RTC::ReturnCode_t ImpedanceController::onExecute(RTC::UniqueId ec_id)
{
//std::cout << "ImpedanceController::onExecute(" << ec_id << ")" << std::endl;
loop ++;
// check dataport input
bool update_rpy = false;
for (unsigned int i=0; i<m_forceIn.size(); i++){
if ( m_forceIn[i]->isNew() ) {
m_forceIn[i]->read();
}
}
if (m_rpyIn.isNew()) {
m_rpyIn.read();
update_rpy = true;
}
if (m_qCurrentIn.isNew()) {
m_qCurrentIn.read();
//
if (update_rpy) updateRootLinkPosRot(m_rpy);
for (unsigned int i=0; i<m_forceIn.size(); i++){
if ( m_force[i].data.length()==6 ) {
std::string sensor_name = m_forceIn[i]->name();
hrp::ForceSensor* sensor = m_robot->sensor<hrp::ForceSensor>(sensor_name);
hrp::Vector3 data_p(m_force[i].data[0], m_force[i].data[1], m_force[i].data[2]);
hrp::Vector3 data_r(m_force[i].data[3], m_force[i].data[4], m_force[i].data[5]);
if ( DEBUGP ) {
std::cerr << "raw force : " << data_p[0] << " " << data_p[1] << " " << data_p[2] << std::endl;
std::cerr << "raw moment : " << data_r[0] << " " << data_r[1] << " " << data_r[2] << std::endl;
}
hrp::Matrix33 sensorR;
if ( sensor ) {
// real force sensore
sensorR = sensor->link->R * sensor->localR;
} else if ( m_sensors.find(sensor_name) != m_sensors.end()) {
// virtual force sensor
if ( DEBUGP ) {
//std::cerr << " targetR: " << target->R << std::endl;
std::cerr << " sensorR: " << m_sensors[sensor_name].R << std::endl;
}
sensorR = m_robot->link(m_sensors[sensor_name].parent_link_name)->R * m_sensors[sensor_name].R;
} else {
std::cerr << "unknwon force param" << std::endl;
}
abs_forces[sensor_name] = sensorR * data_p;
abs_moments[sensor_name] = sensorR * data_r;
if ( DEBUGP ) {
hrp::Vector3& tmpf = abs_forces[sensor_name];
hrp::Vector3& tmpm = abs_moments[sensor_name];
std::cerr << "world force : " << tmpf[0] << " " << tmpf[1] << " " << tmpf[2] << std::endl;
std::cerr << "world moment : " << tmpm[0] << " " << tmpm[1] << " " << tmpm[2] << std::endl;
}
}
}
}
if (m_qRefIn.isNew()) {
m_qRefIn.read();
m_q.tm = m_qRef.tm;
}
if ( m_qRef.data.length() == m_robot->numJoints() &&
m_qCurrent.data.length() == m_robot->numJoints() ) {
if ( DEBUGP ) {
std::cerr << "qRef : ";
for ( int i = 0; i < m_qRef.data.length(); i++ ){
std::cerr << " " << m_qRef.data[i];
}
std::cerr << std::endl;
}
if ( m_impedance_param.size() == 0 ) {
for ( int i = 0; i < m_qRef.data.length(); i++ ){
m_q.data[i] = m_qRef.data[i];
}
m_qOut.write();
return RTC_OK;
}
Guard guard(m_mutex);
{
hrp::dvector qorg(m_robot->numJoints());
// reference model
for ( int i = 0; i < m_robot->numJoints(); i++ ){
qorg[i] = m_robot->joint(i)->q;
m_robot->joint(i)->q = m_qRef.data[i];
qrefv[i] = m_qRef.data[i];
}
if (m_rpyRefIn.isNew()) {
m_rpyRefIn.read();
//updateRootLinkPosRot(m_rpyRef);
}
m_robot->calcForwardKinematics();
// set sequencer position to target_p0
for ( std::map<std::string, ImpedanceParam>::iterator it = m_impedance_param.begin(); it != m_impedance_param.end(); it++ ) {
ImpedanceParam& param = it->second;
param.target_p0 = m_robot->link(param.target_name)->p;
param.target_r0 = m_robot->link(param.target_name)->R;
}
// back to impedance robot model (only for controlled joint)
for ( std::map<std::string, ImpedanceParam>::iterator it = m_impedance_param.begin(); it != m_impedance_param.end(); it++ ) {
ImpedanceParam& param = it->second;
for ( int j = 0; j < param.manip->numJoints(); j++ ){
int i = param.manip->joint(j)->jointId;
m_robot->joint(i)->q = qorg[i];
}
}
if (update_rpy) updateRootLinkPosRot(m_rpy);
m_robot->calcForwardKinematics();
}
// set m_robot to qRef when deleting status
std::map<std::string, ImpedanceParam>::iterator it = m_impedance_param.begin();
while(it != m_impedance_param.end()){
std::string sensor_name = it->first;
ImpedanceParam& param = it->second;
if ( param.transition_count > 0 ) {
hrp::JointPathExPtr manip = param.manip;
for ( int j = 0; j < manip->numJoints(); j++ ) {
int i = manip->joint(j)->jointId; // index in robot model
hrp::Link* joint = m_robot->joint(i);
// transition_smooth_gain moves from 0 to 1
// (/ (log (/ (- 1 0.99) 0.99)) 0.5)
double transition_smooth_gain = 1/(1+exp(-9.19*(((MAX_TRANSITION_COUNT - param.transition_count) / MAX_TRANSITION_COUNT) - 0.5)));
joint->q = ( m_qRef.data[i] - param.transition_joint_q[i] ) * transition_smooth_gain + param.transition_joint_q[i];
}
param.transition_count--;
if(param.transition_count <= 0){ // erase impedance param
std::cerr << "Finished cleanup and erase impedance param " << sensor_name << std::endl;
m_impedance_param.erase(it++);
}else{
it++;
}
} else {
// use impedance model
hrp::Link* base = m_robot->link(param.base_name);
hrp::Link* target = m_robot->link(param.target_name);
assert(target);
assert(base);
param.current_p0 = target->p;
param.current_r0 = target->R;
hrp::JointPathExPtr manip = param.manip;
assert(manip);
//const int n = manip->numJoints();
hrp::Vector3 dif_pos = hrp::Vector3(0,0,0);
hrp::Vector3 vel_pos0 = hrp::Vector3(0,0,0);
hrp::Vector3 vel_pos1 = hrp::Vector3(0,0,0);
hrp::Vector3 dif_target_pos = hrp::Vector3(0,0,0);
hrp::Vector3 dif_rot = hrp::Vector3(0,0,0);
hrp::Vector3 vel_rot0 = hrp::Vector3(0,0,0);
hrp::Vector3 vel_rot1 = hrp::Vector3(0,0,0);
hrp::Vector3 dif_target_rot = hrp::Vector3(0,0,0);
// rats/plugins/impedancecontrol.cpp
//double M = 5, D = 100, K = 200;
// dif_pos = target_p0 (target_coords0) - current_p0(move_coords)
// vel_pos0 = current_p0(move_coors) - current_p1(prev_coords0)
// vel_pos1 = current_p1(prev_coords0) - current_p2(prev_coords1)
// dif_target = target_p0(target_coords0) - target_p1(target_coords1)
//
// current_p2(prev_coords1) = current_p1(prev_coords0)
// currnet_p1(prev_coords0) = current_p0(move_coords) + vel_p
// target_p1(target_coords1) = target_p0(target_coords0)
if ( DEBUGP ) {
std::cerr << "cur0 : " << param.current_p0[0] << " " << param.current_p0[1] << " " << param.current_p0[2] << std::endl;
std::cerr << "cur1 : " << param.current_p1[0] << " " << param.current_p1[1] << " " << param.current_p1[2] << std::endl;
std::cerr << "cur2 : " << param.current_p2[0] << " " << param.current_p2[1] << " " << param.current_p2[2] << std::endl;
std::cerr << "tgt0 : " << param.target_p0[0] << " " << param.target_p0[1] << " " << param.target_p0[2] << std::endl;
std::cerr << "tgt1 : " << param.target_p1[0] << " " << param.target_p1[1] << " " << param.target_p1[2] << std::endl;
}
// if ( DEBUGP ) {
// std::cerr << "cur0 : " << param.current_r0[0] << " " << param.current_r0[1] << " " << param.current_r0[2] << std::endl;
// std::cerr << "cur1 : " << param.current_r1[0] << " " << param.current_r1[1] << " " << param.current_r1[2] << std::endl;
// std::cerr << "cur2 : " << param.current_r2[0] << " " << param.current_r2[1] << " " << param.current_r2[2] << std::endl;
// std::cerr << "tgt0 : " << param.target_r0[0] << " " << param.target_r0[1] << " " << param.target_r0[2] << std::endl;
// std::cerr << "tgt1 : " << param.target_r1[0] << " " << param.target_r1[1] << " " << param.target_r1[2] << std::endl;
// }
dif_pos = param.target_p0 - param.current_p0;
vel_pos0 = param.current_p0 - param.current_p1;
vel_pos1 = param.current_p1 - param.current_p2;
dif_target_pos = param.target_p0 - param.target_p1;
rats::difference_rotation(dif_rot, param.current_r0, param.target_r0);
rats::difference_rotation(vel_rot0, param.current_r1, param.current_r0);
rats::difference_rotation(vel_rot1, param.current_r2, param.current_r1);
rats::difference_rotation(dif_target_rot, param.target_r1, param.target_r0);
if ( DEBUGP ) {
std::cerr << "dif_p : " << dif_pos[0] << " " << dif_pos[1] << " " << dif_pos[2] << std::endl;
std::cerr << "vel_p0: " << vel_pos0[0] << " " << vel_pos0[1] << " " << vel_pos0[2] << std::endl;
std::cerr << "vel_p1: " << vel_pos1[0] << " " << vel_pos1[1] << " " << vel_pos1[2] << std::endl;
std::cerr << "dif_t : " << dif_target_pos[0] << " " << dif_target_pos[1] << " " << dif_target_pos[2] << std::endl;
}
if ( DEBUGP ) {
std::cerr << "dif_r : " << dif_rot[0] << " " << dif_rot[1] << " " << dif_rot[2] << std::endl;
std::cerr << "vel_r0: " << vel_rot0[0] << " " << vel_rot0[1] << " " << vel_rot0[2] << std::endl;
std::cerr << "vel_r1: " << vel_rot1[0] << " " << vel_rot1[1] << " " << vel_rot1[2] << std::endl;
std::cerr << "dif_t : " << dif_target_rot[0] << " " << dif_target_rot[1] << " " << dif_target_rot[2] << std::endl;
}
hrp::Vector3 vel_p, vel_r;
//std::cerr << "MDK = " << param.M_p << " " << param.D_p << " " << param.K_p << std::endl;
//std::cerr << "MDK = " << param.M_r << " " << param.D_r << " " << param.K_r << std::endl;
// std::cerr << "ref_force = " << param.ref_force[0] << " " << param.ref_force[1] << " " << param.ref_force[2] << std::endl;
// std::cerr << "ref_moment = " << param.ref_moment[0] << " " << param.ref_moment[1] << " " << param.ref_moment[2] << std::endl;
// ref_force/ref_moment and force_gain/moment_gain are expressed in global coordinates.
vel_p = ( param.force_gain * (abs_forces[it->first] - param.ref_force) * m_dt * m_dt
+ param.M_p * ( vel_pos1 - vel_pos0 )
+ param.D_p * ( dif_target_pos - vel_pos0 ) * m_dt
+ param.K_p * ( dif_pos * m_dt * m_dt ) ) /
(param.M_p + (param.D_p * m_dt) + (param.K_p * m_dt * m_dt));
vel_r = ( param.moment_gain * (abs_moments[it->first] - param.ref_moment) * m_dt * m_dt
+ param.M_r * ( vel_rot1 - vel_rot0 )
+ param.D_r * ( dif_target_rot - vel_rot0 ) * m_dt
+ param.K_r * ( dif_rot * m_dt * m_dt ) ) /
(param.M_r + (param.D_r * m_dt) + (param.K_r * m_dt * m_dt));
// generate smooth motion just after impedance started
if ( DEBUGP ) {
std::cerr << "vel_p : " << vel_p[0] << " " << vel_p[1] << " " << vel_p[2] << std::endl;
std::cerr << "vel_r : " << vel_r[0] << " " << vel_r[1] << " " << vel_r[2] << std::endl;
}
manip->solveLimbIK(vel_p, vel_r, param.transition_count, param.avoid_gain, param.reference_gain, MAX_TRANSITION_COUNT, qrefv, DEBUGP);
param.current_p2 = param.current_p1;
param.current_p1 = param.current_p0 + vel_p;
param.target_p1 = param.target_p0;
param.current_r2 = param.current_r1;
// if ( std::fabs(vel_r.norm() - 0.0) < ::std::numeric_limits<double>::epsilon() ) {
if ( vel_r.norm() != 0.0 ) {
hrp::Matrix33 tmpm;
rats::rotm3times(tmpm, rats::rotation_matrix(vel_r.norm(), vel_r.normalized()), param.current_r0);
param.current_r1 = tmpm;
} else {
param.current_r1 = param.current_r0;
}
param.target_r1 = param.target_r0;
if ( param.transition_count < 0 ) {
param.transition_count++;
}
it++;
} // else
} // while
if ( m_q.data.length() != 0 ) { // initialized
for ( int i = 0; i < m_robot->numJoints(); i++ ){
m_q.data[i] = m_robot->joint(i)->q;
}
m_qOut.write();
if ( DEBUGP ) {
std::cerr << "q : ";
for ( int i = 0; i < m_q.data.length(); i++ ){
std::cerr << " " << m_q.data[i];
}
std::cerr << std::endl;
}
}
for (size_t i = 0; i < m_ref_forceOut.size(); i++) {
m_ref_forceOut[i]->write();
}
} else {
if ( DEBUGP || loop % 100 == 0 ) {
std::cerr << "ImpedanceController is not working..." << std::endl;
std::cerr << " m_qRef " << m_qRef.data.length() << std::endl;
std::cerr << " m_qCurrent " << m_qCurrent.data.length() << std::endl;
}
}
return RTC::RTC_OK;
}
RTC::ReturnCode_t ReferenceForceUpdater::onExecute(RTC::UniqueId ec_id)
{
loop ++;
// check dataport input
for (unsigned int i=0; i<m_forceIn.size(); i++){
if ( m_forceIn[i]->isNew() ) {
m_forceIn[i]->read();
}
if ( m_ref_forceIn[i]->isNew() ) {
m_ref_forceIn[i]->read();
}
}
if (m_basePosIn.isNew()) {
m_basePosIn.read();
}
if (m_baseRpyIn.isNew()) {
m_baseRpyIn.read();
}
if (m_rpyIn.isNew()) {
m_rpyIn.read();
}
if (m_qRefIn.isNew()) {
m_qRefIn.read();
}
//syncronize m_robot to the real robot
if ( m_qRef.data.length() == m_robot->numJoints() ) {
Guard guard(m_mutex);
// Interpolator
for (std::map<std::string, ReferenceForceUpdaterParam>::iterator itr = m_RFUParam.begin(); itr != m_RFUParam.end(); itr++ ) {
std::string arm = itr->first;
size_t arm_idx = ee_index_map[arm];
bool transition_interpolator_isEmpty = transition_interpolator[arm]->isEmpty();
if ( ! transition_interpolator_isEmpty ) {
transition_interpolator[arm]->get(&transition_interpolator_ratio[arm_idx], true);
if ( transition_interpolator[arm]->isEmpty() && m_RFUParam[arm].is_active && m_RFUParam[arm].is_stopping ) {
std::cerr << "[" << m_profile.instance_name << "] ReferenceForceUpdater active => inactive." << std::endl;
m_RFUParam[arm].is_active = false;
m_RFUParam[arm].is_stopping = false;
}
}
}
// If RFU is not active
{
bool all_arm_is_not_active = true;
for (std::map<std::string, ReferenceForceUpdaterParam>::iterator itr = m_RFUParam.begin(); itr != m_RFUParam.end(); itr++ ) {
std::string arm = itr->first;
size_t arm_idx = ee_index_map[arm];
if ( m_RFUParam[arm].is_active ) all_arm_is_not_active = false;
else for (unsigned int j=0; j<3; j++ ) ref_force[arm_idx](j) = m_ref_force_in[arm_idx].data[j];
}
//determin ref_force_out from ref_force_in
if ( all_arm_is_not_active ) {
for (unsigned int i=0; i<m_ref_force_in.size(); i++ ){
for (unsigned int j=0; j<6; j++ ) {
m_ref_force_out[i].data[j] = m_ref_force_in[i].data[j];
}
m_ref_force_out[i].tm = m_ref_force_in[i].tm;
m_ref_forceOut[i]->write();
}
return RTC::RTC_OK;
}
}
// If RFU is active
{
hrp::dvector qorg(m_robot->numJoints());
// reference model
for ( unsigned int i = 0; i < m_robot->numJoints(); i++ ){
qorg[i] = m_robot->joint(i)->q;
m_robot->joint(i)->q = m_qRef.data[i];
}
m_robot->rootLink()->p = hrp::Vector3(m_basePos.data.x, m_basePos.data.y, m_basePos.data.z);
m_robot->rootLink()->R = hrp::rotFromRpy(m_baseRpy.data.r, m_baseRpy.data.p, m_baseRpy.data.y);
m_robot->calcForwardKinematics();
if ( (ee_map.find("rleg") != ee_map.end() && ee_map.find("lleg") != ee_map.end()) // if legged robot
&& !use_sh_base_pos_rpy ) {
// TODO
// Tempolarily modify root coords to fix foot pos rot
// This will be removed after seq outputs adequate waistRPY discussed in https://github.com/fkanehiro/hrpsys-base/issues/272
// get current foot mid pos + rot
std::vector<hrp::Vector3> foot_pos;
std::vector<hrp::Matrix33> foot_rot;
std::vector<std::string> leg_names;
leg_names.push_back("rleg");
leg_names.push_back("lleg");
for (size_t i = 0; i < leg_names.size(); i++) {
hrp::Link* target_link = m_robot->link(ee_map[leg_names[i]].target_name);
foot_pos.push_back(target_link->p + target_link->R * ee_map[leg_names[i]].localPos);
foot_rot.push_back(target_link->R * ee_map[leg_names[i]].localR);
}
hrp::Vector3 current_foot_mid_pos ((foot_pos[0]+foot_pos[1])/2.0);
hrp::Matrix33 current_foot_mid_rot;
rats::mid_rot(current_foot_mid_rot, 0.5, foot_rot[0], foot_rot[1]);
// calculate fix pos + rot
hrp::Vector3 new_foot_mid_pos(current_foot_mid_pos);
hrp::Matrix33 new_foot_mid_rot;
{
hrp::Vector3 ex = hrp::Vector3::UnitX();
hrp::Vector3 ez = hrp::Vector3::UnitZ();
hrp::Vector3 xv1 (current_foot_mid_rot * ex);
xv1(2) = 0.0;
xv1.normalize();
hrp::Vector3 yv1(ez.cross(xv1));
new_foot_mid_rot(0,0) = xv1(0); new_foot_mid_rot(1,0) = xv1(1); new_foot_mid_rot(2,0) = xv1(2);
new_foot_mid_rot(0,1) = yv1(0); new_foot_mid_rot(1,1) = yv1(1); new_foot_mid_rot(2,1) = yv1(2);
new_foot_mid_rot(0,2) = ez(0); new_foot_mid_rot(1,2) = ez(1); new_foot_mid_rot(2,2) = ez(2);
}
// fix root pos + rot to fix "coords" = "current_foot_mid_xx"
hrp::Matrix33 tmpR (new_foot_mid_rot * current_foot_mid_rot.transpose());
m_robot->rootLink()->p = new_foot_mid_pos + tmpR * (m_robot->rootLink()->p - current_foot_mid_pos);
rats::rotm3times(m_robot->rootLink()->R, tmpR, m_robot->rootLink()->R);
m_robot->calcForwardKinematics();
}
}
for (std::map<std::string, ReferenceForceUpdaterParam>::iterator itr = m_RFUParam.begin(); itr != m_RFUParam.end(); itr++ ) {
// Update reference force
hrp::Vector3 internal_force = hrp::Vector3::Zero();
std::string arm = itr->first;
size_t arm_idx = ee_index_map[arm];
double interpolation_time = 0;
bool is_active = m_RFUParam[arm].is_active;
if ( is_active && loop % m_RFUParam[arm].update_count == 0 ) {
hrp::Link* target_link = m_robot->link(ee_map[arm].target_name);
hrp::Vector3 abs_motion_dir, tmp_act_force, df;
hrp::Matrix33 ee_rot, sensor_rot;
ee_rot = target_link->R * ee_map[arm].localR;
if ( m_RFUParam[arm].frame=="local" )
abs_motion_dir = ee_rot * m_RFUParam[arm].motion_dir;
else {
hrp::Matrix33 current_foot_mid_rot;
std::vector<hrp::Matrix33> foot_rot;
std::vector<std::string> leg_names;
leg_names.push_back("rleg");
leg_names.push_back("lleg");
for (size_t i = 0; i < leg_names.size(); i++) {
hrp::Link* target_link = m_robot->link(ee_map[leg_names[i]].target_name);
foot_rot.push_back(target_link->R * ee_map[leg_names[i]].localR);
}
rats::mid_rot(current_foot_mid_rot, 0.5, foot_rot[0], foot_rot[1]);
abs_motion_dir = current_foot_mid_rot * m_RFUParam[arm].motion_dir;
}
for (size_t i = 0; i < 3; i++ ) tmp_act_force(i) = m_force[arm_idx].data[i];
hrp::Sensor* sensor = m_robot->sensor(hrp::Sensor::FORCE, arm_idx);
sensor_rot = sensor->link->R * sensor->localR;
tmp_act_force = sensor_rot * tmp_act_force;
// Calc abs force diff
df = tmp_act_force - ref_force[arm_idx];
double inner_product = 0;
if ( ! std::fabs((abs_motion_dir.norm() - 0.0)) < 1e-5 ) {
abs_motion_dir.normalize();
inner_product = df.dot(abs_motion_dir);
if ( ! (inner_product < 0 && ref_force[arm_idx].dot(abs_motion_dir) < 0.0) ) {
hrp::Vector3 in_f = ee_rot * internal_force;
ref_force[arm_idx] = ref_force[arm_idx].dot(abs_motion_dir) * abs_motion_dir + in_f + (m_RFUParam[arm].p_gain * inner_product * transition_interpolator_ratio[arm_idx]) * abs_motion_dir;
interpolation_time = (1/m_RFUParam[arm].update_freq) * m_RFUParam[arm].update_time_ratio;
if ( ref_force_interpolator[arm]->isEmpty() ) {
ref_force_interpolator[arm]->setGoal(ref_force[arm_idx].data(), interpolation_time, true);
}
}
}
if ( DEBUGP ) {
std::cerr << "[" << m_profile.instance_name << "] Updating reference force" << std::endl;
std::cerr << "[" << m_profile.instance_name << "] inner_product = " << inner_product << ", ref_force = " << ref_force[arm_idx].dot(abs_motion_dir) << ", interpolation_time = " << interpolation_time << "[s]" << std::endl;
std::cerr << "[" << m_profile.instance_name << "] new ref_force = " << ref_force[arm_idx].format(Eigen::IOFormat(Eigen::StreamPrecision, 0, ", ", ", ", "", "", " [", "]")) << std::endl;
std::cerr << "[" << m_profile.instance_name << "] act_force = " << tmp_act_force.format(Eigen::IOFormat(Eigen::StreamPrecision, 0, ", ", ", ", "", "", " [", "]")) << std::endl;
std::cerr << "[" << m_profile.instance_name << "] df = " << df.format(Eigen::IOFormat(Eigen::StreamPrecision, 0, ", ", ", ", "", "", " [", "]")) << std::endl;
}
}
if (!ref_force_interpolator[arm]->isEmpty()) {
ref_force_interpolator[arm]->get(ref_force[arm_idx].data(), true);
}
}
}
//determin ref_force_out from ref_force_in
for (unsigned int i=0; i<m_ref_force_in.size(); i++ ){
for (unsigned int j=0; j<6; j++ ) {
m_ref_force_out[i].data[j] = m_ref_force_in[i].data[j];
}
for (unsigned int j=0; j<3; j++ ) {
m_ref_force_out[i].data[j] = ref_force[i](j) * transition_interpolator_ratio[i] + m_ref_force_in[i].data[j] * (1-transition_interpolator_ratio[i]);
}
m_ref_force_out[i].tm = m_ref_force_in[i].tm;
m_ref_forceOut[i]->write();
}
return RTC::RTC_OK;
}
