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
}
/**
* @function: main(int argc, char **argv)
* @brief: Main function that loops reading the sensors and commanding
* Hubo's arm joints based on the poses of the foots
*/
int main(int argc, char **argv)
{
// check if no arguments given, if not report usage
if (argc < 2)
{
usage(std::cerr);
return 1;
}
// command line argument variables
bool left = false; // whether to set left arm angles
bool right = false; // whether to set right arm angles
bool print = false; // whether to print output or not
bool send = true; // whether to send commands or not
int leftSensorNumberDefault = 3; // default left foot sensor number
int rightSensorNumberDefault = 4; // default right foot sensor number
int leftSensorNumber = leftSensorNumberDefault; // left foot sensor number
int rightSensorNumber = rightSensorNumberDefault; // right foot sensor number
const char *teleopDeviceName = "liberty"; // name of teleop device
// local variables
LegVector lActualAngles, lLegAnglesNext, lLegAnglesCurrent;
LegVector rActualAngles, rLegAnglesNext, rLegAnglesCurrent;
Vector3d lFootOrigin, lSensorChange, lSensorOrigin, lSensorPos;
Vector3d rFootOrigin, rSensorChange, rSensorOrigin, rSensorPos;
Eigen::Matrix3d lRotInitial, rRotInitial, lSensorRot, rSensorRot;
Eigen::Isometry3d lFootInitialPose, lFootPoseCurrent, lFootPoseDesired;
Eigen::Isometry3d rFootInitialPose, rFootPoseCurrent, rFootPoseDesired;
LegVector speeds; speeds << 0.75, 0.75, 0.75, 0.75, 0.75, 0.75;
LegVector accels; accels << 0.40, 0.40, 0.40, 0.40, 0.40, 0.40;
double initialFootHeight = 0.1;
double dt, ptime;
int counter=0, counterMax=50;
bool updateRight;
// command line long options
const struct option long_options[] =
{
{ "left", optional_argument, 0, 'l' },
{ "right", optional_argument, 0, 'r' },
{ "nosend", no_argument, 0, 'n' },
{ "device", optional_argument, 0, 'd' },
{ "verbose", no_argument, 0, 'V' },
{ "help", no_argument, 0, 'H' },
{ 0, 0, 0, 0 },
};
// command line short options
const char* short_options = "l::r::nd::VH";
// command line option and option index number
int opt, option_index;
// loop through command line options and set values accordingly
while ( (opt = getopt_long(argc, argv, short_options, long_options, &option_index)) != -1 )
{
switch (opt)
{
case 'l': left = true; if(NULL != optarg) leftSensorNumber = getSensorNumber(optarg); break;
case 'r': right = true; if(NULL != optarg) rightSensorNumber = getSensorNumber(optarg); break;
case 'n': send = false; break;
case 'd': if(NULL != optarg) teleopDeviceName = getDeviceName(optarg); break;
case 'V': print = true; break;
case 'H': usage(std::cout); exit(0); break;
default: usage(std::cerr); exit(1); break;
}
}
// check to see if there are any invalid arguments on command line
if (optind < argc)
{
std::cerr << "Error: extra arguments on command line.\n\n";
usage(std::cerr);
exit(1);
}
// make sure the sensor numbers are not the same for both feet
if(leftSensorNumber == rightSensorNumber)
{
if(left == true && right == true)
{
std::cerr << "Error!\nSensor #'s are the same.\n"
<< "Default sensor #'s are \n\tLEFT: " << leftSensorNumberDefault
<< "\n\tRIGHT: " << rightSensorNumberDefault
<< ".\nPlease choose different sensor numbers.\n\n";
usage(std::cerr);
exit(1);
}
}
Hubo_Control hubo; // Create Hubo_Control object
// Hubo_Control hubo("teleop-arms"); // Create Hubo_Control object and daemonize program
Collision_Checker collisionChecker; // Create Collision_Checker object
// Create Teleop object
Teleop teleop(teleopDeviceName); // Create Teleop object
if (left == true) // if using the left arm
{
teleop.getPose( lSensorOrigin, lRotInitial, leftSensorNumber, true ); // get initial sensor pose
hubo.setLeftLegNomSpeeds( speeds ); // Set left arm nominal joint speeds
hubo.setLeftLegNomAcc( accels ); // Set left arm nominal joint accelerations
}
if (right == true) // if using the right arm
{
if(left == true) updateRight = false; else updateRight = true;
teleop.getPose( rSensorOrigin, rRotInitial, rightSensorNumber, updateRight ); // get initial sensor pose
hubo.setRightLegNomSpeeds( speeds ); // Set right arm nominal joint speeds
hubo.setRightLegNomAcc( accels ); // Set right arm nomimal joint accelerations
}
if(send == true) // if user wants to send commands
hubo.sendControls(); // send commands to the control daemon
if(left == true)
{
hubo.getLeftLegAngles(lLegAnglesNext);
hubo.huboLegFK(lFootInitialPose, lLegAnglesNext, LEFT); // Get left foot pose
lFootOrigin = lFootInitialPose.translation(); // Set relative zero for foot location
}
if(right == true)
{
hubo.getRightLegAngles(rLegAnglesNext);
hubo.huboLegFK(rFootInitialPose, rLegAnglesNext, RIGHT); // Get right foot pose
rFootOrigin = rFootInitialPose.translation(); // Set relative zero for foot location
}
// while the daemon is running
while(!daemon_sig_quit)
{
hubo.update(); // Get latest state info from Hubo
dt = hubo.getTime() - ptime; // compute change in time
ptime = hubo.getTime(); // get current time
if(dt>0 || (send == false && print == true)); // if new data was received over ach
{
if(left == true) // if using left arm
{
hubo.getLeftLegAngles(lLegAnglesCurrent); // get left arm joint angles
hubo.huboLegFK(lFootPoseCurrent, lLegAnglesCurrent, LEFT); // get left foot pose
teleop.getPose(lSensorPos, lSensorRot, leftSensorNumber, true); // get teleop data
lSensorChange = lSensorPos - lSensorOrigin; // compute teleop relative translation
lFootPoseDesired = Eigen::Matrix4d::Identity(); // create 4d identity matrix
lFootPoseDesired.translate(lSensorChange + lFootOrigin); // pretranslate relative translation
// make sure feet don't cross sagittal plane
if(lFootPoseDesired(1,3) - FOOT_WIDTH/2 < 0)
lFootPoseDesired(1,3) = FOOT_WIDTH/2;
lFootPoseDesired.rotate(lSensorRot); // add rotation to top-left of TF matrix
hubo.huboLegIK( lLegAnglesNext, lFootPoseDesired, lLegAnglesCurrent, LEFT ); // get joint angles for desired TF
hubo.setLeftLegAngles( lLegAnglesNext, false ); // set joint angles
hubo.getLeftLegAngles( lActualAngles ); // get current joint angles
}
if( right==true ) // if using right arm
{
if(left == true) updateRight = false; else updateRight = true;
hubo.getRightLegAngles(rLegAnglesCurrent); // get right arm joint angles
hubo.huboLegFK(rFootPoseCurrent, rLegAnglesCurrent, RIGHT); // get right foot pose
teleop.getPose(rSensorPos, rSensorRot, rightSensorNumber, updateRight); // get teleop data
rSensorChange = rSensorPos - rSensorOrigin; // compute teleop relative translation
rFootPoseDesired = Eigen::Matrix4d::Identity(); // create 4d identity matrix
rFootPoseDesired.translate(rSensorChange + rFootOrigin); // pretranslation by relative translation
// make sure feet don't cross sagittal plane
if(rFootPoseDesired(1,3) + FOOT_WIDTH/2 > 0)
rFootPoseDesired(1,3) = -FOOT_WIDTH/2;
rFootPoseDesired.rotate(rSensorRot); // add rotation to top-left corner of TF matrix
hubo.huboLegIK( rLegAnglesNext, rFootPoseDesired, rLegAnglesCurrent, RIGHT ); // get joint angles for desired TF
hubo.setRightLegAngles( rLegAnglesNext, false ); // set joint angles
hubo.getRightLegAngles( rActualAngles ); // get current joint angles
}
if( send == true ) // if user wants to send commands the control boards
hubo.sendControls(); // send reference commands set above
if( counter>=counterMax && print==true ) // if user wants output, print output every imax cycles
{
std::cout
<< "Teleop Position Lt(m): " << lSensorChange.transpose()
<< "\nTeleop Rotation Lt: \n" << lSensorRot
<< "\nTeleop Position Rt(m): " << rSensorChange.transpose()
<< "\nTeleop Rotation Rt: \n" << rSensorRot
<< "\nLeft Leg Actual Angles (rad): " << lActualAngles.transpose()
<< "\nLeft Leg Desired Angles(rad): " << lLegAnglesNext.transpose()
<< "\nRight Leg Actual Angles (rad): " << rActualAngles.transpose()
<< "\nRight Leg Desired Angles(rad): " << rLegAnglesNext.transpose()
<< "\nRight Foot Desired Pose: \n" << rFootPoseDesired.matrix()
<< "\nLeft Foot Desired Pose: \n" << lFootPoseDesired.matrix()
<< "\nRight foot torques(N-m)(Mx,My): " << hubo.getRightFootMx() << ", " << hubo.getRightFootMy()
<< "\nLeft foot torques(N-m)(Mx,My): " << hubo.getLeftFootMx() << ", " << hubo.getLeftFootMy()
<< std::endl;
}
if(counter>=counterMax) counter=0; counter++; // reset counter if it reaches counterMax
}
}
}
int main(int argc, char **argv)
{
//=== OBJECTS ===//
// Create Hubo_Control object
Hubo_Control hubo;
redirectSigs();
// std::cout << "Daemonizing as impedanceCtrl\n";
// Hubo_Control hubo("impedanceCtrl");
//=== LOCAL VARIABLES ===//
int i=0, imax=40;
double dt, ptime;
double rHandCurrent=0;
double lHandCurrent=0;
double handCurrentStep=0.25;
bool print=true;
ptime = hubo.getTime(); // set initial time for dt(0)
std::cout << "Executing control loop ...\n";
tweak_init();
char c;
while(!daemon_sig_quit)
{
// get latest state info for Hubo
hubo.update();
dt = hubo.getTime() - ptime;
ptime = hubo.getTime();
// if new data is available...
if(dt > 0)
{
if ( read(STDIN_FILENO, &c, 1) == 1) {
switch (c) {
case 'a':
lHandCurrent += handCurrentStep;
if(lHandCurrent > 1.0) lHandCurrent = 1.0;
break;
case 'z':
lHandCurrent -= handCurrentStep;
if (lHandCurrent < -1.0) lHandCurrent = -1.0;
break;
case 's':
rHandCurrent += handCurrentStep;
if(rHandCurrent > 1.0) rHandCurrent = 1.0;
break;
case 'x':
rHandCurrent -= handCurrentStep;
if (rHandCurrent < -1.0) rHandCurrent = -1.0;
break;
}
}
hubo.passJointAngle(LF1, lHandCurrent);
hubo.passJointAngle(LF2, lHandCurrent);
hubo.passJointAngle(LF3, lHandCurrent);
hubo.passJointAngle(LF4, lHandCurrent);
hubo.passJointAngle(LF5, lHandCurrent);
hubo.passJointAngle(RF1, rHandCurrent);
hubo.passJointAngle(RF2, rHandCurrent);
hubo.passJointAngle(RF3, rHandCurrent);
hubo.passJointAngle(RF4, rHandCurrent);
hubo.passJointAngle(RF5, rHandCurrent);
hubo.sendControls();
// print output every imax cycles
if( i>=imax && print==true )
{
std::cout //<< "\033[2J"
<< "lHandCurrent: " << lHandCurrent
<< "\nrHandCurrent: " << rHandCurrent
<< "\nc: " << c
<< std::endl;
}
if(i>=imax) i=0; i++;
}
}
tty_reset(STDIN_FILENO);
return 0;
}