Beispiel #1
0
void BodyLinkViewImpl::doInverseKinematics(Vector3 p, Matrix3 R)
{
    InverseKinematicsPtr ik = currentBodyItem->getCurrentIK(currentLink);

    if(ik){
        currentBodyItem->beginKinematicStateEdit();

        if(KinematicsBar::instance()->isPenetrationBlockMode()){
            PenetrationBlockerPtr blocker = currentBodyItem->createPenetrationBlocker(currentLink, true);
            if(blocker){
                Position T;
                T.translation() = p;
                T.linear() = R;
                if(blocker->adjust(T, Vector3(p - currentLink->p()))){
                    p = T.translation();
                    R = T.linear();
                }
            }
        }
        if(ik->calcInverseKinematics(p, R)){
            currentBodyItem->notifyKinematicStateChange(true);
            currentBodyItem->acceptKinematicStateEdit();
        }
    }
}
Beispiel #2
0
void BodyItemImpl::getDefaultIK(Link* targetLink, InverseKinematicsPtr& ik)
{
    const Mapping& setupMap = *body->info()->findMapping("defaultIKsetup");

    if(targetLink && setupMap.isValid()){
        const Listing& setup = *setupMap.findListing(targetLink->name());
        if(setup.isValid() && !setup.empty()){
            Link* baseLink = body->link(setup[0].toString());
            if(baseLink){
                if(setup.size() == 1){
                    ik = getCustomJointPath(body, baseLink, targetLink);
                } else {
                    CompositeIKPtr compositeIK(new CompositeIK(body, targetLink));
                    ik = compositeIK;
                    for(int i=0; i < setup.size(); ++i){
                        Link* baseLink = body->link(setup[i].toString());
                        if(baseLink){
                            if(!compositeIK->addBaseLink(baseLink)){
                                ik.reset();
                                break;
                            }
                        }
                    }
                }
            }
        }
    }
}
Beispiel #3
0
//==============================================================================
void InputHandler::initialize()
{
  mRestConfig = mWam->getPositions();

  for (std::size_t i=0; i < mWam->getNumEndEffectors(); ++i)
  {
    const InverseKinematicsPtr ik = mWam->getEndEffector(i)->getIK();
    if (ik)
    {
      mDefaultBounds.push_back(ik->getErrorMethod().getBounds());
      mDefaultTargetTf.push_back(ik->getTarget()->getRelativeTransform());
      mConstraintActive.push_back(false);
      mEndEffectorIndex.push_back(i);
    }
  }
}
void EditableSceneBodyImpl::makeLinkAttitudeLevel()
{
    if(pointedSceneLink){
        Link* targetLink = outlinedLink->link();
        InverseKinematicsPtr ik = bodyItem->getCurrentIK(targetLink);
        if(ik){
            const Position& T = targetLink->T();
            const double theta = acos(T(2, 2));
            const Vector3 z(T(0,2), T(1, 2), T(2, 2));
            const Vector3 axis = z.cross(Vector3::UnitZ()).normalized();
            const Matrix3 R2 = AngleAxisd(theta, axis) * T.linear();

            bodyItem->beginKinematicStateEdit();
            if(ik->calcInverseKinematics(targetLink->p(), R2)){
                bodyItem->notifyKinematicStateChange(true);
                bodyItem->acceptKinematicStateEdit();
            }
        }
    }
}
Beispiel #5
0
  void initialize()
  {
    mRestConfig = mAtlas->getPositions();

    mLegs.reserve(12);
    for(size_t i=0; i<mAtlas->getNumDofs(); ++i)
    {
      if(mAtlas->getDof(i)->getName().substr(1, 5) == "_leg_")
        mLegs.push_back(mAtlas->getDof(i)->getIndexInSkeleton());
    }
    // We should also adjust the pelvis when detangling the legs
    mLegs.push_back(mAtlas->getDof("rootJoint_rot_x")->getIndexInSkeleton());
    mLegs.push_back(mAtlas->getDof("rootJoint_rot_y")->getIndexInSkeleton());
    mLegs.push_back(mAtlas->getDof("rootJoint_pos_z")->getIndexInSkeleton());

    for(size_t i=0; i < mAtlas->getNumEndEffectors(); ++i)
    {
      const InverseKinematicsPtr ik = mAtlas->getEndEffector(i)->getIK();
      if(ik)
      {
        mDefaultBounds.push_back(ik->getErrorMethod().getBounds());
        mDefaultTargetTf.push_back(ik->getTarget()->getRelativeTransform());
        mConstraintActive.push_back(false);
        mEndEffectorIndex.push_back(i);
      }
    }

    mPosture = std::dynamic_pointer_cast<RelaxedPosture>(
          mAtlas->getIK(true)->getObjective());

    mBalance = std::dynamic_pointer_cast<dart::constraint::BalanceConstraint>(
          mAtlas->getIK(true)->getProblem()->getEqConstraint(1));

    mOptimizationKey = 'r';

    mMoveComponents.resize(TeleoperationWorld::NUM_MOVE, false);
  }