/
Kinematics.cpp
executable file
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Kinematics.cpp
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#include "Kinematics.h"
Kinematics::Kinematics(Kinematics_Type type)
{
if (type==Kinematics_Left) InitL();
if (type==Kinematics_Right) InitR();
}
void Kinematics::InitL()
{
mJointU.resize(7);
mJointU[0].R[0] = 1.0f;
mJointU[0].R[4] = 1.0f;
mJointU[0].R[8] = 1.0f;
mJointU[0].P[0] = 0.0f;
mJointU[0].P[1] = 0.0f;
mJointU[0].P[2] = 0.0f;
mJointU[0].Ax[0] = 1.0f;
mJointU[0].Ax[1] = 0.0f;
mJointU[0].Ax[2] = 0.0f;
mJointU[1].Ax[0] = -0.7071f;
mJointU[1].Ax[1] = 0.0f;
mJointU[1].Ax[2] = -0.7071f;
mJointU[2].Ax[0] = 0.0f;
mJointU[2].Ax[1] = 1.0f;
mJointU[2].Ax[2] = 0.0f;
mJointU[3].Ax[0] = 1.0f;
mJointU[3].Ax[1] = 0.0f;
mJointU[3].Ax[2] = 0.0f;
mJointU[4].Ax[0] = 1.0f;
mJointU[4].Ax[1] = 0.0f;
mJointU[4].Ax[2] = 0.0f;
mJointU[5].Ax[0] = 1.0f;
mJointU[5].Ax[1] = 0.0f;
mJointU[5].Ax[2] = 0.0f;
mJointU[6].Ax[0] = 0.0f;
mJointU[6].Ax[1] = 1.0f;
mJointU[6].Ax[2] = 0.0f;
mJointU[0].b[0] = 0.0f;
mJointU[0].b[1] = 0.0f;
mJointU[0].b[2] = 0.0f;
mJointU[1].b[0] = -0.055f ;
mJointU[1].b[1] = -0.01f;
mJointU[1].b[2] = -0.115f;
mJointU[2].b[0] =0.0f ;
mJointU[2].b[1] =0.0f;
mJointU[2].b[2] =0.0f ;
mJointU[3].b[0] = 0.0f;
mJointU[3].b[1] = 0.0f;
mJointU[3].b[2] = 0.0f;
mJointU[4].b[0] = 0.0f;
mJointU[4].b[1] = -0.005f;
mJointU[4].b[2] = -0.080f;
mJointU[5].b[0] = 0.0f;
mJointU[5].b[1] = -0.01f;
mJointU[5].b[2] = -0.055f;
mJointU[6].b[0] = 0.0f;
mJointU[6].b[1] = 0.0f;
mJointU[6].b[2] = 0.0f;
mJointU[0].q = 0.0f;
mJointU[1].q = -10.0f;
mJointU[2].q = 5.0f;
mJointU[3].q = 22.0f;
mJointU[4].q = -27.0f;
mJointU[5].q = 20.0f;
mJointU[6].q = 0.0f;
mTarget.P[0] = -0.0709164f;
mTarget.P[1] = 0.036565f;
mTarget.P[2] = -0.235754f;
mTarget.R[0] =0.987966f;
mTarget.R[1] =-0.0466299f;
mTarget.R[2] = 0.147477f;
mTarget.R[3] = 0.133021f;
mTarget.R[4] = 0.742687f;
mTarget.R[5] = -0.656294f;
mTarget.R[6] =-0.0789266f;
mTarget.R[7] = 0.668014f;
mTarget.R[8] = 0.739952f;
for (int i=0; i<7; i++)
{
mJointU[i].q = Deg2Rad(mJointU[i].q);
}
}
void Kinematics::InitR()
{
mJointU.resize(7);
mJointU[0].R[0] = 1.0f;
mJointU[0].R[4] = 1.0f;
mJointU[0].R[8] = 1.0f;
mJointU[0].P[0] = 0.0f;
mJointU[0].P[1] = 0.0f;
mJointU[0].P[2] = 0.0f;
mJointU[0].Ax[0] = 1.0f;
mJointU[0].Ax[1] = 0.0f;
mJointU[0].Ax[2] = 0.0f;
mJointU[1].Ax[0] = -0.7071f;
mJointU[1].Ax[1] = 0.0f;
mJointU[1].Ax[2] = 0.7071f;
mJointU[2].Ax[0] = 0.0f;
mJointU[2].Ax[1] = 1.0f;
mJointU[2].Ax[2] = 0.0f;
mJointU[3].Ax[0] = 1.0f;
mJointU[3].Ax[1] = 0.0f;
mJointU[3].Ax[2] = 0.0f;
mJointU[4].Ax[0] = 1.0f;
mJointU[4].Ax[1] = 0.0f;
mJointU[4].Ax[2] = 0.0f;
mJointU[5].Ax[0] = 1.0f;
mJointU[5].Ax[1] = 0.0f;
mJointU[5].Ax[2] = 0.0f;
mJointU[6].Ax[0] = 0.0f;
mJointU[6].Ax[1] = 1.0f;
mJointU[6].Ax[2] = 0.0f;
mJointU[0].b[0] = 0.0f;
mJointU[0].b[1] = 0.0f;
mJointU[0].b[2] = 0.0f;
mJointU[1].b[0] =0.055f ;
mJointU[1].b[1] = -0.01f;
mJointU[1].b[2] = -0.115f;
mJointU[2].b[0] =0.0f ;
mJointU[2].b[1] =0.0f;
mJointU[2].b[2] =0.0f ;
mJointU[3].b[0] = 0.0f;
mJointU[3].b[1] = 0.0f;
mJointU[3].b[2] = 0.0f;
mJointU[4].b[0] = 0.0f;
mJointU[4].b[1] = -0.005f;
mJointU[4].b[2] = -0.080f;
mJointU[5].b[0] = 0.0f;
mJointU[5].b[1] = -0.01f;
mJointU[5].b[2] = -0.055f;
mJointU[6].b[0] = 0.0f;
mJointU[6].b[1] = 0.0f;
mJointU[6].b[2] = 0.0f;
mJointU[0].q = 0.0f;
mJointU[1].q = 0.0f;
mJointU[2].q = 0.0f;
mJointU[3].q = 100.0f;
mJointU[4].q = 0.0f;
mJointU[5].q = 40.0f;
mJointU[6].q = 0.0f;
mTarget.P[0] = -0.0200f;
mTarget.P[1] = -0.0930f;
mTarget.P[2] = -0.0892f;
mTarget.R[0] = 0.7425f;
mTarget.R[1] = 0.3117f;
mTarget.R[2] = 0.5929f;
mTarget.R[3] = -0.5540f;
mTarget.R[4] = -0.2116f;
mTarget.R[5] = 0.8051f;
mTarget.R[6] = 0.3765f;
mTarget.R[7] = -0.9263f;
mTarget.R[8] = 0.0156f;
for (int i=0; i<7; i++)
{
mJointU[i].q = Deg2Rad(mJointU[i].q);
}
}
void Kinematics::InitialAngle(float qAngle[])
{
mJointU[0].q = 0;
for (unsigned int i=1; i<mJointU.size(); i++)
{
mJointU[i].q = Deg2Rad(qAngle[i-1]);
}
}
void Kinematics::SetTarget(float p[],float r[])
{
/*
for (int i=0; i<3; i++)
{
mTarget.P[i] = p[i];
}
for (int i=0; i<9; i++)
{
mTarget.R[i] = r[i];
}
*/
memcpy(mTarget.P,p,3*sizeof(float));
memcpy(mTarget.R,r,9*sizeof(float));
}
void Kinematics::SetTarget(float p[])
{
/*
for (int i=0; i<3; i++)
{
mTarget.P[i] = p[i];
}
for (int i=0; i<9; i++)
{
mTarget.R[i] = r[i];
}
*/
memcpy(mTarget.P,p,3*sizeof(float));
}
void Kinematics::SetmJP(int i,float p[])
{
memcpy(mJointU[i].P,p,3*sizeof(float));
}
void Kinematics::SetmJR(int i,float r[])
{
memcpy(mJointU[i].R,r,3*sizeof(float));
}
float* Kinematics::GetmJP(int i)
{
return(mJointU[i].P);
}
float* Kinematics::GetmJR(int i)
{
return(mJointU[i].R);
}
void Kinematics::ForwardKine(int startJ)
{
if (startJ!=0)
{
int i = startJ - 1;
Matrix tem_i_r(3,3,mJointU[i].R);
Matrix tem_j_b(3,1,mJointU[startJ].b);
Matrix tem_j_r(3,3);
Matrix tem(3,1);
tem = tem_i_r * tem_j_b;
mJointU[startJ].P [0] = mJointU[i].P[0]+tem.GetElement(0,0);
mJointU[startJ].P [1] = mJointU[i].P[1]+tem.GetElement(1,0);
mJointU[startJ].P [2] = mJointU[i].P[2]+tem.GetElement(2,0);
Matrix tem_a(3);
tem_a.SetElement(0,0,0);
tem_a.SetElement(0,1,-mJointU[startJ].Ax[2]);
tem_a.SetElement(0,2,mJointU[startJ].Ax[1]);
tem_a.SetElement(1,0,mJointU[startJ].Ax[2]);
tem_a.SetElement(1,1,0);
tem_a.SetElement(1,2,-mJointU[startJ].Ax[0]);
tem_a.SetElement(2,0,-mJointU[startJ].Ax[1]);
tem_a.SetElement(2,1,mJointU[startJ].Ax[0]);
tem_a.SetElement(2,2,0);
Matrix tem_E;
tem_E.MakeUnitMatrix(3);
tem_E = tem_E + tem_a*sin(mJointU[startJ].q) + tem_a*tem_a*(1-cos(mJointU[startJ].q));
tem_j_r = tem_i_r * tem_E;
/*
std::cout<<mJointU[startJ].P [0]<<std::endl;
std::cout<<mJointU[startJ].P [1]<<std::endl;
std::cout<<mJointU[startJ].P [2]<<std::endl;
std::cout<<std::endl;
tem_j_r.PrintMatrix();
*/
/*
for (int n=0; n<3; n++)
for (int nn=0; nn<3; nn++)
mJointU[startJ].R[3*n+nn] = tem_j_r.GetElement(n,nn);
*/
memcpy(mJointU[startJ].R,tem_j_r.GetData(),9*sizeof(float));
}
/*
if (startJ==6)
{
std::cout<<mJointU[startJ].P [0]<<std::endl;
std::cout<<mJointU[startJ].P [1]<<std::endl;
std::cout<<mJointU[startJ].P [2]<<std::endl;
}
*/
if (startJ+1 <mJointU.size()) ForwardKine(startJ+1);
}
//toj为目标关节的编号，一般为最末端的关节
void Kinematics::InverseKine(int toj)
{
Matrix err(6,1);
Matrix tem(6,1);
float dq[6];
const float lambda = 0.99f;
ForwardKine(0);
Matrix Jacobian(6);
for (int n=0; n<10 ; n++)
{
CalJacobian(Jacobian);
//Jacobian.PrintMatrix();
if (!Jacobian.Invert())
{
//std::cout<<"NO Jacobian Invert"<<std::endl;
}
CalErr(toj,err);
//err.PrintMatrix();
if (err.Norm()<1E-6f)
{
//TestPrint();
return;
}
tem =Jacobian * err * lambda;
//tem.PrintMatrix();
for (int n=0; n<6; n++)
dq[n] = tem.GetElement(n,0);
for (unsigned int i = 1 ; i<mJointU.size(); i++)
{
mJointU[i].q = mJointU[i].q + dq[i-1];
}
ForwardKine(0);
}
//TestPrint();
}
void Kinematics::CalErr(int to,Matrix &err)
{
Matrix tem_to_r(3,3,mJointU[to].R);
Matrix tem_tar_r(3,3,mTarget.R);
Matrix tem_werr(3,1);
Matrix tem_rr(3,3);
err.SetElement(0,0, mTarget.P[0] - mJointU[to].P[0]);
err.SetElement(1,0, mTarget.P[1] - mJointU[to].P[1]);
err.SetElement(2,0, mTarget.P[2] - mJointU[to].P[2]);
tem_rr = tem_to_r.Transpose() * tem_tar_r;
//tem_rr.PrintMatrix();
//tem_to_r.PrintMatrix();
tem_werr = tem_to_r * CalLnr(tem_rr);
err.SetElement(3,0, tem_werr.GetElement(0,0));
err.SetElement(4,0, tem_werr.GetElement(1,0));
err.SetElement(5,0, tem_werr.GetElement(2,0));
}
Matrix Kinematics::CalLnr(const Matrix &rerr)
{
Matrix tem;
Matrix lnr(3,1);
float theta;
tem.MakeUnitMatrix(3);
lnr.SetElement(0,0,0);
lnr.SetElement(1,0,0);
lnr.SetElement(2,0,0);
if (rerr==tem)
{
}
else
{
theta = acos( (rerr.GetElement(0,0) + rerr.GetElement(1,1) + rerr.GetElement(2,2) -1 ) / 2 );
if (theta != theta)
{
return(lnr);
}
if (fabs(sin(theta))<EPS)
{
return(lnr);
}
lnr.SetElement(0,0, ( theta/(2*sin(theta))*(rerr.GetElement(2,1) - rerr.GetElement(1,2)) ) );
lnr.SetElement(1,0, ( theta/(2*sin(theta))*(rerr.GetElement(0,2) - rerr.GetElement(2,0)) ) );
lnr.SetElement(2,0, ( theta/(2*sin(theta))*(rerr.GetElement(1,0) - rerr.GetElement(0,1)) ) );
}
return(lnr);
}
void Kinematics::CalJacobian(Matrix &Jacobian)
{
Matrix tem_i_r(3,3);
Matrix tem_i_a(3,1);
Matrix tem(3,1);
float u1,u2,u3,v1,v2,v3;
for (unsigned int i =1; i<mJointU.size(); i++)
{
tem_i_r.SetData(mJointU[i].R);
tem_i_a.SetData(mJointU[i].Ax);
tem = tem_i_r * tem_i_a;
//tem.PrintMatrix();
v1 = mTarget.P[0] - mJointU[i].P[0];
v2 = mTarget.P[1] - mJointU[i].P[1];
v3 = mTarget.P[2] - mJointU[i].P[2];
u1 = tem.GetElement(0,0);
u2 = tem.GetElement(1,0);
u3 = tem.GetElement(2,0);
//u x v = { u2v3-v2u3 , u3v1-v3u1 , u1v2-u2v1 }
Jacobian.SetElement(0,i-1,u2*v3 - v2*u3 );
Jacobian.SetElement(1,i-1,u3*v1 - v3*u1 );
Jacobian.SetElement(2,i-1,u1*v2 - v1*u2 );
Jacobian.SetElement(3,i-1,u1);
Jacobian.SetElement(4,i-1,u2);
Jacobian.SetElement(5,i-1,u3);
}
Jacobian.SetElement(0,5,0.0f );
Jacobian.SetElement(1,5,0.0f );
Jacobian.SetElement(2,5,0.0f );
}
void Kinematics::TestPrint()
{
for (int i=0; i<7; i++)
{
//std::cout<<mJointU[i].q*180/PI<<std::endl;
}
//std::cout<<std::endl;
/*
Matrix tem(3,3,mJointU[6].R);
tem.PrintMatrix();
Matrix tem2(3,1,mJointU[6].P);
tem2.PrintMatrix();
*/
}
float* Kinematics::GetAngle()
{
for (unsigned int i = 1 ; i<mJointU.size(); i++)
{
tem_angle[i-1] = mJointU[i].q;
}
return(tem_angle);
}
float Kinematics::GetAngle(int i)
{
return(mJointU[i].q);
}
float* Kinematics::GetTargetP()
{
return(mTarget.P);
}
float* Kinematics::GetTargetR()
{
return(mTarget.R);
}
void Kinematics::PrintJP(int i)
{
//std::cout<<"mJointU["<<i<<"].P:"<<std::endl;
for (int j=0; j<3; j++)
{
// std::cout<<mJointU[i].P[j]<<" ";
}
//std::cout<<std::endl;
}
void Kinematics::PrintJR(int i)
{
//std::cout<<"mJointU["<<i<<"].R:"<<std::endl;
for (int j=0; j<9; j++)
{
//std::cout<<mJointU[i].R[j]<<" ";
if ((j+1)%3==0)
{
//std::cout<<std::endl;
}
}
}