void HrpsysSequenceFileExportPlugin::HrpsysSequenceFileExport()
{
cout << "\x1b[31m" << "Start HrpsysSequenceFileExport" << "\x1b[m" << endl;
// BodyItem,BodyPtr
ItemList<BodyItem> bodyItems = ItemTreeView::mainInstance()->checkedItems<BodyItem>();
BodyPtr body = bodyItems[0]->body();// ロボットモデルは１個のみチェック
LeggedBodyHelperPtr lgh = getLeggedBodyHelper(body);
PoseSeqItem* poseSeqItem = ItemTreeView::mainInstance()->selectedItems<PoseSeqItem>()[0];
PoseSeqPtr poseSeq = poseSeqItem->poseSeq();
BodyMotionItem* bodyMotionItem = poseSeqItem->bodyMotionItem();
BodyMotionPtr motion = bodyMotionItem->motion();
string poseSeqPathString = poseSeqItem->filePath();
boost::filesystem::path poseSeqPath(poseSeqPathString);
cout << " parent_path:" << poseSeqPath.parent_path().string() << " basename:" << getBasename(poseSeqPath) << endl;
double dt = ((double) 1)/motion->frameRate();
int numFrames = motion->numFrames();
std::vector<string> extentionVec{"wrenches","optionaldata"};
for(auto ext : extentionVec){
MultiValueSeqItemPtr seqItem = bodyMotionItem->findSubItem<MultiValueSeqItem>(ext);
if(!seqItem){
cout << ext << " is not found in PoseSeq: " << poseSeqItem->name() << endl;
continue;
}
stringstream fnamess;
fnamess << poseSeqItem->name() << "." << ext;
ofstream ofs;
ofs.open(((filesystem::path) poseSeqPath.parent_path() / fnamess.str()).string().c_str(), ios::out);
MultiValueSeqPtr multiValueSeqPtr = seqItem->seq();
for(int i=0; i<numFrames; ++i){
ofs << i*dt;
MultiValueSeq::Frame frame = multiValueSeqPtr->frame(i);
for(int j=0; j<frame.size(); ++j){
ofs << " " << frame[j];
}
ofs << endl;
}
ofs.close();
}
cout << "\x1b[31m" << "Finished HrpsysSequenceFileExport" << "\x1b[m" << endl << endl;
}
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;
}