int main(int argc, char** argv)
{
IKREAL_TYPE eerot[9],eetrans[3];
#if IK_VERSION > 54
// for IKFast 56,61
unsigned int num_of_joints = GetNumJoints();
unsigned int num_free_parameters = GetNumFreeParameters();
#else
// for IKFast 54
unsigned int num_of_joints = getNumJoints();
unsigned int num_free_parameters = getNumFreeParameters();
#endif
std::string cmd;
if (argv[1]) cmd = argv[1];
//printf("command: %s \n\n", cmd.c_str() );
if (cmd.compare("ik") == 0) // ik mode
{
if( argc == 1+7+num_free_parameters+1 ) // ik, given translation vector and quaternion pose
{
#if IK_VERSION > 54
// for IKFast 56,61
IkSolutionList<IKREAL_TYPE> solutions;
#else
// for IKFast 54
std::vector<IKSolution> vsolutions;
#endif
std::vector<IKREAL_TYPE> vfree(num_free_parameters);
eetrans[0] = atof(argv[2]);
eetrans[1] = atof(argv[3]);
eetrans[2] = atof(argv[4]);
// Convert input effector pose, in w x y z quaternion notation, to rotation matrix.
// Must use doubles, else lose precision compared to directly inputting the rotation matrix.
double qw = atof(argv[5]);
double qx = atof(argv[6]);
double qy = atof(argv[7]);
double qz = atof(argv[8]);
const double n = 1.0f/sqrt(qx*qx+qy*qy+qz*qz+qw*qw);
qw *= n;
qx *= n;
qy *= n;
qz *= n;
eerot[0] = 1.0f - 2.0f*qy*qy - 2.0f*qz*qz; eerot[1] = 2.0f*qx*qy - 2.0f*qz*qw; eerot[2] = 2.0f*qx*qz + 2.0f*qy*qw;
eerot[3] = 2.0f*qx*qy + 2.0f*qz*qw; eerot[4] = 1.0f - 2.0f*qx*qx - 2.0f*qz*qz; eerot[5] = 2.0f*qy*qz - 2.0f*qx*qw;
eerot[6] = 2.0f*qx*qz - 2.0f*qy*qw; eerot[7] = 2.0f*qy*qz + 2.0f*qx*qw; eerot[8] = 1.0f - 2.0f*qx*qx - 2.0f*qy*qy;
// For debugging, output the matrix
for (unsigned char i=0; i<=8; i++)
{ // detect -0.0 and replace with 0.0
if ( ((int&)(eerot[i]) & 0xFFFFFFFF) == 0) eerot[i] = 0.0;
}
printf(" Rotation %f %f %f \n", eerot[0], eerot[1], eerot[2] );
printf(" %f %f %f \n", eerot[3], eerot[4], eerot[5] );
printf(" %f %f %f \n", eerot[6], eerot[7], eerot[8] );
printf("\n");
for(std::size_t i = 0; i < vfree.size(); ++i)
vfree[i] = atof(argv[13+i]);
#if IK_VERSION > 54
// for IKFast 56,61
bool bSuccess = ComputeIk(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, solutions);
#else
// for IKFast 54
bool bSuccess = ik(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, vsolutions);
#endif
if( !bSuccess ) {
fprintf(stderr,"Failed to get ik solution\n");
//return -1;
}
#if IK_VERSION > 54
// for IKFast 56,61
unsigned int num_of_solutions = (int)solutions.GetNumSolutions();
#else
// for IKFast 54
unsigned int num_of_solutions = (int)vsolutions.size();
#endif
printf("Found %d ik solutions:\n", num_of_solutions );
std::vector<IKREAL_TYPE> solvalues(num_of_joints);
for(std::size_t i = 0; i < num_of_solutions; ++i) {
#if IK_VERSION > 54
// for IKFast 56,61
const IkSolutionBase<IKREAL_TYPE>& sol = solutions.GetSolution(i);
int this_sol_free_params = (int)sol.GetFree().size();
#else
// for IKFast 54
int this_sol_free_params = (int)vsolutions[i].GetFree().size();
#endif
printf("sol%d (free=%d): ", (int)i, this_sol_free_params );
std::vector<IKREAL_TYPE> vsolfree(this_sol_free_params);
#if IK_VERSION > 54
// for IKFast 56,61
sol.GetSolution(&solvalues[0],vsolfree.size()>0?&vsolfree[0]:NULL);
#else
// for IKFast 54
vsolutions[i].GetSolution(&solvalues[0],vsolfree.size()>0?&vsolfree[0]:NULL);
#endif
for( std::size_t j = 0; j < solvalues.size(); ++j)
printf("%.15f, ", solvalues[j]);
printf("\n");
}
}
else if( argc == 1+12+num_free_parameters+1 ) // ik, given rotation-translation matrix
{
#if IK_VERSION > 54
// for IKFast 56,61
IkSolutionList<IKREAL_TYPE> solutions;
#else
// for IKFast 54
std::vector<IKSolution> vsolutions;
#endif
std::vector<IKREAL_TYPE> vfree(num_free_parameters);
eerot[0] = atof(argv[2]); eerot[1] = atof(argv[3]); eerot[2] = atof(argv[4]); eetrans[0] = atof(argv[5]);
eerot[3] = atof(argv[6]); eerot[4] = atof(argv[7]); eerot[5] = atof(argv[8]); eetrans[1] = atof(argv[9]);
eerot[6] = atof(argv[10]); eerot[7] = atof(argv[11]); eerot[8] = atof(argv[12]); eetrans[2] = atof(argv[13]);
for(std::size_t i = 0; i < vfree.size(); ++i)
vfree[i] = atof(argv[14+i]);
printf("translation: \n");
for (unsigned int i = 0; i < 3; i++) {
printf("%lf ", eetrans[i]);
}
printf("\n");
printf("rotation matix: \n");
for (unsigned int i = 0; i < 9; i++) {
printf("%lf%s", eerot[i], (i % 3 == 2)?"\n":" ");
}
printf("\n");
printf("vfree:\n");
for(std::size_t i = 0; i < vfree.size(); ++i)
printf("%lf ", vfree[i]);
printf("\n");
#if IK_VERSION > 54
// for IKFast 56,61
bool bSuccess = ComputeIk(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, solutions);
#else
// for IKFast 54
bool bSuccess = ik(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, vsolutions);
#endif
if( !bSuccess ) {
fprintf(stderr,"Failed to get ik solution\n");
return -1;
}
#if IK_VERSION > 54
// for IKFast 56,61
unsigned int num_of_solutions = (int)solutions.GetNumSolutions();
#else
// for IKFast 54
unsigned int num_of_solutions = (int)vsolutions.size();
#endif
printf("Found %d ik solutions:\n", num_of_solutions );
std::vector<IKREAL_TYPE> solvalues(num_of_joints);
for(std::size_t i = 0; i < num_of_solutions; ++i) {
#if IK_VERSION > 54
// for IKFast 56,61
const IkSolutionBase<IKREAL_TYPE>& sol = solutions.GetSolution(i);
int this_sol_free_params = (int)sol.GetFree().size();
#else
// for IKFast 54
int this_sol_free_params = (int)vsolutions[i].GetFree().size();
#endif
printf("sol%d (free=%d): ", (int)i, this_sol_free_params );
std::vector<IKREAL_TYPE> vsolfree(this_sol_free_params);
#if IK_VERSION > 54
// for IKFast 56,61
sol.GetSolution(&solvalues[0],vsolfree.size()>0?&vsolfree[0]:NULL);
#else
// for IKFast 54
vsolutions[i].GetSolution(&solvalues[0],vsolfree.size()>0?&vsolfree[0]:NULL);
#endif
for( std::size_t j = 0; j < solvalues.size(); ++j)
printf("%.15f, ", solvalues[j]);
printf("\n");
}
}
else {
printf("\n "
"Usage: \n\n "
" ./compute ik t0 t1 t2 qw qi qj qk free0 ...\n\n "
" Returns the ik solutions given the transformation of the end effector specified by \n "
" a 3x1 translation (tX), and a 1x4 quaternion (w + i + j + k). \n "
" There are %d free parameters that have to be specified.\n\n", num_free_parameters );
printf(" \n "
" ./compute ik r00 r01 r02 t0 r10 r11 r12 t1 r20 r21 r22 t2 free0 ...\n\n "
" Returns the ik solutions given the transformation of the end effector specified by \n "
" a 3x3 rotation R (rXX), and a 3x1 translation (tX). \n "
" There are %d free parameters that have to be specified.\n\n", num_free_parameters );
return 1;
}
} // endif ik mode
else if (cmd.compare("fk") == 0) // fk mode
{
if( argc != num_of_joints+2 ) {
printf("\n "
"Usage: \n\n "
" ./compute fk j0 j1 ... j%d \n\n"
" Returns the forward kinematic solution given the joint angles (in radians). \n\n", num_of_joints-1 );
return 1;
}
printf("\n\n");
// Put input joint values into array
IKREAL_TYPE joints[num_of_joints];
for (unsigned int i=0; i<num_of_joints; i++)
{
joints[i] = atof(argv[i+2]);
}
#if IK_VERSION > 54
// for IKFast 56,61
ComputeFk(joints, eetrans, eerot); // void return
#else
// for IKFast 54
fk(joints, eetrans, eerot); // void return
#endif
printf("Found fk solution for end frame: \n\n");
printf(" Translation: x: %f y: %f z: %f \n", eetrans[0], eetrans[1], eetrans[2] );
printf("\n");
printf(" Rotation %f %f %f \n", eerot[0], eerot[1], eerot[2] );
printf(" Matrix: %f %f %f \n", eerot[3], eerot[4], eerot[5] );
printf(" %f %f %f \n", eerot[6], eerot[7], eerot[8] );
printf("\n");
// Display equivalent Euler angles
float yaw;
float pitch;
float roll;
if ( eerot[5] > 0.998 || eerot[5] < -0.998 ) { // singularity
yaw = IKatan2( -eerot[6], eerot[0] );
pitch = 0;
} else {
yaw = IKatan2( eerot[2], eerot[8] );
pitch = IKatan2( eerot[3], eerot[4] );
}
roll = IKasin( eerot[5] );
printf(" Euler angles: \n");
printf(" Yaw: %f ", yaw ); printf("(1st: rotation around vertical blue Z-axis in ROS Rviz) \n");
printf(" Pitch: %f \n", pitch );
printf(" Roll: %f \n", roll );
printf("\n");
// Convert rotation matrix to quaternion (Daisuke Miyazaki)
float q0 = ( eerot[0] + eerot[4] + eerot[8] + 1.0f) / 4.0f;
float q1 = ( eerot[0] - eerot[4] - eerot[8] + 1.0f) / 4.0f;
float q2 = (-eerot[0] + eerot[4] - eerot[8] + 1.0f) / 4.0f;
float q3 = (-eerot[0] - eerot[4] + eerot[8] + 1.0f) / 4.0f;
if(q0 < 0.0f) q0 = 0.0f;
if(q1 < 0.0f) q1 = 0.0f;
if(q2 < 0.0f) q2 = 0.0f;
if(q3 < 0.0f) q3 = 0.0f;
q0 = sqrt(q0);
q1 = sqrt(q1);
q2 = sqrt(q2);
q3 = sqrt(q3);
if(q0 >= q1 && q0 >= q2 && q0 >= q3) {
q0 *= +1.0f;
q1 *= SIGN(eerot[7] - eerot[5]);
q2 *= SIGN(eerot[2] - eerot[6]);
q3 *= SIGN(eerot[3] - eerot[1]);
} else if(q1 >= q0 && q1 >= q2 && q1 >= q3) {
q0 *= SIGN(eerot[7] - eerot[5]);
q1 *= +1.0f;
q2 *= SIGN(eerot[3] + eerot[1]);
q3 *= SIGN(eerot[2] + eerot[6]);
} else if(q2 >= q0 && q2 >= q1 && q2 >= q3) {
q0 *= SIGN(eerot[2] - eerot[6]);
q1 *= SIGN(eerot[3] + eerot[1]);
q2 *= +1.0f;
q3 *= SIGN(eerot[7] + eerot[5]);
} else if(q3 >= q0 && q3 >= q1 && q3 >= q2) {
q0 *= SIGN(eerot[3] - eerot[1]);
q1 *= SIGN(eerot[6] + eerot[2]);
q2 *= SIGN(eerot[7] + eerot[5]);
q3 *= +1.0f;
} else {
printf("Error while converting to quaternion! \n");
}
float r = NORM(q0, q1, q2, q3);
q0 /= r;
q1 /= r;
q2 /= r;
q3 /= r;
printf(" Quaternion: %f %f %f %f \n", q0, q1, q2, q3 );
printf(" ");
// print quaternion with convention and +/- signs such that it can be copy-pasted into WolframAlpha.com
printf("%f ", q0);
if (q1 > 0) printf("+ %fi ", q1); else if (q1 < 0) printf("- %fi ", -q1); else printf("+ 0.00000i ");
if (q2 > 0) printf("+ %fj ", q2); else if (q2 < 0) printf("- %fj ", -q2); else printf("+ 0.00000j ");
if (q3 > 0) printf("+ %fk ", q3); else if (q3 < 0) printf("- %fk ", -q3); else printf("+ 0.00000k ");
printf(" (alternate convention) \n");
printf("\n\n");
}
else if (cmd.compare("iktiming") == 0) // generate random ik and check time performance
{
if( argc != 2 ) {
printf("\n "
"Usage: \n\n "
" ./compute iktiming \n\n"
" For fixed number of iterations, generates random joint angles, then \n"
" calculates fk, calculates ik, measures average time taken. \n\n", num_of_joints-1 );
return 1;
}
printf("\n\n");
#if IK_VERSION > 54
// for IKFast 56,61
IkSolutionList<IKREAL_TYPE> solutions;
#else
// for IKFast 54
std::vector<IKSolution> vsolutions;
#endif
std::vector<IKREAL_TYPE> vfree(num_free_parameters);
//for(std::size_t i = 0; i < vfree.size(); ++i)
// vfree[i] = atof(argv[13+i]);
srand( (unsigned)time(0) ); // seed random number generator
float min = -3.14;
float max = 3.14;
float rnd;
IKREAL_TYPE joints[num_of_joints];
timespec start_time, end_time;
unsigned int elapsed_time = 0;
unsigned int sum_time = 0;
unsigned int fail_count = 0;
#if IK_VERSION > 54
// for IKFast 56,61
unsigned int num_of_tests = 10;
#else
// for IKFast 54
unsigned int num_of_tests = 100000;
#endif
for (unsigned int i=0; i < num_of_tests; i++)
{
// Measure avg time for whole process
//clock_gettime(CLOCK_REALTIME, &start_time);
// Put random joint values into array
for (unsigned int i=0; i<num_of_joints; i++)
{
float rnd = (float)rand() / (float)RAND_MAX;
joints[i] = min + rnd * (max - min);
}
/*
printf("Joint angles: ");
for (unsigned int i=0; i<num_of_joints; i++)
{
printf("%f ", joints[i] );
}
printf("\n");
*/
#if IK_VERSION > 54
// for IKFast 56,61
ComputeFk(joints, eetrans, eerot); // void return
#else
// for IKFast 54
fk(joints, eetrans, eerot); // void return
#endif
// Measure avg time for IK
clock_gettime(CLOCK_REALTIME, &start_time);
#if IK_VERSION > 54
// for IKFast 56,61
vfree[0] = 5;
if (!ComputeIk(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, solutions)) {
fail_count++;
} else {
printf("joint angles: \n");
for (unsigned int i=0; i<num_of_joints; i++)
{
printf("%lf ", joints[i]);
}
printf("\n");
printf("translation: \n");
for (unsigned int i = 0; i < 3; i++) {
printf("%lf ", eetrans[i]);
}
printf("\n");
printf("rotation matix: \n");
for (unsigned int i = 0; i < 9; i++) {
printf("%lf%s", eerot[i], (i % 3 == 2)?"\n":" ");
}
printf("\n");
/*unsigned int num_of_solutions = (int)solutions.GetNumSolutions();
printf("Found %d ik solutions:\n", num_of_solutions );
std::vector<IKREAL_TYPE> solvalues(num_of_joints);
for(std::size_t i = 0; i < num_of_solutions; ++i) {
const IkSolutionBase<IKREAL_TYPE>& sol = solutions.GetSolution(i);
int this_sol_free_params = (int)sol.GetFree().size();
printf("sol%d (free=%d): ", (int)i, this_sol_free_params );
std::vector<IKREAL_TYPE> vsolfree(this_sol_free_params);
sol.GetSolution(&solvalues[0],vsolfree.size()>0?&vsolfree[0]:NULL);
for( std::size_t j = 0; j < solvalues.size(); ++j)
printf("%.15f, ", solvalues[j]);
printf("\n");
}*/
}
#else
// for IKFast 54
ik(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, vsolutions);
#endif
/*
#if IK_VERSION > 54
// for IKFast 56,61
unsigned int num_of_solutions = (int)solutions.GetNumSolutions();
#else
// for IKFast 54
unsigned int num_of_solutions = (int)vsolutions.size();
#endif
printf("Found %d ik solutions:\n", num_of_solutions );
*/
clock_gettime(CLOCK_REALTIME, &end_time);
elapsed_time = (unsigned int)(end_time.tv_nsec - start_time.tv_nsec);
sum_time += elapsed_time;
} // endfor
unsigned int avg_time = (unsigned int)sum_time / (unsigned int)num_of_tests;
printf("avg time: %f ms over %d tests \n", (float)avg_time/1000.0, num_of_tests );
printf("Failed of %d tests\n", fail_count);
return 1;
}
else if (cmd.compare("iktiming2") == 0) // for fixed joint values, check time performance of ik
{
if( argc != 2 ) {
printf("\n "
"Usage: \n\n "
" ./compute iktiming2 \n\n"
" For fixed number of iterations, with one set of joint variables, this \n"
" finds the ik solutions and measures the average time taken. \n\n", num_of_joints-1 );
return 1;
}
printf("\n\n");
#if IK_VERSION > 54
// for IKFast 56,61
IkSolutionList<IKREAL_TYPE> solutions;
#else
// for IKFast 54
std::vector<IKSolution> vsolutions;
#endif
std::vector<IKREAL_TYPE> vfree(num_free_parameters);
//for(std::size_t i = 0; i < vfree.size(); ++i)
// vfree[i] = atof(argv[13+i]);
IKREAL_TYPE joints[num_of_joints];
timespec start_time, end_time;
unsigned int elapsed_time = 0;
unsigned int sum_time = 0;
#if IK_VERSION > 54
// for IKFast 56,61
unsigned int num_of_tests = 1000000;
#else
// for IKFast 54
unsigned int num_of_tests = 100000;
#endif
// fixed rotation-translation matrix corresponding to an unusual robot pose
eerot[0] = 0.002569; eerot[1] = -0.658044; eerot[2] = -0.752975; eetrans[0] = 0.121937;
eerot[3] = 0.001347; eerot[4] = -0.752975; eerot[5] = 0.658048; eetrans[1] = -0.276022;
eerot[6] = -0.999996; eerot[7] = -0.002705; eerot[8] = -0.001047; eetrans[2] = 0.005685;
for (unsigned int i=0; i < num_of_tests; i++)
{
clock_gettime(CLOCK_REALTIME, &start_time);
#if IK_VERSION > 54
// for IKFast 56,61
ComputeIk(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, solutions);
#else
// for IKFast 54
ik(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, vsolutions);
#endif
/*
#if IK_VERSION > 54
// for IKFast 56,61
unsigned int num_of_solutions = (int)solutions.GetNumSolutions();
#else
// for IKFast 54
unsigned int num_of_solutions = (int)vsolutions.size();
#endif
printf("Found %d ik solutions:\n", num_of_solutions );
*/
clock_gettime(CLOCK_REALTIME, &end_time);
elapsed_time = (unsigned int)(end_time.tv_nsec - start_time.tv_nsec);
sum_time += elapsed_time;
} // endfor
unsigned int avg_time = (unsigned int)sum_time / (unsigned int)num_of_tests;
printf("avg time: %f ms over %d tests \n", (float)avg_time/1000.0, num_of_tests );
return 1;
} else {
printf("\n"
"Usage: \n\n");
printf(" ./compute fk j0 j1 ... j%d \n\n"
" Returns the forward kinematic solution given the joint angles (in radians). \n\n", num_of_joints-1 );
printf("\n"
" ./compute ik t0 t1 t2 qw qi qj qk free0 ... \n\n"
" Returns the ik solutions given the transformation of the end effector specified by \n"
" a 3x1 translation (tX), and a 1x4 quaternion (w + i + j + k). \n"
" There are %d free parameters that have to be specified. \n\n", num_free_parameters );
printf(" \n"
" ./compute ik r00 r01 r02 t0 r10 r11 r12 t1 r20 r21 r22 t2 free0 ...\n\n"
" Returns the ik solutions given the transformation of the end effector specified by \n"
" a 3x3 rotation R (rXX), and a 3x1 translation (tX). \n"
" There are %d free parameters that have to be specified. \n\n", num_free_parameters );
printf("\n"
" ./compute iktiming \n\n"
" For fixed number of iterations, generates random joint angles, then \n"
" calculates fk, calculates ik, measures average time taken. \n\n", num_of_joints-1 );
printf("\n"
" ./compute iktiming2 \n\n"
" For fixed number of iterations, with one set of joint variables, this \n"
" finds the ik solutions and measures the average time taken. \n\n", num_of_joints-1 );
return 1;
}
return 0;
}
int main(int argc, char *argv[])
{
if (argc < 2){
std::cerr << "Usage:" << argv[0] << "[-checkLimits]"
<< std::endl;
}
const char *url="file:///home/kanehiro/src/HRP2/model/HRP2main.wrl";
int arm = 0;
bool checkLimits=false;
bool display=true;
for (int i=1; i<argc; i++){
if(strcmp(argv[i], "-checkLimits")==0){
checkLimits = true;
}else if(strcmp(argv[i], "-nodisplay")==0){
display = false;
}
}
std::cout << "arm=" << arm << std::endl;
std::cout << "checkLimits=" << checkLimits << std::endl;
HumanoidBodyPtr body = HumanoidBodyPtr(new HumanoidBody());
if (!loadHumanoidBodyFromModelLoader(body, url, argc, argv)){
std::cerr << "failed to load model[" << url << "]"
<< std::endl;
return 1;
}
OpenHRP::OnlineViewer_var olv;
if (display){
olv = hrp::getOnlineViewer(argc, argv);
olv->load(body->name().c_str(), url);
olv->clearLog();
}
OpenHRP::WorldState wstate;
wstate.time = 0.0;
wstate.characterPositions.length(1);
setupCharacterPosition(wstate.characterPositions[0], body);
wstate.collisions.length(1);
hrp::JointPathPtr jp;
if (arm == 0){
jp = body->getJointPath(body->link("CHEST_JOINT1"),
body->link("RARM_JOINT5"));
}else{
jp = body->getJointPath(body->link("CHEST_JOINT1"),
body->link("LARM_JOINT5"));
}
hrp::Vector3 p;
hrp::Matrix33 R = hrp::rotFromRpy(0, -M_PI/2, 0);
double startx=-0.3, starty=-1.0, startz=1.0;
double endx=0.7, endy=0.5, endz=2.0;
if (arm != 0){
double tmp = starty;
starty = -endy;
endy = -tmp;
}
wstate.collisions[0].points.length(12);
updateLineSegment(wstate.collisions[0].points[0], hrp::Vector3(startx, starty, startz), hrp::Vector3(endx, starty, startz));
updateLineSegment(wstate.collisions[0].points[1], hrp::Vector3(startx, starty, startz), hrp::Vector3(startx, endy, startz));
updateLineSegment(wstate.collisions[0].points[2], hrp::Vector3(startx, starty, startz), hrp::Vector3(startx, starty, endz));
updateLineSegment(wstate.collisions[0].points[3], hrp::Vector3(endx, endy, startz), hrp::Vector3(startx, endy, startz));
updateLineSegment(wstate.collisions[0].points[4], hrp::Vector3(endx, endy, startz), hrp::Vector3(endx, starty, startz));
updateLineSegment(wstate.collisions[0].points[5], hrp::Vector3(endx, endy, startz), hrp::Vector3(endx, endy, endz));
updateLineSegment(wstate.collisions[0].points[6], hrp::Vector3(endx, starty, endz), hrp::Vector3(endx, starty, startz));
updateLineSegment(wstate.collisions[0].points[7], hrp::Vector3(endx, starty, endz), hrp::Vector3(startx, starty, endz));
updateLineSegment(wstate.collisions[0].points[8], hrp::Vector3(endx, starty, endz), hrp::Vector3(endx, endy, endz));
updateLineSegment(wstate.collisions[0].points[9], hrp::Vector3(startx, endy, endz), hrp::Vector3(endx, endy, endz));
updateLineSegment(wstate.collisions[0].points[10], hrp::Vector3(startx, endy, endz), hrp::Vector3(startx, endy, startz));
updateLineSegment(wstate.collisions[0].points[11], hrp::Vector3(startx, endy, endz), hrp::Vector3(startx, starty, endz));
double step=0.05;
int total=0, success=0;
IkSolutionList<IkReal> solutions;
IkReal eerot[9],eetrans[3];
std::vector<IkReal> solvalues(GetNumJoints());
double linErr=0, angErr=0;
struct timeval begin, end;
gettimeofday(&begin, NULL);
for (double x=startx; x<endx; x+=step){
for (double y=starty; y<endy; y+=step){
for (double z=startz; z<endz; z+=step){
total++;
p << x,y,z;
if (display) std::cout << "testing " << p.transpose() << " - ";
#if 0
bool ret = jp->calcInverseKinematics(p, R);
if (ret && checkLimits){
for (int i=0; i<jp->numJoints(); i++){
hrp::Link *j = jp->joint(i);
if (j->q > j->ulimit || j->q < j->llimit){
std::cout << "fail\r" << std::flush;
ret = false;
break;
}
}
}
#else
hrp::Vector3 relP;
hrp::Matrix33 relR;
relR = jp->baseLink()->R.transpose() * R;
relP = jp->baseLink()->R.transpose() * (p - jp->baseLink()->p);
for (int i=0; i<3; i++){
eetrans[i] = relP[i];
for (int j=0; j<3; j++){
eerot[i*3+j] = relR(i,j);
}
}
bool ret = ComputeIk(eetrans, eerot, NULL, solutions);
if (ret) {
ret = false;
for (int j=0; j<solutions.GetNumSolutions(); j++){
const IkSolutionBase<IkReal>& sol = solutions.GetSolution(j);
sol.GetSolution(&solvalues[0],NULL);
bool found=true;
for (int i=0; i<jp->numJoints(); i++){
hrp::Link *l = jp->joint(i);
if (solvalues[i] > l->ulimit || solvalues[i] < l->llimit) {
found = false;
break;
}else{
l->q = solvalues[i];
}
}
if (found) {
ret = true;
jp->calcForwardKinematics();
double perr = (jp->endLink()->p - p).norm();
if (perr > linErr) linErr = perr;
double ang = hrp::omegaFromRot(jp->endLink()->R.transpose()*R).norm();
if (ang > angErr) angErr = ang;
break;
}
}
}
if (!ret && display){
std::cout << "fail\r" << std::flush;
}
#endif
if (ret) success++;
if (display){
if (ret){
std::cout << "success\r" << std::flush;
unsigned int len = wstate.collisions[0].points.length();
wstate.collisions[0].points.length(len+1);
updateLineSegment(wstate.collisions[0].points[len],
p, R*hrp::Vector3(0,0,-0.01)+p);
updateView(olv, wstate, body);
}else{
std::cout << "fail\r" << std::flush;
}
}
}
}
}
gettimeofday(&end, NULL);
std::cout << std::endl;
std::cout << "result:" << success << "/" << total << "("
<< ((double)success)/total*100 << "%)" << std::endl;
std::cout << "computation time:" << (end.tv_sec - begin.tv_sec)*1e3 + (end.tv_usec - begin.tv_usec)*1e-3 << "[ms]" << std::endl;
std::cout << "maximum err:" << linErr << "[m], " << angErr << "[rad]" << std::endl;
return 0;
}