RTC::ReturnCode_t ForwardKinematics::onInitialize()
{
std::cerr << "[" << m_profile.instance_name << "] onInitialize()" << std::endl;
// <rtc-template block="bind_config">
// Bind variables and configuration variable
coil::Properties& ref = getProperties();
bindParameter("sensorAttachedLink", m_sensorAttachedLinkName, ref["conf.default.sensorAttachedLink"].c_str());
// </rtc-template>
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("q", m_qIn);
addInPort("sensorRpy", m_sensorRpyIn);
addInPort("qRef", m_qRefIn);
addInPort("basePosRef", m_basePosRefIn);
addInPort("baseRpyRef", m_baseRpyRefIn);
// Set OutPort buffer
// Set service provider to Ports
m_ForwardKinematicsServicePort.registerProvider("service0", "ForwardKinematicsService", m_service0);
addPort(m_ForwardKinematicsServicePort);
m_service0.setComp(this);
// Set service consumers to Ports
// Set CORBA Service Ports
// </rtc-template>
RTC::Properties& prop = getProperties();
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
m_refBody = hrp::BodyPtr(new hrp::Body());
if (!loadBodyFromModelLoader(m_refBody, prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext()))){
std::cerr << "[" << m_profile.instance_name << "] failed to load model[" << prop["model"] << "]" << std::endl;
return RTC::RTC_ERROR;
}
m_actBody = hrp::BodyPtr(new hrp::Body());
if (!loadBodyFromModelLoader(m_actBody, prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext()))){
std::cerr << "[" << m_profile.instance_name << "] failed to load model[" << prop["model"] << "]" << std::endl;
return RTC::RTC_ERROR;
}
m_refLink = m_refBody->rootLink();
m_actLink = m_actBody->rootLink();
return RTC::RTC_OK;
}
int initializeOpenHRPModel (char* _filename)
{
int rtmargc=0;
char** argv=NULL;
//std::vector<char *> rtmargv;
//rtmargv.push_back(argv[0]);
rtmargc++;
RTC::Manager* manager;
//manager = RTC::Manager::init(rtmargc, rtmargv.data());
manager = RTC::Manager::init(rtmargc, argv);
std::string nameServer = manager->getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(manager->getORB(), nameServer.c_str());
std::string filename(_filename);
if (!loadBodyFromModelLoader(m_robot, filename.c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext()),
true)){
std::cerr << print_prefix << " Failed to load model[" << filename << "]" << std::endl;
return 1;
} else {
std::cerr << print_prefix << " Success to load model[" << filename << "]" << std::endl;
}
return 0;
};
RTC::ReturnCode_t HrpsysJointTrajectoryBridge::onInitialize()
{
m_SequencePlayerServicePort.registerConsumer("service0", "SequencePlayerService", m_service0);
addPort(m_SequencePlayerServicePort);
RTC::Properties& prop = getProperties();
body = hrp::BodyPtr(new hrp::Body());
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0)
{
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
std::string modelfile = m_pManager->getConfig()["model"];
if (!loadBodyFromModelLoader(body, modelfile.c_str(), CosNaming::NamingContext::_duplicate(naming.getRootContext())))
{
std::cerr << "[HrpsysJointTrajectoryBridge] failed to load model[" << prop["model"] << "]" << std::endl;
}
bool ret = false;
while (!ret)
{
try
{
bodyinfo = hrp::loadBodyInfo(modelfile.c_str(), CosNaming::NamingContext::_duplicate(naming.getRootContext()));
ret = loadBodyFromBodyInfo(body, bodyinfo);
}
catch (CORBA::SystemException& ex)
{
std::cerr << "[HrpsysJointTrajectoryBridge] loadBodyInfo(): CORBA::SystemException " << ex._name() << std::endl;
sleep(1);
}
catch (...)
{
std::cerr << "[HrpsysJointTrajectoryBridge] loadBodyInfo(): failed to load model[" << modelfile << "]"
<< std::endl;
;
sleep(1);
}
}
if (body == NULL)
{
return RTC::RTC_ERROR;
}
body->calcForwardKinematics();
ROS_INFO_STREAM("[HrpsysJointTrajectoryBridge] @Initilize name : " << getInstanceName() << " done");
return RTC::RTC_OK;
}
RTC::ReturnCode_t GraspController::onInitialize()
{
std::cout << m_profile.instance_name << ": onInitialize()" << std::endl;
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("debugLevel", m_debugLevel, "0");
// </rtc-template>
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("qRef", m_qRefIn); // for naming rule of hrpsys_config.py
addInPort("qCurrent", m_qCurrentIn);
addInPort("qIn", m_qIn);
// Set OutPort buffer
addOutPort("q", m_qOut); // for naming rule of hrpsys_config.py
// Set service provider to Ports
m_GraspControllerServicePort.registerProvider("service0", "GraspControllerService", m_service0);
// Set service consumers to Ports
// Set CORBA Service Ports
addPort(m_GraspControllerServicePort);
// </rtc-template>
m_robot = hrp::BodyPtr(new hrp::Body());
RTC::Properties& prop = getProperties();
coil::stringTo(m_dt, prop["dt"].c_str());
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
if (!loadBodyFromModelLoader(m_robot, prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext())
)){
std::cerr << "[" << m_profile.instance_name << "] failed to load model[" << prop["model"] << "]"
<< std::endl;
return RTC::RTC_ERROR;
}
// <name> : <joint1>, <direction1>, <joint2>, <direction2>, <joint1>, <direction2>, <name> : <joint1>, <direction1>
// check num of grasp
coil::vstring grasp_joint_params = coil::split(prop["grasp_joint_groups"], ",");
std::string grasp_name;
GraspJoint grasp_joint;
std::vector<GraspJoint> grasp_joints;
for(int i = 0, f = 0; i < grasp_joint_params.size(); i++ ){
coil::vstring grasp_joint_group_names = coil::split(grasp_joint_params[i], ":");
if ( grasp_joint_group_names.size() > 1 ) {
if ( grasp_name != "" ) {
GraspParam grasp_param;
grasp_param.time = 0;
grasp_param.joints = grasp_joints;
grasp_param.time = 1; // stop
m_grasp_param[grasp_name] = grasp_param;
grasp_joints.clear();
}
// initialize
grasp_name = grasp_joint_group_names[0];
if ( !! m_robot->link(grasp_joint_group_names[1]) ) {
grasp_joint.id = m_robot->link(std::string(grasp_joint_group_names[1].c_str()))->jointId;
}
f = 0;
i++;
}
if ( f == 0 ) {
coil::stringTo(grasp_joint.dir,grasp_joint_params[i].c_str());
grasp_joints.push_back(grasp_joint);
f = 1 ;
} else {
if ( !! m_robot->link(grasp_joint_params[i]) ) {
grasp_joint.id = m_robot->link(grasp_joint_params[i])->jointId;
}
f = 0 ;
}
}
// finalize
if ( grasp_name != "" ) {
GraspParam grasp_param;
grasp_param.time = 0;
grasp_param.joints = grasp_joints;
grasp_param.time = 1; // stop
m_grasp_param[grasp_name] = grasp_param;
}
//
if ( m_debugLevel ) {
std::map<std::string, GraspParam >::iterator it = m_grasp_param.begin();
while ( it != m_grasp_param.end() ) {
std::cerr << "[" << m_profile.instance_name << "] " << it->first << " : ";
for ( int i = 0 ; i < it->second.joints.size(); i++ ) {
std::cerr << "id = " << it->second.joints[i].id << ", dir = " << it->second.joints[i].dir << ", ";
}
std::cerr << std::endl;
it++;
}
}
return RTC::RTC_OK;
}
RTC::ReturnCode_t ImpedanceController::onInitialize()
{
std::cout << "ImpedanceController::onInitialize()" << std::endl;
bindParameter("debugLevel", m_debugLevel, "0");
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("qCurrent", m_qCurrentIn);
addInPort("qRef", m_qRefIn);
addInPort("rpy", m_rpyIn);
addInPort("rpyRef", m_rpyRefIn);
// Set OutPort buffer
addOutPort("q", m_qOut);
// Set service provider to Ports
m_ImpedanceControllerServicePort.registerProvider("service0", "ImpedanceControllerService", m_service0);
// Set service consumers to Ports
// Set CORBA Service Ports
addPort(m_ImpedanceControllerServicePort);
// </rtc-template>
// <rtc-template block="bind_config">
// Bind variables and configuration variable
// </rtc-template>
RTC::Properties& prop = getProperties();
coil::stringTo(m_dt, prop["dt"].c_str());
m_robot = hrp::BodyPtr(new hrp::Body());
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
if (!loadBodyFromModelLoader(m_robot, prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext())
)){
std::cerr << "failed to load model[" << prop["model"] << "] in "
<< m_profile.instance_name << std::endl;
return RTC::RTC_ERROR;
}
coil::vstring virtual_force_sensor = coil::split(prop["virtual_force_sensor"], ",");
int npforce = m_robot->numSensors(hrp::Sensor::FORCE);
int nvforce = virtual_force_sensor.size()/10;
int nforce = npforce + nvforce;
m_force.resize(nforce);
m_forceIn.resize(nforce);
m_ref_force.resize(nforce);
m_ref_forceOut.resize(nforce);
for (unsigned int i=0; i<npforce; i++){
hrp::Sensor *s = m_robot->sensor(hrp::Sensor::FORCE, i);
m_forceIn[i] = new InPort<TimedDoubleSeq>(s->name.c_str(), m_force[i]);
m_force[i].data.length(6);
registerInPort(s->name.c_str(), *m_forceIn[i]);
m_ref_force[i].data.length(6);
for (unsigned int j=0; j<6; j++) m_ref_force[i].data[j] = 0.0;
m_ref_forceOut[i] = new OutPort<TimedDoubleSeq>(std::string("ref_"+s->name).c_str(), m_ref_force[i]);
registerOutPort(std::string("ref_"+s->name).c_str(), *m_ref_forceOut[i]);
std::cerr << s->name << std::endl;
}
for (unsigned int i=0; i<nvforce; i++){
std::string name = virtual_force_sensor[i*10+0];
VirtualForceSensorParam p;
hrp::dvector tr(7);
for (int j = 0; j < 7; j++ ) {
coil::stringTo(tr[j], virtual_force_sensor[i*10+3+j].c_str());
}
p.p = hrp::Vector3(tr[0], tr[1], tr[2]);
p.R = Eigen::AngleAxis<double>(tr[6], hrp::Vector3(tr[3],tr[4],tr[5])).toRotationMatrix(); // rotation in VRML is represented by axis + angle
p.parent_link_name = virtual_force_sensor[i*10+2];
m_sensors[name] = p;
std::cerr << "virtual force sensor : " << name << std::endl;
std::cerr << " T, R : " << p.p[0] << " " << p.p[1] << " " << p.p[2] << std::endl << p.R << std::endl;
std::cerr << " parent : " << p.parent_link_name << std::endl;
m_forceIn[i+npforce] = new InPort<TimedDoubleSeq>(name.c_str(), m_force[i+npforce]);
m_force[i+npforce].data.length(6);
registerInPort(name.c_str(), *m_forceIn[i+npforce]);
m_ref_force[i+npforce].data.length(6);
for (unsigned int j=0; j<6; j++) m_ref_force[i].data[j] = 0.0;
m_ref_forceOut[i+npforce] = new OutPort<TimedDoubleSeq>(std::string("ref_"+name).c_str(), m_ref_force[i+npforce]);
registerOutPort(std::string("ref_"+name).c_str(), *m_ref_forceOut[i+npforce]);
std::cerr << name << std::endl;
}
for (unsigned int i=0; i<m_forceIn.size(); i++){
abs_forces.insert(std::pair<std::string, hrp::Vector3>(m_forceIn[i]->name(), hrp::Vector3::Zero()));
abs_moments.insert(std::pair<std::string, hrp::Vector3>(m_forceIn[i]->name(), hrp::Vector3::Zero()));
}
unsigned int dof = m_robot->numJoints();
for ( int i = 0 ; i < dof; i++ ){
if ( i != m_robot->joint(i)->jointId ) {
std::cerr << "jointId is not equal to the index number" << std::endl;
return RTC::RTC_ERROR;
}
}
// allocate memory for outPorts
m_q.data.length(dof);
qrefv.resize(dof);
loop = 0;
return RTC::RTC_OK;
}
RTC::ReturnCode_t TorqueController::onInitialize()
{
std::cout << m_profile.instance_name << ": onInitialize()" << std::endl;
// <rtc-template block="bind_config">
// Bind variables and configuration variable
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("debugLevel", m_debugLevel, "0");
// </rtc-template>
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("tauCurrent", m_tauCurrentInIn);
addInPort("tauMax", m_tauMaxInIn);
addInPort("qCurrent", m_qCurrentInIn);
addInPort("qRef", m_qRefInIn); // for naming rule of hrpsys_config.py
// Set OutPort buffer
addOutPort("q", m_qRefOutOut); // for naming rule of hrpsys_config.py
// Set service provider to Ports
m_TorqueControllerServicePort.registerProvider("service0", "TorqueControllerService", m_service0);
// Set service consumers to Ports
// Set CORBA Service Ports
addPort(m_TorqueControllerServicePort);
// </rtc-template>
// read property settings
RTC::Properties& prop = getProperties();
// get dt
coil::stringTo(m_dt, prop["dt"].c_str());
// make rtc manager settings
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
// set robot model
m_robot = hrp::BodyPtr(new hrp::Body());
std::cerr << prop["model"].c_str() << std::endl;
if (!loadBodyFromModelLoader(m_robot, prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext())
)){
std::cerr << "failed to load model[" << prop["model"] << "]"
<< std::endl;
}
// make torque controller settings
coil::vstring motorTorqueControllerParamsFromConf = coil::split(prop["torque_controller_params"], ",");
hrp::dvector tdcParamKe(m_robot->numJoints()), tdcParamKd(m_robot->numJoints()), tdcParamKi(m_robot->numJoints()), tdcParamT(m_robot->numJoints());
if (motorTorqueControllerParamsFromConf.size() == 2 * m_robot->numJoints()) {
std::cerr << "use TwoDofController" << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) { // use TwoDofController
coil::stringTo(tdcParamKe[i], motorTorqueControllerParamsFromConf[2 * i].c_str());
coil::stringTo(tdcParamT[i], motorTorqueControllerParamsFromConf[2 * i + 1].c_str());
m_motorTorqueControllers.push_back(MotorTorqueController(m_robot->joint(i)->name, tdcParamKe[i], tdcParamT[i], m_dt));
}
if (m_debugLevel > 0) {
std::cerr << "torque controller parames:" << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) {
std::cerr << m_robot->joint(i)->name << ":" << tdcParamKe[i] << " " << tdcParamT[i] << " " << m_dt << std::endl;
}
}
} else if (motorTorqueControllerParamsFromConf.size() == 3 * m_robot->numJoints()) { // use TwoDofControllerPDModel
std::cerr << "use TwoDofControllerPDModel" << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) { // use TwoDofControllerPDModel
coil::stringTo(tdcParamKe[i], motorTorqueControllerParamsFromConf[3 * i].c_str());
coil::stringTo(tdcParamKd[i], motorTorqueControllerParamsFromConf[3 * i + 1].c_str());
coil::stringTo(tdcParamT[i], motorTorqueControllerParamsFromConf[3 * i + 2].c_str());
m_motorTorqueControllers.push_back(MotorTorqueController(m_robot->joint(i)->name, tdcParamKe[i], tdcParamKd[i], tdcParamT[i], m_dt));
}
if (m_debugLevel > 0) {
std::cerr << "torque controller parames:" << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) {
std::cerr << m_robot->joint(i)->name << ":" << tdcParamKe[i] << " " << tdcParamKd[i] << " " << tdcParamT[i] << " " << m_dt << std::endl;
}
}
} else if (motorTorqueControllerParamsFromConf.size() == 4 * m_robot->numJoints()) { // use TwoDofControllerDynamicsModel
std::cerr << "use TwoDofControllerDynamicsModel" << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) { // use TwoDofControllerDynamicsModel
coil::stringTo(tdcParamKe[i], motorTorqueControllerParamsFromConf[4 * i].c_str());
coil::stringTo(tdcParamKd[i], motorTorqueControllerParamsFromConf[4 * i + 1].c_str());
coil::stringTo(tdcParamKi[i], motorTorqueControllerParamsFromConf[4 * i + 2].c_str());
coil::stringTo(tdcParamT[i], motorTorqueControllerParamsFromConf[4 * i + 3].c_str());
m_motorTorqueControllers.push_back(MotorTorqueController(m_robot->joint(i)->name, tdcParamKe[i], tdcParamKd[i], tdcParamKi[i], tdcParamT[i], m_dt));
}
if (m_debugLevel > 0) {
std::cerr << "torque controller parames:" << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) {
std::cerr << m_robot->joint(i)->name << ":" << tdcParamKe[i] << " " << tdcParamKd[i] << " " << tdcParamKi[i] << " " << tdcParamT[i] << " " << m_dt << std::endl;
}
}
} else { // default
std::cerr << "[WARNING] torque_controller_params is not correct number, " << motorTorqueControllerParamsFromConf.size() << ". Use default controller." << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) {
tdcParamKe[i] = 400.0;
tdcParamT[i] = 0.04;
m_motorTorqueControllers.push_back(MotorTorqueController(m_robot->joint(i)->name, tdcParamKe[i], tdcParamT[i], m_dt));
}
if (m_debugLevel > 0) {
std::cerr << "torque controller parames:" << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) {
std::cerr << m_robot->joint(i)->name << ":" << tdcParamKe[i] << " " << tdcParamT[i] << " " << m_dt << std::endl;
}
}
}
// allocate memory for outPorts
m_qRefOut.data.length(m_robot->numJoints());
return RTC::RTC_OK;
}
RTC::ReturnCode_t TorqueFilter::onInitialize()
{
std::cout << m_profile.instance_name << ": onInitialize()" << std::endl;
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("debugLevel", m_debugLevel, "0");
// </rtc-template>
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("qCurrent", m_qCurrentIn);
addInPort("tauIn", m_tauInIn);
// Set OutPort buffer
addOutPort("tauOut", m_tauOutOut);
// Set service provider to Ports
// Set service consumers to Ports
// Set CORBA Service Ports
// </rtc-template>
RTC::Properties& prop = getProperties();
coil::stringTo(m_dt, prop["dt"].c_str());
m_robot = hrp::BodyPtr(new hrp::Body());
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
if (!loadBodyFromModelLoader(m_robot, prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext())
)){
std::cerr << "failed to load model[" << prop["model"] << "] in "
<< m_profile.instance_name << std::endl;
return RTC::RTC_ERROR;
}
// init outport
m_tauOut.data.length(m_robot->numJoints());
// set gravity compensation flag
coil::stringTo(m_is_gravity_compensation, prop["gravity_compensation"].c_str());
if (m_debugLevel > 0) {
std::cerr << m_profile.instance_name << " : gravity compensation flag: " << m_is_gravity_compensation << std::endl;
}
// set torque offset
// offset = -(gear torque in neutral pose)
m_torque_offset.resize(m_robot->numJoints());
coil::vstring torque_offset = coil::split(prop["torque_offset"], ",");
if ( m_torque_offset.size() == torque_offset.size() && m_debugLevel > 0) {
for(int i = 0; i < m_robot->numJoints(); i++){
coil::stringTo(m_torque_offset[i], torque_offset[i].c_str());
std::cerr << "[" << m_profile.instance_name << "]" << "offset[" << m_robot->joint(i)->name << "]: " << m_torque_offset[i] << std::endl;
}
} else {
if (m_debugLevel > 0) {
std::cerr << "[" << m_profile.instance_name << "]" << "Size of torque_offset is not correct." << std::endl;
std::cerr << "[" << m_profile.instance_name << "]" << "joints: " << m_robot->numJoints() << std::endl;
std::cerr << "[" << m_profile.instance_name << "]" << "offsets: " << torque_offset.size() << std::endl;
}
}
// make filter
// filter_dim, fb_coeffs[0], ..., fb_coeffs[filter_dim], ff_coeffs[0], ..., ff_coeffs[filter_dim]
coil::vstring torque_filter_params = coil::split(prop["torque_filter_params"], ","); // filter values
int filter_dim = 0;
std::vector<double> fb_coeffs, ff_coeffs;
bool use_default_flag = false;
// check size of toruqe_filter_params
if ( torque_filter_params.size() > 0 ) {
coil::stringTo(filter_dim, torque_filter_params[0].c_str());
if (m_debugLevel > 0) {
std::cerr << "[" << m_profile.instance_name << "]" << "filter dim: " << filter_dim << std::endl;
std::cerr << "[" << m_profile.instance_name << "]" << "torque filter param size: " << torque_filter_params.size() << std::endl;
}
} else {
use_default_flag = true;
if (m_debugLevel > 0) {
std::cerr<< "[" << m_profile.instance_name << "]" << "There is no torque_filter_params. Use default values." << std::endl;
}
}
if (!use_default_flag && ((filter_dim + 1) * 2 + 1 != torque_filter_params.size()) ) {
if (m_debugLevel > 0) {
std::cerr<< "[" << m_profile.instance_name << "]" << "Size of torque_filter_params is not correct. Use default values." << std::endl;
}
use_default_flag = true;
}
// define parameters
if (use_default_flag) {
// ex) 2dim butterworth filter sampling = 200[hz] cutoff = 5[hz]
// octave$ [a, b] = butter(2, 5/200)
// fb_coeffs[0] = 1.00000; <- b0
// fb_coeffs[1] = 1.88903; <- -b1
// fb_coeffs[2] = -0.89487; <- -b2
// ff_coeffs[0] = 0.0014603; <- a0
// ff_coeffs[1] = 0.0029206; <- a1
// ff_coeffs[2] = 0.0014603; <- a2
filter_dim = 2;
fb_coeffs.resize(filter_dim+1);
fb_coeffs[0] = 1.00000;
fb_coeffs[1] = 1.88903;
fb_coeffs[2] =-0.89487;
ff_coeffs.resize(filter_dim+1);
ff_coeffs[0] = 0.0014603;
ff_coeffs[1] = 0.0029206;
ff_coeffs[2] = 0.0014603;
} else {
fb_coeffs.resize(filter_dim + 1);
ff_coeffs.resize(filter_dim + 1);
for (int i = 0; i < filter_dim + 1; i++) {
coil::stringTo(fb_coeffs[i], torque_filter_params[i + 1].c_str());
coil::stringTo(ff_coeffs[i], torque_filter_params[i + (filter_dim + 2)].c_str());
}
}
if (m_debugLevel > 0) {
for (int i = 0; i < filter_dim + 1; i++) {
std::cerr << "[" << m_profile.instance_name << "]" << "fb[" << i << "]: " << fb_coeffs[i] << std::endl;
std::cerr << "[" << m_profile.instance_name << "]" << "ff[" << i << "]: " << ff_coeffs[i] << std::endl;
}
}
// make filter instance
for(int i = 0; i < m_robot->numJoints(); i++){
m_filters.push_back(IIRFilter(filter_dim, fb_coeffs, ff_coeffs, std::string(m_profile.instance_name)));
}
return RTC::RTC_OK;
}
RTC::ReturnCode_t ReferenceForceUpdater::onInitialize()
{
std::cerr << "[" << m_profile.instance_name << "] onInitialize()" << std::endl;
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("debugLevel", m_debugLevel, "0");
// </rtc-template>
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("qRef", m_qRefIn);
addInPort("basePosIn", m_basePosIn);
addInPort("baseRpyIn",m_baseRpyIn);
addInPort("rpy",m_rpyIn);
// Set service provider to Ports
m_ReferenceForceUpdaterServicePort.registerProvider("service0", "ReferenceForceUpdaterService", m_ReferenceForceUpdaterService);
// Set service consumers to Ports
// Set CORBA Service Ports
addPort(m_ReferenceForceUpdaterServicePort);
// Get dt
RTC::Properties& prop = getProperties(); // get properties information from .wrl file
coil::stringTo(m_dt, prop["dt"].c_str());
// Make m_robot instance
m_robot = hrp::BodyPtr(new hrp::Body());
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
if (!loadBodyFromModelLoader(m_robot, prop["model"].c_str(), // load robot model for m_robot
CosNaming::NamingContext::_duplicate(naming.getRootContext())
)){
std::cerr << "[" << m_profile.instance_name << "] failed to load model[" << prop["model"] << "]" << std::endl;
return RTC::RTC_ERROR;
}
// Setting for wrench data ports (real + virtual)
std::vector<std::string> fsensor_names;
// find names for real force sensors
unsigned int npforce = m_robot->numSensors(hrp::Sensor::FORCE);
for (unsigned int i=0; i<npforce; i++){
fsensor_names.push_back(m_robot->sensor(hrp::Sensor::FORCE, i)->name);
}
// load virtual force sensors
readVirtualForceSensorParamFromProperties(m_vfs, m_robot, prop["virtual_force_sensor"], std::string(m_profile.instance_name));
unsigned int nvforce = m_vfs.size();
for (unsigned int i=0; i<nvforce; i++){
for ( std::map<std::string, hrp::VirtualForceSensorParam>::iterator it = m_vfs.begin(); it != m_vfs.end(); it++ ) {
if (it->second.id == (int)i) fsensor_names.push_back(it->first);
}
}
// add ports for all force sensors (real force, input and output of ref_force)
unsigned int nforce = npforce + nvforce;
m_force.resize(nforce);
m_forceIn.resize(nforce);
m_ref_force_in.resize(nforce);
m_ref_force_out.resize(nforce);
m_ref_forceIn.resize(nforce);
m_ref_forceOut.resize(nforce);
std::cerr << "[" << m_profile.instance_name << "] create force sensor ports" << std::endl;
for (unsigned int i=0; i<nforce; i++){
// actual inport
m_forceIn[i] = new InPort<TimedDoubleSeq>(fsensor_names[i].c_str(), m_force[i]);
m_force[i].data.length(6);
registerInPort(fsensor_names[i].c_str(), *m_forceIn[i]);
// ref inport
m_ref_force_in[i].data.length(6);
for (unsigned int j=0; j<6; j++) m_ref_force_in[i].data[j] = 0.0;
m_ref_forceIn[i] = new InPort<TimedDoubleSeq>(std::string("ref_"+fsensor_names[i]+"In").c_str(), m_ref_force_in[i]);
registerInPort(std::string("ref_"+fsensor_names[i]+"In").c_str(), *m_ref_forceIn[i]);
std::cerr << "[" << m_profile.instance_name << "] name = " << fsensor_names[i] << std::endl;
// ref Outport
m_ref_force_out[i].data.length(6);
for (unsigned int j=0; j<6; j++) m_ref_force_out[i].data[j] = 0.0;
m_ref_forceOut[i] = new OutPort<TimedDoubleSeq>(std::string("ref_"+fsensor_names[i]+"Out").c_str(), m_ref_force_out[i]);
registerOutPort(std::string("ref_"+fsensor_names[i]+"Out").c_str(), *m_ref_forceOut[i]);
std::cerr << "[" << m_profile.instance_name << "] name = " << fsensor_names[i] << std::endl;
}
// setting from conf file
// rleg,TARGET_LINK,BASE_LINK,x,y,z,rx,ry,rz,rth #<=pos + rot (axis+angle)
coil::vstring end_effectors_str = coil::split(prop["end_effectors"], ",");
if (end_effectors_str.size() > 0) {
size_t prop_num = 10;
size_t num = end_effectors_str.size()/prop_num;
for (size_t i = 0; i < num; i++) {
std::string ee_name, ee_target, ee_base;
coil::stringTo(ee_name, end_effectors_str[i*prop_num].c_str());
coil::stringTo(ee_target, end_effectors_str[i*prop_num+1].c_str());
coil::stringTo(ee_base, end_effectors_str[i*prop_num+2].c_str());
ee_trans eet;
for (size_t j = 0; j < 3; j++) {
coil::stringTo(eet.localPos(j), end_effectors_str[i*prop_num+3+j].c_str());
}
double tmpv[4];
for (int j = 0; j < 4; j++ ) {
coil::stringTo(tmpv[j], end_effectors_str[i*prop_num+6+j].c_str());
}
eet.localR = Eigen::AngleAxis<double>(tmpv[3], hrp::Vector3(tmpv[0], tmpv[1], tmpv[2])).toRotationMatrix(); // rotation in VRML is represented by axis + angle
eet.target_name = ee_target;
ee_map.insert(std::pair<std::string, ee_trans>(ee_name , eet));
ReferenceForceUpdaterParam rfu_param;
//set rfu param
rfu_param.update_count = round((1/rfu_param.update_freq)/m_dt);
if (( ee_name != "rleg" ) && ( ee_name != "lleg" ))
m_RFUParam.insert(std::pair<std::string, ReferenceForceUpdaterParam>(ee_name , rfu_param));
ee_index_map.insert(std::pair<std::string, size_t>(ee_name, i));
ref_force.push_back(hrp::Vector3::Zero());
//ref_force_interpolator.insert(std::pair<std::string, interpolator*>(ee_name, new interpolator(3, m_dt)));
ref_force_interpolator.insert(std::pair<std::string, interpolator*>(ee_name, new interpolator(3, m_dt, interpolator::LINEAR)));
if (( ee_name != "lleg" ) && ( ee_name != "rleg" )) transition_interpolator.insert(std::pair<std::string, interpolator*>(ee_name, new interpolator(1, m_dt)));
std::cerr << "[" << m_profile.instance_name << "] End Effector [" << ee_name << "]" << ee_target << " " << ee_base << std::endl;
std::cerr << "[" << m_profile.instance_name << "] target = " << ee_target << ", base = " << ee_base << std::endl;
std::cerr << "[" << m_profile.instance_name << "] localPos = " << eet.localPos.format(Eigen::IOFormat(Eigen::StreamPrecision, 0, ", ", ", ", "", "", " [", "]")) << "[m]" << std::endl;
std::cerr << "[" << m_profile.instance_name << "] localR = " << eet.localR.format(Eigen::IOFormat(Eigen::StreamPrecision, 0, ", ", "\n", " [", "]")) << std::endl;
}
}
// check if the dof of m_robot match the number of joint in m_robot
unsigned int dof = m_robot->numJoints();
for ( unsigned int i = 0 ; i < dof; i++ ){
if ( (int)i != m_robot->joint(i)->jointId ) {
std::cerr << "[" << m_profile.instance_name << "] jointId is not equal to the index number" << std::endl;
return RTC::RTC_ERROR;
}
}
loop = 0;
transition_interpolator_ratio.reserve(transition_interpolator.size());
for (unsigned int i=0; i<transition_interpolator.size(); i++ ) transition_interpolator_ratio[i] = 0;
return RTC::RTC_OK;
}
RTC::ReturnCode_t RemoveForceSensorLinkOffset::onInitialize()
{
std::cout << m_profile.instance_name << ": onInitialize()" << std::endl;
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("debugLevel", m_debugLevel, "0");
// </rtc-template>
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("qCurrent", m_qCurrentIn);
addInPort("rpy", m_rpyIn);
// Set OutPort buffer
// Set service provider to Ports
m_RemoveForceSensorLinkOffsetServicePort.registerProvider("service0", "RemoveForceSensorLinkOffsetService", m_service0);
// Set service consumers to Ports
// Set CORBA Service Ports
addPort(m_RemoveForceSensorLinkOffsetServicePort);
// </rtc-template>
RTC::Properties& prop = getProperties();
coil::stringTo(m_dt, prop["dt"].c_str());
m_robot = hrp::BodyPtr(new hrp::Body());
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
if (!loadBodyFromModelLoader(m_robot, prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext())
)){
std::cerr << "failed to load model[" << prop["model"] << "] in "
<< m_profile.instance_name << std::endl;
return RTC::RTC_ERROR;
}
int nforce = m_robot->numSensors(hrp::Sensor::FORCE);
m_force.resize(nforce);
m_forceOut.resize(nforce);
m_forceIn.resize(nforce);
for (size_t i = 0; i < nforce; i++) {
hrp::Sensor *s = m_robot->sensor(hrp::Sensor::FORCE, i);
m_forceOut[i] = new OutPort<TimedDoubleSeq>(std::string("off_"+s->name).c_str(), m_force[i]);
m_forceIn[i] = new InPort<TimedDoubleSeq>(s->name.c_str(), m_force[i]);
m_force[i].data.length(6);
registerInPort(s->name.c_str(), *m_forceIn[i]);
registerOutPort(std::string("off_"+s->name).c_str(), *m_forceOut[i]);
m_forcemoment_offset_param.insert(std::pair<std::string, ForceMomentOffsetParam>(s->name, ForceMomentOffsetParam()));
}
return RTC::RTC_OK;
}
RTC::ReturnCode_t ThermoEstimator::onInitialize()
{
std::cout << m_profile.instance_name << ": onInitialize()" << std::endl;
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("debugLevel", m_debugLevel, "0");
// </rtc-template>
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("tauIn", m_tauInIn);
addInPort("servoStateIn", m_servoStateInIn);
// Set OutPort buffer
addOutPort("tempOut", m_tempOutOut);
addOutPort("servoStateOut", m_servoStateOutOut);
// Set service provider to Ports
// Set service consumers to Ports
// Set CORBA Service Ports
// </rtc-template>
// set parmeters
RTC::Properties& prop = getProperties();
coil::stringTo(m_dt, prop["dt"].c_str());
m_robot = hrp::BodyPtr(new hrp::Body());
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
if (!loadBodyFromModelLoader(m_robot, prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext())
)){
std::cerr << "failed to load model[" << prop["model"] << "]"
<< std::endl;
}
// init outport
m_tempOut.data.length(m_robot->numJoints());
m_servoStateIn.data.length(m_robot->numJoints());
m_servoStateOut.data.length(m_robot->numJoints());
// set temperature of environment
if (prop["ambient_tmp"] != "") {
coil::stringTo(m_ambientTemp, prop["ambient_tmp"].c_str());
} else {
m_ambientTemp = 25.0;
}
std::cerr << m_profile.instance_name << ": ambient temperature: " << m_ambientTemp << std::endl;
// set motor heat parameters
m_motorHeatParams.resize(m_robot->numJoints());
coil::vstring motorHeatParamsFromConf = coil::split(prop["motor_heat_params"], ",");
if (motorHeatParamsFromConf.size() != 2 * m_robot->numJoints()) {
std::cerr << "[WARN]: size of motorHeatParams is " << motorHeatParamsFromConf.size() << ", not equal to 2 * " << m_robot->numJoints() << std::endl;
} else {
std::cerr << "motorHeatParams is " << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) {
m_motorHeatParams[i].temperature = m_ambientTemp;
std::cerr << motorHeatParamsFromConf[2 * i].c_str() << " " << motorHeatParamsFromConf[2 * i + 1].c_str() << std::endl;
coil::stringTo(m_motorHeatParams[i].currentCoeffs, motorHeatParamsFromConf[2 * i].c_str());
coil::stringTo(m_motorHeatParams[i].thermoCoeffs, motorHeatParamsFromConf[2 * i + 1].c_str());
}
}
return RTC::RTC_OK;
}
RTC::ReturnCode_t SequencePlayer::onInitialize()
{
std::cout << "SequencePlayer::onInitialize()" << std::endl;
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("qInit", m_qInitIn);
addInPort("basePosInit", m_basePosInitIn);
addInPort("baseRpyInit", m_baseRpyInitIn);
// Set OutPort buffer
addOutPort("qRef", m_qRefOut);
addOutPort("zmpRef", m_zmpRefOut);
addOutPort("accRef", m_accRefOut);
addOutPort("basePos", m_basePosOut);
addOutPort("baseRpy", m_baseRpyOut);
// Set service provider to Ports
m_SequencePlayerServicePort.registerProvider("service0", "SequencePlayerService", m_service0);
// Set service consumers to Ports
// Set CORBA Service Ports
addPort(m_SequencePlayerServicePort);
// </rtc-template>
// <rtc-template block="bind_config">
// Bind variables and configuration variable
// </rtc-template>
RTC::Properties& prop = getProperties();
double dt;
coil::stringTo(dt, prop["dt"].c_str());
m_robot = new Body();
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
if (!loadBodyFromModelLoader(m_robot, prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext())
)){
std::cerr << "failed to load model[" << prop["model"] << "]"
<< std::endl;
}
unsigned int dof = m_robot->numJoints();
m_seq = new seqplay(dof, dt);
m_qInit.data.length(dof);
for (unsigned int i=0; i<dof; i++) m_qInit.data[i] = 0.0;
m_basePosInit.data.x = m_basePosInit.data.y = m_basePosInit.data.z = 0.0;
m_baseRpyInit.data.r = m_baseRpyInit.data.p = m_baseRpyInit.data.y = 0.0;
// allocate memory for outPorts
m_qRef.data.length(dof);
return RTC::RTC_OK;
}
RTC::ReturnCode_t SequencePlayer::onInitialize()
{
std::cout << "SequencePlayer::onInitialize()" << std::endl;
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("qInit", m_qInitIn);
addInPort("basePosInit", m_basePosInitIn);
addInPort("baseRpyInit", m_baseRpyInitIn);
addInPort("zmpRefInit", m_zmpRefInitIn);
// Set OutPort buffer
addOutPort("qRef", m_qRefOut);
addOutPort("tqRef", m_tqRefOut);
addOutPort("zmpRef", m_zmpRefOut);
addOutPort("accRef", m_accRefOut);
addOutPort("basePos", m_basePosOut);
addOutPort("baseRpy", m_baseRpyOut);
addOutPort("optionalData", m_optionalDataOut);
// Set service provider to Ports
m_SequencePlayerServicePort.registerProvider("service0", "SequencePlayerService", m_service0);
// Set service consumers to Ports
// Set CORBA Service Ports
addPort(m_SequencePlayerServicePort);
// </rtc-template>
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("debugLevel", m_debugLevel, "0");
// </rtc-template>
RTC::Properties& prop = getProperties();
coil::stringTo(dt, prop["dt"].c_str());
m_robot = hrp::BodyPtr(new Body());
RTC::Manager& rtcManager = RTC::Manager::instance();
std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
if (!loadBodyFromModelLoader(m_robot, prop["model"].c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext())
)){
std::cerr << "failed to load model[" << prop["model"] << "]"
<< std::endl;
}
unsigned int dof = m_robot->numJoints();
// Setting for wrench data ports (real + virtual)
std::vector<std::string> fsensor_names;
// find names for real force sensors
unsigned int npforce = m_robot->numSensors(hrp::Sensor::FORCE);
for (unsigned int i=0; i<npforce; i++){
fsensor_names.push_back(m_robot->sensor(hrp::Sensor::FORCE, i)->name);
}
// find names for virtual force sensors
coil::vstring virtual_force_sensor = coil::split(prop["virtual_force_sensor"], ",");
unsigned int nvforce = virtual_force_sensor.size()/10;
for (unsigned int i=0; i<nvforce; i++){
fsensor_names.push_back(virtual_force_sensor[i*10+0]);
}
// add ports for all force sensors
unsigned int nforce = npforce + nvforce;
m_wrenches.resize(nforce);
m_wrenchesOut.resize(nforce);
for (unsigned int i=0; i<nforce; i++){
m_wrenchesOut[i] = new OutPort<TimedDoubleSeq>(std::string(fsensor_names[i]+"Ref").c_str(), m_wrenches[i]);
m_wrenches[i].data.length(6);
registerOutPort(std::string(fsensor_names[i]+"Ref").c_str(), *m_wrenchesOut[i]);
}
if (prop.hasKey("seq_optional_data_dim")) {
coil::stringTo(optional_data_dim, prop["seq_optional_data_dim"].c_str());
} else {
optional_data_dim = 1;
}
m_seq = new seqplay(dof, dt, nforce, optional_data_dim);
m_qInit.data.length(dof);
for (unsigned int i=0; i<dof; i++) m_qInit.data[i] = 0.0;
Link *root = m_robot->rootLink();
m_basePosInit.data.x = root->p[0]; m_basePosInit.data.y = root->p[1]; m_basePosInit.data.z = root->p[2];
hrp::Vector3 rpy = hrp::rpyFromRot(root->R);
m_baseRpyInit.data.r = rpy[0]; m_baseRpyInit.data.p = rpy[1]; m_baseRpyInit.data.y = rpy[2];
m_zmpRefInit.data.x = 0; m_zmpRefInit.data.y = 0; m_zmpRefInit.data.z = 0;
// allocate memory for outPorts
m_qRef.data.length(dof);
m_tqRef.data.length(dof);
m_optionalData.data.length(optional_data_dim);
return RTC::RTC_OK;
}
