void convertKDLJacToVispMat(const KDL::Jacobian &kdlJac,
vpMatrix &vispMat)
{
for(unsigned int i=0; i<kdlJac.rows(); ++i)
{
for(unsigned int j=0; j<kdlJac.columns(); ++j)
{
vispMat[i][j] = kdlJac.data(i,j);
}
}
}
void ITRCartesianImpedanceController::multiplyJacobian(const KDL::Jacobian& jac, const KDL::Wrench& src, KDL::JntArray& dest)
{
Eigen::Matrix<double,6,1> w;
w(0) = src.force(0);
w(1) = src.force(1);
w(2) = src.force(2);
w(3) = src.torque(0);
w(4) = src.torque(1);
w(5) = src.torque(2);
Eigen::MatrixXd j(jac.rows(), jac.columns());
j = jac.data;
j.transposeInPlace();
Eigen::VectorXd t(jac.columns());
t = j*w;
dest.resize(jac.columns());
for (unsigned i=0; i<jac.columns(); i++)
dest(i) = t(i);
}
vpMatrix kdlJacobianToVispJacobian(const KDL::Jacobian& kdlJacobian,
const vpHomogeneousMatrix& bMe)
{
vpMatrix vpJacobian(kdlJacobian.rows(), kdlJacobian.columns());
KDL::Jacobian kdlJacobianCopy = kdlJacobian;
// Fix reference point so that it is in the base frame
vpTranslationVector bOe; //origin of end frame in base frame
bMe.extract(bOe);
kdlJacobianCopy.changeRefPoint(KDL::Vector(-bOe[0], -bOe[1], -bOe[2]));
pal::convertKDLJacToVispMat(kdlJacobianCopy, vpJacobian);// KDL data --> Visp data
return vpJacobian;
}
void callbackJointState(const JointStateConstPtr& state)
{
std::map<std::string, double> joint_name_position;
if (state->name.size() != state->position.size()) {
ROS_ERROR("Robot state publisher received an invalid joint state vector");
return;
}
// determine least recently published joint
ros::Time last_published = ros::Time::now();
for (unsigned int i=0; i<state->name.size(); i++) {
ros::Time t = last_publish_time_[state->name[i]];
last_published = (t < last_published) ? t : last_published;
}
if (state->header.stamp >= last_published + publish_interval_) {
// get joint positions from state message
std::map<std::string, double> joint_positions;
std::map<std::string, double> joint_efforts;
for (unsigned int i=0; i<state->name.size(); i++) {
joint_positions.insert(make_pair(state->name[i], state->position[i]));
joint_efforts.insert(make_pair(state->name[i], state->effort[i]));
}
KDL::JntArray tau;
KDL::Wrench F;
Eigen::Matrix<double,Eigen::Dynamic,6> jac_t;
Eigen::Matrix<double,6,Eigen::Dynamic> jac_t_pseudo_inv;
tf::StampedTransform transform;
KDL::Wrench F_pub;
tf::Vector3 tf_force;
tf::Vector3 tf_torque;
tau.resize(chain_.getNrOfJoints());
//getPositions;
for (size_t i=0, j=0; i<chain_.getNrOfSegments(); i++) {
if (chain_.getSegment(i).getJoint().getType() == KDL::Joint::None)
continue;
// check
std::string joint_name = chain_.getSegment(i).getJoint().getName();
if ( joint_positions.find(joint_name) == joint_positions.end() ) {
ROS_ERROR("Joint '%s' is not found in joint state vector", joint_name.c_str());
}
// set position
jnt_pos_(j) = joint_positions[joint_name];
tau(j) = joint_efforts[joint_name];
j++;
}
jnt_to_jac_solver_->JntToJac(jnt_pos_, jacobian_);
jac_t = jacobian_.data.transpose();
if ( jacobian_.columns() >= jacobian_.rows() ) {
jac_t_pseudo_inv =(jac_t.transpose() * jac_t).inverse() * jac_t.transpose();
} else {
jac_t_pseudo_inv =jac_t.transpose() * ( jac_t * jac_t.transpose() ).inverse();
}
#if 1
{
ROS_INFO("jac_t# jac_t : ");
Eigen::Matrix<double,6,6> mat_i = mat_i = jac_t_pseudo_inv * jac_t;
for (unsigned int i = 0; i < 6; i++) {
std::stringstream ss;
for (unsigned int j=0; j<6; j++)
ss << std::fixed << std::setw(8) << std::setprecision(4) << mat_i(j,i) << " ";
ROS_INFO_STREAM(ss.str());
}
}
#endif
// f = - inv(jt) * effort
for (unsigned int j=0; j<6; j++)
{
F(j) = 0;
for (unsigned int i = 0; i < jnt_pos_.rows(); i++)
{
F(j) += -1 * jac_t_pseudo_inv(j, i) * tau(i);
}
}
//low pass filter
F += (F_pre_ - F) * exp(-1.0 / t_const_);
for (unsigned int j=0; j<6; j++) {
F_pre_(j) = 0;
}
F_pre_ += F;
//tf transformation
tf::vectorKDLToTF(F.force, tf_force);
tf::vectorKDLToTF(F.torque, tf_torque);
try {
listener_.waitForTransform( tip, root, state->header.stamp, ros::Duration(1.0));
listener_.lookupTransform( tip, root, state->header.stamp , transform);
}
catch (tf::TransformException ex) {
ROS_ERROR("%s",ex.what());
ros::Duration(1.0).sleep();
}
for (unsigned int j=0; j<3; j++) {
F_pub.force[j] = transform.getBasis()[j].dot(tf_force);
F_pub.torque[j] = transform.getBasis()[j].dot(tf_torque);
}
geometry_msgs::WrenchStamped msg;
msg.header.stamp = state->header.stamp;
msg.header.frame_id = tip;
// http://code.ros.org/lurker/message/20110107.151127.7177af06.nl.html
//tf::WrenchKDLToMsg(F,msg.wrench);
msg.wrench.force.x = F_pub.force[0];
msg.wrench.force.y = F_pub.force[1];
msg.wrench.force.z = F_pub.force[2];
msg.wrench.torque.x = F_pub.torque[0];
msg.wrench.torque.y = F_pub.torque[1];
msg.wrench.torque.z = F_pub.torque[2];
wrench_stamped_pub_.publish(msg);
{
ROS_INFO("jacobian : ");
for (unsigned int i = 0; i < jnt_pos_.rows(); i++) {
std::stringstream ss;
for (unsigned int j=0; j<6; j++)
ss << std::fixed << std::setw(8) << std::setprecision(4) << jacobian_(j,i) << " ";
ROS_INFO_STREAM(ss.str());
}
ROS_INFO("effort : ");
std::stringstream sstau;
for (unsigned int i = 0; i < tau.rows(); i++) {
sstau << std::fixed << std::setw(8) << std::setprecision(4) << tau(i) << " ";
}
ROS_INFO_STREAM(sstau.str());
ROS_INFO("force : ");
std::stringstream ssf;
for (unsigned int j = 0; j < 6; j++) {
ssf << std::fixed << std::setw(8) << std::setprecision(4) << F(j) << " ";
}
ROS_INFO_STREAM(ssf.str());
}
// store publish time in joint map
for (unsigned int i=0; i<state->name.size(); i++)
last_publish_time_[state->name[i]] = state->header.stamp;
}
}
vpMatrix convertKDLJacToVispMat(const KDL::Jacobian& kdlJac)
{
vpMatrix vispMat(kdlJac.rows(), kdlJac.columns());
convertKDLJacToVispMat(kdlJac, vispMat);
return vispMat;
}