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 gotoNewPosition(double referenceData[], double bufferedData[], int resample_ratio, Hubo_Control &hubo, FILE * resultFile, int line_counter, int compliance_mode){
ArmVector left_arm_angles; // This declares "angles" as a dynamic array of ArmVectors with a starting array length of 5
ArmVector right_arm_angles; // This declares "angles" as a dynamic array of ArmVectors with a starting array length of 5
ArmVector left_leg_angles; // This declares "angles" as a dynamic array of ArmVectors with a starting array length of 5
ArmVector right_leg_angles; // This declares "angles" as a dynamic array of ArmVectors with a starting array length of 5
double* interpolatedData= new double[number_of_joints];
int* joint_array = new int[number_of_joints];
joint_array[0]=RHY;
joint_array[1]=RHR;
joint_array[2]=RHP;
joint_array[3]=RKN;
joint_array[4]=RAP;
joint_array[5]=RAR;
joint_array[6]=LHY;
joint_array[7]=LHR;
joint_array[8]=LHP;
joint_array[9]=LKN;
joint_array[10]=LAP;
joint_array[11]=LAR;
joint_array[12]=RSP;
joint_array[13]=RSR;
joint_array[14]=RSY;
joint_array[15]=REB;
joint_array[16]=RWY;
joint_array[17]=RWR;
joint_array[18]=RWP;
joint_array[19]=LSP;
joint_array[20]=LSR;
joint_array[21]=LSY;
joint_array[22]=LEB;
joint_array[23]=LWY;
joint_array[24]=LWR;
joint_array[25]=LWP;
joint_array[26]=NKY;
joint_array[27]=NK1;
joint_array[28]=NK2;
joint_array[29]=WST;
joint_array[30]=RF1;
joint_array[31]=RF2;
joint_array[32]=RF3;
joint_array[33]=RF4;
joint_array[34]=RF5;
joint_array[35]=LF1;
joint_array[36]=LF2;
joint_array[37]=LF3;
joint_array[38]=LF4;
joint_array[39]=LF5;
checkTrajectory(referenceData, bufferedData, line_counter);
for (int iterator=1; iterator<=resample_ratio; iterator++){
double multiplier = (double)iterator/(double)resample_ratio;
interpolatedData = interpolate_linear(referenceData, bufferedData, multiplier);
left_arm_angles<< interpolatedData[LSP], interpolatedData[LSR], interpolatedData[LSY], interpolatedData[LEB], interpolatedData[LWY], interpolatedData[LWP], interpolatedData[LWR],0,0,0;
right_arm_angles<< interpolatedData[RSP], interpolatedData[RSR], interpolatedData[RSY], interpolatedData[REB], interpolatedData[RWY], interpolatedData[RWP], interpolatedData[RWR],0,0,0;
right_leg_angles<< interpolatedData[RHY], interpolatedData[RHR], interpolatedData[RHP], interpolatedData[RKN], interpolatedData[RAP], interpolatedData[RAR],0,0,0,0;
left_leg_angles<< interpolatedData[LHY], interpolatedData[LHR], interpolatedData[LHP], interpolatedData[LKN], interpolatedData[LAP], interpolatedData[LAR],0,0,0,0;
hubo.update(true);
for (int joint=0; joint<number_of_joints; joint++){
if (compliance_mode==0){
hubo.setJointCompliance(joint_array[joint], false);
hubo.setJointAngle(joint_array[joint], interpolatedData[joint]);
}
else{
//hubo.setJointCompliance(joint_array[joint], true);
hubo.setArmAntiFriction(LEFT, true);
hubo.setArmAntiFriction(RIGHT, true);
hubo.setArmCompliance(LEFT, true); // These will turn on compliance with the default gains of hubo-ach
hubo.setArmCompliance(RIGHT, true);
//DrcHuboKin kin;
//kin.updateHubo(hubo);
//ArmVector torques; // Vector to hold expected torques due to gravity
double time, dt=0;
time = hubo.getTime();
double qlast[HUBO_JOINT_COUNT]; // Array of the previous reference commands for all the joints (needed to calculate velocity)
for(int i=0; i<HUBO_JOINT_COUNT; i++){
qlast[i] = hubo.getJointAngle(i);
}
hubo.update();
//kin.updateHubo(hubo);
dt = hubo.getTime() - time;
time = hubo.getTime();
//for( int side=0; side<2; side++){
// kin.armTorques(side, torques);
// hubo.setArmTorques(side, torques);
//}
hubo.setJointTraj(joint_array[joint], interpolatedData[joint], (interpolatedData[joint]-qlast[joint])/dt);
}
fprintf(resultFile,"%f ",interpolatedData[joint]);
}
fprintf(resultFile," \n");
fflush(resultFile);
hubo.sendControls(); // This will send off all the latest control commands over ACH
}// end of iterator loop
}
int main() {
printf("\n");
printf(" ******************* hubo-tech ***************** \n");
printf(" Support: Grey ([email protected] \n" );
printf(" *********************************************** \n");
printf(" Note: This is a derived version of Dan Lofaro's\n"
" hubo-console. It will be replaced in the near\n"
" future with a GUI." ); fflush(stdout);
Hubo_Control hubo; printf(" -- Hubo ready!\n"); fflush(stdout);
hubo_param H_param;
hubo_state H_state;
setJointParams( &H_param, &H_state );
setSensorDefaults( &H_param );
char *buf;
rl_attempted_completion_function = my_completion;
printf("\n");
while((buf = readline(">> hubo-ach: "))!=NULL) {
//enable auto-complete
rl_bind_key('\t',rl_complete);
printf(" ");
/* get update after every command */
hubo.update();
int tsleep = 0;
char* buf0 = getArg(buf, 0);
if (strcmp(buf0,"update")==0) {
hubo.update();
printf("--->Hubo Information Updated\n");
}
else if (strcmp(buf0,"get")==0) {
int jnt = hubo_set(buf, &H_param);
char* tmp = getArg(buf,1);
printf(">> %s = %f rad \n",tmp,hubo.getJointAngle(jnt));
}
else if (strcmp(buf0,"goto")==0) {
int jnt = hubo_set(buf, &H_param);
float f = 0.0;
char* str = getArg(buf,2);
if(sscanf(str, "%f", &f) != 0){ //It's a float.
hubo.setJointAngle( jnt, f, true );
printf(">> %s = %f rad \n",getArg(buf,1),f);
}
else {
printf(">> Bad input \n");
}
}
else if (strcmp(buf0,"beep")==0) {
int jnt = name2mot(getArg(buf, 1), &H_param);
double etime = atof(getArg(buf,2));
hubo.jointBeep( jnt, etime, true );
}
else if (strcmp(buf0,"home")==0) {
hubo.homeJoint( hubo_set(buf, &H_param), true );
printf("%s - Home \n",getArg(buf,1));
}
else if (strcmp(buf0,"homeAll")==0) {
hubo.homeAllJoints( true );
}
else if (strcmp(buf0,"reset")==0) {
int jnt = name2mot(getArg(buf, 1), &H_param);
hubo.resetJoint( jnt, true );
printf("%s - Resetting Encoder \n",getArg(buf,1));
}
else if (strcmp(buf0,"startup")==0) {
hubo.startAllSensors( true );
printf("Starting up Hubo\n");
tsleep = 2;
}
else if (strcmp(buf0,"ctrl")==0) {
int onOrOff = atof(getArg(buf,2));
if(onOrOff == 0 | onOrOff == 1) {
int jnt = name2mot(getArg(buf,1),&H_param); // set motor num
if(onOrOff==1) // 1 = on, 0 = 0ff
hubo.motorCtrlOn( jnt, true );
else if(onOrOff==0)
hubo.motorCtrlOff( jnt, true );
if(onOrOff == 0) {
printf("%s - Turning Off CTRL\n",getArg(buf,1));}
else {
printf("%s - Turning On CTRL\n",getArg(buf,1));}
}
}
else if (strcmp(buf0,"fet")==0) {
int onOrOff = atof(getArg(buf,2));
if(onOrOff == 0 | onOrOff == 1) {
int jnt = name2mot(getArg(buf,1),&H_param); // set motor num
if(onOrOff==1)
hubo.fetOn( jnt, true );
else if(onOrOff==0)
hubo.fetOff( jnt, true );
if(onOrOff == 0) {
printf("%s - Turning Off FET\n",getArg(buf,1));}
else {
printf("%s - Turning On FET\n",getArg(buf,1));}
}
}
else if (strcmp(buf0,"initialize")==0) {
int jnt = name2mot(getArg(buf,1),&H_param); // set motor num
hubo.initializeBoard( jnt, true );
printf("%s - Initialize \n",getArg(buf,1));
}
else if (strcmp(buf0,"initializeAll")==0) {
hubo.initializeAll(true);
printf("%s - Initialize All\n",getArg(buf,1));
tsleep = 2;
}
else if (strcmp(buf0,"zero")==0) {
int ft = name2sensor(getArg(buf,1), &H_param);
hubo.startSensor( (hubo_sensor_index_t)ft, true );
}
else if (strcmp(buf0,"zeracc")==0) {
int ft = name2sensor(getArg(buf,1), &H_param);
hubo.zeroTilt( (hubo_sensor_index_t)ft, true );
}
else if (strcmp(buf0,"iniSensors")==0){
printf("Nulling All Sensors\n");
hubo.startAllSensors( true );
}
/* Quit */
else if (strcmp(buf0,"quit")==0)
break;
if (buf[0]!=0)
add_history(buf);
sleep(tsleep); // sleep for tsleep sec
}
free(buf);
return 0;
}
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;
}
