bool PoseSeqItem::updateKeyPosesWithBalancedTrajectories(std::ostream& os)
{
BodyMotionPtr motion = bodyMotionItem()->motion();
MultiValueSeqPtr qseq = motion->jointPosSeq();
MultiSE3SeqPtr pseq = motion->linkPosSeq();
double length = seq->endingTime();
if(qseq->timeLength() < length || pseq->timeLength() < length){
os << "Length of the interpolated trajectories is shorter than key pose sequence.";
return false;
}
if(pseq->numParts() < ownerBodyItem->body()->numLinks()){
os << "Not all link positions are available. Please do interpolate with \"Put all link positions\"";
return false;
}
beginEditing();
for(PoseSeq::iterator p = seq->begin(); p != seq->end(); ++p){
PosePtr pose = p->get<Pose>();
if(pose){
seq->beginPoseModification(p);
int nj = pose->numJoints();
int frame = qseq->frameOfTime(p->time());
MultiValueSeq::Frame q = qseq->frame(frame);
for(int i=0; i < nj; ++i){
if(pose->isJointValid(i)){
pose->setJointPosition(i, q[i]);
}
}
MultiSE3Seq::Frame pos = pseq->frame(frame);
for(Pose::LinkInfoMap::iterator q = pose->ikLinkBegin(); q != pose->ikLinkEnd(); ++q){
int linkIndex = q->first;
Pose::LinkInfo& info = q->second;
const Vector3& p = pos[linkIndex].translation();
// only update horizontal position
info.p[0] = p[0];
info.p[1] = p[1];
}
seq->endPoseModification(p);
}
}
endEditing();
updateInterpolation();
return true;
}
bool BodyMotionPoseProvider::updateMotion()
{
const int numFrames = motion->numFrames();
footLinkPositions->setDimension(numFrames, footLinks.size());
footLinkPositions->setFrameRate(motion->frameRate());
MultiValueSeqPtr qseq = motion->jointPosSeq();
MultiSE3SeqPtr pseq = motion->linkPosSeq();
zmpSeq = getZMPSeq(*motion);
if(pseq->numParts() < 1){
return false;
}
Link* rootLink = body_->rootLink();
minNumJoints = std::min(body_->numJoints(), qseq->numParts());
qTranslated.resize(minNumJoints);
for(int frame=0; frame < numFrames; ++frame){
const SE3& p = pseq->at(frame, 0);
rootLink->p() = p.translation();
rootLink->R() = p.rotation().toRotationMatrix();
MultiValueSeq::Frame q = qseq->frame(frame);
for(int i=0; i < minNumJoints; ++i){
body_->joint(i)->q() = q[i];
}
body_->calcForwardKinematics();
for(size_t i=0; i < footLinks.size(); ++i){
Link* footLink = footLinks[i];
Affine3& p = footLinkPositions->at(frame, i);
p.translation() = footLink->p();
p.linear() = footLink->R();
}
}
return true;
}
void LinkGraphView::setupGraphWidget()
{
graph.clearDataHandlers();
for(list<ItemInfo>::iterator it = itemInfos.begin(); it != itemInfos.end(); ++it) {
if(it->bodyItem) {
MultiSE3SeqPtr seq = it->item->seq();
int numParts = seq->numParts();
BodyPtr body = it->bodyItem->body();
const std::vector<int>& selectedLinkIndices = linkSelection->getSelectedLinkIndices(it->bodyItem);
for(size_t i=0; i < selectedLinkIndices.size(); ++i) {
Link* link = body->link(selectedLinkIndices[i]);
if(link && link->index() < numParts) {
addPositionTrajectory(it, link, seq);
}
}
}
}
}
int KinematicFaultCheckerImpl::checkFaults
(BodyItem* bodyItem, BodyMotionItem* motionItem, std::ostream& os,
bool checkPosition, bool checkVelocity, bool checkCollision, dynamic_bitset<> linkSelection,
double beginningTime, double endingTime)
{
numFaults = 0;
BodyPtr body = bodyItem->body();
BodyMotionPtr motion = motionItem->motion();
MultiValueSeqPtr qseq = motion->jointPosSeq();;
MultiSE3SeqPtr pseq = motion->linkPosSeq();
if((!checkPosition && !checkVelocity && !checkCollision) || body->isStaticModel() || !qseq->getNumFrames()){
return numFaults;
}
BodyState orgKinematicState;
if(USE_DUPLICATED_BODY){
body = body->clone();
} else {
bodyItem->storeKinematicState(orgKinematicState);
}
CollisionDetectorPtr collisionDetector;
WorldItem* worldItem = bodyItem->findOwnerItem<WorldItem>();
if(worldItem){
collisionDetector = worldItem->collisionDetector()->clone();
} else {
int index = CollisionDetector::factoryIndex("AISTCollisionDetector");
if(index >= 0){
collisionDetector = CollisionDetector::create(index);
} else {
collisionDetector = CollisionDetector::create(0);
os << _("A collision detector is not found. Collisions cannot be detected this time.") << endl;
}
}
addBodyToCollisionDetector(*body, *collisionDetector);
collisionDetector->makeReady();
const int numJoints = std::min(body->numJoints(), qseq->numParts());
const int numLinks = std::min(body->numLinks(), pseq->numParts());
frameRate = motion->frameRate();
double stepRatio2 = 2.0 / frameRate;
angleMargin = radian(angleMarginSpin.value());
translationMargin = translationMarginSpin.value();
velocityLimitRatio = velocityLimitRatioSpin.value() / 100.0;
int beginningFrame = std::max(0, (int)(beginningTime * frameRate));
int endingFrame = std::min((motion->numFrames() - 1), (int)lround(endingTime * frameRate));
lastPosFaultFrames.clear();
lastPosFaultFrames.resize(numJoints, std::numeric_limits<int>::min());
lastVelFaultFrames.clear();
lastVelFaultFrames.resize(numJoints, std::numeric_limits<int>::min());
lastCollisionFrames.clear();
if(checkCollision){
Link* root = body->rootLink();
root->p().setZero();
root->R().setIdentity();
}
for(int frame = beginningFrame; frame <= endingFrame; ++frame){
int prevFrame = (frame == beginningFrame) ? beginningFrame : frame - 1;
int nextFrame = (frame == endingFrame) ? endingFrame : frame + 1;
for(int i=0; i < numJoints; ++i){
Link* joint = body->joint(i);
double q = qseq->at(frame, i);
joint->q() = q;
if(joint->index() >= 0 && linkSelection[joint->index()]){
if(checkPosition){
bool fault = false;
if(joint->isRotationalJoint()){
fault = (q > (joint->q_upper() - angleMargin) || q < (joint->q_lower() + angleMargin));
} else if(joint->isSlideJoint()){
fault = (q > (joint->q_upper() - translationMargin) || q < (joint->q_lower() + translationMargin));
}
if(fault){
putJointPositionFault(frame, joint, os);
}
}
if(checkVelocity){
double dq = (qseq->at(nextFrame, i) - qseq->at(prevFrame, i)) / stepRatio2;
joint->dq() = dq;
if(dq > (joint->dq_upper() * velocityLimitRatio) || dq < (joint->dq_lower() * velocityLimitRatio)){
putJointVelocityFault(frame, joint, os);
}
}
}
}
if(checkCollision){
Link* link = body->link(0);
if(!pseq->empty())
{
const SE3& p = pseq->at(frame, 0);
link->p() = p.translation();
link->R() = p.rotation().toRotationMatrix();
}
else
{
link->p() = Vector3d(0., 0., 0.);
link->R() = Matrix3d::Identity();
}
body->calcForwardKinematics();
for(int i=1; i < numLinks; ++i){
link = body->link(i);
if(!pseq->empty())
{
const SE3& p = pseq->at(frame, i);
link->p() = p.translation();
link->R() = p.rotation().toRotationMatrix();
}
}
for(int i=0; i < numLinks; ++i){
link = body->link(i);
collisionDetector->updatePosition(i, link->position());
}
collisionDetector->detectCollisions(
boost::bind(&KinematicFaultCheckerImpl::putSelfCollision, this, body.get(), frame, _1, boost::ref(os)));
}
}
if(!USE_DUPLICATED_BODY){
bodyItem->restoreKinematicState(orgKinematicState);
}
return numFaults;
}