void ORCEnvironmentUnock(void* env) { #if BOOST_VERSION < 103500 throw OPENRAVE_EXCEPTION_FORMAT0("unlocking with boost version < 1.35 is not supported", ORE_Failed); #else GetEnvironment(env)->GetMutex().unlock(); #endif }
virtual void demothread(int argc, char ** argv) { string scenefilename = "data/pa10grasp2.env.xml"; penv->Load(scenefilename); vector<RobotBasePtr> vrobots; penv->GetRobots(vrobots); RobotBasePtr probot = vrobots.at(0); // find a manipulator chain to move for(size_t i = 0; i < probot->GetManipulators().size(); ++i) { if( probot->GetManipulators()[i]->GetName().find("arm") != string::npos ) { probot->SetActiveManipulator(probot->GetManipulators()[i]); break; } } RobotBase::ManipulatorPtr pmanip = probot->GetActiveManipulator(); // load inverse kinematics using ikfast ModuleBasePtr pikfast = RaveCreateModule(penv,"ikfast"); penv->Add(pikfast,true,""); stringstream ssin,ssout; vector<dReal> vsolution; ssin << "LoadIKFastSolver " << probot->GetName() << " " << (int)IKP_Transform6D; if( !pikfast->SendCommand(ssout,ssin) ) { RAVELOG_ERROR("failed to load iksolver\n"); } if( !pmanip->GetIkSolver()) { throw OPENRAVE_EXCEPTION_FORMAT0("need ik solver",ORE_Assert); } ModuleBasePtr pbasemanip = RaveCreateModule(penv,"basemanipulation"); // create the module penv->Add(pbasemanip,true,probot->GetName()); // load the module while(IsOk()) { { EnvironmentMutex::scoped_lock lock(penv->GetMutex()); // lock environment // find a new manipulator position and feed that into the planner. If valid, robot will move to it safely. Transform t = pmanip->GetEndEffectorTransform(); t.trans += Vector(RaveRandomFloat()-0.5f,RaveRandomFloat()-0.5f,RaveRandomFloat()-0.5f); t.rot = quatMultiply(t.rot,quatFromAxisAngle(Vector(RaveRandomFloat()-0.5f,RaveRandomFloat()-0.5f,RaveRandomFloat()-0.5f)*0.2f)); ssin.str(""); ssin.clear(); ssin << "MoveToHandPosition pose " << t; // start the planner and run the robot RAVELOG_INFO("%s\n",ssin.str().c_str()); if( !pbasemanip->SendCommand(ssout,ssin) ) { continue; } } // unlock the environment and wait for the robot to finish while(!probot->GetController()->IsDone() && IsOk()) { boost::this_thread::sleep(boost::posix_time::milliseconds(1)); } } }
void SetManipulatorBias(RobotBase::ManipulatorConstPtr pmanip, const Vector& vbiasdirection, dReal nullsampleprob, dReal nullbiassampleprob, dReal deltasampleprob) { #ifdef OPENRAVE_HAS_LAPACK _pmanip = pmanip; _vbiasdirection = vbiasdirection; _vbiasdofdirection.resize(0); _vbiasnullspace.resize(0); _nullsampleprob = nullsampleprob; _nullbiassampleprob = nullbiassampleprob; _deltasampleprob = deltasampleprob; _busebiasing = true; RAVELOG_VERBOSE_FORMAT("set bias nullsampleprob %f nullbiassampleprob %f deltasampleprob %f", _nullsampleprob%_nullbiassampleprob%_deltasampleprob); #else throw OPENRAVE_EXCEPTION_FORMAT0(_("cannot set manipulator bias since lapack is not supported"), ORE_CommandNotSupported); #endif }