bool GetIKSolutions(EnvironmentBasePtr _penv, Transform Pose, std::vector< std::vector< dReal > > &vsolution){
ModuleBasePtr _pikfast = RaveCreateModule(_penv,"ikfast");
RobotBasePtr _probot = _penv->GetRobot(robotname);
_probot->SetActiveManipulator("1");
RobotBase::ManipulatorPtr _pmanip = _probot->GetActiveManipulator();
_penv->Add(_pikfast,true,"");
std::vector< std::vector< dReal > > solns;
solns.resize(6);
stringstream ssin,ssout;
string iktype = "Transform6D";
ssin << "LoadIKFastSolver " << _probot->GetName() << " " << iktype;
if( !_pikfast->SendCommand(ssout,ssin) ) {
RAVELOG_ERROR("failed to load iksolver\n");
_penv->Destroy();
return false;
}
if(_pmanip->FindIKSolutions(IkParameterization(Pose),vsolution,IKFO_CheckEnvCollisions) ) {
stringstream ss; ss << "solution is: ";
for(size_t i = 0; i < vsolution.size(); ++i) {
for(size_t j = 0; j < vsolution[i].size(); ++j){
ss << vsolution[i][j] << " " ;
} ss << endl;
}
ss << endl;
////RAVELOG_INFO(ss.str());
}
else {
// could fail due to collisions, etc
return false;
}
return true ;
}
int main(int argc, char ** argv)
{
//int num = 1;
string scenefilename = "data/lab1.env.xml";
string viewername = RaveGetDefaultViewerType(); //qtcoin
// parse the command line options
int i = 1;
while(i < argc) {
if((strcmp(argv[i], "-h") == 0)||(strcmp(argv[i], "-?") == 0)||(strcmp(argv[i], "/?") == 0)||(strcmp(argv[i], "--help") == 0)||(strcmp(argv[i], "-help") == 0)) {
RAVELOG_INFO("orloadviewer [--num n] [--scene filename] viewername\n");
return 0;
}
else if( strcmp(argv[i], "--scene") == 0 ) {
scenefilename = argv[i+1];
i += 2;
}
else
break;
}
if( i < argc ) {
viewername = argv[i++];
}
RaveInitialize(true); // start openrave core
EnvironmentBasePtr penv = RaveCreateEnvironment(); // create the main environment
RaveSetDebugLevel(Level_Debug);
boost::thread thviewer(boost::bind(SetViewer,penv,viewername));
penv->Load(scenefilename); // load the scene
UserDataPtr pregistration;
while(!pregistration) {
if( !pregistration && !!penv->GetViewer() ) {
pregistration = penv->GetViewer()->RegisterViewerThreadCallback(boost::bind(ViewerCallback,penv->GetViewer()));
}
boost::this_thread::sleep(boost::posix_time::milliseconds(1));
}
thviewer.join(); // wait for the viewer thread to exit
pregistration.reset();
penv->Destroy(); // destroy
return 0;
}
int main(int argc, char ** argv)
{
if( argc < 3 ) {
RAVELOG_INFO("ikloader robot iktype\n");
return 1;
}
string robotname = argv[1];
string iktype = argv[2];
RaveInitialize(true); // start openrave core
EnvironmentBasePtr penv = RaveCreateEnvironment(); // create the main environment
{
// lock the environment to prevent changes
EnvironmentMutex::scoped_lock lock(penv->GetMutex());
// load the scene
RobotBasePtr probot = penv->ReadRobotXMLFile(robotname);
if( !probot ) {
penv->Destroy();
return 2;
}
penv->Add(probot);
ModuleBasePtr pikfast = RaveCreateModule(penv,"ikfast");
penv->Add(pikfast,true,"");
stringstream ssin,ssout;
ssin << "LoadIKFastSolver " << probot->GetName() << " " << iktype;
// if necessary, add free inc for degrees of freedom
//ssin << " " << 0.04f;
// get the active manipulator
RobotBase::ManipulatorPtr pmanip = probot->GetActiveManipulator();
if( !pikfast->SendCommand(ssout,ssin) ) {
RAVELOG_ERROR("failed to load iksolver\n");
penv->Destroy();
return 1;
}
RAVELOG_INFO("testing random ik\n");
while(1) {
Transform trans;
trans.rot = quatFromAxisAngle(Vector(RaveRandomFloat()-0.5,RaveRandomFloat()-0.5,RaveRandomFloat()-0.5));
trans.trans = Vector(RaveRandomFloat()-0.5,RaveRandomFloat()-0.5,RaveRandomFloat()-0.5)*2;
vector<dReal> vsolution;
if( pmanip->FindIKSolution(IkParameterization(trans),vsolution,IKFO_CheckEnvCollisions) ) {
stringstream ss; ss << "solution is: ";
for(size_t i = 0; i < vsolution.size(); ++i) {
ss << vsolution[i] << " ";
}
ss << endl;
RAVELOG_INFO(ss.str());
}
else {
// could fail due to collisions, etc
}
}
}
RaveDestroy(); // destroy
return 0;
}
int main()
{
traj.clear();
unsigned int mainthreadsleft = numThreads;
// boost::shared_ptr<boost::thread> ( new boost::thread(boost::bind( &track_threads )));
Ta.trans = transA;
Ta.rot = quatA;
Tb.trans = transB;
Tb.rot = quatB;
std::string scenefilename = "scenes/test6dof.mujin.zae";
std::string viewername = "qtcoin";
RaveInitialize(true); // start openrave core
EnvironmentBasePtr penv = RaveCreateEnvironment(); // create the main environment
Transform robot_t;
RaveVector< dReal > transR(c, d, 0);
robot_t.trans = transR;
//boost::thread thviewer(boost::bind(SetViewer,penv,viewername));
penv->Load(scenefilename);
RobotBasePtr probot = penv->GetRobot("RV-4F");
//removing floor for collision checking
EnvironmentBasePtr pclondedenv = penv->CloneSelf(Clone_Bodies);
pclondedenv->Remove( pclondedenv->GetKinBody("floor"));
RobotBasePtr probot_clone = pclondedenv->GetRobot("RV-4F");
unsigned int tot = ((( abs(a) + abs(c) )/discretization_x )+1) * (((( abs(b) + abs(d) )/discretization_y )+1) * (( abs( z )/discretization_z )+1));
unsigned int tot_o = tot;
for (unsigned int i = 0 ; i <= (( abs(a) + abs(c) )/discretization_x );i++) {
for (unsigned int j = 0 ; j <= (( abs(b) + abs(d) )/discretization_y ); j++) {
for (unsigned int k = 0 ; k <= ( abs( z )/discretization_z ) ; k++) {
////std::cout << transR[0] << ";" << transR[1] << ";" << transR[2] << std::endl;
//boost::this_thread::sleep(boost::posix_time::milliseconds(1000));
robot_t.trans = transR;
probot->SetTransform(robot_t);
probot_clone->SetTransform(robot_t);
if( pclondedenv->CheckCollision(RobotBaseConstPtr(probot_clone)) ){
//std::cout << "Robot in collision with the environment" << std::endl;
}
else {
do_task(Ta, Tb, penv,3);
}
tot -= 1;
std::cout << tot << "/" << tot_o << std::endl;
transR[2] = transR[2]+ discretization_z;
}
transR[2] = 0;
transR[1] = transR[1] + discretization_y;
robot_t.trans = transR;
}
transR[2] = 0;
transR[1] = c;
transR[0] = transR[0] + discretization_x;
robot_t.trans = transR;
}
//thviewer.join(); // wait for the viewer thread to exit
RaveDestroy(); // make sure to destroy the OpenRAVE runtime
penv->Destroy(); // destroy
return 0;
}
int main(int argc, char ** argv)
{
string scenefilename = "data/diffdrive_arm.env.xml";
string viewername = "qtcoin";
RaveInitialize(true);
EnvironmentBasePtr penv = RaveCreateEnvironment();
penv->SetDebugLevel(Level_Debug);
boost::thread thviewer(boost::bind(SetViewer,penv,viewername)); // create the viewer
usleep(400000); // wait for the viewer to init
penv->Load(scenefilename);
// attach a physics engine
penv->SetPhysicsEngine(RaveCreatePhysicsEngine(penv,"ode"));
penv->GetPhysicsEngine()->SetGravity(Vector(0,0,-9.8));
vector<RobotBasePtr> vrobots;
penv->GetRobots(vrobots);
RobotBasePtr probot = vrobots.at(0);
std::vector<dReal> q;
vector<int> wheelindices, restindices;
ControllerBasePtr wheelcontroller, armcontroller;
// create the controllers, make sure to lock environment!
{
EnvironmentMutex::scoped_lock lock(penv->GetMutex()); // lock environment
MultiControllerPtr multi(new MultiController(penv));
vector<int> dofindices(probot->GetDOF());
for(int i = 0; i < probot->GetDOF(); ++i) {
dofindices[i] = i;
}
probot->SetController(multi,dofindices,1); // control everything
// set the velocity controller on all joints that have 'wheel' in their description
for(std::vector<KinBody::JointPtr>::const_iterator itjoint = probot->GetJoints().begin(); itjoint != probot->GetJoints().end(); ++itjoint) {
if( (*itjoint)->GetName().find("wheel") != string::npos ) {
for(int i = 0; i < (*itjoint)->GetDOF(); ++i) {
wheelindices.push_back((*itjoint)->GetDOFIndex()+i);
}
}
else {
for(int i = 0; i < (*itjoint)->GetDOF(); ++i) {
restindices.push_back((*itjoint)->GetDOFIndex()+i);
}
}
}
if(wheelindices.size() > 0 ) {
wheelcontroller = RaveCreateController(penv,"odevelocity");
multi->AttachController(wheelcontroller,wheelindices,0);
}
if( restindices.size() > 0 ) {
armcontroller = RaveCreateController(penv,"idealcontroller");
multi->AttachController(armcontroller,restindices,0);
}
else {
RAVELOG_WARN("robot needs to have wheels and arm for demo to work\n");
}
}
while(1) {
{
EnvironmentMutex::scoped_lock lock(penv->GetMutex()); // lock environment
if( !!armcontroller ) {
// set a trajectory on the arm and velocity on the wheels
TrajectoryBasePtr traj = RaveCreateTrajectory(penv,"");
probot->SetActiveDOFs(restindices);
ConfigurationSpecification spec = probot->GetActiveConfigurationSpecification();
int timeoffset = spec.AddDeltaTime();
traj->Init(spec);
probot->GetActiveDOFValues(q); // get current values
vector<dReal> vdata(spec.GetDOF(),0);
std::copy(q.begin(),q.end(),vdata.begin());
traj->Insert(0,vdata);
for(int i = 0; i < 4; ++i) {
q.at(RaveRandomInt()%restindices.size()) += RaveRandomFloat()-0.5; // move a random axis
}
// check for collisions
{
RobotBase::RobotStateSaver saver(probot); // add a state saver so robot is not moved permenantly
probot->SetActiveDOFValues(q);
if( probot->CheckSelfCollision() ) { // don't check env collisions since we have physics enabled
continue; // robot in collision at final point, so reject
}
}
std::copy(q.begin(),q.end(),vdata.begin());
vdata.at(timeoffset) = 2; // trajectory takes 2s
traj->Insert(1,vdata);
planningutils::RetimeActiveDOFTrajectory(traj,probot,true);
armcontroller->SetPath(traj);
}
if( !!wheelcontroller ) {
stringstream sout,ss; ss << "setvelocity ";
for(size_t i = 0; i < wheelindices.size(); ++i) {
ss << 2*(RaveRandomFloat()-0.5) << " ";
}
if( !wheelcontroller->SendCommand(sout,ss) ) {
RAVELOG_WARN("failed to send velocity command\n");
}
}
}
// unlock the environment and wait for the arm controller to finish (wheel controller will never finish)
if( !armcontroller ) {
usleep(2000000);
}
else {
while(!armcontroller->IsDone()) {
usleep(1000);
}
}
}
thviewer.join(); // wait for the viewer thread to exit
penv->Destroy(); // destroy
return 0;
}
