/*****************************************************************************
******************************************************************************
Function Name : add_test_sine_task
Date : Feb 1999
Remarks:
adds the task to the task menu
******************************************************************************
Paramters: (i/o = input/output)
none
*****************************************************************************/
void
add_test_sine_task( void )
{
int i, j;
static int firsttime = TRUE;
char string[100];
if (firsttime) {
firsttime = FALSE;
off = my_vector(1,n_dofs);
amp = my_matrix(1,n_dofs,1,MAX_SINE);
phase = my_matrix(1,n_dofs,1,MAX_SINE);
freq = my_matrix(1,n_dofs,1,MAX_SINE);
n_sine = my_ivector(1,n_dofs);
target = (SL_DJstate *)my_calloc(n_dofs+1,sizeof(SL_DJstate),MY_STOP);
addTask("Test Sine Task", init_test_sine_task,run_test_sine_task, change_test_sine_task);
for (i=1; i<=N_DOFS; ++i) {
sprintf(string,"%s_tar_th",joint_names[i]);
addVarToCollect((char *)&(target[i].th),string,"rad", DOUBLE,FALSE);
sprintf(string,"%s_tar_thd",joint_names[i]);
addVarToCollect((char *)&(target[i].thd),string,"rad/s", DOUBLE,FALSE);
sprintf(string,"%s_tar_thdd",joint_names[i]);
addVarToCollect((char *)&(target[i].thdd),string,"rad/s^2", DOUBLE,FALSE);
}
updateDataCollectScript();
}
}
/*!*****************************************************************************
*******************************************************************************
\note init_user_task
\date Nov. 2007
\remarks
initializes user task functionality
*******************************************************************************
Function Parameters: [in]=input,[out]=output
none
******************************************************************************/
int
init_user_task(void)
{
int i,j;
addToMan("toggleSimBase","toggles the use of the simulated base state on/off",
toggleSimulatedBaseState);
initialize_base_state_estimation(&(misc_sensor[B_Q0_IMU]), &(misc_sensor[B_AD_A_IMU]),
&(misc_sensor[B_XACC_IMU]), task_servo_rate);
init_state_est_lin_task();
if(!raw_data.init())
return FALSE;
//data collect for raw joint states and misc sensors
char string[100];
for (i=1; i<=n_dofs; ++i) {
sprintf(string,"%s_raw_th",joint_names[i]);
addVarToCollect((char *)&(raw_joint_state[i].th),string,"rad", DOUBLE,FALSE);
sprintf(string,"%s_raw_thd",joint_names[i]);
addVarToCollect((char *)&(raw_joint_state[i].thd),string,"rad/s", DOUBLE,FALSE);
sprintf(string,"%s_raw_thdd",joint_names[i]);
addVarToCollect((char *)&(raw_joint_state[i].thdd),string,"rad/s^2", DOUBLE,FALSE);
// sprintf(string,"%s_raw_u",joint_names[i]);
// addVarToCollect((char *)&(raw_joint_state[i].u),string,"Nm", DOUBLE,FALSE);
// sprintf(string,"%s_raw_ufb",joint_names[i]);
// addVarToCollect((char *)&(raw_joint_state[i].ufb),string,"Nm", DOUBLE,FALSE);
sprintf(string,"%s_raw_load",joint_names[i]);
addVarToCollect((char *)&(raw_joint_state[i].load),string,"Nm", DOUBLE,FALSE);
}
for (i=1; i<=n_misc_sensors; ++i) {
sprintf(string,"%s_raw",misc_sensor_names[i]);
addVarToCollect((char *)&(raw_misc_sensor[i]),string,"-",DOUBLE,FALSE);
}
updateDataCollectScript();
return TRUE;
}
HInvDynExample::HInvDynExample() : config_file_("HInvDynExampleConfig.cf"),
contact_helper_(config_file_), hinvdyn_solver_(kinematics_,
momentum_helper_, contact_helper_, endeff_kinematics_), dyn_eqs_(hinvdyn_solver_),
cog_ctrl_(hinvdyn_solver_), left_foot_constr_(hinvdyn_solver_),
right_foot_constr_(hinvdyn_solver_), joint_ctrl_(hinvdyn_solver_),
left_frc_reg_(hinvdyn_solver_), right_frc_reg_(hinvdyn_solver_){
// stop data collection to avoid crashes
stopcd();
//set the endeffector constraints for double support
std::cout << "N_ENDEFFS : " << N_ENDEFFS << std::endl;
for(int i=1; i<=N_ENDEFFS; ++i){
endeff_constraints_[i] = endeff[i];
for(int j=1; j<=6; ++j)
endeff_constraints_[i].c[j] = 1;
}
for (int i = 1; i < N_DOFS; ++i)
{
std::cout << "joint_names " << joint_names[i] << " " << i << std::endl;
}
// initialize our helpers
kinematics_.initialize(joint_state, base_state, base_orient,endeff_constraints_);
momentum_helper_.initialize();
contact_helper_.initialize(&kinematics_);
hinvdyn_solver_.initialize();
// read simulation parameters
if(!read_parameter_pool_double(config_file_.c_str(),"push_force",&push_force_))
assert(false && "reading parameter push_force failed");
if(!read_parameter_pool_double(config_file_.c_str(),"push_dur",&push_dur_))
assert(false && "reading parameter push_dur failed");
// read ranks from config file
if(!read_parameter_pool_int(config_file_.c_str(),"foot_constr_rank",&foot_constr_rank_))
assert(false && "reading parameter foot_constr_rank failed");
if(!read_parameter_pool_int(config_file_.c_str(),"joint_ctrl_rank",&joint_ctrl_rank_))
assert(false && "reading parameter joint_ctrl_rank failed");
if(!read_parameter_pool_int(config_file_.c_str(),"cog_ctrl_rank",&cog_ctrl_rank_))
assert(false && "reading parameter cog_ctrl_rank failed");
if(!read_parameter_pool_int(config_file_.c_str(),"frc_reg_rank",&frc_reg_rank_))
assert(false && "reading parameter frc_reg_rank failed");
// read PD gains from config file
double buffer[N_DOFS+6+1];
if(!read_parameter_pool_double_array(config_file_.c_str(),"COG_P_GAINS",3,buffer))
assert(false && "reading parameter COG_P_GAINS failed");
cog_p_gains_ = Eigen::Map<Eigen::Vector3d>(&buffer[1]);
if(!read_parameter_pool_double_array(config_file_.c_str(),"COG_D_GAINS",3,buffer))
assert(false && "reading parameter COG_D_GAINS failed");
cog_d_gains_ = Eigen::Map<Eigen::Vector3d>(&buffer[1]);
if(!read_parameter_pool_double_array(config_file_.c_str(),"POSTURE_P_GAINS",N_DOFS+6,buffer))
assert(false && "reading parameter POSTURE_P_GAINS failed");
posture_p_gains_ = Eigen::Map<Eigen::Matrix<double, N_DOFS+6,1> >(&buffer[1]);
if(!read_parameter_pool_double_array(config_file_.c_str(),"POSTURE_D_GAINS",N_DOFS+6,buffer))
assert(false && "reading parameter POSTURE_D_GAINS failed");
posture_d_gains_ = Eigen::Map<Eigen::Matrix<double, N_DOFS+6,1> >(&buffer[1]);
// read weights from config file
if(!read_parameter_pool_double_array(config_file_.c_str(),"FOOT_CONSTR_WEIGHT", 6, buffer))
assert(false && "reading parameter FOOT_CONSTR_WEIGHT failed");
foot_constr_weight_ = Eigen::Map<Eigen::Matrix<double, 6,1> >(&buffer[1]);
if(!read_parameter_pool_double_array(config_file_.c_str(),"COG_CTRL_WEIGHT", 6, buffer))
assert(false && "reading parameter COG_CTRL_WEIGHT failed");
cog_ctrl_weight_ = Eigen::Map<Eigen::Matrix<double, 6,1> >(&buffer[1]);
if(!read_parameter_pool_double_array(config_file_.c_str(),"FRC_REG_WEIGHT", 6, buffer))
assert(false && "reading parameter FRC_REG_WEIGHT failed");
frc_reg_weight_ = Eigen::Map<Eigen::Matrix<double, 6,1> >(&buffer[1]);
if(!read_parameter_pool_double_array(config_file_.c_str(),"JOINT_CTRL_WEIGHT", N_DOFS+6, buffer))
assert(false && "reading parameter JOINT_CTRL_WEIGHT failed");
joint_ctrl_weight_ = Eigen::Map<Eigen::Matrix<double, N_DOFS+6,1> >(&buffer[1]);
// setup task composers
dyn_eqs_.initialize(0);
right_foot_constr_.initialize(foot_constr_rank_, link2endeffmap[RIGHT_FOOT]);
right_foot_constr_.weightingMat() = foot_constr_weight_.asDiagonal();
left_foot_constr_.initialize(foot_constr_rank_, link2endeffmap[LEFT_FOOT]);
left_foot_constr_.weightingMat() = foot_constr_weight_.asDiagonal();
cog_ctrl_.initialize(cog_ctrl_rank_);
cog_ctrl_.weightingMat() = cog_ctrl_weight_.asDiagonal();
joint_ctrl_.initialize(joint_ctrl_rank_);
joint_ctrl_.weightingMat() = joint_ctrl_weight_.asDiagonal();
right_frc_reg_.initialize(frc_reg_rank_, RIGHT_FOOT, true);
right_frc_reg_.weightingMat() = frc_reg_weight_.asDiagonal();
left_frc_reg_.initialize(frc_reg_rank_, LEFT_FOOT, true);
left_frc_reg_.weightingMat() = frc_reg_weight_.asDiagonal();
// subscribe our controllers and constraints to the hierarchical solver
hinvdyn_solver_.sub_cost_composers_.push_back(
static_cast<HierarchAffineCost*>(&dyn_eqs_));
hinvdyn_solver_.sub_cost_composers_.push_back(
static_cast<HierarchAffineCost*>(&joint_ctrl_));
hinvdyn_solver_.sub_cost_composers_.push_back(
static_cast<HierarchAffineCost*>(&cog_ctrl_));
hinvdyn_solver_.sub_cost_composers_.push_back(
static_cast<HierarchAffineCost*>(&right_foot_constr_));
hinvdyn_solver_.sub_cost_composers_.push_back(
static_cast<HierarchAffineCost*>(&left_foot_constr_));
hinvdyn_solver_.sub_cost_composers_.push_back(
static_cast<HierarchAffineCost*>(&right_frc_reg_));
hinvdyn_solver_.sub_cost_composers_.push_back(
static_cast<HierarchAffineCost*>(&left_frc_reg_));
// get some initial states of the robot for tracking
cog_des_ = kinematics_.cog();
default_posture_ = kinematics_.generalizedJointPositions();
for(int i=1; i<=N_DOFS; ++i){
default_posture_[i-1] = joint_des_state[i].th;
std::string varname = std::string(joint_names[i]);
varname.append("_ref_th");
std::cout << "adding variable " << varname << std::endl;
addVarToCollect((char *)&(default_posture_[i-1]), varname.c_str(),"rad",DOUBLE,TRUE);
}
// register variables for data collection
addVarToCollect((char *)&(cog_des_[0]), "cog_des_x","m",DOUBLE,TRUE);
addVarToCollect((char *)&(cog_des_[1]), "cog_des_y","m",DOUBLE,TRUE);
addVarToCollect((char *)&(cog_des_[2]), "cog_des_z","m",DOUBLE,TRUE);
addVarToCollect((char *)&(cog_ref_[0]), "cog_ref_ddx","m/s^2",DOUBLE,TRUE);
addVarToCollect((char *)&(cog_ref_[1]), "cog_ref_ddy","m/s^2",DOUBLE,TRUE);
addVarToCollect((char *)&(cog_ref_[2]), "cog_ref_ddz","m/s^2",DOUBLE,TRUE);
// update SL data collection and start collecting data
updateDataCollectScript();
scd();
std::cout << "Initialization done." << std::endl;
task_start_time_ = task_servo_time;
for(int i=1; i<=N_DOFS; ++i){
init_joint_state_uff_[i-1] = joint_des_state[i].uff;
init_joint_state_th_[i-1] = joint_des_state[i].th;
init_joint_state_thd_[i-1] = joint_des_state[i].thd;
init_joint_state_thdd_[i-1] = joint_des_state[i].thdd;
}
}
/*!*****************************************************************************
*******************************************************************************
\note init_ros_servo
\date Dec. 1997
\remarks
initializes servo specific things
*******************************************************************************
Function Parameters: [in]=input,[out]=output
none
******************************************************************************/
void
init_ros_servo(void)
{
int j, i;
char string[100];
if (ros_servo_initialized) {
printf("Task Servo is already initialized\n");
return;
}
// the servo name
sprintf(servo_name,"ros");
// initialize shared memories and shared semaphores
if (!init_shared_memory())
return;
/* inverse dynamics and other basic kinematic stuff*/
if (!init_dynamics())
return;
// initialize kinematics
init_kinematics();
// add variables to data collection
ros_servo_rate=servo_base_rate/task_servo_ratio;
initCollectData(ros_servo_rate);
for (i=1; i<=n_dofs; ++i) {
printf("%d...",i);
fflush(stdout);
sprintf(string,"%s_th",joint_names[i]);
addVarToCollect((char *)&(joint_state[i].th),string,(char *)"rad", DOUBLE,FALSE);
sprintf(string,"%s_thd",joint_names[i]);
addVarToCollect((char *)&(joint_state[i].thd),string,(char *)"rad/s", DOUBLE,FALSE);
sprintf(string,"%s_thdd",joint_names[i]);
addVarToCollect((char *)&(joint_state[i].thdd),string,(char *)"rad/s^2", DOUBLE,FALSE);
sprintf(string,"%s_u",joint_names[i]);
addVarToCollect((char *)&(joint_state[i].u),string,(char *)"Nm", DOUBLE,FALSE);
sprintf(string,"%s_ufb",joint_names[i]);
addVarToCollect((char *)&(joint_state[i].ufb),string,(char *)"Nm", DOUBLE,FALSE);
sprintf(string,"%s_load",joint_names[i]);
addVarToCollect((char *)&(joint_state[i].load),string,(char *)"Nm", DOUBLE,FALSE);
sprintf(string,"%s_des_th",joint_names[i]);
addVarToCollect((char *)&(joint_des_state[i].th),string,(char *)"rad",DOUBLE,FALSE);
sprintf(string,"%s_des_thd",joint_names[i]);
addVarToCollect((char *)&(joint_des_state[i].thd),string,(char *)"rad/s",DOUBLE,FALSE);
sprintf(string,"%s_des_thdd",joint_names[i]);
addVarToCollect((char *)&(joint_des_state[i].thdd),string,(char *)"rad/s^2",DOUBLE,FALSE);
sprintf(string,"%s_uff",joint_names[i]);
addVarToCollect((char *)&(joint_des_state[i].uff),string,(char *)"Nm",DOUBLE,FALSE);
}
// Cartesian variables
for (i=1; i<=n_endeffs; ++i) {
sprintf(string,"%s_x",cart_names[i]);
addVarToCollect((char *)&(cart_state[i].x[_X_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_y",cart_names[i]);
addVarToCollect((char *)&(cart_state[i].x[_Y_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_z",cart_names[i]);
addVarToCollect((char *)&(cart_state[i].x[_Z_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_xd",cart_names[i]);
addVarToCollect((char *)&(cart_state[i].xd[_X_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_yd",cart_names[i]);
addVarToCollect((char *)&(cart_state[i].xd[_Y_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_zd",cart_names[i]);
addVarToCollect((char *)&(cart_state[i].xd[_Z_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_xdd",cart_names[i]);
addVarToCollect((char *)&(cart_state[i].xdd[_X_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_ydd",cart_names[i]);
addVarToCollect((char *)&(cart_state[i].xdd[_Y_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_zdd",cart_names[i]);
addVarToCollect((char *)&(cart_state[i].xdd[_Z_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_ad",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].ad[_X_]),string,(char *)"rad/s",DOUBLE,FALSE);
sprintf(string,"%s_bd",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].ad[_Y_]),string,(char *)"rad/s",DOUBLE,FALSE);
sprintf(string,"%s_gd",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].ad[_Z_]),string,(char *)"rad/s",DOUBLE,FALSE);
sprintf(string,"%s_add",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].add[_X_]),string,(char *)"rad/s2",DOUBLE,FALSE);
sprintf(string,"%s_bdd",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].add[_Y_]),string,(char *)"rad/s2",DOUBLE,FALSE);
sprintf(string,"%s_gdd",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].add[_Z_]),string,(char *)"rad/s2",DOUBLE,FALSE);
sprintf(string,"%s_des_x",cart_names[i]);
addVarToCollect((char *)&(cart_des_state[i].x[_X_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_des_y",cart_names[i]);
addVarToCollect((char *)&(cart_des_state[i].x[_Y_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_des_z",cart_names[i]);
addVarToCollect((char *)&(cart_des_state[i].x[_Z_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_des_xd",cart_names[i]);
addVarToCollect((char *)&(cart_des_state[i].xd[_X_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_des_yd",cart_names[i]);
addVarToCollect((char *)&(cart_des_state[i].xd[_Y_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_des_zd",cart_names[i]);
addVarToCollect((char *)&(cart_des_state[i].xd[_Z_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_des_xdd",cart_names[i]);
addVarToCollect((char *)&(cart_des_state[i].xdd[_X_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_des_ydd",cart_names[i]);
addVarToCollect((char *)&(cart_des_state[i].xdd[_Y_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_des_zdd",cart_names[i]);
addVarToCollect((char *)&(cart_des_state[i].xdd[_Z_]),string,(char *)"m",DOUBLE,FALSE);
sprintf(string,"%s_des_ad",cart_names[i]);
addVarToCollect((char *)&(cart_des_orient[i].ad[_X_]),string,(char *)"rad/s",DOUBLE,FALSE);
sprintf(string,"%s_des_bd",cart_names[i]);
addVarToCollect((char *)&(cart_des_orient[i].ad[_Y_]),string,(char *)"rad/s",DOUBLE,FALSE);
sprintf(string,"%s_des_gd",cart_names[i]);
addVarToCollect((char *)&(cart_des_orient[i].ad[_Z_]),string,(char *)"rad/",DOUBLE,FALSE);
sprintf(string,"%s_q0",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].q[_Q0_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_q1",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].q[_Q1_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_q2",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].q[_Q2_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_q3",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].q[_Q3_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_q0d",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].qd[_Q0_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_q1d",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].qd[_Q1_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_q2d",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].qd[_Q2_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_q3d",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].qd[_Q3_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_q0dd",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].qdd[_Q0_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_q1dd",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].qdd[_Q1_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_q2dd",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].qdd[_Q2_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_q3dd",cart_names[i]);
addVarToCollect((char *)&(cart_orient[i].qdd[_Q3_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_des_q0",cart_names[i]);
addVarToCollect((char *)&(cart_des_orient[i].q[_Q0_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_des_q1",cart_names[i]);
addVarToCollect((char *)&(cart_des_orient[i].q[_Q1_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_des_q2",cart_names[i]);
addVarToCollect((char *)&(cart_des_orient[i].q[_Q2_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_des_q3",cart_names[i]);
addVarToCollect((char *)&(cart_des_orient[i].q[_Q3_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_des_q0d",cart_names[i]);
addVarToCollect((char *)&(cart_des_orient[i].qd[_Q0_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_des_q1d",cart_names[i]);
addVarToCollect((char *)&(cart_des_orient[i].qd[_Q1_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_des_q2d",cart_names[i]);
addVarToCollect((char *)&(cart_des_orient[i].qd[_Q2_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_des_q3d",cart_names[i]);
addVarToCollect((char *)&(cart_des_orient[i].qd[_Q3_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_des_q0dd",cart_names[i]);
addVarToCollect((char *)&(cart_des_orient[i].qdd[_Q0_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_des_q1dd",cart_names[i]);
addVarToCollect((char *)&(cart_des_orient[i].qdd[_Q1_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_des_q2dd",cart_names[i]);
addVarToCollect((char *)&(cart_des_orient[i].qdd[_Q2_]),string,(char *)"-",DOUBLE,FALSE);
sprintf(string,"%s_des_q3dd",cart_names[i]);
addVarToCollect((char *)&(cart_des_orient[i].qdd[_Q3_]),string,(char *)"-",DOUBLE,FALSE);
}
// misc sensors
for (i=1; i<=n_misc_sensors; ++i) {
sprintf(string,"%s",misc_sensor_names[i]);
addVarToCollect((char *)&(misc_sensor[i]),string,(char *)"-",DOUBLE,FALSE);
}
// the state of the base
addVarToCollect((char *)&(base_state.x[_X_]),(char *)"base_x",(char *)"m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_state.x[_Y_]),(char *)"base_y",(char *)"m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_state.x[_Z_]),(char *)"base_z",(char *)"m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_state.xd[_X_]),(char *)"base_xd",(char *)"m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_state.xd[_Y_]),(char *)"base_yd",(char *)"m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_state.xd[_Z_]),(char *)"base_zd",(char *)"m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_state.xdd[_X_]),(char *)"base_xdd",(char *)"m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_state.xdd[_Y_]),(char *)"base_ydd",(char *)"m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_state.xdd[_Z_]),(char *)"base_zdd",(char *)"m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.q[_Q0_]),(char *)"base_q0",(char *)"-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.q[_Q1_]),(char *)"base_q1",(char *)"-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.q[_Q2_]),(char *)"base_q2",(char *)"-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.q[_Q3_]),(char *)"base_q3",(char *)"-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.qd[_Q0_]),(char *)"base_qd0",(char *)"-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.qd[_Q1_]),(char *)"base_qd1",(char *)"-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.qd[_Q2_]),(char *)"base_qd2",(char *)"-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.qd[_Q3_]),(char *)"base_qd3",(char *)"-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.ad[_A_]),(char *)"base_ad",(char *)"-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.ad[_B_]),(char *)"base_bd",(char *)"-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.ad[_G_]),(char *)"base_gd",(char *)"-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.add[_A_]),(char *)"base_add",(char *)"-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.add[_B_]),(char *)"base_bdd",(char *)"-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.add[_G_]),(char *)"base_gdd",(char *)"-",DOUBLE,FALSE);
printf("done\n");
updateDataCollectScript();
// add to man pages
addToMan((char *)"status",(char *)"displays information about the servo",status);
addToMan((char *)"drs",(char *)"disables the ros servo",drs);
int argc = 1;
char name[] = "SL2ROS_Publisher";
char* argv[1];
argv[0] = name;
ros::init(argc, argv, "SL2ROS_Publisher");
if (!read_parameter_pool_int(config_files[PARAMETERPOOL], "default_publisher_enabled", &default_publisher_enabled_))
default_publisher_enabled_ = 0;
if(default_publisher_enabled_ && !ros_communicator_.initialize())
{
printf("ERROR: could not initialize ros communication\n");
return;
}
// initializes user specific issues
init_user_ros();
// if all worked out, we mark the servo as ready to go
ros_servo_initialized = TRUE;
// set oscilloscope to start value
initOsc();
setOsc(d2a_cr,0.0);
scd();
return;
}
/*!*****************************************************************************
*******************************************************************************
\note initDataCollection
\date Feb. 2004
\remarks
initializes all variables for data collection
*******************************************************************************
Function Parameters: [in]=input,[out]=output
none
******************************************************************************/
static void
initDataCollection(void)
{
int i;
char string[100];
/* this will be updated later by the servos */
initCollectData(simulation_servo_rate);
/* add variables to data collection */
for (i=1; i<=n_dofs; ++i) {
printf("%d...",i);
fflush(stdout);
sprintf(string,"%s_th",joint_names[i]);
addVarToCollect((char *)&(joint_sim_state[i].th),string,"rad", DOUBLE,FALSE);
sprintf(string,"%s_thd",joint_names[i]);
addVarToCollect((char *)&(joint_sim_state[i].thd),string,"rad/s", DOUBLE,FALSE);
sprintf(string,"%s_thdd",joint_names[i]);
addVarToCollect((char *)&(joint_sim_state[i].thdd),string,"rad/s^2", DOUBLE,FALSE);
sprintf(string,"%s_u",joint_names[i]);
addVarToCollect((char *)&(joint_sim_state[i].u),string,"Nm", DOUBLE,FALSE);
sprintf(string,"%s_ufb",joint_names[i]);
addVarToCollect((char *)&(joint_sim_state[i].ufb),string,"Nm", DOUBLE,FALSE);
sprintf(string,"%s_load",joint_names[i]);
addVarToCollect((char *)&(joint_sim_state[i].load),string,"Nm", DOUBLE,FALSE);
sprintf(string,"%s_cfx",joint_names[i]);
addVarToCollect((char *)&(ucontact[i].f[_X_]),string,"N", DOUBLE,FALSE);
sprintf(string,"%s_cfy",joint_names[i]);
addVarToCollect((char *)&(ucontact[i].f[_Y_]),string,"N", DOUBLE,FALSE);
sprintf(string,"%s_cfz",joint_names[i]);
addVarToCollect((char *)&(ucontact[i].f[_Z_]),string,"N", DOUBLE,FALSE);
sprintf(string,"%s_ctx",joint_names[i]);
addVarToCollect((char *)&(ucontact[i].t[_A_]),string,"Nm", DOUBLE,FALSE);
sprintf(string,"%s_cty",joint_names[i]);
addVarToCollect((char *)&(ucontact[i].t[_B_]),string,"Nm", DOUBLE,FALSE);
sprintf(string,"%s_ctz",joint_names[i]);
addVarToCollect((char *)&(ucontact[i].t[_G_]),string,"Nm", DOUBLE,FALSE);
}
/* the state of the base */
addVarToCollect((char *)&(base_state.x[_X_]),"base_x","m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_state.x[_Y_]),"base_y","m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_state.x[_Z_]),"base_z","m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_state.xd[_X_]),"base_xd","m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_state.xd[_Y_]),"base_yd","m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_state.xd[_Z_]),"base_zd","m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_state.xdd[_X_]),"base_xdd","m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_state.xdd[_Y_]),"base_ydd","m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_state.xdd[_Z_]),"base_zdd","m",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.q[_Q0_]),"base_q0","-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.q[_Q1_]),"base_q1","-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.q[_Q2_]),"base_q2","-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.q[_Q3_]),"base_q3","-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.qd[_Q0_]),"base_qd0","-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.qd[_Q1_]),"base_qd1","-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.qd[_Q2_]),"base_qd2","-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.qd[_Q3_]),"base_qd3","-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.ad[_A_]),"base_ad","-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.ad[_B_]),"base_bd","-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.ad[_G_]),"base_gd","-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.add[_A_]),"base_add","-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.add[_B_]),"base_bdd","-",DOUBLE,FALSE);
addVarToCollect((char *)&(base_orient.add[_G_]),"base_gdd","-",DOUBLE,FALSE);
for (i=0; i<=n_contacts; ++i) {
sprintf(string,"CP%d_cstat",i);
addVarToCollect((char *)&(contacts[i].status),string,"-",INT,FALSE);
sprintf(string,"CP%d_cx",i);
addVarToCollect((char *)&(contacts[i].x[_X_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_cy",i);
addVarToCollect((char *)&(contacts[i].x[_Y_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_cz",i);
addVarToCollect((char *)&(contacts[i].x[_Z_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_cnx",i);
addVarToCollect((char *)&(contacts[i].normal[_X_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_cny",i);
addVarToCollect((char *)&(contacts[i].normal[_Y_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_cnz",i);
addVarToCollect((char *)&(contacts[i].normal[_Z_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_cnxd",i);
addVarToCollect((char *)&(contacts[i].normvel[_X_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_cnyd",i);
addVarToCollect((char *)&(contacts[i].normvel[_Y_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_cnzd",i);
addVarToCollect((char *)&(contacts[i].normvel[_Z_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_ctx",i);
addVarToCollect((char *)&(contacts[i].tangent[_X_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_cty",i);
addVarToCollect((char *)&(contacts[i].tangent[_Y_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_ctz",i);
addVarToCollect((char *)&(contacts[i].tangent[_Z_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_ctxd",i);
addVarToCollect((char *)&(contacts[i].tanvel[_X_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_ctyd",i);
addVarToCollect((char *)&(contacts[i].tanvel[_Y_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_ctzd",i);
addVarToCollect((char *)&(contacts[i].tanvel[_Z_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_cvxd",i);
addVarToCollect((char *)&(contacts[i].viscvel[_X_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_cvyd",i);
addVarToCollect((char *)&(contacts[i].viscvel[_Y_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_cvzd",i);
addVarToCollect((char *)&(contacts[i].viscvel[_Z_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_cfx",i);
addVarToCollect((char *)&(contacts[i].f[_X_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_cfy",i);
addVarToCollect((char *)&(contacts[i].f[_Y_]),string,"m",DOUBLE,FALSE);
sprintf(string,"CP%d_cfz",i);
addVarToCollect((char *)&(contacts[i].f[_Z_]),string,"m",DOUBLE,FALSE);
}
updateDataCollectScript();
}