void MultiTaskPriorityInverseKinematics::update(const ros::Time& time, const ros::Duration& period)
{
// get joint positions
for(int i=0; i < joint_handles_.size(); i++)
{
joint_msr_states_.q(i) = joint_handles_[i].getPosition();
joint_msr_states_.qdot(i) = joint_handles_[i].getVelocity();
}
// clearing error msg before publishing
msg_err_.data.clear();
if (cmd_flag_)
{
// resetting P and qdot(t=0) for the highest priority task
P_ = I_;
SetToZero(joint_des_states_.qdot);
for (int index = 0; index < ntasks_; index++)
{
// computing Jacobian
jnt_to_jac_solver_->JntToJac(joint_msr_states_.q,J_,links_index_[index]);
// computing forward kinematics
fk_pos_solver_->JntToCart(joint_msr_states_.q,x_,links_index_[index]);
// setting marker parameters
set_marker(x_,index,msg_id_);
// computing end-effector position/orientation error w.r.t. desired frame
x_err_ = diff(x_,x_des_[index]);
for(int i = 0; i < e_dot_.size(); i++)
{
e_dot_(i) = x_err_(i);
msg_err_.data.push_back(e_dot_(i));
}
// computing (J[i]*P[i-1])^pinv
J_star_.data = J_.data*P_;
pseudo_inverse(J_star_.data,J_pinv_);
// computing q_dot (qdot(i) = qdot[i-1] + (J[i]*P[i-1])^pinv*(x_err[i] - J[i]*qdot[i-1]))
joint_des_states_.qdot.data = joint_des_states_.qdot.data + J_pinv_*(e_dot_ - J_.data*joint_des_states_.qdot.data);
// stop condition
if (!on_target_flag_[index])
{
if (Equal(x_,x_des_[index],0.01))
{
ROS_INFO("Task %d on target",index);
on_target_flag_[index] = true;
if (index == (ntasks_ - 1))
cmd_flag_ = 0;
}
}
// updating P_ (it mustn't make use of the damped pseudo inverse)
pseudo_inverse(J_star_.data,J_pinv_,false);
P_ = P_ - J_pinv_*J_star_.data;
}
// integrating q_dot -> getting q (Euler method)
for (int i = 0; i < joint_handles_.size(); i++)
joint_des_states_.q(i) += period.toSec()*joint_des_states_.qdot(i);
}
// set controls for joints
for (int i = 0; i < joint_handles_.size(); i++)
{
tau_cmd_(i) = PIDs_[i].computeCommand(joint_des_states_.q(i) - joint_msr_states_.q(i),joint_des_states_.qdot(i) - joint_msr_states_.qdot(i),period);
joint_handles_[i].setCommand(tau_cmd_(i));
}
// publishing markers for visualization in rviz
pub_marker_.publish(msg_marker_);
msg_id_++;
// publishing error for all tasks as an array of ntasks*6
pub_error_.publish(msg_err_);
ros::spinOnce();
}
void TaskInverseKinematics::update(const ros::Time& time, const ros::Duration& period)
{
// get joint positions
for(int i=0; i < joint_handles_.size(); i++)
{
joint_msr_states_.q(i) = joint_handles_[i].getPosition();
joint_msr_states_.qdot(i) = joint_handles_[i].getVelocity();
}
if (cmd_flag_)
{
// computing Jacobian
jnt_to_jac_solver_->JntToJac(joint_msr_states_.q,J_);
// computing J_pinv_
pseudo_inverse(J_.data,J_pinv_);
// computing forward kinematics
fk_pos_solver_->JntToCart(joint_msr_states_.q,x_);
// end-effector position/orientation error
x_err_.vel = x_des_.p - x_.p;
// getting quaternion from rotation matrix
x_.M.GetQuaternion(quat_curr_.v(0),quat_curr_.v(1),quat_curr_.v(2),quat_curr_.a);
x_des_.M.GetQuaternion(quat_des_.v(0),quat_des_.v(1),quat_des_.v(2),quat_des_.a);
skew_symmetric(quat_des_.v,skew_);
for (int i = 0; i < skew_.rows(); i++)
{
v_temp_(i) = 0.0;
for (int k = 0; k < skew_.cols(); k++)
v_temp_(i) += skew_(i,k)*(quat_curr_.v(k));
}
x_err_.rot = quat_curr_.a*quat_des_.v - quat_des_.a*quat_curr_.v - v_temp_;
// computing q_dot
for (int i = 0; i < J_pinv_.rows(); i++)
{
joint_des_states_.qdot(i) = 0.0;
for (int k = 0; k < J_pinv_.cols(); k++)
joint_des_states_.qdot(i) += J_pinv_(i,k)*x_err_(k); //removed scaling factor of .7
}
// integrating q_dot -> getting q (Euler method)
for (int i = 0; i < joint_handles_.size(); i++)
joint_des_states_.q(i) += period.toSec()*joint_des_states_.qdot(i);
// joint limits saturation
for (int i =0; i < joint_handles_.size(); i++)
{
if (joint_des_states_.q(i) < joint_limits_.min(i))
joint_des_states_.q(i) = joint_limits_.min(i);
if (joint_des_states_.q(i) > joint_limits_.max(i))
joint_des_states_.q(i) = joint_limits_.max(i);
}
if (Equal(x_,x_des_,0.005))
{
ROS_INFO("On target");
cmd_flag_ = 0;
}
}
// set controls for joints
for (int i = 0; i < joint_handles_.size(); i++)
{
tau_cmd_(i) = PIDs_[i].computeCommand(joint_des_states_.q(i) - joint_msr_states_.q(i),period);
joint_handles_[i].setCommand(tau_cmd_(i));
}
}
void CartesianComputedTorqueController::update(const ros::Time& time, const ros::Duration& period)
{
// get joint positions
for(size_t i=0; i<joint_handles_.size(); i++)
{
joint_msr_states_.q(i) = joint_handles_[i].getPosition();
joint_msr_states_.qdot(i) = joint_handles_[i].getVelocity();
joint_msr_states_.qdotdot(i) = joint_handles_[i].getAcceleration();
}
//ROS_INFO("-> msr values : %f, %f, %f, %f, %f, %f, %f!",joint_msr_states_.q(0), joint_msr_states_.q(1), joint_msr_states_.q(2), joint_msr_states_.q(3), joint_msr_states_.q(4), joint_msr_states_.q(5), joint_msr_states_.q(6));
if(cmd_flag_)
{
#if TRACE_CartesianComputedTorqueController_ACTIVATED
print_frame_("x_Solve_",x_Solve_);
#endif
// Get next 'smooth' position in 'OP_' object.
resultValue_ = RML_->RMLPosition(*IP_,OP_.get(),Flags_);
if (resultValue_ != ReflexxesAPI::RML_WORKING && resultValue_ != ReflexxesAPI::RML_FINAL_STATE_REACHED)
{
ROS_INFO("ERROR Reflexxes -> %d", resultValue_);
exit(-1);
}
if (resultValue_ < 0)
{
ROS_INFO("GroupCommandControllerFRI::update : ERROR during trajectory generation err n°%d",resultValue_);
exit(-1);
}
// set next desired 'smooth' states : position, velocity, acceleration
for (int i = 0; i < joint_handles_.size(); i++)
{
joint_des_states_.q(i) = OP_->NewPositionVector->VecData[i];
joint_des_states_.qdot(i) = OP_->NewVelocityVector->VecData[i];
joint_des_states_.qdotdot(i) = OP_->NewAccelerationVector->VecData[i];
}
#if TRACE_CartesianComputedTorqueController_ACTIVATED
fk_pos_solver_->JntToCart(joint_des_states_.q, x_Reflexxes_);
print_frame_("x_Reflexxes_",x_Reflexxes_);
#endif
double distance;
// computing forward kinematics. Transform 'q' angle position to 3D pose in 'x_'.
// It is necessary to get the 'euler' distance from 'x_des_' to 'x_'.
fk_pos_solver_->JntToCart(joint_msr_states_.q, x_);
//#if TRACE_CartesianComputedTorqueController_ACTIVATED
//print_frame_(" x_", x_);
//distance = sqrt(pow(x_des_.p.x()-x_.p.x(),2) + pow(x_des_.p.y()-x_.p.y(),2) + pow(x_des_.p.z()-x_.p.z(),2));
//ROS_INFO("distance = %f\n",distance); // Show the distance only for information.
//#endif
*IP_->CurrentPositionVector = *OP_->NewPositionVector ;
*IP_->CurrentVelocityVector = *OP_->NewVelocityVector ;
*IP_->CurrentAccelerationVector = *OP_->NewAccelerationVector ;
// Is the distance from 'x_des_' to 'x_' is close to 0.005 meter ?
if (Equal(x_, x_des_, 0.005))
{
ROS_INFO("On target");
// Computing 'euler' distance between measure (x_) to desired (x_des_).
distance = sqrt(pow(x_des_.p.x()-x_.p.x(),2) + pow(x_des_.p.y()-x_.p.y(),2) + pow(x_des_.p.z()-x_.p.z(),2));
ROS_INFO("distance = %f\n",distance); // Show the distance only for information.
cmd_flag_ = 0;
}
}
// computing Inertia, Coriolis and Gravity matrices
id_solver_->JntToMass(joint_msr_states_.q, M_);
id_solver_->JntToCoriolis(joint_msr_states_.q, joint_msr_states_.qdot, C_);
id_solver_->JntToGravity(joint_msr_states_.q, G_);
// PID controller
KDL::JntArray pid_cmd_(joint_handles_.size());
// Compensation of Coriolis and Gravity
KDL::JntArray cg_cmd_(joint_handles_.size());
for(size_t i=0; i<joint_handles_.size(); i++)
{
// PID control law.
pid_cmd_(i) = joint_des_states_.qdotdot(i) + Kv_(i)*(joint_des_states_.qdot(i) - joint_msr_states_.qdot(i)) + Kp_(i)*(joint_des_states_.q(i) - joint_msr_states_.q(i));
//pid_cmd_(i) = Kv_(i)*(joint_des_states_.qdot(i) - joint_msr_states_.qdot(i)) + Kp_(i)*(joint_des_states_.q(i) - joint_msr_states_.q(i));
//cg_cmd_(i) = C_(i)*joint_msr_states_.qdot(i) + G_(i);
// Global control law
cg_cmd_(i) = C_(i) + G_(i);
}
// Torque command : 'tau_cmd_'.
tau_cmd_.data = M_.data * pid_cmd_.data;
KDL::Add(tau_cmd_,cg_cmd_,tau_cmd_);
//ROS_INFO("-> tau cmd values : %f, %f, %f, %f, %f, %f, %f!",tau_cmd_(0), tau_cmd_(1), tau_cmd_(2), tau_cmd_(3), tau_cmd_(4),tau_cmd_(5), tau_cmd_(6));
for(size_t i=0; i<joint_handles_.size(); i++)
{
joint_handles_[i].setCommandTorque(tau_cmd_(i));
joint_handles_[i].setCommandPosition(joint_msr_states_.q(i));
//joint_handles_[i].setCommandPosition(pid_cmd_(i));
//joint_handles_[i].setCommandPosition(joint_des_states_.q(i));
}
}
