BitcoinBlock::BitcoinBlock(const QByteArray &data, quint32 _height) {
is_valid = true;
height = _height;
hash = BitcoinCrypto::doubleSha256(data.left(80));
raw = data.left(80);
size = data.length();
if (data.length() > 80) {
txns = data.mid(80);
}
QDataStream data_r(raw);
data_r.setByteOrder(QDataStream::LittleEndian);
data_r >> version;
parent = BitcoinStream::readData(data_r, 32);
merkle_root = BitcoinStream::readData(data_r, 32);
data_r >> timestamp >> bits >> nonce;
}
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 RemoveForceSensorLinkOffset::onExecute(RTC::UniqueId ec_id)
{
//std::cout << m_profile.instance_name<< ": onExecute(" << ec_id << ")" << std::endl;
static int loop = 0;
loop ++;
for (unsigned int i=0; i<m_forceIn.size(); i++){
if ( m_forceIn[i]->isNew() ) {
m_forceIn[i]->read();
}
}
hrp::Vector3 rpy;
if (m_rpyIn.isNew()) {
m_rpyIn.read();
rpy = hrp::Vector3(m_rpy.data.r, m_rpy.data.p, m_rpy.data.y);
} else {
rpy = hrp::Vector3::Zero();
}
if (m_qCurrentIn.isNew()) {
m_qCurrentIn.read();
for ( int i = 0; i < m_robot->numJoints(); i++ ){
m_robot->joint(i)->q = m_qCurrent.data[i];
}
//
updateRootLinkPosRot(rpy);
m_robot->calcForwardKinematics();
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 << "forces[" << m_forceIn[i]->name() << "]" << std::endl;;
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;
}
if ( sensor ) {
// real force sensor
hrp::Matrix33 sensorR = sensor->link->R * sensor->localR;
hrp::Vector3 mg = hrp::Vector3(0,0, m_forcemoment_offset_param[sensor_name].link_offset_mass * grav * -1);
// force and moments which do not include offsets
hrp::Vector3 off_force = sensorR * (data_p - m_forcemoment_offset_param[sensor_name].force_offset) - mg;
hrp::Vector3 off_moment = sensorR * (data_r - m_forcemoment_offset_param[sensor_name].moment_offset) - hrp::Vector3(sensorR * m_forcemoment_offset_param[sensor->name].link_offset_centroid).cross(mg);
// convert absolute force -> sensor local force
off_force = hrp::Vector3(sensorR.transpose() * off_force);
off_moment = hrp::Vector3(sensorR.transpose() * off_moment);
for (size_t j = 0; j < 3; j++) {
m_force[i].data[j] = off_force(j);
m_force[i].data[3+j] = off_moment(j);
}
if ( DEBUGP ) {
std::cerr << "off force : " << off_force[0] << " " << off_force[1] << " " << off_force[2] << std::endl;
std::cerr << "off moment : " << off_moment[0] << " " << off_moment[1] << " " << off_moment[2] << std::endl;
}
} else {
std::cerr << "unknwon force param" << std::endl;
}
}
}
}
for (unsigned int i=0; i<m_forceOut.size(); i++){
m_forceOut[i]->write();
}
return RTC::RTC_OK;
}
