RTC::ReturnCode_t Sensor::onInitialize()
{
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("in", m_inIn);
// Set OutPort buffer
addOutPort("out", m_outOut);
// Set service provider to Ports
// Set service consumers to Ports
// Set CORBA Service Ports
// </rtc-template>
// <rtc-template block="bind_config">
// Bind variables and configuration variable
// </rtc-template>
return RTC::RTC_OK;
}
RTC::ReturnCode_t LeapRTC::onInitialize()
{
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
// Set OutPort buffer
addOutPort("frame", m_frameOut);
// Set service provider to Ports
// Set service consumers to Ports
// Set CORBA Service Ports
// </rtc-template>
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("debug", m_debug, "0");
// </rtc-template>
return RTC::RTC_OK;
}
RTC::ReturnCode_t CoordinateTransformer::onInitialize()
{
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("SourceCoord", m_SourceCoordIn);
// Set OutPort buffer
addOutPort("DestinationCoord", m_DestinationCoordOut);
// Set service provider to Ports
// Set service consumers to Ports
// Set CORBA Service Ports
// </rtc-template>
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("transX", m_transX, "0");
bindParameter("transY", m_transY, "0");
bindParameter("transZ", m_transZ, "0");
bindParameter("rot_degX", m_rot_degX, "0");
bindParameter("rot_degY", m_rot_degY, "0");
bindParameter("rot_degZ", m_rot_degZ, "0");
bindParameter("conf.default.scaleX", m_scaleX, "1");
bindParameter("conf.default.scaleY", m_scaleY, "1");
bindParameter("conf.default.scaleZ", m_scaleZ, "1");
bindParameter("conf.default.mirrorXY", m_mirrorXY, "false");
bindParameter("conf.default.mirrorYZ", m_mirrorYZ, "false");
bindParameter("conf.default.mirrorZX", m_mirrorZX, "false");
// </rtc-template>
return RTC::RTC_OK;
}
RTC::ReturnCode_t PA10Controller::onInitialize()
{
// <rtc-template block="bind_config">
// Bind variables and configuration variable
// Set InPort buffers
addInPort("angle", m_angleIn);
// Set OutPort buffer
addOutPort("torque", m_torqueOut);
// </rtc-template>
Pgain = new double[DOF];
Dgain = new double[DOF];
gain.open(GAIN_FILE);
if (gain.is_open()){
for (int i=0; i<DOF; i++){
gain >> Pgain[i];
gain >> Dgain[i];
}
gain.close();
}else{
RTC::ReturnCode_t DirectInput::onInitialize()
{
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
// Set OutPort buffer
addOutPort("lP", m_lPOut);
addOutPort("lR", m_lROut);
addOutPort("rglSlider0", m_rglSlider0Out);
addOutPort("rglSlider1", m_rglSlider1Out);
addOutPort("POV0", m_POV0Out);
addOutPort("POV1", m_POV1Out);
addOutPort("rgbButtons", m_rgbButtonsOut);
// Set service provider to Ports
// Set service consumers to Ports
// Set CORBA Service Ports
// </rtc-template>
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("debug", m_debug, "0");
// </rtc-template>
m_lP.data.length(3);
m_lR.data.length(3);
m_POV0.data.length(2);
m_POV1.data.length(2);
m_rgbButtons.data.length(8);
return RTC::RTC_OK;
}
SeasonQRead::SeasonQRead() {
addParameter(ADD_PARAMETERS(rain_folder));
addOutPort(ADD_PARAMETERS(out));
file = 0;
}
CycleNodeStart::CycleNodeStart() {
addOutPort(ADD_PARAMETERS(out));
addState("state", &out);
}
RTC::ReturnCode_t ThermoEstimator::onInitialize()
{
std::cout << m_profile.instance_name << ": onInitialize()" << std::endl;
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("debugLevel", m_debugLevel, "0");
// </rtc-template>
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("tauIn", m_tauInIn);
addInPort("servoStateIn", m_servoStateInIn);
// Set OutPort buffer
addOutPort("tempOut", m_tempOutOut);
addOutPort("servoStateOut", m_servoStateOutOut);
// Set service provider to Ports
// Set service consumers to Ports
// Set CORBA Service Ports
// </rtc-template>
// set parmeters
RTC::Properties& prop = getProperties();
coil::stringTo(m_dt, prop["dt"].c_str());
m_robot = hrp::BodyPtr(new hrp::Body());
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
if (!loadBodyFromModelLoader(m_robot, prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext())
)){
std::cerr << "failed to load model[" << prop["model"] << "]"
<< std::endl;
}
// init outport
m_tempOut.data.length(m_robot->numJoints());
m_servoStateIn.data.length(m_robot->numJoints());
m_servoStateOut.data.length(m_robot->numJoints());
// set temperature of environment
if (prop["ambient_tmp"] != "") {
coil::stringTo(m_ambientTemp, prop["ambient_tmp"].c_str());
} else {
m_ambientTemp = 25.0;
}
std::cerr << m_profile.instance_name << ": ambient temperature: " << m_ambientTemp << std::endl;
// set motor heat parameters
m_motorHeatParams.resize(m_robot->numJoints());
coil::vstring motorHeatParamsFromConf = coil::split(prop["motor_heat_params"], ",");
if (motorHeatParamsFromConf.size() != 2 * m_robot->numJoints()) {
std::cerr << "[WARN]: size of motorHeatParams is " << motorHeatParamsFromConf.size() << ", not equal to 2 * " << m_robot->numJoints() << std::endl;
} else {
std::cerr << "motorHeatParams is " << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) {
m_motorHeatParams[i].temperature = m_ambientTemp;
std::cerr << motorHeatParamsFromConf[2 * i].c_str() << " " << motorHeatParamsFromConf[2 * i + 1].c_str() << std::endl;
coil::stringTo(m_motorHeatParams[i].currentCoeffs, motorHeatParamsFromConf[2 * i].c_str());
coil::stringTo(m_motorHeatParams[i].thermoCoeffs, motorHeatParamsFromConf[2 * i + 1].c_str());
}
}
return RTC::RTC_OK;
}
RTC::ReturnCode_t HockeyArmController::onInitialize()
{
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("ArmXY_in", m_armXY_inIn);
// Set OutPort buffer
addOutPort("ArmXY_out", m_ArmXY_outOut);
// Set service provider to Ports
// Set service consumers to Ports
m_AHServicePort.registerConsumer("AHCommonDataService", "AHCommon::AHCommonDataService", m_ahCommonDataService);
// Set CORBA Service Ports
addPort(m_AHServicePort);
// </rtc-template>
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("arm_offset", m_arm_offset, "208.0");
bindParameter("arm_len_1", m_arm_len_1, "560.0");
bindParameter("arm_len_2", m_arm_len_2, "319.0");
bindParameter("initial_enc_x", m_initial_enc_x, "1177");
bindParameter("initial_enc_y", m_initial_enc_y, "1658");
bindParameter("slow_limit_x", m_slow_limit_x, "5000");
bindParameter("slow_limit_y", m_slow_limit_y, "5000");
// </rtc-template>
/* --- コンポーネント入出力の初期化 --- */
// 入力の初期化
m_armXY_in.data.length(2);
m_armXY_in.data[0] = g_initXY.x;
m_armXY_in.data[1] = g_initXY.y;
// 出力の初期化
m_ArmXY_out.data.length(2);
m_ArmXY_out.data[0] = g_initXY.x;
m_ArmXY_out.data[1] = g_initXY.y;
m_ArmXY_outOut.write();
/* --- A-IOボードのオープン --- */
if (openDevices(1, g_opened[0])) return RTC::RTC_ERROR;
if (openDevices(2, g_opened[1])) return RTC::RTC_ERROR;
/* --- 位置決め制御インスタンスの初期化 --- */
// X軸
g_posController[0].init(1, ENCODER_EVAL, SLOW_LIMIT_X*ENCODER_EVAL, 3000);
g_posController[0].start(true);
g_posController[0].startMove();
g_posController[0].servoOn();
// Y軸
g_posController[1].init(2, ENCODER_EVAL, SLOW_LIMIT_Y*ENCODER_EVAL, 3000);
g_posController[1].start(true);
g_posController[1].startMove();
g_posController[1].servoOn();
usleep(500000);
/* --- clear encoder count with Z --- */
std::cerr << "!!!" << std::endl;
clearEncoderCountWithZ(g_posController[0], g_posController[1]);
/* --- アームを初期位置に移動する --- */
g_posController[0].moveTo(rad2pulse(g_initTh.x - M_PI/2, 2500*ENCODER_EVAL) * MOTOR_X_RATIO + INIT_ENC_X, 300);
g_posController[1].moveTo(rad2pulse(g_initTh.y , 2500*ENCODER_EVAL) * MOTOR_Y_RATIO + INIT_ENC_Y, 300);
fprintf(stderr, "ARM init OK!\n");
return RTC::RTC_OK;
}
Null::Null() {
addOutPort("out", &out);
}
RTC::ReturnCode_t ImpedanceController::onInitialize()
{
std::cout << "ImpedanceController::onInitialize()" << std::endl;
bindParameter("debugLevel", m_debugLevel, "0");
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("qCurrent", m_qCurrentIn);
addInPort("qRef", m_qRefIn);
addInPort("rpy", m_rpyIn);
addInPort("rpyRef", m_rpyRefIn);
// Set OutPort buffer
addOutPort("q", m_qOut);
// Set service provider to Ports
m_ImpedanceControllerServicePort.registerProvider("service0", "ImpedanceControllerService", m_service0);
// Set service consumers to Ports
// Set CORBA Service Ports
addPort(m_ImpedanceControllerServicePort);
// </rtc-template>
// <rtc-template block="bind_config">
// Bind variables and configuration variable
// </rtc-template>
RTC::Properties& prop = getProperties();
coil::stringTo(m_dt, prop["dt"].c_str());
m_robot = hrp::BodyPtr(new hrp::Body());
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
if (!loadBodyFromModelLoader(m_robot, prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext())
)){
std::cerr << "failed to load model[" << prop["model"] << "] in "
<< m_profile.instance_name << std::endl;
return RTC::RTC_ERROR;
}
coil::vstring virtual_force_sensor = coil::split(prop["virtual_force_sensor"], ",");
int npforce = m_robot->numSensors(hrp::Sensor::FORCE);
int nvforce = virtual_force_sensor.size()/10;
int nforce = npforce + nvforce;
m_force.resize(nforce);
m_forceIn.resize(nforce);
m_ref_force.resize(nforce);
m_ref_forceOut.resize(nforce);
for (unsigned int i=0; i<npforce; i++){
hrp::Sensor *s = m_robot->sensor(hrp::Sensor::FORCE, i);
m_forceIn[i] = new InPort<TimedDoubleSeq>(s->name.c_str(), m_force[i]);
m_force[i].data.length(6);
registerInPort(s->name.c_str(), *m_forceIn[i]);
m_ref_force[i].data.length(6);
for (unsigned int j=0; j<6; j++) m_ref_force[i].data[j] = 0.0;
m_ref_forceOut[i] = new OutPort<TimedDoubleSeq>(std::string("ref_"+s->name).c_str(), m_ref_force[i]);
registerOutPort(std::string("ref_"+s->name).c_str(), *m_ref_forceOut[i]);
std::cerr << s->name << std::endl;
}
for (unsigned int i=0; i<nvforce; i++){
std::string name = virtual_force_sensor[i*10+0];
VirtualForceSensorParam p;
hrp::dvector tr(7);
for (int j = 0; j < 7; j++ ) {
coil::stringTo(tr[j], virtual_force_sensor[i*10+3+j].c_str());
}
p.p = hrp::Vector3(tr[0], tr[1], tr[2]);
p.R = Eigen::AngleAxis<double>(tr[6], hrp::Vector3(tr[3],tr[4],tr[5])).toRotationMatrix(); // rotation in VRML is represented by axis + angle
p.parent_link_name = virtual_force_sensor[i*10+2];
m_sensors[name] = p;
std::cerr << "virtual force sensor : " << name << std::endl;
std::cerr << " T, R : " << p.p[0] << " " << p.p[1] << " " << p.p[2] << std::endl << p.R << std::endl;
std::cerr << " parent : " << p.parent_link_name << std::endl;
m_forceIn[i+npforce] = new InPort<TimedDoubleSeq>(name.c_str(), m_force[i+npforce]);
m_force[i+npforce].data.length(6);
registerInPort(name.c_str(), *m_forceIn[i+npforce]);
m_ref_force[i+npforce].data.length(6);
for (unsigned int j=0; j<6; j++) m_ref_force[i].data[j] = 0.0;
m_ref_forceOut[i+npforce] = new OutPort<TimedDoubleSeq>(std::string("ref_"+name).c_str(), m_ref_force[i+npforce]);
registerOutPort(std::string("ref_"+name).c_str(), *m_ref_forceOut[i+npforce]);
std::cerr << name << std::endl;
}
for (unsigned int i=0; i<m_forceIn.size(); i++){
abs_forces.insert(std::pair<std::string, hrp::Vector3>(m_forceIn[i]->name(), hrp::Vector3::Zero()));
abs_moments.insert(std::pair<std::string, hrp::Vector3>(m_forceIn[i]->name(), hrp::Vector3::Zero()));
}
unsigned int dof = m_robot->numJoints();
for ( int i = 0 ; i < dof; i++ ){
if ( i != m_robot->joint(i)->jointId ) {
std::cerr << "jointId is not equal to the index number" << std::endl;
return RTC::RTC_ERROR;
}
}
// allocate memory for outPorts
m_q.data.length(dof);
qrefv.resize(dof);
loop = 0;
return RTC::RTC_OK;
}
RTC::ReturnCode_t TorqueFilter::onInitialize()
{
std::cout << m_profile.instance_name << ": onInitialize()" << std::endl;
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("debugLevel", m_debugLevel, "0");
// </rtc-template>
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("qCurrent", m_qCurrentIn);
addInPort("tauIn", m_tauInIn);
// Set OutPort buffer
addOutPort("tauOut", m_tauOutOut);
// Set service provider to Ports
// Set service consumers to Ports
// Set CORBA Service Ports
// </rtc-template>
RTC::Properties& prop = getProperties();
coil::stringTo(m_dt, prop["dt"].c_str());
m_robot = hrp::BodyPtr(new hrp::Body());
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
if (!loadBodyFromModelLoader(m_robot, prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext())
)){
std::cerr << "failed to load model[" << prop["model"] << "] in "
<< m_profile.instance_name << std::endl;
return RTC::RTC_ERROR;
}
// init outport
m_tauOut.data.length(m_robot->numJoints());
// set gravity compensation flag
coil::stringTo(m_is_gravity_compensation, prop["gravity_compensation"].c_str());
if (m_debugLevel > 0) {
std::cerr << m_profile.instance_name << " : gravity compensation flag: " << m_is_gravity_compensation << std::endl;
}
// set torque offset
// offset = -(gear torque in neutral pose)
m_torque_offset.resize(m_robot->numJoints());
coil::vstring torque_offset = coil::split(prop["torque_offset"], ",");
if ( m_torque_offset.size() == torque_offset.size() && m_debugLevel > 0) {
for(int i = 0; i < m_robot->numJoints(); i++){
coil::stringTo(m_torque_offset[i], torque_offset[i].c_str());
std::cerr << "[" << m_profile.instance_name << "]" << "offset[" << m_robot->joint(i)->name << "]: " << m_torque_offset[i] << std::endl;
}
} else {
if (m_debugLevel > 0) {
std::cerr << "[" << m_profile.instance_name << "]" << "Size of torque_offset is not correct." << std::endl;
std::cerr << "[" << m_profile.instance_name << "]" << "joints: " << m_robot->numJoints() << std::endl;
std::cerr << "[" << m_profile.instance_name << "]" << "offsets: " << torque_offset.size() << std::endl;
}
}
// make filter
// filter_dim, fb_coeffs[0], ..., fb_coeffs[filter_dim], ff_coeffs[0], ..., ff_coeffs[filter_dim]
coil::vstring torque_filter_params = coil::split(prop["torque_filter_params"], ","); // filter values
int filter_dim = 0;
std::vector<double> fb_coeffs, ff_coeffs;
bool use_default_flag = false;
// check size of toruqe_filter_params
if ( torque_filter_params.size() > 0 ) {
coil::stringTo(filter_dim, torque_filter_params[0].c_str());
if (m_debugLevel > 0) {
std::cerr << "[" << m_profile.instance_name << "]" << "filter dim: " << filter_dim << std::endl;
std::cerr << "[" << m_profile.instance_name << "]" << "torque filter param size: " << torque_filter_params.size() << std::endl;
}
} else {
use_default_flag = true;
if (m_debugLevel > 0) {
std::cerr<< "[" << m_profile.instance_name << "]" << "There is no torque_filter_params. Use default values." << std::endl;
}
}
if (!use_default_flag && ((filter_dim + 1) * 2 + 1 != torque_filter_params.size()) ) {
if (m_debugLevel > 0) {
std::cerr<< "[" << m_profile.instance_name << "]" << "Size of torque_filter_params is not correct. Use default values." << std::endl;
}
use_default_flag = true;
}
// define parameters
if (use_default_flag) {
// ex) 2dim butterworth filter sampling = 200[hz] cutoff = 5[hz]
// octave$ [a, b] = butter(2, 5/200)
// fb_coeffs[0] = 1.00000; <- b0
// fb_coeffs[1] = 1.88903; <- -b1
// fb_coeffs[2] = -0.89487; <- -b2
// ff_coeffs[0] = 0.0014603; <- a0
// ff_coeffs[1] = 0.0029206; <- a1
// ff_coeffs[2] = 0.0014603; <- a2
filter_dim = 2;
fb_coeffs.resize(filter_dim+1);
fb_coeffs[0] = 1.00000;
fb_coeffs[1] = 1.88903;
fb_coeffs[2] =-0.89487;
ff_coeffs.resize(filter_dim+1);
ff_coeffs[0] = 0.0014603;
ff_coeffs[1] = 0.0029206;
ff_coeffs[2] = 0.0014603;
} else {
fb_coeffs.resize(filter_dim + 1);
ff_coeffs.resize(filter_dim + 1);
for (int i = 0; i < filter_dim + 1; i++) {
coil::stringTo(fb_coeffs[i], torque_filter_params[i + 1].c_str());
coil::stringTo(ff_coeffs[i], torque_filter_params[i + (filter_dim + 2)].c_str());
}
}
if (m_debugLevel > 0) {
for (int i = 0; i < filter_dim + 1; i++) {
std::cerr << "[" << m_profile.instance_name << "]" << "fb[" << i << "]: " << fb_coeffs[i] << std::endl;
std::cerr << "[" << m_profile.instance_name << "]" << "ff[" << i << "]: " << ff_coeffs[i] << std::endl;
}
}
// make filter instance
for(int i = 0; i < m_robot->numJoints(); i++){
m_filters.push_back(IIRFilter(filter_dim, fb_coeffs, ff_coeffs, std::string(m_profile.instance_name)));
}
return RTC::RTC_OK;
}
FlowReadSimple::FlowReadSimple() {
data = new FlowReadSimple_Private();
addOutPort(ADD_PARAMETERS(out));
addParameter(ADD_PARAMETERS(rain_file));
}
FlowRead::FlowRead() {
ctxt.dateformat = "dd.MM.yyyy hh:mm:ss";
addOutPort(ADD_PARAMETERS(out));
addParameter(ADD_PARAMETERS(filename));
addParameter(ADD_PARAMETERS(ctxt.dateformat));
}
RTC::ReturnCode_t DirectInput::onInitialize()
{
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
// Set OutPort buffer
addOutPort("lP", m_lPOut);
addOutPort("lR", m_lROut);
addOutPort("rglSlider0", m_rglSlider0Out);
addOutPort("rglSlider1", m_rglSlider1Out);
addOutPort("POV0", m_POV0Out);
addOutPort("POV1", m_POV1Out);
addOutPort("rgbButtons", m_rgbButtonsOut);
// Set service provider to Ports
// Set service consumers to Ports
// Set CORBA Service Ports
// </rtc-template>
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("debug", m_debug, "0");
// </rtc-template>
m_lP.data.length(3);
m_lR.data.length(3);
m_POV0.data.length(2);
m_POV1.data.length(2);
m_rgbButtons.data.length(8);
HWND g_hWnd;
HANDLE g_hInstance;
#define BUFSIZE 1024
char OldWindowTitle[BUFSIZE];
char NewWindowTitle[BUFSIZE];
// std::cout << "[RTC::DirectInput] Getting Console WndTitle" << std::endl;
::GetConsoleTitle(OldWindowTitle, BUFSIZE);
// std::cout << "[RTC::DirectInput] Title = " << OldWindowTitle << std::endl;
wsprintf(NewWindowTitle, "ControllerComponent(%d/%d)",
GetTickCount(), GetCurrentProcessId());
// ::SetConsoleTitle(NewWindowTitle);
Sleep(40);
g_hWnd = FindWindow(NULL, OldWindowTitle);
if (g_hWnd == NULL) {
std::cout << "[RTC::DirectInput] Failed To FindWindow." << std::endl;
return RTC::RTC_ERROR;
}
// ::SetConsoleTitle(OldWindowTitle);
g_hInstance = ::GetModuleHandle(NULL); //GetWindowLong(g_hWnd, GWL_HINSTANCE);
std::cout << "[RTC::DirectInput] Creating DirectInput8Manager" << std::endl;
m_pDirectInputManager = new CDirectInput8Manager(g_hWnd);
//Sleep(1000);
return RTC::RTC_OK;
}
DWF::DWF() {
addOutPort(ADD_PARAMETERS(out));
addParameter(ADD_PARAMETERS(dwf_definition_file));
addParameter(ADD_PARAMETERS(q_scale));
q_scale = 1.0;
}
RTC::ReturnCode_t CollisionDetector::onInitialize()
{
std::cerr << "[" << m_profile.instance_name << "] onInitialize()" << std::endl;
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("debugLevel", m_debugLevel, "0");
// </rtc-template>
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("qRef", m_qRefIn);
addInPort("qCurrent", m_qCurrentIn);
addInPort("servoStateIn", m_servoStateIn);
// Set OutPort buffer
addOutPort("q", m_qOut);
addOutPort("beepCommand", m_beepCommandOut);
// Set service provider to Ports
m_CollisionDetectorServicePort.registerProvider("service0", "CollisionDetectorService", m_service0);
// Set service consumers to Ports
// Set CORBA Service Ports
addPort(m_CollisionDetectorServicePort);
// </rtc-template>
//RTC::Properties& prop = getProperties();
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
RTC::Properties& prop = getProperties();
coil::stringTo(m_dt, prop["dt"].c_str());
if ( prop["collision_viewer"] == "true" ) {
m_use_viewer = true;
}
#ifdef USE_HRPSYSUTIL
m_glbody = new GLbody();
m_robot = hrp::BodyPtr(m_glbody);
#else
m_robot = hrp::BodyPtr(new hrp::Body());
#endif // USE_HRPSYSUTIL
//
OpenHRP::BodyInfo_var binfo;
binfo = hrp::loadBodyInfo(prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext()));
if (CORBA::is_nil(binfo)){
std::cerr << "[" << m_profile.instance_name << "] failed to load model[" << prop["model"] << "]"
<< std::endl;
return RTC::RTC_ERROR;
}
#ifdef USE_HRPSYSUTIL
if (!loadBodyFromBodyInfo(m_robot, binfo, true, GLlinkFactory)) {
#else
if (!loadBodyFromBodyInfo(m_robot, binfo, true, hrplinkFactory)) {
#endif // USE_HRPSYSUTIL
std::cerr << "[" << m_profile.instance_name << "] failed to load model[" << prop["model"] << "] in "
<< m_profile.instance_name << std::endl;
return RTC::RTC_ERROR;
}
#ifdef USE_HRPSYSUTIL
loadShapeFromBodyInfo(m_glbody, binfo);
#endif // USE_HRPSYSUTIL
if ( prop["collision_model"] == "AABB" ) {
convertToAABB(m_robot);
} else if ( prop["collision_model"] == "convex hull" ||
prop["collision_model"] == "" ) { // set convex hull as default
convertToConvexHull(m_robot);
}
setupVClipModel(m_robot);
if ( prop["collision_pair"] != "" ) {
std::cerr << "[" << m_profile.instance_name << "] prop[collision_pair] ->" << prop["collision_pair"] << std::endl;
std::istringstream iss(prop["collision_pair"]);
std::string tmp;
while (getline(iss, tmp, ' ')) {
size_t pos = tmp.find_first_of(':');
std::string name1 = tmp.substr(0, pos), name2 = tmp.substr(pos+1);
if ( m_robot->link(name1)==NULL ) {
std::cerr << "[" << m_profile.instance_name << "] Could not find robot link " << name1 << std::endl;
std::cerr << "[" << m_profile.instance_name << "] please choose one of following :";
for (unsigned int i=0; i < m_robot->numLinks(); i++) {
std::cerr << " " << m_robot->link(i)->name;
}
std::cerr << std::endl;
continue;
}
if ( m_robot->link(name2)==NULL ) {
std::cerr << "[" << m_profile.instance_name << "] Could not find robot link " << name2 << std::endl;
std::cerr << "[" << m_profile.instance_name << "] please choose one of following :";
for (unsigned int i=0; i < m_robot->numLinks(); i++) {
std::cerr << " " << m_robot->link(i)->name;
}
std::cerr << std::endl;
continue;
}
std::cerr << "[" << m_profile.instance_name << "] check collisions between " << m_robot->link(name1)->name << " and " << m_robot->link(name2)->name << std::endl;
m_pair[tmp] = new CollisionLinkPair(new VclipLinkPair(m_robot->link(name1), m_VclipLinks[m_robot->link(name1)->index],
m_robot->link(name2), m_VclipLinks[m_robot->link(name2)->index], 0));
}
}
if ( prop["collision_loop"] != "" ) {
coil::stringTo(m_collision_loop, prop["collision_loop"].c_str());
std::cerr << "[" << m_profile.instance_name << "] set collision_loop: " << m_collision_loop << std::endl;
}
#ifdef USE_HRPSYSUTIL
if ( m_use_viewer ) {
m_scene.addBody(m_robot);
GLlink::drawMode(GLlink::DM_COLLISION);
}
#endif // USE_HRPSYSUTIL
// true (1) do not move when collide,
// false(0) move even if collide
m_curr_collision_mask.resize(m_robot->numJoints()); // collision_mask used to select output 0: passthough reference data, 1 output safe data
std::fill(m_curr_collision_mask.begin(), m_curr_collision_mask.end(), 0);
m_init_collision_mask.resize(m_robot->numJoints()); // collision_mask defined in .conf as [collisoin_mask] 0: move even if collide, 1: do not move when collide
std::fill(m_init_collision_mask.begin(), m_init_collision_mask.end(), 1);
if ( prop["collision_mask"] != "" ) {
std::cerr << "[" << m_profile.instance_name << "] prop[collision_mask] ->" << prop["collision_mask"] << std::endl;
coil::vstring mask_str = coil::split(prop["collision_mask"], ",");
if (mask_str.size() == m_robot->numJoints()) {
for (size_t i = 0; i < m_robot->numJoints(); i++) {coil::stringTo(m_init_collision_mask[i], mask_str[i].c_str()); }
for (size_t i = 0; i < m_robot->numJoints(); i++) {
if ( m_init_collision_mask[i] == 0 ) {
std::cerr << "[" << m_profile.instance_name << "] CollisionDetector will not control " << m_robot->joint(i)->name << std::endl;
}
}
}else{
std::cerr << "[" << m_profile.instance_name << "] ERROR size of collision_mask is differ from robot joint number .. " << mask_str.size() << ", " << m_robot->numJoints() << std::endl;
}
}
if ( prop["use_limb_collision"] != "" ) {
std::cerr << "[" << m_profile.instance_name << "] prop[use_limb_collision] -> " << prop["use_limb_collision"] << std::endl;
if ( prop["use_limb_collision"] == "true" ) {
m_use_limb_collision = true;
std::cerr << "[" << m_profile.instance_name << "] Enable use_limb_collision" << std::endl;
}
}
// setup collision state
m_state.angle.length(m_robot->numJoints());
m_state.collide.length(m_robot->numLinks());
// allocate memory for outPorts
m_q.data.length(m_robot->numJoints());
m_recover_time = 0;
m_safe_posture = true;
m_have_safe_posture = false;
i_dt = 1.0;
default_recover_time = 2.5/m_dt;
m_recover_jointdata = new double[m_robot->numJoints()];
m_lastsafe_jointdata = new double[m_robot->numJoints()];
m_interpolator = new interpolator(m_robot->numJoints(), i_dt);
m_interpolator->setName(std::string(m_profile.instance_name)+" interpolator");
m_link_collision = new bool[m_robot->numLinks()];
for(unsigned int i=0; i<m_robot->numJoints(); i++){
m_q.data[i] = 0;
}
m_servoState.data.length(m_robot->numJoints());
for(unsigned int i = 0; i < m_robot->numJoints(); i++) {
m_servoState.data[i].length(1);
int status = 0;
status |= 1<< OpenHRP::RobotHardwareService::CALIB_STATE_SHIFT;
status |= 1<< OpenHRP::RobotHardwareService::POWER_STATE_SHIFT;
status |= 1<< OpenHRP::RobotHardwareService::SERVO_STATE_SHIFT;
status |= 0<< OpenHRP::RobotHardwareService::SERVO_ALARM_SHIFT;
status |= 0<< OpenHRP::RobotHardwareService::DRIVER_TEMP_SHIFT;
m_servoState.data[i][0] = status;
}
collision_beep_freq = static_cast<int>(1.0/(3.0*m_dt)); // 3 times / 1[s]
m_beepCommand.data.length(bc.get_num_beep_info());
return RTC::RTC_OK;
}
RTC::ReturnCode_t CollisionDetector::onFinalize()
{
delete[] m_recover_jointdata;
delete[] m_lastsafe_jointdata;
delete m_interpolator;
delete[] m_link_collision;
return RTC::RTC_OK;
}
/*
RTC::ReturnCode_t CollisionDetector::onStartup(RTC::UniqueId ec_id)
{
return RTC::RTC_OK;
}
*/
/*
RTC::ReturnCode_t CollisionDetector::onShutdown(RTC::UniqueId ec_id)
{
return RTC::RTC_OK;
}
*/
RTC::ReturnCode_t CollisionDetector::onActivated(RTC::UniqueId ec_id)
{
std::cerr << "[" << m_profile.instance_name<< "] onActivated(" << ec_id << ")" << std::endl;
m_have_safe_posture = false;
return RTC::RTC_OK;
}
ConstSource::ConstSource() {
addParameter(ADD_PARAMETERS(const_flow))
.setUnit("m^3/s, g/m^3");
addOutPort(ADD_PARAMETERS(out));
}
RTC::ReturnCode_t StateHolder::onInitialize()
{
std::cerr << "[" << m_profile.instance_name << "] onInitialize()" << std::endl;
// <rtc-template block="bind_config">
// Bind variables and configuration variable
// </rtc-template>
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("currentQIn", m_currentQIn);
addInPort("qIn", m_qIn);
addInPort("tqIn", m_tqIn);
addInPort("basePosIn", m_basePosIn);
addInPort("baseRpyIn", m_baseRpyIn);
addInPort("zmpIn", m_zmpIn);
addInPort("optionalDataIn", m_optionalDataIn);
// Set OutPort buffer
addOutPort("qOut", m_qOut);
addOutPort("tqOut", m_tqOut);
addOutPort("basePosOut", m_basePosOut);
addOutPort("baseRpyOut", m_baseRpyOut);
addOutPort("baseTformOut", m_baseTformOut);
addOutPort("basePoseOut", m_basePoseOut);
addOutPort("zmpOut", m_zmpOut);
addOutPort("optionalDataOut", m_optionalDataOut);
// Set service provider to Ports
m_StateHolderServicePort.registerProvider("service0", "StateHolderService", m_service0);
m_TimeKeeperServicePort.registerProvider("service1", "TimeKeeperService", m_service1);
// Set service consumers to Ports
// Set CORBA Service Ports
addPort(m_StateHolderServicePort);
addPort(m_TimeKeeperServicePort);
// </rtc-template>
RTC::Properties& prop = getProperties();
coil::stringTo(m_dt, prop["dt"].c_str());
std::cout << "StateHolder: dt = " << m_dt << std::endl;
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
OpenHRP::BodyInfo_var binfo;
binfo = hrp::loadBodyInfo(prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext()));
OpenHRP::LinkInfoSequence_var lis = binfo->links();
const OpenHRP::LinkInfo& li = lis[0];
hrp::Vector3 p, axis;
p << li.translation[0], li.translation[1], li.translation[2];
axis << li.rotation[0], li.rotation[1], li.rotation[2];
hrp::Matrix33 R = hrp::rodrigues(axis, li.rotation[3]);
hrp::Vector3 rpy = hrp::rpyFromRot(R);
m_baseTform.data.length(12);
double *T = m_baseTform.data.get_buffer();
T[0] = R(0,0); T[1] = R(0,1); T[ 2] = R(0,2); T[ 3] = p[0];
T[4] = R(0,0); T[5] = R(0,1); T[ 6] = R(0,2); T[ 7] = p[1];
T[8] = R(0,0); T[9] = R(0,1); T[10] = R(0,2); T[11] = p[2];
m_basePos.data.x = m_basePose.data.position.x = p[0];
m_basePos.data.y = m_basePose.data.position.y = p[1];
m_basePos.data.z = m_basePose.data.position.z = p[2];
m_baseRpy.data.r = m_basePose.data.orientation.r = rpy[0];
m_baseRpy.data.p = m_basePose.data.orientation.p = rpy[1];
m_baseRpy.data.y = m_basePose.data.orientation.y = rpy[2];
m_zmp.data.x = m_zmp.data.y = m_zmp.data.z = 0.0;
// Setting for wrench data ports (real + virtual)
std::vector<std::string> fsensor_names;
// find names for real force sensors
for ( int k = 0; k < lis->length(); k++ ) {
OpenHRP::SensorInfoSequence& sensors = lis[k].sensors;
for ( int l = 0; l < sensors.length(); l++ ) {
if ( std::string(sensors[l].type) == "Force" ) {
fsensor_names.push_back(std::string(sensors[l].name));
}
}
}
int npforce = fsensor_names.size();
// find names for virtual force sensors
coil::vstring virtual_force_sensor = coil::split(prop["virtual_force_sensor"], ",");
int nvforce = virtual_force_sensor.size()/10;
for (unsigned int i=0; i<nvforce; i++){
fsensor_names.push_back(virtual_force_sensor[i*10+0]);
}
// add ports for all force sensors
int nforce = npforce + nvforce;
m_wrenches.resize(nforce);
m_wrenchesIn.resize(nforce);
m_wrenchesOut.resize(nforce);
for (unsigned int i=0; i<nforce; i++){
m_wrenchesIn[i] = new InPort<TimedDoubleSeq>(std::string(fsensor_names[i]+"In").c_str(), m_wrenches[i]);
m_wrenchesOut[i] = new OutPort<TimedDoubleSeq>(std::string(fsensor_names[i]+"Out").c_str(), m_wrenches[i]);
m_wrenches[i].data.length(6);
m_wrenches[i].data[0] = m_wrenches[i].data[1] = m_wrenches[i].data[2] = 0.0;
m_wrenches[i].data[3] = m_wrenches[i].data[4] = m_wrenches[i].data[5] = 0.0;
registerInPort(std::string(fsensor_names[i]+"In").c_str(), *m_wrenchesIn[i]);
registerOutPort(std::string(fsensor_names[i]+"Out").c_str(), *m_wrenchesOut[i]);
}
return RTC::RTC_OK;
}
RTC::ReturnCode_t SequencePlayer::onInitialize()
{
std::cout << "SequencePlayer::onInitialize()" << std::endl;
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("qInit", m_qInitIn);
addInPort("basePosInit", m_basePosInitIn);
addInPort("baseRpyInit", m_baseRpyInitIn);
// Set OutPort buffer
addOutPort("qRef", m_qRefOut);
addOutPort("zmpRef", m_zmpRefOut);
addOutPort("accRef", m_accRefOut);
addOutPort("basePos", m_basePosOut);
addOutPort("baseRpy", m_baseRpyOut);
// Set service provider to Ports
m_SequencePlayerServicePort.registerProvider("service0", "SequencePlayerService", m_service0);
// Set service consumers to Ports
// Set CORBA Service Ports
addPort(m_SequencePlayerServicePort);
// </rtc-template>
// <rtc-template block="bind_config">
// Bind variables and configuration variable
// </rtc-template>
RTC::Properties& prop = getProperties();
double dt;
coil::stringTo(dt, prop["dt"].c_str());
m_robot = new Body();
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
if (!loadBodyFromModelLoader(m_robot, prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext())
)){
std::cerr << "failed to load model[" << prop["model"] << "]"
<< std::endl;
}
unsigned int dof = m_robot->numJoints();
m_seq = new seqplay(dof, dt);
m_qInit.data.length(dof);
for (unsigned int i=0; i<dof; i++) m_qInit.data[i] = 0.0;
m_basePosInit.data.x = m_basePosInit.data.y = m_basePosInit.data.z = 0.0;
m_baseRpyInit.data.r = m_baseRpyInit.data.p = m_baseRpyInit.data.y = 0.0;
// allocate memory for outPorts
m_qRef.data.length(dof);
return RTC::RTC_OK;
}
RTC::ReturnCode_t TorqueController::onInitialize()
{
std::cout << m_profile.instance_name << ": onInitialize()" << std::endl;
// <rtc-template block="bind_config">
// Bind variables and configuration variable
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("debugLevel", m_debugLevel, "0");
// </rtc-template>
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("tauCurrent", m_tauCurrentInIn);
addInPort("tauMax", m_tauMaxInIn);
addInPort("qCurrent", m_qCurrentInIn);
addInPort("qRef", m_qRefInIn); // for naming rule of hrpsys_config.py
// Set OutPort buffer
addOutPort("q", m_qRefOutOut); // for naming rule of hrpsys_config.py
// Set service provider to Ports
m_TorqueControllerServicePort.registerProvider("service0", "TorqueControllerService", m_service0);
// Set service consumers to Ports
// Set CORBA Service Ports
addPort(m_TorqueControllerServicePort);
// </rtc-template>
// read property settings
RTC::Properties& prop = getProperties();
// get dt
coil::stringTo(m_dt, prop["dt"].c_str());
// make rtc manager settings
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
// set robot model
m_robot = hrp::BodyPtr(new hrp::Body());
std::cerr << prop["model"].c_str() << std::endl;
if (!loadBodyFromModelLoader(m_robot, prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext())
)){
std::cerr << "failed to load model[" << prop["model"] << "]"
<< std::endl;
}
// make torque controller settings
coil::vstring motorTorqueControllerParamsFromConf = coil::split(prop["torque_controller_params"], ",");
hrp::dvector tdcParamKe(m_robot->numJoints()), tdcParamKd(m_robot->numJoints()), tdcParamKi(m_robot->numJoints()), tdcParamT(m_robot->numJoints());
if (motorTorqueControllerParamsFromConf.size() == 2 * m_robot->numJoints()) {
std::cerr << "use TwoDofController" << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) { // use TwoDofController
coil::stringTo(tdcParamKe[i], motorTorqueControllerParamsFromConf[2 * i].c_str());
coil::stringTo(tdcParamT[i], motorTorqueControllerParamsFromConf[2 * i + 1].c_str());
m_motorTorqueControllers.push_back(MotorTorqueController(m_robot->joint(i)->name, tdcParamKe[i], tdcParamT[i], m_dt));
}
if (m_debugLevel > 0) {
std::cerr << "torque controller parames:" << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) {
std::cerr << m_robot->joint(i)->name << ":" << tdcParamKe[i] << " " << tdcParamT[i] << " " << m_dt << std::endl;
}
}
} else if (motorTorqueControllerParamsFromConf.size() == 3 * m_robot->numJoints()) { // use TwoDofControllerPDModel
std::cerr << "use TwoDofControllerPDModel" << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) { // use TwoDofControllerPDModel
coil::stringTo(tdcParamKe[i], motorTorqueControllerParamsFromConf[3 * i].c_str());
coil::stringTo(tdcParamKd[i], motorTorqueControllerParamsFromConf[3 * i + 1].c_str());
coil::stringTo(tdcParamT[i], motorTorqueControllerParamsFromConf[3 * i + 2].c_str());
m_motorTorqueControllers.push_back(MotorTorqueController(m_robot->joint(i)->name, tdcParamKe[i], tdcParamKd[i], tdcParamT[i], m_dt));
}
if (m_debugLevel > 0) {
std::cerr << "torque controller parames:" << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) {
std::cerr << m_robot->joint(i)->name << ":" << tdcParamKe[i] << " " << tdcParamKd[i] << " " << tdcParamT[i] << " " << m_dt << std::endl;
}
}
} else if (motorTorqueControllerParamsFromConf.size() == 4 * m_robot->numJoints()) { // use TwoDofControllerDynamicsModel
std::cerr << "use TwoDofControllerDynamicsModel" << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) { // use TwoDofControllerDynamicsModel
coil::stringTo(tdcParamKe[i], motorTorqueControllerParamsFromConf[4 * i].c_str());
coil::stringTo(tdcParamKd[i], motorTorqueControllerParamsFromConf[4 * i + 1].c_str());
coil::stringTo(tdcParamKi[i], motorTorqueControllerParamsFromConf[4 * i + 2].c_str());
coil::stringTo(tdcParamT[i], motorTorqueControllerParamsFromConf[4 * i + 3].c_str());
m_motorTorqueControllers.push_back(MotorTorqueController(m_robot->joint(i)->name, tdcParamKe[i], tdcParamKd[i], tdcParamKi[i], tdcParamT[i], m_dt));
}
if (m_debugLevel > 0) {
std::cerr << "torque controller parames:" << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) {
std::cerr << m_robot->joint(i)->name << ":" << tdcParamKe[i] << " " << tdcParamKd[i] << " " << tdcParamKi[i] << " " << tdcParamT[i] << " " << m_dt << std::endl;
}
}
} else { // default
std::cerr << "[WARNING] torque_controller_params is not correct number, " << motorTorqueControllerParamsFromConf.size() << ". Use default controller." << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) {
tdcParamKe[i] = 400.0;
tdcParamT[i] = 0.04;
m_motorTorqueControllers.push_back(MotorTorqueController(m_robot->joint(i)->name, tdcParamKe[i], tdcParamT[i], m_dt));
}
if (m_debugLevel > 0) {
std::cerr << "torque controller parames:" << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) {
std::cerr << m_robot->joint(i)->name << ":" << tdcParamKe[i] << " " << tdcParamT[i] << " " << m_dt << std::endl;
}
}
}
// allocate memory for outPorts
m_qRefOut.data.length(m_robot->numJoints());
return RTC::RTC_OK;
}
RTC::ReturnCode_t AriaRTC::onInitialize()
{
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("targetVelocity", m_targetVelocityIn);
addInPort("poseUpdate", m_poseUpdateIn);
// Set OutPort buffer
addOutPort("currentVelocity", m_currentVelocityOut);
addOutPort("currentPose", m_currentPoseOut);
addOutPort("range", m_rangeOut);
addOutPort("bumper", m_bumperOut);
addOutPort("sonar", m_sonarOut);
// Set service provider to Ports
// Set service consumers to Ports
// Set CORBA Service Ports
// </rtc-template>
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("debug", m_debug, "0");
bindParameter("robotPort", m_robotPort, "COM1");
bindParameter("robotPortType", m_robotPortType, "serial");
bindParameter("robotTcpPort", m_robotTcpPort, "8101");
bindParameter("robotTcpAddress", m_robotTcpAddress, "localhost");
bindParameter("laserPort", m_laserPort, "COM2");
bindParameter("laserPortType", m_laserPortType, "serial");
bindParameter("laserType", m_laserType, "none");
bindParameter("laserTcpPort", m_laserTcpPort, "8102");
bindParameter("bumperSendingPolicy", m_bumperSendingPolicy, "event");
bindParameter("commandTimeout", m_commandTimeout, "3");
bindParameter("odometryUpdateInterval", m_odometryUpdateInterval, "0.5");
bindParameter("initial_pose_x", m_initial_pose_x, "0.0");
bindParameter("initial_pose_y", m_initial_pose_y, "0.0");
bindParameter("initial_pose_z", m_initial_pose_z, "0.0");
bindParameter("transvelmax", m_transvelmax, "0.75");
bindParameter("rotvelmax", m_rotvelmax, "1.75");
bindParameter("rotacc", m_rotacc, "1.75");
bindParameter("rotdecel", m_rotdecel, "1.75");
bindParameter("transacc", m_transacc, "0.3");
bindParameter("transdecel", m_transdecel, "0.3");
bindParameter("update_gain", m_update_gain, "false");
bindParameter("gain_rotkp", m_gain_rotkp, "40");
bindParameter("gain_rotkv", m_gain_rotkv, "20");
bindParameter("gain_rotki", m_gain_rotki, "0");
bindParameter("gain_transkp", m_gain_transkp, "40");
bindParameter("gain_transkv", m_gain_transkv, "30");
bindParameter("gain_transki", m_gain_transki, "0");
/*
bindParameter("update_flash", m_update_flash, "false");
bindParameter("flash_revcount", m_flash_revcount, "0");
bindParameter("flash_driftfactor", m_flash_driftfactor, "0");
bindParameter("flash_ticksmm", m_flash_ticksmm, "0");
*/
// </rtc-template>
ssr::MobileRobot::init();
return RTC::RTC_OK;
}
RTC::ReturnCode_t GraspController::onInitialize()
{
std::cout << m_profile.instance_name << ": onInitialize()" << std::endl;
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("debugLevel", m_debugLevel, "0");
// </rtc-template>
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("qRef", m_qRefIn); // for naming rule of hrpsys_config.py
addInPort("qCurrent", m_qCurrentIn);
addInPort("qIn", m_qIn);
// Set OutPort buffer
addOutPort("q", m_qOut); // for naming rule of hrpsys_config.py
// Set service provider to Ports
m_GraspControllerServicePort.registerProvider("service0", "GraspControllerService", m_service0);
// Set service consumers to Ports
// Set CORBA Service Ports
addPort(m_GraspControllerServicePort);
// </rtc-template>
m_robot = hrp::BodyPtr(new hrp::Body());
RTC::Properties& prop = getProperties();
coil::stringTo(m_dt, prop["dt"].c_str());
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
if (!loadBodyFromModelLoader(m_robot, prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext())
)){
std::cerr << "[" << m_profile.instance_name << "] failed to load model[" << prop["model"] << "]"
<< std::endl;
return RTC::RTC_ERROR;
}
// <name> : <joint1>, <direction1>, <joint2>, <direction2>, <joint1>, <direction2>, <name> : <joint1>, <direction1>
// check num of grasp
coil::vstring grasp_joint_params = coil::split(prop["grasp_joint_groups"], ",");
std::string grasp_name;
GraspJoint grasp_joint;
std::vector<GraspJoint> grasp_joints;
for(int i = 0, f = 0; i < grasp_joint_params.size(); i++ ){
coil::vstring grasp_joint_group_names = coil::split(grasp_joint_params[i], ":");
if ( grasp_joint_group_names.size() > 1 ) {
if ( grasp_name != "" ) {
GraspParam grasp_param;
grasp_param.time = 0;
grasp_param.joints = grasp_joints;
grasp_param.time = 1; // stop
m_grasp_param[grasp_name] = grasp_param;
grasp_joints.clear();
}
// initialize
grasp_name = grasp_joint_group_names[0];
if ( !! m_robot->link(grasp_joint_group_names[1]) ) {
grasp_joint.id = m_robot->link(std::string(grasp_joint_group_names[1].c_str()))->jointId;
}
f = 0;
i++;
}
if ( f == 0 ) {
coil::stringTo(grasp_joint.dir,grasp_joint_params[i].c_str());
grasp_joints.push_back(grasp_joint);
f = 1 ;
} else {
if ( !! m_robot->link(grasp_joint_params[i]) ) {
grasp_joint.id = m_robot->link(grasp_joint_params[i])->jointId;
}
f = 0 ;
}
}
// finalize
if ( grasp_name != "" ) {
GraspParam grasp_param;
grasp_param.time = 0;
grasp_param.joints = grasp_joints;
grasp_param.time = 1; // stop
m_grasp_param[grasp_name] = grasp_param;
}
//
if ( m_debugLevel ) {
std::map<std::string, GraspParam >::iterator it = m_grasp_param.begin();
while ( it != m_grasp_param.end() ) {
std::cerr << "[" << m_profile.instance_name << "] " << it->first << " : ";
for ( int i = 0 ; i < it->second.joints.size(); i++ ) {
std::cerr << "id = " << it->second.joints[i].id << ", dir = " << it->second.joints[i].dir << ", ";
}
std::cerr << std::endl;
it++;
}
}
return RTC::RTC_OK;
}
RTC::ReturnCode_t SequencePlayer::onInitialize()
{
std::cout << "SequencePlayer::onInitialize()" << std::endl;
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("qInit", m_qInitIn);
addInPort("basePosInit", m_basePosInitIn);
addInPort("baseRpyInit", m_baseRpyInitIn);
addInPort("zmpRefInit", m_zmpRefInitIn);
// Set OutPort buffer
addOutPort("qRef", m_qRefOut);
addOutPort("tqRef", m_tqRefOut);
addOutPort("zmpRef", m_zmpRefOut);
addOutPort("accRef", m_accRefOut);
addOutPort("basePos", m_basePosOut);
addOutPort("baseRpy", m_baseRpyOut);
addOutPort("optionalData", m_optionalDataOut);
// Set service provider to Ports
m_SequencePlayerServicePort.registerProvider("service0", "SequencePlayerService", m_service0);
// Set service consumers to Ports
// Set CORBA Service Ports
addPort(m_SequencePlayerServicePort);
// </rtc-template>
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("debugLevel", m_debugLevel, "0");
// </rtc-template>
RTC::Properties& prop = getProperties();
coil::stringTo(dt, prop["dt"].c_str());
m_robot = hrp::BodyPtr(new Body());
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
if (!loadBodyFromModelLoader(m_robot, prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext())
)){
std::cerr << "failed to load model[" << prop["model"] << "]"
<< std::endl;
}
unsigned int dof = m_robot->numJoints();
// Setting for wrench data ports (real + virtual)
std::vector<std::string> fsensor_names;
// find names for real force sensors
unsigned int npforce = m_robot->numSensors(hrp::Sensor::FORCE);
for (unsigned int i=0; i<npforce; i++){
fsensor_names.push_back(m_robot->sensor(hrp::Sensor::FORCE, i)->name);
}
// find names for virtual force sensors
coil::vstring virtual_force_sensor = coil::split(prop["virtual_force_sensor"], ",");
unsigned int nvforce = virtual_force_sensor.size()/10;
for (unsigned int i=0; i<nvforce; i++){
fsensor_names.push_back(virtual_force_sensor[i*10+0]);
}
// add ports for all force sensors
unsigned int nforce = npforce + nvforce;
m_wrenches.resize(nforce);
m_wrenchesOut.resize(nforce);
for (unsigned int i=0; i<nforce; i++){
m_wrenchesOut[i] = new OutPort<TimedDoubleSeq>(std::string(fsensor_names[i]+"Ref").c_str(), m_wrenches[i]);
m_wrenches[i].data.length(6);
registerOutPort(std::string(fsensor_names[i]+"Ref").c_str(), *m_wrenchesOut[i]);
}
if (prop.hasKey("seq_optional_data_dim")) {
coil::stringTo(optional_data_dim, prop["seq_optional_data_dim"].c_str());
} else {
optional_data_dim = 1;
}
m_seq = new seqplay(dof, dt, nforce, optional_data_dim);
m_qInit.data.length(dof);
for (unsigned int i=0; i<dof; i++) m_qInit.data[i] = 0.0;
Link *root = m_robot->rootLink();
m_basePosInit.data.x = root->p[0]; m_basePosInit.data.y = root->p[1]; m_basePosInit.data.z = root->p[2];
hrp::Vector3 rpy = hrp::rpyFromRot(root->R);
m_baseRpyInit.data.r = rpy[0]; m_baseRpyInit.data.p = rpy[1]; m_baseRpyInit.data.y = rpy[2];
m_zmpRefInit.data.x = 0; m_zmpRefInit.data.y = 0; m_zmpRefInit.data.z = 0;
// allocate memory for outPorts
m_qRef.data.length(dof);
m_tqRef.data.length(dof);
m_optionalData.data.length(optional_data_dim);
return RTC::RTC_OK;
}
