double RobotController::getRoll(Rotation rot)
{
// get angles arround y-axis
double qw = rot.qw();
double qx = rot.qx();
double qy = rot.qy();
double qz = rot.qz();
double roll = atan2(2*qy*qw - 2*qx*qz, 1 - 2*qy*qy - 2*qz*qz);
return roll;
}
void getPrimitivesFromRSB(boost::shared_ptr<Primitive3DFloatSet> evPrimitiveSet){
std::vector<Primitive3DFilter::Primitive3D> rsbPrimitives;
for(int i = 0; i < evPrimitiveSet->primitives_size(); ++i) {
Primitive3DFloat primitiveProto = evPrimitiveSet->primitives(i);
Primitive3DFilter::PrimitiveType primitiveType = Primitive3DFilter::CUBE;
Primitive3DFloat_PrimitiveType typeRST = primitiveProto.type();
if(typeRST == Primitive3DFloat_PrimitiveType_CUBE)
primitiveType = Primitive3DFilter::CUBE;
else if(typeRST == Primitive3DFloat_PrimitiveType_SPHERE)
primitiveType = Primitive3DFilter::SPHERE;
else if(typeRST == Primitive3DFloat_PrimitiveType_CYLINDER)
primitiveType = Primitive3DFilter::CYLINDER;
Translation positionProto = primitiveProto.pose().translation();
Vec primitivePosition(positionProto.x()*1000.0, positionProto.y()*1000.0, positionProto.z()*1000.0, 1);
Rotation rotation = primitiveProto.pose().rotation();
Primitive3DFilter::Quaternion primitiveOrientation(Vec3(rotation.qx(), rotation.qy(), rotation.qz()), rotation.qw());
Vec primitiveScale(primitiveProto.scale().x()*1000.0, primitiveProto.scale().y()*1000.0, primitiveProto.scale().z()*1000.0, 1);
Primitive3DFilter::Primitive3D primitive(primitiveType, primitivePosition, primitiveOrientation, primitiveScale, 0, primitiveProto.description());
rsbPrimitives.push_back(primitive);
}
primitivesMutex.lock();
primitives = rsbPrimitives;
primitivesMutex.unlock();
}
double MyController::onAction(ActionEvent &evt) {
int actionNumber = 2;
int functionalFeature = 1;
int targetType = 3;
myfile << setprecision(2) << std::fixed;
// handle of target and tool
SimObj *target = getObj("box_004");
SimObj *toolName = getObj("TShapeTool_004");
if (evt.time() < 5.0)
{
// cout << "Time" << endl;
cout << evt.time() << endl;
toolName->getPosition(currentToolPos); // get the current tool position
toolName->getRotation(finalToolRotation);
toolName->getVelocity(finalToolVel);
isToolAtRest = checkEntityMotionStatus(toolName); // checks whether the tool is moving by calculating its velocity
target->getPosition(currentTargetPos);
target->getRotation(finalTargetRotation);
target->getVelocity(finalTargetVel);
isTargetAtRest = checkEntityMotionStatus(target); // checks whether the object is moving by calculating its velocity
}
if (evt.time() > 5.0)
{
insideTimer = false;
counterOfAction ++ ;
}
if(!insideTimer && counterOfAction == 1 )
{
myfile << actionNumber << " , " << functionalFeature << " , " ;
myfile << initToolRotation.qw() << " , " << initToolRotation.qx() << " , " << initToolRotation.qy() << " , " << initToolRotation.qz() << " , " ;
myfile << initTargetRotation.qw() << " , " << initTargetRotation.qx() << " , " << initTargetRotation.qy() << " , " << initTargetRotation.qz() << " , " ;
myfile << finalTargetRotation.qw() << " , " << finalTargetRotation.qx() << " , " << finalToolRotation.qy() << " , " << finalToolRotation.qz() << " , " ;
myfile << initToolPos.x() << " , " << initToolPos.z() << " , " ;
myfile << initTargetPos.x() << " , " << initTargetPos.z() << " , " ;
myfile << forceOnTool_x << " , " << forceOnTool_z << " , " ;
myfile << appliedToolVel.x() << " , " << appliedToolVel.z() << " , " ;
myfile << toolVelAtHit.x() << " , " << toolVelAtHit.z() << " , " ;
myfile << targetVelAtHit.x() << " , " << targetVelAtHit.z() << " , " ;
myfile << currentToolPos.x() << " , " << currentToolPos.z() << " , " ;
myfile << currentTargetPos.x() << " , " << currentTargetPos.z() << " , " ;
myfile << finalToolVel.x() << " , " << finalToolVel.z() << " , " ;
myfile << finalTargetVel.x() << " , " << finalTargetVel.z() << " , " ;
myfile << isToolAtRest << " , " << isTargetAtRest << " , " ;
myfile << currentToolPos.x() - initToolPos.x() << " , " << currentToolPos.z() - initToolPos.z() << " , " ;
myfile << currentTargetPos.x() - initTargetPos.x() << " , " << currentTargetPos.z() - initTargetPos.z();
myfile << "\n";
cout << "The simulation for " << actionNumber << " , " << functionalFeature << " has been recorded" << endl;
// exit(0);
flag = false;
}
return 0.01;
}
double MyController::onAction(ActionEvent &evt) {
dlopen("libpython2.7.so", RTLD_LAZY | RTLD_GLOBAL);
Py_Initialize(); //initialization of the python interpreter
//return 1.0;
SimObj *stick = getObj("robot_test");
SimObj *box = getObj("box_001");
SimObj *goal_001 = getObj("checkpoint_001");
double torque;
// The target position
Vector3d targetPos;
box->getPosition(targetPos);
// The Goal Position: The sphere is placed at Goal position.
Vector3d goalPos;
goal_001->getPosition(goalPos);
// calculating the displacement vector
Vector3d displacementVect;
displacementVect.x(goalPos.x()-targetPos.x());
displacementVect.y(goalPos.y()-targetPos.y());
displacementVect.z(goalPos.z()-targetPos.z());
// stick->addForce(-500,0,500); // This adds force to on the stick tool.
// stick->addForce(0,0,5000);
// Vector3d angularVel;
// stick->getAngularVelocity(angularVel);
// LOG_MSG((" Current angular Velocity is : %f %f %f ", angularVel.x(), angularVel.y(), angularVel.z() ));
// if ( abs(angularVel.y()) > 0.1 )
// {
// LOG_MSG((" Current angular Velocity is : %f %f %f ", angularVel.x(), angularVel.y(), angularVel.z() ));
// double* ptr1 = NULL;
// ptr1 = controlAngularVelocity(angularVel, 3.0, 0, 1.0);
// torque = ptr1[0] * 500;
// // torque = ptr1[0] * 12000 ;
// cout << "The torque applied for controlling angular velocity is " << torque << " N. m" << endl;
// stick->addTorque( 0 , torque, 0);
// }
// to control the rotation of the tool
// Rotation currentToolRot;
// stick->getRotation(currentToolRot);
// double *ptr = NULL;
// ptr = controlRotation(initialToolRot, currentToolRot, 20.0, 0.0, 20.0);
// torque = ptr[1] * 200 ;
// cout << "The torque applied for controlling the rotation = " << torque << endl;
// stick->addTorque(0, torque,0);
// double massOfTool;
// massOfTool = stick->getMass();
// cout << "The mass is " << massOfTool <<endl;
// Vector3d velocityOfTarget;
// box->getLinearVelocity(velocityOfTarget);
// double netVelocityTarget;
// netVelocityTarget=( pow(velocityOfTarget.x(),2) + pow(velocityOfTarget.y(), 2) + pow(velocityOfTarget.z(), 2 ) );
// netVelocityTarget = sqrt(netVelocityTarget);
// stick->getPosition(pos);
// stick->getPartsPosition(pos, "LINK1");
// LOG_MSG((" LINK1 Position is : %f %f %f ", pos.x(), pos.y(), pos.z() ));
// Vector3d targetPos;
// box->getPosition(targetPos);
// Vector3d goalPos;
// goal_001->getPosition(goalPos);
// if (abs( goalPos.z() - targetPos.z()) < 1.4 )
// {
// cout << "The distance to goal is " << abs( goalPos.z() - targetPos.z()) << endl;
// cout << "The goal has been reached " << endl;
// exit(0);
// }
// if (netVelocityTarget > 0.1 )
// {
// double angle = atan ( (targetPos.z() - startPosition.z()) / (targetPos.x() - startPosition.x() ) ) * 180 / PI;
// cout << "The angle is" << angle;
// storePosition(targetPos);
// }
std::vector<std::string> s;
for(std::map<std::string, CParts *>::iterator it = stick->getPartsCollection().begin(); it != stick->getPartsCollection().end(); ++it){
if (it->first != "body")
s.push_back(it->first);
}
std::string linkName;
Size si;
cout << "The total links are " << s.size() << endl;
for (int i = 0; i < s.size(); i++){
const char* linkName = s[i].c_str();
CParts *link = stick->getParts(linkName);
link->getPosition(pos);
link->getRotation(linkRotation);
if (link->getType() == 0){
BoxParts* box = (BoxParts*) link;
si = box->getSize();
// cout << linkName << endl;
cout << linkName << " position : x = " << pos.x() << " y = " << pos.y() << " z = " << pos.z() << endl;
// cout << linkName << " size : x = " << si.x() << " y = " << si.y() << " z = " << si.z() << endl;
// cout << linkName << " Rotation: qw " << linkRotation.qw() << " qx = "<< linkRotation.qx() << " qy = "<< linkRotation.qy()
// << " qz = "<< linkRotation.qz() << endl;
try{
py::object main_module = py::import("__main__");
py::object main_namespace = main_module.attr("__dict__");
main_module.attr("linkName") = linkName;
main_module.attr("length") = si.x();
main_module.attr("height") = si.y();
main_module.attr("breadth") = si.z();
main_module.attr("linkPos") = "[" + tostr(pos.x())+" , "+ tostr(pos.y())+ " , " + tostr(pos.z()) + "]";
main_module.attr("rotation") = "[" + tostr(linkRotation.qw())+" , "+ tostr(linkRotation.qx())+ " , " + tostr(linkRotation.qy()) + " , " + tostr(linkRotation.qz()) +"]";
// calculating the rotation of the tool.
py::exec("import ast", main_namespace);
py::exec("import transformations as T", main_namespace);
py::exec("rotation = ast.literal_eval(rotation)", main_namespace);
// py::exec("angles = T.euler_from_quaternion(rotation) ", main_namespace);
// py::exec("print angles", main_namespace);
py::exec("linkPos = ast.literal_eval(linkPos)", main_namespace);
py::exec_file("vertices.py", main_namespace, main_namespace );
py::exec("getNormals(linkName, linkPos, rotation, length, height, breadth)", main_namespace);
main_module.attr("targetPos") = "[" + tostr(targetPos.x())+" , "+ tostr(targetPos.y())+ " , " + tostr(targetPos.z()) + "]";
main_module.attr("displacementVect") = "[" + tostr(displacementVect.x())+" , "+ tostr(displacementVect.y())+ " , " + tostr(displacementVect.z()) + "]";
py::exec_file("displacementVector.py", main_namespace, main_namespace );
}
catch(boost::python::error_already_set const &){
// Parse and output the exception
std::string perror_str = parse_python_exception();
std::cout << "Error in Python: " << perror_str << std::endl;
}
}
else if(link->getType() == 1){
CylinderParts* cyl = (CylinderParts*) link;
cout << "Cylinder Position : x = " << pos.x() << " y = " << pos.y() << " z = " << pos.z() << endl;
cout << "Cylinder Length : length = " << cyl->getLength() << endl;
cout << "Cylinder Radius : rad = " << cyl->getRad() << endl;
}
else if(link->getType() == 2){
SphereParts* sph = (SphereParts*) link;
cout << "Sphere Position : x = " << pos.x() << " y = " << pos.y() << " z = " << pos.z() << endl;
cout << "Sphere Radius : rad = " << sph->getRad() << endl;
}
}
// stick->getPartsPosition(pos, s[1]);
// stick->getPartsPosition(pos, "LINK1");
// LOG_MSG((" LINK1 Position is : %f %f %f ", pos.x(), pos.y(), pos.z() ));
// stick->getPartsPosition(pos, "LINK2");
// LOG_MSG((" LINK2 Position is : %f %f %f ", pos.x(), pos.y(), pos.z() ));
// stick->getPartsPosition(pos, "LINK3");
// LOG_MSG((" LINK3 Position is : %f %f %f ", pos.x(), pos.y(), pos.z() ));
return 0.00001;
}
