void Walker::flattenFoot( Hubo_Control &hubo, zmp_traj_element_t &elem,
nudge_state_t &state, balance_gains_t &gains, double dt )
{
state.ankle_roll_compliance[LEFT] -= gains.decay_gain[LEFT]*state.ankle_roll_compliance[LEFT];
state.ankle_roll_compliance[RIGHT] -= gains.decay_gain[RIGHT]*state.ankle_roll_compliance[RIGHT];
state.ankle_pitch_compliance[LEFT] -= gains.decay_gain[LEFT]*state.ankle_pitch_compliance[LEFT];
state.ankle_pitch_compliance[RIGHT] -= gains.decay_gain[RIGHT]*state.ankle_pitch_compliance[RIGHT];
if( gains.force_min_threshold[RIGHT] < hubo.getRightFootFz()
&& hubo.getRightFootFz() < gains.force_max_threshold[RIGHT] )
{
state.ankle_roll_compliance[RIGHT] += dt*gains.flattening_gain[RIGHT]
*( hubo.getRightFootMx() );
state.ankle_pitch_compliance[RIGHT] += dt*gains.flattening_gain[RIGHT]
*( hubo.getRightFootMy() );
}
if( gains.force_min_threshold[LEFT] < hubo.getLeftFootFz()
&& hubo.getLeftFootFz() < gains.force_max_threshold[LEFT] )
{
state.ankle_roll_compliance[LEFT] += dt*gains.flattening_gain[LEFT]
*( hubo.getLeftFootMx() );
state.ankle_pitch_compliance[LEFT] += dt*gains.flattening_gain[LEFT]
*( hubo.getLeftFootMy() );
}
elem.angles[RAR] += state.ankle_roll_compliance[RIGHT];
elem.angles[RAP] += state.ankle_pitch_compliance[RIGHT];
elem.angles[LAR] += state.ankle_roll_compliance[LEFT];
elem.angles[LAP] += state.ankle_pitch_compliance[LEFT];
}
/**
* @function: main(int argc, char **argv)
* @brief: Main function that loops reading the sensors and commanding
* Hubo's arm joints based on the poses of the foots
*/
int main(int argc, char **argv)
{
// check if no arguments given, if not report usage
if (argc < 2)
{
usage(std::cerr);
return 1;
}
// command line argument variables
bool left = false; // whether to set left arm angles
bool right = false; // whether to set right arm angles
bool print = false; // whether to print output or not
bool send = true; // whether to send commands or not
int leftSensorNumberDefault = 3; // default left foot sensor number
int rightSensorNumberDefault = 4; // default right foot sensor number
int leftSensorNumber = leftSensorNumberDefault; // left foot sensor number
int rightSensorNumber = rightSensorNumberDefault; // right foot sensor number
const char *teleopDeviceName = "liberty"; // name of teleop device
// local variables
LegVector lActualAngles, lLegAnglesNext, lLegAnglesCurrent;
LegVector rActualAngles, rLegAnglesNext, rLegAnglesCurrent;
Vector3d lFootOrigin, lSensorChange, lSensorOrigin, lSensorPos;
Vector3d rFootOrigin, rSensorChange, rSensorOrigin, rSensorPos;
Eigen::Matrix3d lRotInitial, rRotInitial, lSensorRot, rSensorRot;
Eigen::Isometry3d lFootInitialPose, lFootPoseCurrent, lFootPoseDesired;
Eigen::Isometry3d rFootInitialPose, rFootPoseCurrent, rFootPoseDesired;
LegVector speeds; speeds << 0.75, 0.75, 0.75, 0.75, 0.75, 0.75;
LegVector accels; accels << 0.40, 0.40, 0.40, 0.40, 0.40, 0.40;
double initialFootHeight = 0.1;
double dt, ptime;
int counter=0, counterMax=50;
bool updateRight;
// command line long options
const struct option long_options[] =
{
{ "left", optional_argument, 0, 'l' },
{ "right", optional_argument, 0, 'r' },
{ "nosend", no_argument, 0, 'n' },
{ "device", optional_argument, 0, 'd' },
{ "verbose", no_argument, 0, 'V' },
{ "help", no_argument, 0, 'H' },
{ 0, 0, 0, 0 },
};
// command line short options
const char* short_options = "l::r::nd::VH";
// command line option and option index number
int opt, option_index;
// loop through command line options and set values accordingly
while ( (opt = getopt_long(argc, argv, short_options, long_options, &option_index)) != -1 )
{
switch (opt)
{
case 'l': left = true; if(NULL != optarg) leftSensorNumber = getSensorNumber(optarg); break;
case 'r': right = true; if(NULL != optarg) rightSensorNumber = getSensorNumber(optarg); break;
case 'n': send = false; break;
case 'd': if(NULL != optarg) teleopDeviceName = getDeviceName(optarg); break;
case 'V': print = true; break;
case 'H': usage(std::cout); exit(0); break;
default: usage(std::cerr); exit(1); break;
}
}
// check to see if there are any invalid arguments on command line
if (optind < argc)
{
std::cerr << "Error: extra arguments on command line.\n\n";
usage(std::cerr);
exit(1);
}
// make sure the sensor numbers are not the same for both feet
if(leftSensorNumber == rightSensorNumber)
{
if(left == true && right == true)
{
std::cerr << "Error!\nSensor #'s are the same.\n"
<< "Default sensor #'s are \n\tLEFT: " << leftSensorNumberDefault
<< "\n\tRIGHT: " << rightSensorNumberDefault
<< ".\nPlease choose different sensor numbers.\n\n";
usage(std::cerr);
exit(1);
}
}
Hubo_Control hubo; // Create Hubo_Control object
// Hubo_Control hubo("teleop-arms"); // Create Hubo_Control object and daemonize program
Collision_Checker collisionChecker; // Create Collision_Checker object
// Create Teleop object
Teleop teleop(teleopDeviceName); // Create Teleop object
if (left == true) // if using the left arm
{
teleop.getPose( lSensorOrigin, lRotInitial, leftSensorNumber, true ); // get initial sensor pose
hubo.setLeftLegNomSpeeds( speeds ); // Set left arm nominal joint speeds
hubo.setLeftLegNomAcc( accels ); // Set left arm nominal joint accelerations
}
if (right == true) // if using the right arm
{
if(left == true) updateRight = false; else updateRight = true;
teleop.getPose( rSensorOrigin, rRotInitial, rightSensorNumber, updateRight ); // get initial sensor pose
hubo.setRightLegNomSpeeds( speeds ); // Set right arm nominal joint speeds
hubo.setRightLegNomAcc( accels ); // Set right arm nomimal joint accelerations
}
if(send == true) // if user wants to send commands
hubo.sendControls(); // send commands to the control daemon
if(left == true)
{
hubo.getLeftLegAngles(lLegAnglesNext);
hubo.huboLegFK(lFootInitialPose, lLegAnglesNext, LEFT); // Get left foot pose
lFootOrigin = lFootInitialPose.translation(); // Set relative zero for foot location
}
if(right == true)
{
hubo.getRightLegAngles(rLegAnglesNext);
hubo.huboLegFK(rFootInitialPose, rLegAnglesNext, RIGHT); // Get right foot pose
rFootOrigin = rFootInitialPose.translation(); // Set relative zero for foot location
}
// while the daemon is running
while(!daemon_sig_quit)
{
hubo.update(); // Get latest state info from Hubo
dt = hubo.getTime() - ptime; // compute change in time
ptime = hubo.getTime(); // get current time
if(dt>0 || (send == false && print == true)); // if new data was received over ach
{
if(left == true) // if using left arm
{
hubo.getLeftLegAngles(lLegAnglesCurrent); // get left arm joint angles
hubo.huboLegFK(lFootPoseCurrent, lLegAnglesCurrent, LEFT); // get left foot pose
teleop.getPose(lSensorPos, lSensorRot, leftSensorNumber, true); // get teleop data
lSensorChange = lSensorPos - lSensorOrigin; // compute teleop relative translation
lFootPoseDesired = Eigen::Matrix4d::Identity(); // create 4d identity matrix
lFootPoseDesired.translate(lSensorChange + lFootOrigin); // pretranslate relative translation
// make sure feet don't cross sagittal plane
if(lFootPoseDesired(1,3) - FOOT_WIDTH/2 < 0)
lFootPoseDesired(1,3) = FOOT_WIDTH/2;
lFootPoseDesired.rotate(lSensorRot); // add rotation to top-left of TF matrix
hubo.huboLegIK( lLegAnglesNext, lFootPoseDesired, lLegAnglesCurrent, LEFT ); // get joint angles for desired TF
hubo.setLeftLegAngles( lLegAnglesNext, false ); // set joint angles
hubo.getLeftLegAngles( lActualAngles ); // get current joint angles
}
if( right==true ) // if using right arm
{
if(left == true) updateRight = false; else updateRight = true;
hubo.getRightLegAngles(rLegAnglesCurrent); // get right arm joint angles
hubo.huboLegFK(rFootPoseCurrent, rLegAnglesCurrent, RIGHT); // get right foot pose
teleop.getPose(rSensorPos, rSensorRot, rightSensorNumber, updateRight); // get teleop data
rSensorChange = rSensorPos - rSensorOrigin; // compute teleop relative translation
rFootPoseDesired = Eigen::Matrix4d::Identity(); // create 4d identity matrix
rFootPoseDesired.translate(rSensorChange + rFootOrigin); // pretranslation by relative translation
// make sure feet don't cross sagittal plane
if(rFootPoseDesired(1,3) + FOOT_WIDTH/2 > 0)
rFootPoseDesired(1,3) = -FOOT_WIDTH/2;
rFootPoseDesired.rotate(rSensorRot); // add rotation to top-left corner of TF matrix
hubo.huboLegIK( rLegAnglesNext, rFootPoseDesired, rLegAnglesCurrent, RIGHT ); // get joint angles for desired TF
hubo.setRightLegAngles( rLegAnglesNext, false ); // set joint angles
hubo.getRightLegAngles( rActualAngles ); // get current joint angles
}
if( send == true ) // if user wants to send commands the control boards
hubo.sendControls(); // send reference commands set above
if( counter>=counterMax && print==true ) // if user wants output, print output every imax cycles
{
std::cout
<< "Teleop Position Lt(m): " << lSensorChange.transpose()
<< "\nTeleop Rotation Lt: \n" << lSensorRot
<< "\nTeleop Position Rt(m): " << rSensorChange.transpose()
<< "\nTeleop Rotation Rt: \n" << rSensorRot
<< "\nLeft Leg Actual Angles (rad): " << lActualAngles.transpose()
<< "\nLeft Leg Desired Angles(rad): " << lLegAnglesNext.transpose()
<< "\nRight Leg Actual Angles (rad): " << rActualAngles.transpose()
<< "\nRight Leg Desired Angles(rad): " << rLegAnglesNext.transpose()
<< "\nRight Foot Desired Pose: \n" << rFootPoseDesired.matrix()
<< "\nLeft Foot Desired Pose: \n" << lFootPoseDesired.matrix()
<< "\nRight foot torques(N-m)(Mx,My): " << hubo.getRightFootMx() << ", " << hubo.getRightFootMy()
<< "\nLeft foot torques(N-m)(Mx,My): " << hubo.getLeftFootMx() << ", " << hubo.getLeftFootMy()
<< std::endl;
}
if(counter>=counterMax) counter=0; counter++; // reset counter if it reaches counterMax
}
}
}
void Walker::nudgeHips( Hubo_Control &hubo, zmp_traj_element_t &elem,
nudge_state_t &state, balance_gains_t &gains, double dt )
{
bool debug = false;
double kP, kD; //!< Proportional and derivative gains
int side; //!< variable for stance leg
// Figure out if we're in single or double support stance and which leg
switch(elem.stance)
{
case SINGLE_LEFT:
side = LEFT;
kP = gains.single_support_hip_nudge_kp;
kD = gains.single_support_hip_nudge_kd;
break;
case SINGLE_RIGHT:
side = RIGHT;
kP = gains.single_support_hip_nudge_kp;
kD = gains.single_support_hip_nudge_kd;
break;
case DOUBLE_LEFT:
case DOUBLE_RIGHT:
side = 100;
kP = gains.double_support_hip_nudge_kp;
kD = gains.double_support_hip_nudge_kd;
break;
default:
return;
}
// Store leg joint angels for current trajectory timestep
std::vector<Vector6d, Eigen::aligned_allocator<Vector6d> > qPrev(2);
qPrev[LEFT](HY) = elem.angles[LHY],
qPrev[LEFT](HR) = elem.angles[LHR],
qPrev[LEFT](HP) = elem.angles[LHP],
qPrev[LEFT](KN) = elem.angles[LKN],
qPrev[LEFT](AP) = elem.angles[LAP],
qPrev[LEFT](AR) = elem.angles[LAR];
qPrev[RIGHT](HY) = elem.angles[RHY],
qPrev[RIGHT](HR) = elem.angles[RHR],
qPrev[RIGHT](HP) = elem.angles[RHP],
qPrev[RIGHT](KN) = elem.angles[RKN],
qPrev[RIGHT](AP) = elem.angles[RAP],
qPrev[RIGHT](AR) = elem.angles[RAR];
// Skew matrix for torque reaction logic
Eigen::Matrix3d skew;
skew << 0, 1, 0,
-1, 0, 0,
0, 0, 0;
// Proportional gain matrix for ankle roll and pitch
Eigen::Matrix3d shiftGainsKp;
shiftGainsKp << kP, 0, 0,
0, kP, 0,
0, 0, 0;
// Derivative gain matrix for ankle roll and pitch
Eigen::Matrix3d shiftGainsKd;
shiftGainsKd << kD, 0, 0,
0, kD, 0,
0, 0, 0;
// Get rotation matrix for each hip yaw
std::vector< Eigen::Matrix3d, Eigen::aligned_allocator<Eigen::Matrix3d> > yawRot(2);
yawRot[LEFT] = Eigen::AngleAxisd(hubo.getJointAngle(LHY), Eigen::Vector3d::UnitZ()).toRotationMatrix();
yawRot[RIGHT]= Eigen::AngleAxisd(hubo.getJointAngle(RHY), Eigen::Vector3d::UnitZ()).toRotationMatrix();
// TF for body to each foot
std::vector< Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d> > footTF(2);
// New joint angles for both legs
std::vector< Vector6d, Eigen::aligned_allocator<Vector6d> > qNew(2);
// Ankle torque error XYZ (ie. Roll/Pitch/Yaw), but just setting Z to zero.
Vector3d torqueErr[2];
// Determine how much we need to nudge to hips over to account for
// error in ankle torques about the x- and y- axes.
// If Roll torque is positive (ie. leaning left) we want hips to go right (ie. negative y-direction)
// If Pitch torque is positive (ie. leaning back) we want hips to go forward (ie. positive x-direction)
// Get TFs for feet
hubo.huboLegFK( footTF[LEFT], qPrev[LEFT], LEFT );
hubo.huboLegFK( footTF[RIGHT], qPrev[RIGHT], RIGHT );
std::cout << "foot is supposedly at " << footTF[LEFT].translation().transpose() << "\n";
// Averaged torque error in ankles (roll and pitch) (yaw is always zero)
//FIXME The version below is has elem.torques negative b/c hubomz computes reaction torque at ankle
// instead of torque at F/T sensor
torqueErr[LEFT](0) = (-elem.torque[LEFT][0] - hubo.getLeftFootMx());
torqueErr[LEFT](1) = (-elem.torque[LEFT][1] - hubo.getLeftFootMy());
torqueErr[LEFT](2) = 0;
torqueErr[RIGHT](0) = (-elem.torque[RIGHT][0] - hubo.getRightFootMx());
torqueErr[RIGHT](1) = (-elem.torque[RIGHT][1] - hubo.getRightFootMy());
torqueErr[RIGHT](2) = 0;
// Feet position errors (x,y)
Vector3d instantaneousFeetOffset;
// Check if we're on the ground, if not set instantaneous feet offset
// to zero so integrated feet offset doesn't change, but we still apply it.
const double forceThreshold = 20; // Newtons
if(hubo.getLeftFootFz() + hubo.getRightFootFz() > forceThreshold)
{
std::cout << "Fzs = " << hubo.getLeftFootFz() << ", " << hubo.getRightFootFz() << "\n";
if (side != LEFT && side != RIGHT)
{
instantaneousFeetOffset = (dt*shiftGainsKp * (yawRot[LEFT]*skew*torqueErr[LEFT] + yawRot[RIGHT]*skew*torqueErr[RIGHT])/2)
- (shiftGainsKd * (yawRot[LEFT]*skew*(torqueErr[LEFT] - state.prevTorqueErr[LEFT])
+ yawRot[RIGHT]*skew*(torqueErr[RIGHT] - state.prevTorqueErr[RIGHT]))/2);
}
else
{
instantaneousFeetOffset = (dt*shiftGainsKp * yawRot[side]*skew*torqueErr[side])
- (shiftGainsKd * yawRot[side]*skew*(torqueErr[side] - state.prevTorqueErr[side]));
}
}
else
instantaneousFeetOffset.setZero();
// Decay the integratedFeetOffset
state.integratedFeetOffset -= gains.decay_gain[LEFT]*state.integratedFeetOffset;
// Add the instantaneous feet offset to the integrator
state.integratedFeetOffset += instantaneousFeetOffset;
const double integratedFeetOffsetTol = 0.06;
double n = state.integratedFeetOffset.norm();
if (n > integratedFeetOffsetTol) {
state.integratedFeetOffset *= integratedFeetOffsetTol/n;
}
// Pretranslate feet TF by integrated feet error translation vector
footTF[LEFT].pretranslate(state.integratedFeetOffset);
footTF[RIGHT].pretranslate(state.integratedFeetOffset);
// Run IK on the adjusted feet TF to get new joint angles
bool ok = true;
ok = hubo.huboLegIK(qNew[LEFT], footTF[LEFT], qPrev[LEFT], LEFT);
if(ok)
ok = hubo.huboLegIK(qNew[RIGHT], footTF[RIGHT], qPrev[RIGHT], RIGHT);
// TODO: FIXME: MZ doesn't like the above code, he will explain
hubo.huboLegFK( footTF[LEFT], qNew[LEFT], LEFT );
std::cout << "now foot is supposedly at " << footTF[LEFT].translation().transpose() << "\n";
if(debug)
{
std::cout //<< " K: " << kP
//<< " TdL: " << -elem.torque[LEFT][0] << ", " << -elem.torque[LEFT][1]
//<< " TdR: " << -elem.torque[RIGHT][0] << ", " << -elem.torque[RIGHT][1]
//<< " MyLR: " << hubo.getLeftFootMy() << ", " << hubo.getRightFootMy()
//<< " MxLR: " << hubo.getLeftFootMx() << ", " << hubo.getRightFootMx()
//<< " Te: " << torqueErr.transpose()
//<< " Fte: " << instantaneousFeetOffset.transpose()
//<< " qDfL: " << (qNew[LEFT] - qPrev[LEFT]).transpose()
<< " FeetE: " << state.integratedFeetOffset.transpose()
<< "\tqDfR: " << qNew[RIGHT].transpose()
<< "\n";
}
//ok = false;
// Set leg joint angles for current timestep of trajectory
if(ok)
{
elem.angles[LHY] = qNew[LEFT](HY);
elem.angles[LHR] = qNew[LEFT](HR);
elem.angles[LHP] = qNew[LEFT](HP);
elem.angles[LKN] = qNew[LEFT](KN);
elem.angles[LAP] = qNew[LEFT](AP);
elem.angles[LAR] = qNew[LEFT](AR);
elem.angles[RHY] = qNew[RIGHT](HY);
elem.angles[RHR] = qNew[RIGHT](HR);
elem.angles[RHP] = qNew[RIGHT](HP);
elem.angles[RKN] = qNew[RIGHT](KN);
elem.angles[RAP] = qNew[RIGHT](AP);
elem.angles[RAR] = qNew[RIGHT](AR);
}
else
std::cout << "IK Invalid\n";
// Save current force torque readings for next iteration
for(int i=0; i<2; i++)
state.prevTorqueErr[i] = torqueErr[i];
}
void Walker::complyKnee( Hubo_Control &hubo, zmp_traj_element_t &elem,
nudge_state_t &state, balance_gains_t &gains, double dt )
{
counter++;
//-------------------------
// STANCE TYPE
//-------------------------
// Figure out if we're in single or double support stance and which leg
int side; //!< variable for stance leg
if((unsigned char*)0x8 == elem.supporting)
side = LEFT;
else if((unsigned char*)"0100" == elem.supporting)
side = RIGHT;
else
side = 100;
//-------------------------
// GAINS
//-------------------------
Eigen::Vector3d spring_gain, damping_gain;
spring_gain.setZero(); damping_gain.setZero();
spring_gain.z() = gains.spring_gain[LEFT];
damping_gain.z() = gains.damping_gain[LEFT];
//-------------------------
// COPY JOINT ANGLES
//-------------------------
// Store leg joint angels for current trajectory timestep
Vector6d qPrev[2];
qPrev[LEFT](HY) = elem.angles[LHY],
qPrev[LEFT](HR) = elem.angles[LHR],
qPrev[LEFT](HP) = elem.angles[LHP],
qPrev[LEFT](KN) = elem.angles[LKN],
qPrev[LEFT](AP) = elem.angles[LAP],
qPrev[LEFT](AR) = elem.angles[LAR];
qPrev[RIGHT](HY) = elem.angles[RHY],
qPrev[RIGHT](HR) = elem.angles[RHR],
qPrev[RIGHT](HP) = elem.angles[RHP],
qPrev[RIGHT](KN) = elem.angles[RKN],
qPrev[RIGHT](AP) = elem.angles[RAP],
qPrev[RIGHT](AR) = elem.angles[RAR];
//-------------------------
// HIP YAWS
//-------------------------
// Get rotation matrix for each hip yaw
Eigen::Matrix3d yawRot[2];
yawRot[LEFT] = Eigen::AngleAxisd(hubo.getJointAngle(LHY), Eigen::Vector3d::UnitZ()).toRotationMatrix();
yawRot[RIGHT]= Eigen::AngleAxisd(hubo.getJointAngle(RHY), Eigen::Vector3d::UnitZ()).toRotationMatrix();
//-------------------------
// FOOT TFs
//-------------------------
// Determine how much we need to nudge to hips over to account for
// error in ankle torques about the x- and y- axes.
// If Roll torque is positive (ie. leaning left) we want hips to go right (ie. negative y-direction)
// If Pitch torque is positive (ie. leaning back) we want hips to go forward (ie. positive x-direction)
// Get TFs for feet
Eigen::Isometry3d footTF[2];
hubo.huboLegFK( footTF[LEFT], qPrev[LEFT], LEFT );
hubo.huboLegFK( footTF[RIGHT], qPrev[RIGHT], RIGHT );
if(counter > 40)
std::cout << " now " << footTF[LEFT](2,3);
//-------------------------
// FORCE/TORQUE ERROR
//-------------------------
// Averaged torque error in ankles (roll and pitch) (yaw is always zero)
//FIXME The version below is has elem.torques negative b/c hubomz computes reaction torque at ankle
// instead of torque at F/T sensor
Eigen::Vector3d forceTorqueErr[2];
forceTorqueErr[LEFT](0) = (-elem.torque[LEFT][0] - hubo.getLeftFootMx());
forceTorqueErr[LEFT](1) = (-elem.torque[LEFT][1] - hubo.getLeftFootMy());
forceTorqueErr[LEFT](2) = (-elem.forces[LEFT][2] - hubo.getLeftFootFz()); //FIXME should be positive
forceTorqueErr[RIGHT](0) = (-elem.torque[RIGHT][0] - hubo.getRightFootMx());
forceTorqueErr[RIGHT](1) = (-elem.torque[RIGHT][1] - hubo.getRightFootMy());
forceTorqueErr[RIGHT](2) = (-elem.forces[RIGHT][2] - hubo.getRightFootFz()); //FIXME should be positive
// Skew matrix for torque reaction logic
Eigen::Matrix3d skew;
skew << 0, 1, 0,
-1, 0, 0,
0, 0, 1; //FIXME should be negative
skew(0,1) = 0;
skew(1,0) = 0;
//------------------------
// IMPEDANCE CONTROLLER
//------------------------
// Check if we're on the ground, if not set instantaneous feet offset
// to zero so integrated feet offset doesn't change, but we still apply it.
const double forceThreshold = 0;//20; // Newtons
if(hubo.getLeftFootFz() + hubo.getRightFootFz() > forceThreshold)
{
if(LEFT == side || RIGHT == side)
impCtrl.run(state.dFeetOffset, yawRot[side]*skew*forceTorqueErr[side], dt);
else
impCtrl.run(state.dFeetOffset, (yawRot[LEFT]*skew*forceTorqueErr[LEFT] + yawRot[RIGHT]*skew*forceTorqueErr[RIGHT])/2, dt);
}
else
{
// Don't add to the dFeetOffset
}
// Decay the dFeetOffset
// state.dFeetOffset -= gains.decay_gain[LEFT]*state.dFeetOffset;
//------------------------
// CAP BODY OFFSET
//------------------------
const double dFeetOffsetTol = 0.06;
double n = state.dFeetOffset.norm();
if (n > dFeetOffsetTol) {
state.dFeetOffset *= dFeetOffsetTol/n;
}
//------------------------
// ADJUST FEET TFs
//------------------------
// Pretranslate feet TF by integrated feet error translation vector
Eigen::Isometry3d tempFootTF[2];
tempFootTF[LEFT] = footTF[LEFT].pretranslate(state.dFeetOffset.block<3,1>(0,0));
tempFootTF[RIGHT] = footTF[RIGHT].pretranslate(state.dFeetOffset.block<3,1>(0,0));
//------------------------
// GET NEW LEG ANGLES
//------------------------
// Run IK on the adjusted feet TF to get new joint angles
bool ok = false;
// Check IK for each new foot TF. If either fails, use previous feet TF
// New joint angles for both legs
Vector6d qNew[2];
ok = hubo.huboLegIK(qNew[LEFT], tempFootTF[LEFT], qPrev[LEFT], LEFT);
if(ok)
{
ok = hubo.huboLegIK(qNew[RIGHT], tempFootTF[RIGHT], qPrev[RIGHT], RIGHT);
state.prevdFeetOffset = state.dFeetOffset;
}
else // use previous integrated feet offset to get joint angles
{
std::cout << "IK Failed in impedance controller. Using previous feet TF.\n";
// Pretranslate feet TF by integrated feet error translation vector
footTF[LEFT].pretranslate(state.prevdFeetOffset.block<3,1>(0,0));
footTF[RIGHT].pretranslate(state.prevdFeetOffset.block<3,1>(0,0));
hubo.huboLegIK(qNew[LEFT], footTF[LEFT], qPrev[LEFT], LEFT);
hubo.huboLegIK(qNew[RIGHT], footTF[RIGHT], qPrev[RIGHT], RIGHT);
}
hubo.huboLegFK( footTF[LEFT], qNew[LEFT], LEFT );
if(counter > 40)
std::cout << " aft " << footTF[LEFT](2,3);
//----------------------
// DEBUG PRINT OUT
//----------------------
if(counter > 40)
{
if(true)
{
std::cout //<< " K: " << kP
//<< " TdL: " << -elem.torque[LEFT][0] << ", " << -elem.torque[LEFT][1]
//<< " TdR: " << -elem.torque[RIGHT][0] << ", " << -elem.torque[RIGHT][1]
//<< " MyLR: " << hubo.getLeftFootMy() << ", " << hubo.getRightFootMy()
//<< " MxLR: " << hubo.getLeftFootMx() << ", " << hubo.getRightFootMx()
<< " mFz: " << hubo.getLeftFootFz()
<< " dFz: " << -elem.forces[LEFT][2]
<< " FTe: " << forceTorqueErr[LEFT].z()
//<< " Fte: " << instantaneousFeetOffset.transpose()
<< " FeetE: " << state.dFeetOffset(2)
<< " qDfL: " << (qNew[LEFT] - qPrev[LEFT]).transpose()
<< "\n";
}
}
//-----------------------
// SET JOINT ANGLES
//-----------------------
// Set leg joint angles for current timestep of trajectory
{
elem.angles[LHY] = qNew[LEFT](HY);
elem.angles[LHR] = qNew[LEFT](HR);
elem.angles[LHP] = qNew[LEFT](HP);
elem.angles[LKN] = qNew[LEFT](KN);
elem.angles[LAP] = qNew[LEFT](AP);
elem.angles[LAR] = qNew[LEFT](AR);
elem.angles[RHY] = qNew[RIGHT](HY);
elem.angles[RHR] = qNew[RIGHT](HR);
elem.angles[RHP] = qNew[RIGHT](HP);
elem.angles[RKN] = qNew[RIGHT](KN);
elem.angles[RAP] = qNew[RIGHT](AP);
elem.angles[RAR] = qNew[RIGHT](AR);
}
if(counter > 40)
counter = 0;
}