void muonContained(double*nu,double*Nu,double rho, double*mu)
{
int i,k,l;
double C;
double NA=6.002141E23 /* mol-1*/;
double Nrate[2]={0.5,0.5}; /* proton , neutron */
double*Sp[2]={nu,Nu};
nuSpectrum=tabNuSpectrum;
mu[0]=0;
for(i=1;i<NZ;i++)
{ Emu_stat=Mcdm*exp(Zi(i));
mu[i]=0;
if(Emu_stat>0.01) for(k=0;k<2;k++) for(l=0;l<2;l++)
{ inNu=1-2*k;
if(Sp[k])
{
SpN_stat=Sp[k];
inPr=-1+2*l;
mu[i]+=simpson(integrandEnuContained,1/Mcdm, 1/Emu_stat,1.E-4)*Nrate[l];
}
}
mu[i]*=rho*NA*Emu_stat*1E5;
}
}
int
KinematicSolver::forward(btTransform& pose) const {
TRACER_ENTER_SCOPE("KinematicSolver::forward()");
if (false && forwardKinTimestamp_ == arm_->timestamp()) {
pose = forwardKinCached_;
return 0;
}
Arm::IdType armId_new = arm_->id();
int armId = armIdFromSerial(arm_->id());
pose = actual_world_to_ik_world(armId)
* Tw2b
* Zs(THS_TO_IK(armId,arm_->getJointById(Joint::IdType::SHOULDER_)->position()))
* Xu
* Ze(THE_TO_IK(armId,arm_->getJointById(Joint::IdType::ELBOW_)->position()))
* Xf
* Zr(THR_TO_IK(armId,arm_->getJointById(Joint::IdType::ROTATION_)->position()))
* Zi(D_TO_IK(armId,arm_->getJointById(Joint::IdType::INSERTION_)->position()))
* Xip
* Zp(THP_TO_IK(armId,arm_->getJointById(Joint::IdType::WRIST_)->position()))
* Xpy
* Zy(THY_TO_IK_FROM_FINGERS(armId,arm_->getJointById(Joint::IdType::FINGER1_)->position(),arm_->getJointById(Joint::IdType::FINGER2_)->position()))
* Tg;
//int grasp = MECH_GRASP_FROM_MECH_FINGERS(armId,arm_->getJointById(Joint::Type::GRIPPER1_)->position(),arm_->getJointById(Joint::Type::GRIPPER2_)->position());
const_cast<KinematicSolver*>(this)->forwardKinCached_ = pose;
const_cast<KinematicSolver*>(this)->forwardKinTimestamp_ = arm_->timestamp();
return 0;
}
int basicNuSpectra(int forSun, int pdgN, int outN, double * tab)
{
int inP,i,j;
int N=abs(pdgN);
double tab100[100];
double c=1;
for(i=0;i<NZ;i++) tab[i]=0;
// if(N==12 ||N==14 ||N==16) { if( pdgN*outN<0) return 0; else c=1;}
switch(N)
{
case 1: case 2: case 3: inP=4; break;
case 4: inP=3; break;
case 5: inP=1; break;
case 6: inP=5; break;
case 15: inP=2; break; /*l */
case 23: inP=6; break; /*z */
case 24: inP=7; break; /*w */
case 12:
case 14:
case 16: if(forSun) inP=0; else
{ if((pdgN==14 && outN>0)||(pdgN==-14 && outN<0)) tab[0]=2/(Zi(0)-Zi(1));
return 0;
} /*nu */
break;
default: return 1;
}
if(forSun) mInterpSun(Mcdm,inP,-(outN-1)/2,tab100);
else mInterpEarth(Mcdm,inP,-(outN-1)/2,tab100);
for(i=0;i<NZ;i++)
{ double x=exp(Zi(i));
tab[i]+=c*x*polint3(x,100, xTab ,tab100);
}
return 0;
}
void solarModulation(double PHI, double mass, double * inTab, double * outTab)
{ double buff[NZ];
int i;
for(i=0;i<NZ;i++)
{
double X,E,P,Xs,Es,Ps;
X=exp(Zi(i));
E=Mcdm*X;
P=sqrt( E*(E+2*mass));
Es=E+PHI/1000.;
if(Es>=Mcdm) buff[i]=0; else
{ Ps=sqrt( Es*(Es+2*mass));
Xs=Es/Mcdm;
buff[i]= (X/Xs)*zInterp(log(Xs),inTab)*pow(P/Ps,2);
}
}
for(i=0;i<NZ;i++) outTab[i]=buff[i];
}
void pbarFluxTab(double Emin, double sigmav, double *tab, double *tabOut)
{
int i;
int N;
double * Egrid,*Fgrid;
double tab2[NZ];
double rho0;
buildInterpolation(logPbarRate,log( Emin/Mcdm),log(0.9),0.01,&N,&Egrid,&Fgrid);
/*printf("Npbar=%d\n",N);*/
rho0=rhoDM/hProfile_(Rsun)/Mcdm;
for(i=0;i<NZ;i++)
{ double z=Zi(i);
double E=Mcdm*exp(z);
if(E<Emin*0.9) tab2[i]=0; else tab2[i]=
sigmav*exp(polint4(z,N, Egrid, Fgrid) )*zInterp(z,tab);
}
for(i=0;i<NZ;i++) tabOut[i]=rho0*rho0*tab2[i];
free(Egrid); free(Fgrid);
}
void posiFluxTab(double Emin, double sigmav, double *tab, double *tabOut)
{
double flu,rho0;
int i;
double buff[NZ];
tab_ =tab;
rho0=rhoDM/hProfile_(Rsun)/Mcdm;
flu = Tau_dif*sigmav/(4*M_PI)*CELERITY_LIGHT;
buildInterpolation(integral_cal_In,0., dKt(Mcdm,Emin),-Eps,&N_,&xa_,&ya_);
//printf("N_=%d\n",N_);
for(i=0;i<NZ;i++)
{
Eobs=Mcdm*exp(Zi(i));
if(Eobs<Emin*0.9) buff[i]=0;
else buff[i]= (flu/Eobs)* simpson(SpectIntegrand, Eobs, Mcdm, Eps);
}
for(i=0;i<NZ;i++) tabOut[i]=rho0*rho0*buff[i];
free(xa_); free(ya_);
}
void ISVDMultiCD::makePass() {
Epetra_LAPACK lapack;
Epetra_BLAS blas;
bool firstPass = (curRank_ == 0);
const int numCols = A_->NumVectors();
TEUCHOS_TEST_FOR_EXCEPTION( !firstPass && (numProc_ != numCols), std::logic_error,
"RBGen::ISVDMultiCD::makePass(): after first pass, numProc should be numCols");
// compute W = I - Z T Z^T from current V_
Teuchos::RCP<Epetra_MultiVector> lclAZT, lclZ;
double *Z_A, *AZT_A;
int Z_LDA, AZT_LDA;
int oldRank = 0;
double Rerr = 0.0;
if (!firstPass) {
// copy V_ into workZ_
lclAZT = Teuchos::rcp( new Epetra_MultiVector(::View,*workAZT_,0,curRank_) );
lclZ = Teuchos::rcp( new Epetra_MultiVector(::View,*workZ_,0,curRank_) );
{
Epetra_MultiVector lclV(::View,*V_,0,curRank_);
*lclZ = lclV;
}
// compute the Householder QR factorization of the current right basis
// Vhat = W*R
int info, lwork = curRank_;
std::vector<double> tau(curRank_), work(lwork);
info = lclZ->ExtractView(&Z_A,&Z_LDA);
TEUCHOS_TEST_FOR_EXCEPTION(info != 0, std::logic_error,
"RBGen::ISVDMultiCD::makePass(): error calling ExtractView on Epetra_MultiVector Z.");
lapack.GEQRF(numCols,curRank_,Z_A,Z_LDA,&tau[0],&work[0],lwork,&info);
TEUCHOS_TEST_FOR_EXCEPTION(info != 0, std::logic_error,
"RBGen::ISVDMultiCD::makePass(): error calling GEQRF on current right basis while constructing next pass coefficients.");
if (debug_) {
// we just took the QR factorization of a set of orthonormal vectors
// they should have an R factor which is diagonal, with unit elements (\pm 1)
// check it
Rerr = 0.0;
for (int j=0; j<curRank_; j++) {
for (int i=0; i<j; i++) {
Rerr += abs(Z_A[j*Z_LDA+i]);
}
Rerr += abs(abs(Z_A[j*Z_LDA+j]) - 1.0);
}
}
// compute the block representation
// W = I - Z T Z^T
lapack.LARFT('F','C',numCols,curRank_,Z_A,Z_LDA,&tau[0],workT_->A(),workT_->LDA());
// LARFT left upper tri block of Z unchanged
// note: it should currently contain R factor of V_, which is very close to
// diag(\pm 1, ..., \pm 1)
//
// we need to set it to:
// [1 0 0 ... 0]
// [ 1 0 ... 0]
// [ .... ]
// [ 1]
//
// see documentation for LARFT
//
for (int j=0; j<curRank_; j++) {
Z_A[j*Z_LDA+j] = 1.0;
for (int i=0; i<j; i++) {
Z_A[j*Z_LDA+i] = 0.0;
}
}
// compute part of A W: A Z T
// put this in workAZT_
// first, A Z
info = lclAZT->Multiply('N','N',1.0,*A_,*lclZ,0.0);
TEUCHOS_TEST_FOR_EXCEPTION(info != 0,std::logic_error,
"RBGen::ISVDMultiCD::makePass(): Error calling Epetra_MultiVector::Multiply() for A*Z");
// second, (A Z) T (in situ, as T is upper triangular)
info = lclAZT->ExtractView(&AZT_A,&AZT_LDA);
TEUCHOS_TEST_FOR_EXCEPTION(info != 0, std::logic_error,
"RBGen::ISVDMultiCD::makePass(): error calling ExtractView on Epetra_MultiVector AZ.");
blas.TRMM('R','U','N','N',numCols,curRank_,1.0,workT_->A(),workT_->LDA(),AZT_A,AZT_LDA);
// save oldRank: it tells us the width of Z
oldRank = curRank_;
curRank_ = 0;
numProc_ = 0;
}
else { // firstPass == true
curRank_ = 0;
numProc_ = 0;
}
while (numProc_ < numCols) {
//
// determine lup
//
// want lup >= lmin
// lup <= lmax
// need lup <= numCols - numProc
// lup <= maxBasisSize - curRank
//
int lup;
if (curRank_ == 0) {
// first step uses startRank_
// this is not affected by lmin,lmax
lup = startRank_;
}
else {
// this value minimizes overall complexity, assuming fixed rank
lup = (int)(curRank_ / Teuchos::ScalarTraits<double>::squareroot(2.0));
// contrain to [lmin,lmax]
lup = (lup < lmin_ ? lmin_ : lup);
lup = (lup > lmax_ ? lmax_ : lup);
}
//
// now cap lup via maxBasisSize and the available data
// these caps apply to all lup, as a result of memory and data constraints
//
// available data
lup = (lup > numCols - numProc_ ? numCols - numProc_ : lup);
// available memory
lup = (lup > maxBasisSize_ - curRank_ ? maxBasisSize_ - curRank_ : lup);
// get view of new vectors
{
const Epetra_MultiVector Aplus(::View,*A_,numProc_,lup);
Epetra_MultiVector Unew(::View,*U_,curRank_,lup);
// put them in U
if (firstPass) {
// new vectors are just Aplus
Unew = Aplus;
}
else {
// new vectors are Aplus - (A Z T) Z_i^T
// specifically, Aplus - (A Z T) Z(numProc:numProc+lup-1,1:oldRank)^T
Epetra_LocalMap lclmap(lup,0,A_->Comm());
Epetra_MultiVector Zi(::View,lclmap,&Z_A[numProc_],Z_LDA,oldRank);
Unew = Aplus;
int info = Unew.Multiply('N','T',-1.0,*lclAZT,Zi,1.0);
TEUCHOS_TEST_FOR_EXCEPTION(info != 0,std::logic_error,
"RBGen::ISVDMultiCD::makePass(): Error calling Epetra_MultiVector::Multiply() for A*Wi");
}
}
// perform the incremental step
incStep(lup);
}
// compute W V = V - Z T Z^T V
// Z^T V is oldRank x curRank
// T Z^T V is oldRank x curRank
// we need T Z^T V in a local Epetra_MultiVector
if (!firstPass) {
Teuchos::RCP<Epetra_MultiVector> lclV;
double *TZTV_A;
int TZTV_LDA;
int info;
Epetra_LocalMap lclmap(oldRank,0,A_->Comm());
// get pointer to current V
lclV = Teuchos::rcp( new Epetra_MultiVector(::View,*V_,0,curRank_) );
// create space for T Z^T V
Epetra_MultiVector TZTV(lclmap,curRank_,false);
// multiply Z^T V
info = TZTV.Multiply('T','N',1.0,*lclZ,*lclV,0.0);
TEUCHOS_TEST_FOR_EXCEPTION(info != 0,std::logic_error,
"RBGen::ISVDMultiCD::makePass(): Error calling Epetra_MultiVector::Multiply() for Z^T V.");
// get pointer to data in Z^T V
info = TZTV.ExtractView(&TZTV_A,&TZTV_LDA);
TEUCHOS_TEST_FOR_EXCEPTION(info != 0, std::logic_error,
"RBGen::ISVDMultiCD::makePass(): error calling ExtractView on Epetra_MultiVector TZTV.");
// multiply T (Z^T V)
blas.TRMM('L','U','N','N',oldRank,curRank_,1.0,workT_->A(),workT_->LDA(),TZTV_A,TZTV_LDA);
// multiply V - Z (T Z^T V)
info = lclV->Multiply('N','N',-1.0,*lclZ,TZTV,1.0);
TEUCHOS_TEST_FOR_EXCEPTION(info != 0,std::logic_error,
"RBGen::ISVDMultiCD::makePass(): Error calling Epetra_MultiVector::Multiply() for W V.");
}
//
// compute the new residuals
// we know that A V = U S
// if, in addition, A^T U = V S, then have singular subspaces
// check residuals A^T U - V S, scaling the i-th column by sigma[i]
//
{
// make these static, because makePass() will be likely be called again
static Epetra_LocalMap lclmap(A_->NumVectors(),0,A_->Comm());
static Epetra_MultiVector ATU(lclmap,maxBasisSize_,false);
// we know that A V = U S
// if, in addition, A^T U = V S, then have singular subspaces
// check residuals A^T U - V S, scaling the i-th column by sigma[i]
Epetra_MultiVector ATUlcl(::View,ATU,0,curRank_);
Epetra_MultiVector Ulcl(::View,*U_,0,curRank_);
Epetra_MultiVector Vlcl(::View,*V_,0,curRank_);
// compute A^T U
int info = ATUlcl.Multiply('T','N',1.0,*A_,Ulcl,0.0);
TEUCHOS_TEST_FOR_EXCEPTION(info != 0, std::logic_error,
"RBGen::ISVDMultiCD::makePass(): Error calling Epetra_MultiVector::Multiply for A^T U.");
Epetra_LocalMap rankmap(curRank_,0,A_->Comm());
Epetra_MultiVector S(rankmap,curRank_,true);
for (int i=0; i<curRank_; i++) {
S[i][i] = sigma_[i];
}
// subtract V S from A^T U
info = ATUlcl.Multiply('N','N',-1.0,Vlcl,S,1.0);
TEUCHOS_TEST_FOR_EXCEPTION(info != 0, std::logic_error,
"RBGen::ISVDMultiCD::computeBasis(): Error calling Epetra_MultiVector::Multiply for V S.");
resNorms_.resize(curRank_);
ATUlcl.Norm2(&resNorms_[0]);
// scale by sigmas
for (int i=0; i<curRank_; i++) {
if (sigma_[i] != 0.0) {
resNorms_[i] /= sigma_[i];
}
}
}
// debugging checks
std::vector<double> errnorms(curRank_);
if (debug_) {
int info;
// Check that A V = U Sigma
// get pointers to current U and V, create workspace for A V - U Sigma
Epetra_MultiVector work(U_->Map(),curRank_,false),
curU(::View,*U_,0,curRank_),
curV(::View,*V_,0,curRank_);
// create local MV for sigmas
Epetra_LocalMap lclmap(curRank_,0,A_->Comm());
Epetra_MultiVector curS(lclmap,curRank_,true);
for (int i=0; i<curRank_; i++) {
curS[i][i] = sigma_[i];
}
info = work.Multiply('N','N',1.0,curU,curS,0.0);
TEUCHOS_TEST_FOR_EXCEPTION(info != 0,std::logic_error,
"RBGen::ISVDMultiCD::makePass(): Error calling Epetra_MultiVector::Multiply() for debugging U S.");
info = work.Multiply('N','N',-1.0,*A_,curV,1.0);
TEUCHOS_TEST_FOR_EXCEPTION(info != 0,std::logic_error,
"RBGen::ISVDMultiCD::makePass(): Error calling Epetra_MultiVector::Multiply() for debugging U S - A V.");
work.Norm2(&errnorms[0]);
for (int i=0; i<curRank_; i++) {
if (sigma_[i] != 0.0) {
errnorms[i] /= sigma_[i];
}
}
}
// update pass counter
curNumPasses_++;
// print out some info
const Epetra_Comm *comm = &A_->Comm();
if (comm->MyPID() == 0 && verbLevel_ >= 1) {
std::cout
<< "------------- ISVDMultiCD::makePass() -----------" << std::endl
<< "| Number of passes: " << curNumPasses_ << std::endl
<< "| Current rank: " << curRank_ << std::endl
<< "| Current sigmas: " << std::endl;
for (int i=0; i<curRank_; i++) {
std::cout << "| " << sigma_[i] << std::endl;
}
if (debug_) {
std::cout << "|DBG US-AV norms: " << std::endl;
for (int i=0; i<curRank_; i++) {
std::cout << "|DBG " << errnorms[i] << std::endl;
}
if (!firstPass) {
std::cout << "|DBG R-I norm: " << Rerr << std::endl;
}
}
}
return;
}
extern SITE *get_sites(
DATASET *dataset, /* the dataset */
MODEL *model, /* the model */
int *n, /* number of sites found */
int *best_site /* index of best site in array */
)
{
int i, j;
int nsites = 0; /* number of sites */
SITE *sites = NULL; /* list of sites */
int n_samples = dataset->n_samples; /* number of sequences */
SAMPLE **samples = dataset->samples; /* the sequences */
MOTYPE mtype = model->mtype; /* type of model */
int w = model->w; /* width of motif */
BOOLEAN invcomp = model->invcomp; /* using invcomp strand */
double best_z = -1; /* best overall zij */
if (mtype==Oops || mtype==Zoops) { /* (Z)OOPS model */
for (i=0; i<n_samples; i++) { /* sequence */
SAMPLE *s = samples[i]; /* sample */
int lseq = s->length; /* length of sequence */
double max_zij = -1; /* flag no z_ij found */
int best_j = 0; /* position of site (1..m) */
double *zi = s->z; // z_i[j], j in [-lseq...+lseq]
if (lseq < w) continue; /* sequence to short for motif */
/* find maximum z_ij */
for (j=0; j<lseq-w+1; j++) { /* position */
int k = j+1; // Z_i = k
double zij = invcomp ? MIN(1.0,Zi(-k)+Zi(k)) : Zi(k);
if (zij > max_zij) { /* bigger found */
max_zij = zij;
best_j = j;
}
} // Z_i = j
/* record site */
if ((max_zij && mtype == Oops) || max_zij > 0.5) { /* site found */
if (nsites % 100 == 0) Resize(sites, nsites+101, SITE);
sites[nsites].seqno = i;
sites[nsites].pos = best_j;
sites[nsites].zij = max_zij;
int best_k = best_j + 1; // Z_i = best_k
// on reverse complement strand?
sites[nsites].invcomp = (invcomp & (Zi(-best_k)>Zi(best_k)));
if (max_zij > best_z) {
*best_site = nsites;
best_z = max_zij;
}
nsites++;
} /* site found */
} /* sequence */
} else { /* TCM model */
for (i=0; i<n_samples; i++) { /* sequence */
SAMPLE *s = samples[i]; /* sample */
int lseq = s->length; /* length of sequence */
double *zi = s->z; // z_i[j], j in [-lseq...+lseq]
if (lseq < w) continue; /* sequence to short for motif */
/* find all z_ij > 0.5 */
for (j=0; j<lseq-w+1; j++) { /* position */
int k = j+1; // Z_i = k
double zij = invcomp ? MIN(1.0,Zi(-k)+Zi(k)) : Zi(k); /* z_ij */
if (zij > 0.5) { /* record site */
if (nsites % 100 == 0) Resize(sites, nsites+101, SITE);
sites[nsites].seqno = i;
sites[nsites].pos = j;
sites[nsites].zij = zij;
/* on reverse complement strand? */
sites[nsites].invcomp = (invcomp && (Zi(-k)>Zi(k)));
if (zij > best_z) {
*best_site = nsites;
best_z = zij;
}
nsites++;
} /* record site */
} /* position */
} /* sequence */
} /* TCM model */
/* return results */
*n = nsites;
return sites;
} /* get_sites */
InverseKinematicsReportPtr
KinematicSolver::internalInverseSoln(const btTransform& pose, Arm* arm,const InverseKinematicsOptions& options) const {
TRACER_ENTER_SCOPE("KinematicSolver::internalInverseSoln(arm@%p)",arm);
InverseKinematicsReportPtr report(new InverseKinematicsReport());
Arm::IdType armId_new = arm_->id();
int armId = armIdFromSerial(arm_->id());
// desired tip position
// btVector3 currentPoint = btVector3(mech->pos.x,mech->pos.y,mech->pos.z) / MICRON_PER_M;
// btVector3 actualPoint = btVector3(pos_d->x,pos_d->y,pos_d->z) / MICRON_PER_M;
// btMatrix3x3 actualOrientation = toBt(ori_d->R);
// btTransform actualPose(actualOrientation,actualPoint);
// btTransform actualPose_fk = pose;
// tb_angles currentPoseAngles = tb_angles(mech->ori.R);
// tb_angles actualPoseAngles = tb_angles(ori_d->R);
//float grasp = GRASP_TO_IK(armId,mech->ori_d.grasp);
float grasp = arm->getJointById(Joint::IdType::GRASP_)->position();
// if (print) {
// log_msg("j s % 2.1f e % 2.1f r % 2.1f i % 1.3f p % 2.1f y % 2.1f g % 2.1f g1 % 2.1f g2 % 2.1f",
// arm->getJointById(Joint::Type::SHOULDER_)->position() RAD2DEG,
// arm->getJointById(Joint::Type::ELBOW_)->position() RAD2DEG,
// arm->getJointById(Joint::Type::TOOL_ROT_)->position() RAD2DEG,
// arm->getJointById(Joint::Type::INSERTION__)->position(),
// arm->getJointById(Joint::Type::WRIST_)->position() RAD2DEG,
// fix_angle(arm->getJointById(Joint::Type::GRIPPER1_)->position() - arm->getJointById(Joint::Type::GRIPPER2_)->position()) / 2 RAD2DEG,
// (arm->getJointById(Joint::Type::GRIPPER1_)->position() + arm->getJointById(Joint::Type::GRIPPER2_)->position()) RAD2DEG,
// arm->getJointById(Joint::Type::GRIPPER1_)->position() RAD2DEG,arm->getJointById(Joint::Type::GRIPPER2_)->position() RAD2DEG);
// log_msg("v s % 2.1f e % 2.1f r % 2.1f i % 1.3f p % 2.1f y % 2.1f g % 2.1f g1 % 2.1f g2 % 2.1f",
// arm->getJointById(Joint::Type::SHOULDER].jvel RAD2DEG,
// arm->getJointById(Joint::Type::ELBOW].jvel RAD2DEG,
// arm->getJointById(Joint::Type::TOOL_ROT].jvel RAD2DEG,
// arm->getJointById(Joint::Type::INSERTION_].jvel,
// arm->getJointById(Joint::Type::WRIST].jvel RAD2DEG,
// (arm->getJointById(Joint::Type::GRASP1].jvel - arm->getJointById(Joint::Type::GRASP2].jvel) / 2 RAD2DEG,
// arm->getJointById(Joint::Type::GRASP1].jvel + arm->getJointById(Joint::Type::GRASP2].jvel RAD2DEG,
// arm->getJointById(Joint::Type::GRASP1].jvel RAD2DEG,arm->getJointById(Joint::Type::GRASP2].jvel RAD2DEG);
// log_msg("t s % 1.3f e % 1.3f r % 1.3f i % 1.3f p % 1.3f g1 % 1.3f g2 % 1.3f",arm->getJointById(Joint::Type::SHOULDER].tau_d,
// arm->getJointById(Joint::Type::ELBOW].tau_d,arm->getJointById(Joint::Type::TOOL_ROT].tau_d,arm->getJointById(Joint::Type::INSERTION_].tau_d,arm->getJointById(Joint::Type::WRIST].tau_d,
// arm->getJointById(Joint::Type::GRASP1].tau_d,arm->getJointById(Joint::Type::GRASP2].tau_d);
// log_msg("d s %d e %d r %d i %d p %d g1 %d g2 %d",tToDACVal(&(arm->getJointById(Joint::Type::SHOULDER])),
// tToDACVal(&(arm->getJointById(Joint::Type::ELBOW])),tToDACVal(&(arm->getJointById(Joint::Type::TOOL_ROT])),tToDACVal(&(arm->getJointById(Joint::Type::INSERTION_])),tToDACVal(&(arm->getJointById(Joint::Type::WRIST])),
// tToDACVal(&(arm->getJointById(Joint::Type::GRASP1])),tToDACVal(&(arm->getJointById(Joint::Type::GRASP2])));
// log_msg("cp (% 1.3f,% 1.3f,% 1.3f\typr (% 1.3f,% 1.3f,% 1.3f))",
// currentPoint.x(),currentPoint.y(),currentPoint.z(),
// currentPoseAngles.yaw_deg,currentPoseAngles.pitch_deg,currentPoseAngles.roll_deg);
// log_msg("pt (% 1.3f,% 1.3f,% 1.3f)\typr (% 1.3f,% 1.3f,% 1.3f)\tg % 1.3f",
// actualPoint.x(),actualPoint.y(),actualPoint.z(),
// actualPoseAngles.yaw_deg,actualPoseAngles.pitch_deg,actualPoseAngles.roll_deg,
// grasp);
//
// btVector3 point = actualPose_fk.getOrigin();
// tb_angles angles = tb_angles(actualPose_fk.getBasis());
// log_msg("fp (% 1.3f,% 1.3f,% 1.3f)\typr (% 2.1f,% 2.1f,% 2.1f)\tg % 1.3f",
// point.x(),point.y(),point.z(),
// angles.yaw_deg,angles.pitch_deg,angles.roll_deg,
// grasp);
//
// }
/*
* Actual pose is in the actual world frame, so we have <actual_world to gripper>
* The ik world frame is the base frame.
* Therefore, we need <base to actual_world> to get <base to gripper>.
* <base to actual_world> is inverse of <actual_world to base>
*
* Since the ik is based on the yaw frame (to which the gripper is fixed), we
* take the pose of the yaw frame, not the gripper frame
*/
btTransform ik_pose = ik_world_to_actual_world(armId) * pose * Tg.inverse();
btMatrix3x3 ik_orientation = ik_pose.getBasis();
btVector3 ik_point = ik_pose.getOrigin();
tb_angles ikPoseAngles = tb_angles(ik_pose);
// if (print) {
// log_msg("ik (%0.4f,%0.4f,%0.4f)\typr (%0.4f,%0.4f,%0.4f)",
// ik_point.x(),ik_point.y(),ik_point.z(),
// ikPoseAngles.yaw_deg,ikPoseAngles.pitch_deg,ikPoseAngles.roll_deg);
// }
float ths_offset, thr_offset, thp_offset;
if (arm->isGold()) {
ths_offset = SHOULDER_OFFSET_GOLD;
thr_offset = TOOL_ROT_OFFSET_GOLD;
thp_offset = WRIST_OFFSET_GOLD;
} else {
ths_offset = SHOULDER_OFFSET_GREEN;
thr_offset = TOOL_ROT_OFFSET_GREEN;
thp_offset = WRIST_OFFSET_GREEN;
}
const float th12 = THETA_12;
const float th23 = THETA_23;
const float ks12 = sin(th12);
const float kc12 = cos(th12);
const float ks23 = sin(th23);
const float kc23 = cos(th23);
const float dw = DW;
btTransform Tworld_to_gripper = ik_pose;
btTransform Tgripper_to_world = ik_pose.inverse();
// if (print) {
// log_msg("Tw2g: %d",PRINT_EVERY);
// for (int i=0;i<3;i++) {
// log_msg(" %0.4f\t%0.4f\t%0.4f\t%0.4f",ik_pose.getBasis()[i][0],ik_pose.getBasis()[i][1],ik_pose.getBasis()[i][2],ik_pose.getOrigin()[i]);
// }
// }
btVector3 origin_in_gripper_frame = Tgripper_to_world.getOrigin();
float px = origin_in_gripper_frame.x();
float py = origin_in_gripper_frame.y();
float pz = origin_in_gripper_frame.z();
float thy = atan2f(py,-px);
float thp;
if (fabs(thy) < 0.001) {
thp = atan2f(-pz, -px/cos(thy) - dw);
// if (print) { log_msg("zero thy: %0.4f, (%0.4f, %0.4f, %0.4f)",thp,px,py,pz); }
} else {
thp = atan2f(-pz, py/sin(thy) - dw);
}
float d = -pz / sin(thp);
float d_act, thp_act, thy_act, g1_act, g2_act;
d_act = D_FROM_IK(armId,d);
thp_act = THP_FROM_IK(armId,thp);
thy_act = THY_FROM_IK(armId,thy,grasp);
g1_act = FINGER1_FROM_IK(armId,thy,grasp);
g2_act = FINGER2_FROM_IK(armId,thy,grasp);
//check angles
int validity1[4];
bool valid1 = checkJointLimits1(d_act,thp_act,g1_act,g2_act,validity1);
if (!valid1) {
// if (_curr_rl == 3 && !(DISABLE_ALL_PRINTING)) {
// printf("ik %d invalid --1-- d [%d] % 2.4f \tp [%d] % 3.1f\ty [%d %d] % 3.1f\n",
// armId,
// validity1[0], d_act,
// validity1[1], thp_act RAD2DEG,
// validity1[2],validity1[3], thy_act RAD2DEG);
// }
return report;
}
//set joints
//setJointsWithLimits1(mech,d_act,thp_act,thy_act,grasp);
btVector3 z_roll_in_world = btTransform(Zi(d) * Xip * Zp(thp) * Xpy * Zy(thy) * Tg * Tgripper_to_world).invXform(btVector3(0,0,1));
btVector3 x_roll_in_world = btTransform(Zi(d) * Xip * Zp(thp) * Xpy * Zy(thy) * Tg * Tgripper_to_world).invXform(btVector3(1,0,0));
float zx = z_roll_in_world.x();
float zy = z_roll_in_world.y();
float zz = z_roll_in_world.z();
float xx = x_roll_in_world.x();
float xy = x_roll_in_world.y();
float xz = x_roll_in_world.z();
float cthe = (zy + kc12*kc23) / (ks12*ks23);
float the_1 = acos(cthe);
float the_2 = -acos(cthe);
float the_opt[2];
the_opt[0] = the_1;
the_opt[1] = the_2;
float ths_opt[2];
float thr_opt[2];
bool opts_valid[2];
float validity2[2][4];
float ths_act[2];
float the_act[2];
float thr_act[2];
for (int i=0;i<2;i++) {
float sthe_tmp = sin(the_opt[i]);
float C1 = ks12*kc23 + kc12*ks23*cthe;
float C2 = ks23 * sthe_tmp;
float C3 = C2 + C1*C1 / C2;
ths_opt[i] = atan2(
-sgn(C3)*(zx - C1 * zz / C2),
sgn(C3)*(zz + C1 * zx / C2));
float sths_tmp = sin(ths_opt[i]);
float cths_tmp = cos(ths_opt[i]);
float C4 = ks12 * sin(the_opt[i]);
float C5 = kc12 * ks23 + ks12 * kc23 * cos(the_opt[i]);
float C6 = kc23*(sthe_tmp * sths_tmp - kc12*cthe*cths_tmp) + cths_tmp*ks12*ks23;
float C7 = cthe*sths_tmp + kc12*cths_tmp*sthe_tmp;
thr_opt[i] = atan2(
(xx - C7 * xy / C4) / (C6 + C7*C5/C4),
(xx + C6 * xy / C5) / (-C6*C4/C5 - C7));
ths_act[i] = THS_FROM_IK(armId,ths_opt[i]);
the_act[i] = THE_FROM_IK(armId,the_opt[i]);
thr_act[i] = THR_FROM_IK(armId,thr_opt[i]);
// if (print) {
// log_msg("j s % 3.1f e % 3.1f r % 3.1f i % 1.3f p % 3.1f y % 3.1f g % 3.1f g1 % 3.1f g2 % 3.1f",
// arm->getJointById(Joint::Type::SHOULDER_)->position() RAD2DEG,
// arm->getJointById(Joint::Type::ELBOW_)->position() RAD2DEG,
// arm->getJointById(Joint::Type::TOOL_ROT_)->position() RAD2DEG,
// arm->getJointById(Joint::Type::INSERTION__)->position(),
// arm->getJointById(Joint::Type::WRIST_)->position() RAD2DEG,
// THY_MECH_FROM_FINGERS(armIdFromMechType(mech->type),arm->getJointById(Joint::Type::GRIPPER1_)->position(), arm->getJointById(Joint::Type::GRIPPER2_)->position()) RAD2DEG,//fix_angle(arm->getJointById(Joint::Type::GRIPPER2_)->position() - arm->getJointById(Joint::Type::GRIPPER1_)->position(),0) / 2 RAD2DEG,
// mech->ori.grasp * 1000. RAD2DEG,
// fix_angle(arm->getJointById(Joint::Type::GRIPPER1_)->position() + arm->getJointById(Joint::Type::GRIPPER2_)->position(),0) RAD2DEG,
// arm->getJointById(Joint::Type::GRIPPER1_)->position() RAD2DEG, arm->getJointById(Joint::Type::GRIPPER2_)->position() RAD2DEG);
// log_msg("%d s % 3.1f e % 3.1f r % 3.1f i % 1.3f p % 3.1f y % 3.1f g % 3.1f g1 % 3.1f g2 % 3.1f",i,
// ths_act[i] RAD2DEG,
// the_act[i] RAD2DEG,
// thr_act[i] RAD2DEG,
// d_act,
// thp_act RAD2DEG,
// thy_act RAD2DEG,
// grasp RAD2DEG,
// g1_act RAD2DEG,
// g2_act RAD2DEG);
//
// if (ths_act != ths_act) {
// log_msg("C1 %0.4f\tC2 %0.4f\tC3 %0.4f\tC4 %0.4f\tC5 %0.4f\tC6 %0.4f\tC7 %0.4f\t",C1,C2,C3,C4,C5,C6,C7);
// log_msg("ks23 %0.4f\tsthe_tmp %0.4f",ks23 , sthe_tmp);
// log_msg("cthe %0.4f\tzy %0.4f\tkc12 %0.4f\tkc23 %0.4f\tks12 %0.4f\tks23 %0.4f",cthe,zy,kc12,kc23,ks12,ks23);
// }
// }
bool valid2 = checkJointLimits2(ths_act[i],the_act[i],thr_act[i],validity2[i]);
opts_valid[i] = valid2;
if (valid2) {
float ths_diff, the_diff, d_diff, thr_diff, thp_diff, thg1_diff, thg2_diff;
//set joints
setJointsWithLimits1(arm,d_act,thp_act,g1_act,g2_act);
setJointsWithLimits2(arm,ths_act[i],the_act[i],thr_act[i]);
ths_diff = arm->getJointById(Joint::IdType::SHOULDER_)->position() - ths_act[i];
the_diff = arm->getJointById(Joint::IdType::ELBOW_)->position() - the_act[i];
d_diff = arm->getJointById(Joint::IdType::INSERTION_)->position() - d_act;
thr_diff = arm->getJointById(Joint::IdType::ROTATION_)->position() - thr_act[i];
thp_diff = arm->getJointById(Joint::IdType::WRIST_)->position() - thp_act;
thg1_diff = arm->getJointById(Joint::IdType::FINGER1_)->position() - g1_act;
thg2_diff = arm->getJointById(Joint::IdType::FINGER2_)->position() - g2_act;
/*
ths_diff = arm->getJointById(Joint::Type::SHOULDER_)->position()_d - ths_act;
the_diff = arm->getJointById(Joint::Type::ELBOW_)->position()_d - the_act;
d_diff = arm->getJointById(Joint::Type::INSERTION__)->position()_d - d_act;
thr_diff = arm->getJointById(Joint::Type::TOOL_ROT_)->position()_d - thr_act;
thp_diff = arm->getJointById(Joint::Type::WRIST_)->position()_d - thp_act;
thg1_diff = arm->getJointById(Joint::Type::GRIPPER1_)->position()_d - g1_act;
thg2_diff = arm->getJointById(Joint::Type::GRIPPER2_)->position()_d - g2_act;
*/
// if (print) {
// log_msg("%d s % 2.1f e % 2.1f r % 2.1f i % 1.3f p % 2.1f g % 2.1f g1 % 2.1f g2 % 2.1f",i,
// arm->getJointById(Joint::Type::SHOULDER_)->position()_d RAD2DEG,
// arm->getJointById(Joint::Type::ELBOW_)->position()_d RAD2DEG,
// arm->getJointById(Joint::Type::TOOL_ROT_)->position()_d RAD2DEG,
// arm->getJointById(Joint::Type::INSERTION__)->position()_d,
// arm->getJointById(Joint::Type::WRIST_)->position()_d RAD2DEG,
// grasp RAD2DEG,
// arm->getJointById(Joint::Type::GRIPPER1_)->position()_d RAD2DEG,
// arm->getJointById(Joint::Type::GRIPPER2_)->position()_d RAD2DEG);
// log_msg("diff:");
// log_msg("R s %0.4f e %0.4f r %0.4f d %0.4f p %0.4f g1 %0.4f g2 %0.4f",
// ths_diff,the_diff,thr_diff,d_diff,thp_diff,thg1_diff,thg2_diff);
// log_msg("D s %0.4f e %0.4f r %0.4f d %0.4f p %0.4f g1 %0.4f g2 %0.4f",
// ths_diff*180/M_PI,the_diff*180/M_PI,thr_diff*180/M_PI,d_diff,
// thp_diff*180/M_PI,thg1_diff*180/M_PI,thg2_diff*180/M_PI);
//
// }
//
// if (i==1 && _curr_rl == 3) {
// //printf("ik ok! %d\n",_ik_counter);
// }
}
}
if (opts_valid[0]) {
report->success_ = true;
return report;
} else if (opts_valid[1]) {
// bool ENABLE_PARTIAL_INVALID_IK_PRINTING = false;
// if (ENABLE_PARTIAL_INVALID_IK_PRINTING && (_curr_rl == 3 || print) && !(DISABLE_ALL_PRINTING)) {
// printf("ik %d ok **2** s %1.4f %1.4f\te %1.4f %1.4f\tr %1.4f %1.4f\n",
// armId,
// ths_act[0] RAD2DEG,validity2[0][0],
// the_act[0] RAD2DEG,validity2[0][1],
// thr_act[0] RAD2DEG,validity2[0][2]);
// /*
// printf("%7d d %0.4f \tp %0.4f \ty %0.4f\n",_ik_counter,
// d_act,thp_act RAD2DEG,thy_act RAD2DEG);
// printf("x (%f, %f, %f) z (%f, %f, %f) %f\n",xx,xy,xz,zx,zy,zz,cthe);
// printf("norms %f %f\n",x_roll_in_world.length(),z_roll_in_world.length());
// printf("(zy + kc12*kc23): %f (%f, %f)\n",(zy + kc12*kc23),zy, kc12*kc23);
// printf("(ks12*ks23): %f\n",(ks12*ks23));
// */
// }
report->success_ = true;
return report;
} else {
const float maxValidDist = 3 DEG2RAD;
float valid_dist[2];
for (int i=0;i<2;i++) {
float sum = 0;
for (int j=0;j<3;j++) {
float v = fabs(validity2[i][j]);
sum += v*v;
}
valid_dist[i] = sqrt(sum);
}
bool use0 = valid_dist[0] < maxValidDist && valid_dist[0] < valid_dist[1];
bool use1 = valid_dist[1] < maxValidDist && valid_dist[0] > valid_dist[1];
printf("ik validity distances: (%s | %s) % 1.3f\t%f\n",use0?"Y":" ",use1?"Y":" ",valid_dist[0],valid_dist[1]);
if (valid_dist[0] < maxValidDist && valid_dist[0] < valid_dist[1]) {
printf("setting joints to ik soln 1\n");
setJointsWithLimits1(arm,d_act,thp_act,g1_act,g2_act);
setJointsWithLimits2(arm,ths_act[0],the_act[0],thr_act[0]);
} else if (valid_dist[1] < maxValidDist) {
printf("setting joints to ik soln 2\n");
setJointsWithLimits1(arm,d_act,thp_act,g1_act,g2_act);
setJointsWithLimits2(arm,ths_act[1],the_act[1],thr_act[1]);
}
// if ((_curr_rl == 3 || print) && !(DISABLE_ALL_PRINTING)) {
// printf("ik %d invalid **2** s %1.4f % 2.1f\te %1.4f % 2.1f\tr %1.4f % 2.1f\n",
// armId,
// ths_act[0] RAD2DEG,validity2[0][0] RAD2DEG,
// the_act[0] RAD2DEG,validity2[0][1] RAD2DEG,
// thr_act[0] RAD2DEG,validity2[0][2] RAD2DEG);
// printf(" s %1.4f % 2.1f\te %1.4f % 2.1f\tr %1.4f % 2.1f\n",
// ths_act[1] RAD2DEG,validity2[1][0] RAD2DEG,
// the_act[1] RAD2DEG,validity2[1][1] RAD2DEG,
// thr_act[1] RAD2DEG,validity2[1][2] RAD2DEG);
// }
return report;
}
return report;
}
