virtual void output() override
{
if(ready){
u.length(ioBody->numJoints());
for(int i=0; i < ioBody->numJoints(); ++i){
u[i] = ioBody->joint(i)->u();
}
dynamicsSimulator->setCharacterAllLinkData(
characterName.c_str(), DynamicsSimulator::JOINT_TORQUE, u);
}
}
void BodyState::set(BodyPtr i_body)
{
Link *root = i_body->rootLink();
p = root->p;
R = root->R;
q.resize(i_body->numJoints());
for (int i=0; i<i_body->numJoints(); i++){
Link *joint = i_body->joint(i);
if (joint){
q[i] = joint->q;
}
}
}
virtual bool initialize() {
if(!qseq){
string filename = getNativePathString(
boost::filesystem::path(shareDirectory())
/ "motion" / "SR1" / "SR1WalkPattern3.yaml");
BodyMotion motion;
if(!motion.loadStandardYAMLformat(filename)){
os() << motion.seqMessage() << endl;
return false;
}
qseq = motion.jointPosSeq();
if(qseq->numFrames() == 0){
os() << "Empty motion data." << endl;
return false;
}
timeStep_ = qseq->getTimeStep();
}
if(fabs(timeStep() - timeStep_) > 1.0e-6){
os() << "Time step must be " << timeStep_ << "." << endl;;
return false;
}
body = ioBody();
numJoints = body->numJoints();
if(numJoints != qseq->numParts()){
os() << "The number of joints must be " << qseq->numParts() << endl;
return false;
}
qold.resize(numJoints);
VectorXd q0(numJoints);
VectorXd q1(numJoints);
for(int i=0; i < numJoints; ++i){
qold[i] = q0[i] = body->joint(i)->q();
}
MultiValueSeq::Frame frame = qseq->frame(0);
for(int i=0; i < numJoints; ++i){
q1[i] = frame[i];
}
interpolator.clear();
interpolator.appendSample(0.0, q0);
interpolator.appendSample(2.0, q1);
interpolator.update();
qref_old = interpolator.interpolate(0.0);
currentFrame = 0;
phase = 0;
time = 0.0;
return true;
}
virtual void input() override
{
if(ready){
dynamicsSimulator->getCharacterAllLinkData(
characterName.c_str(), DynamicsSimulator::JOINT_VALUE, q);
int n = std::min((int)q->length(), ioBody->numJoints());
for(int i=0; i < n; ++i){
ioBody->joint(i)->q() = q[i];
}
}
}
virtual bool control() {
switch(phase){
case 0 :
qref = interpolator.interpolate(time);
if(time > interpolator.domainUpper()){
phase = 1;
}
break;
case 1:
if(currentFrame < qseq->numFrames()){
MultiValueSeq::Frame frame = qseq->frame(currentFrame++);
for(int i=0; i < numJoints; ++i){
qref[i] = frame[i];
}
}else{
phase = 2;
}
break;
case 2 :
qref = interpolator.interpolate(time);
}
for(int i=0; i < body->numJoints(); ++i){
Link* joint = body->joint(i);
double q = joint->q();
double dq_ref = (qref[i] - qref_old[i]) / timeStep_;
double dq = (q - qold[i]) / timeStep_;
joint->u() = (qref[i] - q) * pgain[i] + (dq_ref - dq) * dgain[i];
qold[i] = q;
}
qref_old = qref;
time += timeStep_;
return true;
}
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;
}
virtual bool control() {
switch(phase){
case 0 :
qref = interpolator.interpolate(time);
if(time > interpolator.domainUpper()){
phase = 1;
}
break;
case 1:
if(currentFrame < qseq->numFrames()){
MultiValueSeq::Frame frame = qseq->frame(currentFrame++);
for(int i=0; i < numJoints; ++i){
qref[i] = frame[i];
}
}else{
interpolator.clear();
interpolator.appendSample(time, qref);
VectorXd q1(numJoints);
q1 = qref;
q1[rarm_shoulder_r] = -0.4;
q1[rarm_shoulder_p] = 0.75;
q1[rarm_elbow] = -2.0;
interpolator.appendSample(time + 3.0, q1);
q1[rarm_elbow] = -1.57;
q1[rarm_shoulder_p] = -0.2;
q1[rarm_wrist_r] = 1.5;
interpolator.appendSample(time + 5.0, q1);
q1[rarm_elbow] = -1.3;
q1[rarm_wrist_y] = -0.24;
interpolator.appendSample(time + 6.0, q1);
interpolator.update();
qref = interpolator.interpolate(time);
phase = 2;
}
break;
case 2 :
qref = interpolator.interpolate(time);
if(time > interpolator.domainUpper()){
interpolator.clear();
interpolator.appendSample(time, qref);
VectorXd q1(numJoints);
q1 = qref;
q1[rarm_wrist_y] = 0.0;
q1[rarm_shoulder_r] = 0.1;
interpolator.appendSample(time + 5.0, q1);
interpolator.update();
qref = interpolator.interpolate(time);
phase = 3;
}
break;
case 3:
qref = interpolator.interpolate(time);
if( rhsensor->F()[1] < -2 ) {
interpolator.clear();
interpolator.appendSample(time, qref);
VectorXd q1(numJoints);
q1 = qref;
q1[rarm_wrist_r] = -0.3;;
interpolator.appendSample(time + 2.0, q1);
interpolator.appendSample(time + 2.5, q1);
q1[rarm_shoulder_p] = -0.13;
q1[rarm_elbow] = -1.8;
interpolator.appendSample(time + 3.5, q1);
interpolator.update();
qref = interpolator.interpolate(time);
phase = 4;
}
break;
case 4 :
qref = interpolator.interpolate(time);
}
for(int i=0; i < body->numJoints(); ++i){
Link* joint = body->joint(i);
double q = joint->q();
double dq_ref = (qref[i] - qref_old[i]) / timeStep_;
double dq = (q - qold[i]) / timeStep_;
joint->u() = (qref[i] - q) * pgain[i] + (dq_ref - dq) * dgain[i];
qold[i] = q;
}
qref_old = qref;
time += timeStep_;
return true;
}
int main(int argc, char *argv[])
{
srand((unsigned)time(NULL));
const char *robotURL = NULL;
std::vector<std::string> obstacleURL;
std::vector<Vector3> obstacleP;
std::vector<Vector3> obstacleRpy;
for(int i = 1 ; i < argc; i++) {
if (strcmp(argv[i], "-robot") == 0) {
robotURL = argv[++i];
} else if (strcmp(argv[i], "-obstacle") == 0) {
obstacleURL.push_back(argv[++i]);
Vector3 p, rpy;
for (int j=0; j<3; j++) p[j] = atof(argv[++i]);
obstacleP.push_back(p);
for (int j=0; j<3; j++) rpy[j] = atof(argv[++i]);
obstacleRpy.push_back(rpy);
}
}
if (robotURL == NULL) {
std::cerr << "please specify URL of VRML model by -robot option"
<< std::endl;
return 1;
}
BodyPtr robot = new Body();
loadBodyFromModelLoader(robot, robotURL, argc, argv, true);
problem prob;
prob.addRobot("robot", robotURL, robot);
std::vector<BodyPtr> obstacles;
for (unsigned int i=0; i<obstacleURL.size(); i++) {
char buf[20];
sprintf(buf, "obstacle%02d", i);
obstacles.push_back(prob.addObstacle(buf, obstacleURL[i]));
}
// This must be called after all bodies are added
prob.initOLV(argc, argv);
PathEngine::Configuration::size(4+6+6);
PathEngine::Configuration::bounds(0, 0.2, 0.8); // body z
PathEngine::Configuration::bounds(1, -0.5, 0.5); // body roll
PathEngine::Configuration::bounds(2, -0.0, 0.5); // body pitch
PathEngine::Configuration::bounds(3, -0.5, 0.5); // body yaw
int arm;
PathEngine::Configuration goalCfg;
std::ifstream ifs("goal.txt");
ifs >> arm;
for (unsigned int i=0; i<PathEngine::Configuration::size(); i++) {
ifs >> goalCfg[i];
}
#if 1
PathEngine::Configuration::weight(0) = 0.1; // z
PathEngine::Configuration::weight(1) = 1; // roll
PathEngine::Configuration::weight(2) = 1; // pitch
PathEngine::Configuration::weight(3) = 1; // yaw
PathEngine::Configuration::weight(4) = 0.8;
PathEngine::Configuration::weight(5) = 0.6;
PathEngine::Configuration::weight(6) = 0.4;
PathEngine::Configuration::weight(7) = 0.3;
PathEngine::Configuration::weight(8) = 0.2;
PathEngine::Configuration::weight(9) = 0.1;
PathEngine::Configuration::weight(10) = 0.8;
PathEngine::Configuration::weight(11) = 0.6;
PathEngine::Configuration::weight(12) = 0.4;
PathEngine::Configuration::weight(13) = 0.3;
PathEngine::Configuration::weight(14) = 0.2;
PathEngine::Configuration::weight(15) = 0.1;
#endif
JointPathPtr armPath[2];
Link *chest = robot->link("CHEST_JOINT1");
Link *wrist[2] = {robot->link("RARM_JOINT5"),
robot->link("LARM_JOINT5")
};
for (int k=0; k<2; k++) {
armPath[k] = robot->getJointPath(chest, wrist[k]);
for (int i=0; i<armPath[k]->numJoints(); i++) {
Link *j = armPath[k]->joint(i);
PathEngine::Configuration::bounds(4+k*6+i, j->llimit, j->ulimit);
}
}
PathEngine::PathPlanner *planner = prob.planner();
planner->setMobilityName("OmniWheel");
planner->setAlgorithmName("RRT");
PathEngine::RRT *rrt = (PathEngine::RRT *)planner->getAlgorithm();
rrt->extendFromGoal(true);
planner->getAlgorithm()->setProperty("eps", "0.1");
planner->getAlgorithm()->setProperty("max-trials", "50000");
planner->getAlgorithm()->setProperty("interpolation-distance", "0.05");
prob.initCollisionCheckPairs();
prob.initPlanner();
for (unsigned int i=0; i<obstacles.size(); i++) {
Link *root = obstacles[i]->rootLink();
root->p = obstacleP[i];
root->R = rotFromRpy(obstacleRpy[i]);
root->coldetModel->setPosition(root->R, root->p);
obstacles[i]->calcForwardKinematics();
}
// set halfconf
dvector halfconf;
halfconf.setZero(robot->numJoints());
#define ToRad(x) ((x)*M_PI/180)
halfconf[2] = halfconf[ 8] = ToRad(-40);
halfconf[3] = halfconf[ 9] = ToRad( 78);
halfconf[4] = halfconf[10] = ToRad(-38);
double leg_link_len1=0, leg_link_len2=0;
halfconf[16] = halfconf[23] = ToRad(20);
halfconf[17] = ToRad(-10);
halfconf[24] = -halfconf[17];
halfconf[19] = halfconf[26] = ToRad(-30);
if (robot->modelName() == "HRP2") {
halfconf[20] = ToRad(80);
halfconf[27] = -halfconf[20];
halfconf[22] = halfconf[29] = -1.0;
}
leg_link_len1 = leg_link_len2 = 0.3;
double waistHeight = leg_link_len1*cos(halfconf[2])
+ leg_link_len2*cos(halfconf[4])
+ 0.105;
robot->rootLink()->p(2) = waistHeight;
for (int i=0; i<robot->numJoints(); i++) {
robot->joint(i)->q = halfconf[i];
}
robot->calcForwardKinematics();
myCfgSetter setter(robot);
PathEngine::Configuration startCfg;
startCfg[0] = robot->rootLink()->p[2];
startCfg[1] = startCfg[2] = startCfg[3] = 0;
for (int j=0; j<2; j++) {
for (int i=0; i<armPath[j]->numJoints(); i++) {
startCfg[4+j*6+i] = armPath[j]->joint(i)->q;
}
}
planner->setStartConfiguration(startCfg);
planner->setGoalConfiguration(goalCfg);
planner->setApplyConfigFunc(boost::bind(&myCfgSetter::set, &setter,
_1, _2));
planner->setConfiguration(startCfg);
prob.updateOLV();
planner->setConfiguration(goalCfg);
prob.updateOLV();
#if 0
int earm;
ifs >> earm;
while (!ifs.eof()) {
PathEngine::Configuration cfg;
for (unsigned int i=0; i<PathEngine::Configuration::size(); i++) {
ifs >> cfg[i];
}
if (arm == earm) {
rrt->addExtraGoal(cfg);
std::cout << "added an extra goal" << std::endl;
planner->setConfiguration(cfg);
prob.updateOLV();
}
ifs >> earm;
}
#endif
CustomCD cd(robot, "hrp2.shape", "hrp2.pairs",
obstacles[0], "plant.pc");
prob.planner()->setCollisionDetector(&cd);
struct timeval tv1, tv2;
gettimeofday(&tv1, NULL);
// plan
bool ret = planner->calcPath();
if (ret) {
for (int i=0; i<5; i++) {
planner->optimize("Shortcut");
planner->optimize("RandomShortcut");
}
}
gettimeofday(&tv2, NULL);
if (ret) {
const std::vector<PathEngine::Configuration>& postures
= planner->getWayPoints();
std::ofstream ofs("path.txt");
ofs << arm << std::endl;
for (unsigned int i=0; i<postures.size(); i++) {
planner->setConfiguration(postures[i]);
for (int j=0; j<3; j++) {
ofs << robot->rootLink()->p[j] << " ";
}
for (int j=0; j<3; j++) {
for (int k=0; k<3; k++) {
ofs << robot->rootLink()->R(j,k) << " ";
}
}
for (int j=0; j<robot->numJoints(); j++) {
ofs << robot->joint(j)->q << " ";
}
ofs << std::endl;
prob.updateOLV();
}
} else {
PathEngine::Roadmap *roadmap = planner->getRoadmap();
for (unsigned int i=0; i<roadmap->nNodes(); i++) {
PathEngine::RoadmapNode *node = roadmap->node(i);
planner->setConfiguration(node->position());
prob.updateOLV();
}
}
double time = (tv2.tv_sec - tv1.tv_sec) + ((double)(tv2.tv_usec - tv1.tv_usec))/1e6;
std::cout << "total time = " << time << "[s]" << std::endl;
double cdtime = prob.planner()->timeCollisionCheck();
std::cout << "time spent in collision detection:"
<< cdtime << "[s](" << cdtime/time*100 << "[%]), "
<< cdtime*1e3/prob.planner()->countCollisionCheck() << "[ms/call]" << std::endl;
std::cout << "profile:";
setter.profile();
return 0;
}
int main(int argc, char *argv[])
{
OnlineViewer_var olv;
olv = hrp::getOnlineViewer(argc, argv);
olv->load("robot", url);
olv->clearLog();
BodyPtr body = BodyPtr(new Body());
loadBodyFromModelLoader(body, url, argc, argv, true);
body->setName("robot");
convertToConvexHull(body);
WorldState wstate;
wstate.time = 0.0;
wstate.characterPositions.length(1);
setupCharacterPosition(wstate.characterPositions[0], body);
wstate.collisions.length(3);
// ワイヤの固定部
std::vector<Anchor> anchors;
anchors.push_back(Anchor(body->link("CHEST_Y"), Vector3(-0.03, 0.1,0.35)));
anchors.push_back(Anchor(body->link("R_HIP_P"), Vector3(-0.08,0,-0.2)));
anchors.push_back(Anchor(body->link("CHEST_Y"), Vector3(-0.03,-0.1,0.35)));
anchors.push_back(Anchor(body->link("L_HIP_P"), Vector3(-0.08,0,-0.2)));
wstate.collisions.length(anchors.size()+1);
for (size_t i=1; i<wstate.collisions.length(); i++){
setupFrame(wstate.collisions[i], 0.05);
}
// ワイヤと接触するリンクセットその1
std::vector<Link *> linkset1;
linkset1.push_back(body->link("CHEST_Y"));
linkset1.push_back(body->link("WAIST"));
linkset1.push_back(body->link("R_HIP_P"));
// ワイヤと接触するリンクセットその2
std::vector<Link *> linkset2;
linkset2.push_back(body->link("CHEST_Y"));
linkset2.push_back(body->link("WAIST"));
linkset2.push_back(body->link("L_HIP_P"));
// ワイヤ（両端点及びリンクセット）の定義
std::vector<String> strings;
strings.push_back(String(&anchors[0], &anchors[1], linkset1));
strings.push_back(String(&anchors[2], &anchors[3], linkset2));
std::ifstream ifs(logfile);
if (!ifs.is_open()){
std::cerr << "failed to open the log file:" << logfile << std::endl;
return 1;
}
char buf[1024];
ifs.getline(buf, 1024); // skip header
double q;
while(1){
for (int i=0; i<body->numJoints(); i++){
ifs >> q;
if (ifs.eof()) return 0;
Link *j = body->joint(i);
if (j) j->q = q;
}
ifs.getline(buf, 1024); // skip rest of the line
body->calcForwardKinematics();
for (size_t i=0; i<strings.size(); i++){
if (!strings[i].update()){
std::cerr << "failed to update string state" << std::endl;
}
}
// update body
updateCharacterPosition(wstate.characterPositions[0], body);
// update anchors
for (size_t i=0; i<anchors.size(); i++){
updateFrame(wstate.collisions[i+1],
anchors[i].position(), Matrix33::Identity());
}
// update strings
size_t n=0, index=0;
for (size_t i=0; i<strings.size(); i++){
n += strings[i].polyLine.lines.size();
}
wstate.collisions[0].points.length(n);
for (size_t i=0; i<strings.size(); i++){
const std::vector<LineSegment>& lines = strings[i].polyLine.lines;
for (size_t i=0; i<lines.size(); i++){
updateLineSegment(wstate.collisions[0].points[index++],
lines[i].first, lines[i].second);
}
}
olv->update(wstate);
wstate.time += 0.005;
std::cout << wstate.time << " ";
for (size_t i=0; i<strings.size(); i++){
std::cout << strings[i].length() << " ";
}
std::cout << std::endl;
}
return 0;
}
bool PoseProviderToBodyMotionConverter::convert(BodyPtr body, PoseProvider* provider, BodyMotion& motion)
{
const double frameRate = motion.frameRate();
const int beginningFrame = static_cast<int>(frameRate * std::max(provider->beginningTime(), lowerTime));
const int endingFrame = static_cast<int>(frameRate * std::min(provider->endingTime(), upperTime));
const int numJoints = body->numJoints();
const int numLinksToPut = (allLinkPositionOutputMode ? body->numLinks() : 1);
motion.setDimension(endingFrame + 1, numJoints, numLinksToPut, true);
MultiValueSeq& qseq = *motion.jointPosSeq();
MultiAffine3Seq& pseq = *motion.linkPosSeq();
Vector3Seq& relZmpSeq = *motion.relativeZmpSeq();
bool isZmpValid = false;
Link* rootLink = body->rootLink();
Link* baseLink = rootLink;
shared_ptr<LinkTraverse> fkTraverse;
if(allLinkPositionOutputMode){
fkTraverse.reset(new LinkTraverse(baseLink, true, true));
} else {
fkTraverse.reset(new LinkPath(baseLink, rootLink));
}
// store the original state
vector<double> orgq(numJoints);
for(int i=0; i < numJoints; ++i){
orgq[i] = body->joint(i)->q;
}
Affine3 orgp;
orgp.translation() = rootLink->p;
orgp.linear() = rootLink->R;
std::vector< boost::optional<double> > jointPositions(numJoints);
for(int frame = beginningFrame; frame <= endingFrame; ++frame){
provider->seek(frame / frameRate);
const int baseLinkIndex = provider->baseLinkIndex();
if(baseLinkIndex >= 0){
if(baseLinkIndex != baseLink->index){
baseLink = body->link(baseLinkIndex);
if(allLinkPositionOutputMode){
fkTraverse->find(baseLink, true, true);
} else {
static_pointer_cast<LinkPath>(fkTraverse)->find(baseLink, rootLink);
}
}
provider->getBaseLinkPosition(baseLink->p, baseLink->R);
}
MultiValueSeq::View qs = qseq.frame(frame);
provider->getJointPositions(jointPositions);
for(int i=0; i < numJoints; ++i){
const optional<double>& q = jointPositions[i];
qs[i] = q ? *q : 0.0;
body->joint(i)->q = qs[i];
}
if(allLinkPositionOutputMode || baseLink != rootLink){
fkTraverse->calcForwardKinematics();
}
for(int i=0; i < numLinksToPut; ++i){
Affine3& p = pseq.at(frame, i);
Link* link = body->link(i);
p.translation() = link->p;
p.linear() = link->R;
}
optional<Vector3> zmp = provider->zmp();
if(zmp){
relZmpSeq[frame].noalias() = rootLink->R.transpose() * (*zmp - rootLink->p);
isZmpValid = true;
}
}
if(!isZmpValid){
//bodyMotionItem->clearRelativeZmpSeq();
}
// restore the original state
for(int i=0; i < numJoints; ++i){
body->joint(i)->q = orgq[i];
}
rootLink->p = orgp.translation();
rootLink->R = orgp.linear();
body->calcForwardKinematics();
return true;
}
/**
@brief compute CoM Jacobian
@param base link fixed to the environment
@param J CoM Jacobian
@note Link::wc must be computed by calcCM() before calling
*/
void calcCMJacobian(const BodyPtr& body, Link* base, Eigen::MatrixXd& J)
{
// prepare subm, submwc
const int nj = body->numJoints();
vector<SubMass> subMasses(body->numLinks());
Link* rootLink = body->rootLink();
JointPath path;
if(!base) {
calcSubMass(rootLink, subMasses);
J.resize(3, nj + 6);
} else {
path.setPath(rootLink, base);
Link* skip = path.joint(0);
SubMass& sub = subMasses[skip->index()];
sub.m = rootLink->m();
sub.mwc = rootLink->m() * rootLink->wc();
for(Link* child = rootLink->child(); child; child = child->sibling()) {
if(child != skip) {
calcSubMass(child, subMasses);
subMasses[skip->index()] += subMasses[child->index()];
}
}
// assuming there is no branch between base and root
for(int i=1; i < path.numJoints(); i++) {
Link* joint = path.joint(i);
const Link* parent = joint->parent();
SubMass& sub = subMasses[joint->index()];
sub.m = parent->m();
sub.mwc = parent->m() * parent->wc();
sub += subMasses[parent->index()];
}
J.resize(3, nj);
}
// compute Jacobian
std::vector<int> sgn(nj, 1);
for(int i=0; i < path.numJoints(); i++) {
sgn[path.joint(i)->jointId()] = -1;
}
for(int i=0; i < nj; i++) {
Link* joint = body->joint(i);
if(joint->isRotationalJoint()) {
const Vector3 omega = sgn[joint->jointId()] * joint->R() * joint->a();
const SubMass& sub = subMasses[joint->index()];
const Vector3 arm = (sub.mwc - sub.m * joint->p()) / body->mass();
const Vector3 dp = omega.cross(arm);
J.col(joint->jointId()) = dp;
} else {
std::cerr << "calcCMJacobian() : unsupported jointType("
<< joint->jointType() << std::endl;
}
}
if(!base) {
const int c = nj;
J.block(0, c, 3, 3).setIdentity();
const Vector3 dp = subMasses[0].mwc / body->mass() - rootLink->p();
J.block(0, c + 3, 3, 3) <<
0.0, dp(2), -dp(1),
-dp(2), 0.0, dp(0),
dp(1), -dp(0), 0.0;
}
}
void JointSliderViewImpl::updateSliderGrid()
{
if(!currentBodyItem){
initializeSliders(0);
} else {
BodyPtr body = currentBodyItem->body();
int numJoints = body->numJoints();
if(!showAllToggle.isChecked()){
const boost::dynamic_bitset<>& linkSelection =
LinkSelectionView::mainInstance()->linkSelection(currentBodyItem);
activeJointIds.clear();
for(int i=0; i < numJoints; ++i){
Link* joint = body->joint(i);
if(joint->isValid() && linkSelection[joint->index()]){
activeJointIds.push_back(i);
}
}
} else {
activeJointIds.resize(numJoints);
for(int i=0; i < numJoints; ++i){
activeJointIds[i] = i;
}
}
int n = activeJointIds.size();
initializeSliders(n);
int nColumns = numColumnsSpin.value();
bool isLabelAtLeft = labelOnLeftToggle.isChecked();
int nUnitColumns, nGridColumns;
if(isLabelAtLeft){
nUnitColumns = 7;
nGridColumns = nColumns * nUnitColumns;
} else {
nUnitColumns = 6;
nGridColumns = nColumns * nUnitColumns;
}
int row = 0;
int col = 0;
for(int i=0; i < n; ++i){
SliderUnit* unit = jointSliders[i];
unit->initialize(body->joint(activeJointIds[i]));
if(!isLabelAtLeft){
sliderGrid.addWidget(&unit->nameLabel, row, col, 1, nUnitColumns);
sliderGrid.addWidget(&unit->idLabel, row + 1, col);
attachSliderUnits(unit, row + 1, col + 1);
col += nUnitColumns;
if(col == nGridColumns){
col = 0;
row += 2;
}
} else {
sliderGrid.addWidget(&unit->idLabel,row, col);
sliderGrid.addWidget(&unit->nameLabel,row, col + 1);
attachSliderUnits(unit, row, col + 2);
col += nUnitColumns;
if(col == nGridColumns){
col = 0;
row += 1;
}
}
}
}
}