void loop(){
boost::shared_ptr<Pacer::Controller> ctrl(ctrl_weak_ptr);
const unsigned X=0,Y=1,Z=2,THETA=5;
// World frame
boost::shared_ptr<Ravelin::Pose3d>
environment_frame(new Ravelin::Pose3d());
Utility::visualize.push_back(Pacer::VisualizablePtr( new Pacer::Pose(*environment_frame.get())));
boost::shared_ptr<Ravelin::Pose3d>
base_horizontal_frame(new Ravelin::Pose3d(ctrl->get_data<Ravelin::Pose3d>("base_horizontal_frame")));
Ravelin::Vector3d com(base_horizontal_frame->x.data());
OUT_LOG(logERROR) << "x = " << base_horizontal_frame->x ;
Ravelin::VectorNd base_xd;
ctrl->get_base_value(Pacer::Robot::velocity,base_xd);
OUT_LOG(logERROR) << "xd = " << base_xd ;
/////////////////////
/// SET VARIABLES ///
// Command robot to walk in a direction
Ravelin::VectorNd command;
command.set_zero(6);
double max_forward_speed = ctrl->get_data<double>(plugin_namespace+".max-forward-speed");
double max_strafe_speed = ctrl->get_data<double>(plugin_namespace+".max-strafe-speed");
double max_turn_speed = ctrl->get_data<double>(plugin_namespace+".max-turn-speed");
// if FALSE, drive like a car (x and theta)
// Q: if TRUE, turn toward waypoint while stepping in direction of waypoint
bool HOLONOMIC = false;
/////////////////////////////////////
/// Assign WAYPOINTS in the plane ///
static std::vector<Point> waypoints;
std::vector<double> waypoints_vec = ctrl->get_data<std::vector<double> >(plugin_namespace+".waypoints");
// if (waypoints not inititalized) OR (waypoints changed) OR (only one waypoint)
// update waypoints
if(waypoints.empty() || waypoints_vec.size()/2 != waypoints.size() || waypoints_vec.size() == 2){
waypoints.clear();
for(int i=0;i<waypoints_vec.size();i+=2)
waypoints.push_back(Point(waypoints_vec[i],waypoints_vec[i+1]));
}
/////////////////////////////
/// CHOOSE NEXT WAYPOINT ///
int num_waypoints = waypoints.size();
// if waypoints are empty
// do not do anything (do not update SE2 command)
if(num_waypoints != 0){
Ravelin::Vector3d goto_point;
static int waypoint_index = 0;
static Ravelin::Vector3d
next_waypoint(waypoints[waypoint_index].first,waypoints[waypoint_index].second,0,environment_frame);
if(waypoints.size() == 1){
waypoint_index = 0;
next_waypoint = Ravelin::Vector3d(waypoints[waypoint_index].first,waypoints[waypoint_index].second,0,environment_frame);
}
double distance_to_wp = (Ravelin::Origin3d(next_waypoint.data()) - Ravelin::Origin3d(com[X],com[Y],0)).norm();
double max_dist = ctrl->get_data<double>(plugin_namespace+".tolerance");
if( distance_to_wp < max_dist){
OUT_LOG(logDEBUG1) << "waypoint reached, incrementing waypoint.";
OUTLOG(next_waypoint,"this_wp",logDEBUG1);
OUT_LOG(logDEBUG1) << "this waypoint: " << next_waypoint;
OUT_LOG(logDEBUG1) << "robot position: " << com;
waypoint_index = (waypoint_index+1)% num_waypoints;
if(waypoint_index == 0)
exit(0);
next_waypoint = Ravelin::Vector3d(waypoints[waypoint_index].first,waypoints[waypoint_index].second,0,environment_frame);
}
OUT_LOG(logDEBUG1) << "num_wps = " << num_waypoints;
OUT_LOG(logDEBUG1) << "distance_to_wp = " << distance_to_wp;
OUT_LOG(logDEBUG1) << "waypoint_index = " << waypoint_index;
Utility::visualize.push_back(Pacer::VisualizablePtr(new Pacer::Ray(next_waypoint,com,Ravelin::Vector3d(1,0.5,0))));
OUT_LOG(logDEBUG1) << "next_wp" << next_waypoint;
for(int i=0;i<num_waypoints;i++){
Ravelin::Vector3d wp(waypoints[i].first,waypoints[i].second,0,environment_frame);
OUT_LOG(logDEBUG1) << "\twp" << wp;
Utility::visualize.push_back(Pacer::VisualizablePtr( new Pacer::Point(wp,Ravelin::Vector3d(1,0.5,0),0.1)));
}
goto_point = next_waypoint;
///////////////////////
/// GO TO WAYPOINT ///
// Find direction to waypoint from robot position
Ravelin::Vector3d goto_direction =
Ravelin::Vector3d(goto_point[X],goto_point[Y],0,environment_frame)
- Ravelin::Vector3d(com[X],com[Y],0,environment_frame);
goto_direction = Ravelin::Pose3d::transform_vector(base_horizontal_frame,goto_direction);
goto_direction.normalize();
double angle_to_goal = atan2(goto_direction[Y],goto_direction[X]);
OUT_LOG(logDEBUG) << "angle_to_goal = " << angle_to_goal;
// If robot is facing toward goal already, walk in that direction
if(fabs(angle_to_goal) < M_PI_4){
if(HOLONOMIC){
command[Y] = goto_direction[Y]*max_strafe_speed;
}
command[X] = goto_direction[X]*max_forward_speed;
command[THETA] = angle_to_goal;
} else {
command[THETA] = Utility::sign(angle_to_goal)*max_turn_speed;
if(HOLONOMIC){
command[X] = goto_direction[X]*max_forward_speed;
command[Y] = goto_direction[Y]*max_strafe_speed;
} else {
command[X] = 0;
command[Y] = 0;
}
}
// double slow_down_tol = 0.1;
// if(distance_to_wp < slow_down_tol)
// command *= distance_to_wp*slow_down_tol+0.05;
Ravelin::Origin3d command_SE2(command[X],command[Y],command[THETA]);
ctrl->set_data<Ravelin::Origin3d>("SE2_command",command_SE2);
}
}
void Utility::calc_cubic_spline_coefs(const Ravelin::VectorNd& T_,const Ravelin::VectorNd& X,
const Ravelin::Vector2d& Xd, Ravelin::VectorNd& B){
static Ravelin::MatrixNd A;
// Spline always solves from t[0] = 0 in interval
static Ravelin::VectorNd T;
T = T_;
for(int i=0;i<T.rows();i++)
T[i] -= T_[0];
assert(T.rows() == X.rows());
int N = X.rows(); //n_control_points
// N_VIRTUAL_KNOTS= 2
// N_SPLINES = num_knots+N_VIRTUAL_KNOTS - 1
// N_CONSTRAINTS = num_knots*3 + num_knots + 2 + 2
// N_COEFS = 4*N_SPLINES
B.set_zero(4*(N+1));
A.set_zero(4*(N+1),4*(N+1));
// ---------- start constraint ----------
B[0] = 0;
B[1] = Xd[0]; // Velocity clamped spline
B[2] = X[0];
// xdd
A(0,0) = 6*T[0];
A(0,1) = 2;
// xd
A(1,0) = 3*T[0]*T[0];
A(1,1) = 2*T[0];
A(1,2) = 1;
// x
A(2,0) = T[0]*T[0]*T[0];
A(2,1) = T[0]*T[0];
A(2,2) = T[0];
A(2,3) = 1;
// ---------- start Virtual constraints ----------
double tv0 = T[0] + (T[1]-T[0])/1000.0;
// xdd
A(3,0) = 6*tv0;
A(3,1) = 2;
A(3,4) = -6*tv0;
A(3,5) = -2;
// xd
A(4,0) = 3*tv0*tv0;
A(4,1) = 2*tv0;
A(4,2) = 1;
A(4,4) = -3*tv0*tv0;
A(4,5) = -2*tv0;
A(4,6) = -1;
// x
A(5,0) = tv0*tv0*tv0;
A(5,1) = tv0*tv0;
A(5,2) = tv0;
A(5,3) = 1;
A(5,4) = -tv0*tv0*tv0;
A(5,5) = -tv0*tv0;
A(5,6) = -tv0;
A(5,7) = -1;
// ---------- End Virtual Constraint ----------
double tvN = T[N-1] - (T[N-1]-T[N-2])/1000.0;
// xddd
// A(A.rows()-6,A.columns()-8) = 6;
// A(A.rows()-6,A.columns()-4) = -6;
// xdd
A(A.rows()-6,A.columns()-8) = 6*tvN;
A(A.rows()-6,A.columns()-7) = 2;
A(A.rows()-6,A.columns()-4) = -6*tvN;
A(A.rows()-6,A.columns()-3) = -2;
// xd
A(A.rows()-5,A.columns()-8) = 3*tvN*tvN;
A(A.rows()-5,A.columns()-7) = 2*tvN;
A(A.rows()-5,A.columns()-6) = 1;
A(A.rows()-5,A.columns()-4) = -3*tvN*tvN;
A(A.rows()-5,A.columns()-3) = -2*tvN;
A(A.rows()-5,A.columns()-2) = -1;
// x
A(A.rows()-4,A.columns()-8) = tvN*tvN*tvN;
A(A.rows()-4,A.columns()-7) = tvN*tvN;
A(A.rows()-4,A.columns()-6) = tvN;
A(A.rows()-4,A.columns()-5) = 1;
A(A.rows()-4,A.columns()-4) = -tvN*tvN*tvN;
A(A.rows()-4,A.columns()-3) = -tvN*tvN;
A(A.rows()-4,A.columns()-2) = -tvN;
A(A.rows()-4,A.columns()-1) = -1;
// ---------- End constraint ----------
B[B.rows()-3] = 0;
B[B.rows()-2] = Xd[1]; // Velocity clamped spline
B[B.rows()-1] = X[N-1];
// xdd
A(A.rows()-3,A.columns()-4) = 6*T[N-1];
A(A.rows()-3,A.columns()-3) = 2;
// xddd
// A(A.rows()-3,A.columns()-4) = 6;
// xd
A(A.rows()-2,A.columns()-4) = 3*T[N-1]*T[N-1];
A(A.rows()-2,A.columns()-3) = 2*T[N-1];
A(A.rows()-2,A.columns()-2) = 1;
// x
A(A.rows()-1,A.columns()-4) = T[N-1]*T[N-1]*T[N-1];
A(A.rows()-1,A.columns()-3) = T[N-1]*T[N-1];
A(A.rows()-1,A.columns()-2) = T[N-1];
A(A.rows()-1,A.columns()-1) = 1;
// ---------- Fill in continuity conponents at each of N-2 knots ----------
for(int i=0;i<N-2;i++){
// Xdd continuity
// \ddot{P}_i - \ddot{P}_{i+1} = 0
A(5 + 4*i + 1,3 + 4*i + 1) = 6*T[i+1];
A(5 + 4*i + 1,3 + 4*i + 2) = 2;
A(5 + 4*i + 1,3 + 4*(i+1) + 1) = -6*T[i+1];
A(5 + 4*i + 1,3 + 4*(i+1) + 2) = -2;
// Xd continuity
// \dot{P}_i - \dot{P}_{i+1} = 0
A(5 + 4*i + 2,3 + 4*i + 1) = 3*T[i+1]*T[i+1];
A(5 + 4*i + 2,3 + 4*i + 2) = 2*T[i+1];
A(5 + 4*i + 2,3 + 4*i + 3) = 1;
A(5 + 4*i + 2,3 + 4*(i+1) + 1) = -3*T[i+1]*T[i+1];
A(5 + 4*i + 2,3 + 4*(i+1) + 2) = -2*T[i+1];
A(5 + 4*i + 2,3 + 4*(i+1) + 3) = -1;
// X continuity
// P_i - P_{i+1} = 0
A(5 + 4*i + 3,3 + 4*i + 1) = T[i+1]*T[i+1]*T[i+1];
A(5 + 4*i + 3,3 + 4*i + 2) = T[i+1]*T[i+1];
A(5 + 4*i + 3,3 + 4*i + 3) = T[i+1];
A(5 + 4*i + 3,3 + 4*i + 4) = 1;
A(5 + 4*i + 3,3 + 4*(i+1) + 1) = -T[i+1]*T[i+1]*T[i+1];
A(5 + 4*i + 3,3 + 4*(i+1) + 2) = -T[i+1]*T[i+1];
A(5 + 4*i + 3,3 + 4*(i+1) + 3) = -T[i+1];
A(5 + 4*i + 3,3 + 4*(i+1) + 4) = -1;
// P_i = X[i]
B[5 + 4*i + 4] = X[i+1];
A(5 + 4*i + 4,3 + 4*(i+1) + 1) = T[i+1]*T[i+1]*T[i+1];
A(5 + 4*i + 4,3 + 4*(i+1) + 2) = T[i+1]*T[i+1];
A(5 + 4*i + 4,3 + 4*(i+1) + 3) = T[i+1];
A(5 + 4*i + 4,3 + 4*(i+1) + 4) = 1;
}
workv_ = B;
// Solve linear system (A is corrupted and workv_ has result)
LA_.solve_fast(A,workv_);
// Exclude virtual points from returned spline coeficients
workv_.get_sub_vec(4,workv_.size()-4,B);
}