix_Mx(5,5) = 0;
// ik_solver_vel -> setWeightTS(matrix_Mx);
KDL::JntArray joint_min(chain.getNrOfJoints());
KDL::JntArray joint_max(chain.getNrOfJoints());
joint_min(0) = -1.57;
joint_min(1) = -1.57;
joint_min(2) = -1.57;
joint_max (0) = 1.57;
joint_max (1) = 1.57;
joint_max (2) = 1.57;
ik_solver_pos = new KDL::HP_ChainIkSolverPos_NR_JL (chain, joint_min, joint_max,
*fk_solver, *ik_solver_vel, 20, 0.0001);
KDL::JntArray q_init(chain.getNrOfJoints());
q_init (0) = 0;
q_init (1) = 0;
q_init (2) = 0;
KDL::JntArray q_out(chain.getNrOfJoints());
// KDL::Segment my_seg = chain.getSegment(3);
// KDL::Frame my_fr;
//
// if (fk_solver.JntToCart(q_init, my_fr) >= 0){
//
// std_msgs::String msg;
// std::stringstream ss;
// ss << "# 0: " << my_fr.p[0] << " # 1: " << my_fr.p[1] << " # 2: " << my_fr.p[2];
// msg.data = ss.str();
// ROS_INFO("Construct kdl tree");
// ROS_INFO("%s", msg.data.c_str()) ;
// }
double x = 0.16509, y = -0.18567, z = 0.053603; //0.16509; -0.18567; 0.053603
KDL::Frame p_in (KDL::Vector(0.12291, -0.085841, -0.16766));
int ik_valid = ik_solver_pos -> CartToJnt(q_init, p_in, q_out);
if (ik_valid >= 0) {
ROS_INFO("\nJoint 1: %f\nJoint 2: %f\nJoint 3: %f\n", q_out(0),q_out(1),q_out(2));
}
else {
ROS_ERROR("IK not found");
}
return 0;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "leg_kinematics_pub");
ros::NodeHandle node;
KDL::Tree tree;
KDL::Chain chain;
KDL::ChainFkSolverPos_recursive* fk_solver;
KDL::HP_ChainIkSolverPos_NR_JL* ik_solver_pos;
KDL::ChainIkSolverVel_pinv* ik_solver_vel;
ros::Publisher leg_msg_pub = node.advertise<crab_msgs::LegJointsState>("leg_states", 1);
ros::Publisher joint_msg_pub = node.advertise<sensor_msgs::JointState>("leg_joints_states", 1);
ros::Rate loop_rate(30);
std::string robot_desc_string;
node.param("robot_description", robot_desc_string, std::string("robot_description"));
if (!kdl_parser::treeFromString(robot_desc_string, tree)){
ROS_ERROR("Failed to construct kdl tree");
return false;
}
if (!tree.getChain("base_link", "tibia_foot_r1", chain)) {
ROS_ERROR("Failed to construct kdl chain");
return false;
}
ROS_INFO("Construct kdl chain");
fk_solver = new KDL::ChainFkSolverPos_recursive(chain);
ik_solver_vel = new KDL::ChainIkSolverVel_pinv(chain);
// Eigen::MatrixXd matrix_Mx = Eigen::MatrixXd::Identity(6,6);
// matrix_Mx(3,3) = 0; matrix_Mx(4,4) = 0; matrix_Mx(5,5) = 0;
// ik_solver_vel -> setWeightTS(matrix_Mx);
KDL::JntArray joint_min(chain.getNrOfJoints());
KDL::JntArray joint_max(chain.getNrOfJoints());
joint_min(0) = -1.57; joint_min(1) = -1.57; joint_min(2) = -1.57;
joint_max (0) = 1.57; joint_max (1) = 1.57; joint_max (2) = 1.57;
ik_solver_pos = new KDL::HP_ChainIkSolverPos_NR_JL (chain, joint_min, joint_max,
*fk_solver, *ik_solver_vel, 100, 0.0001);
KDL::JntArray q_init(chain.getNrOfJoints());
q_init (0) = 0; q_init (1) = 0; q_init (2) = 0;
KDL::JntArray q_out(chain.getNrOfJoints());
crab_msgs::LegJointsState leg_msg;
sensor_msgs::JointState joint_msg;
int ik_valid;
double x_0 = 0.14208, y_0 = -0.14555, z_0 = -0.11245, x, y, fi; //0.14208; -0.14555; -0.11145
while (ros::ok()){
if (fi > 6.28) fi = 0;
x = x_0 + 0.05 * cos(fi);
y = y_0 + 0.05 * sin(fi);
KDL::Frame p_in (KDL::Vector(x, y, z_0));
ik_valid = ik_solver_pos -> CartToJnt(q_init, p_in, q_out);
if (ik_valid >= 0){
ROS_INFO("\nJoint 1: %f\nJoint 2: %f\nJoint 3: %f\n", q_out(0),q_out(1),q_out(2));
for (int i=0; i<3; i++){
leg_msg.joint[i] = q_out(i);
}
leg_msg_pub.publish(leg_msg);
joint_msg.name.push_back("coxa_joint_r1");
joint_msg.position.push_back(q_out(0));
joint_msg.name.push_back("femur_joint_r1");
joint_msg.position.push_back(q_out(1));
joint_msg.name.push_back("tibia_joint_r1");
joint_msg.position.push_back(q_out(2));
joint_msg_pub.publish(joint_msg);
joint_msg.name.clear();
joint_msg.position.clear();
}
else {
ROS_ERROR("IK not found");
}
fi += 0.05;
q_init = q_out;
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
