/***********************************************************************
* Method: RobotController::Execute
* Params:
* Returns: void
* Effects: Run the controller, specifically running anything that should
* happen when in a state
***********************************************************************/
void RobotController::Execute()
{
ros::spinOnce();
// ROS_INFO_STREAM_THROTTLE(3, m_status.ToString());
// 1) Check to see if robot has reached goal & transition if needed
// 2) Perform any state related actions
StateExecute();
UpdatePose();
m_statusPub.publish(m_status.GetMessage());
//Don't need anymore since we're using services
// if (ros::Time::now() - m_lastStatusUpdate > ros::Duration(2))
// {
// ROS_WARN_STREAM_THROTTLE(10, "Robot has not been in communication for "<<(ros::Time::now() - m_lastStatusUpdate) << " seconds");
// m_lastStatusUpdate = ros::Time::now();
// }
// Constant update every 200ms ~ 5 Hz
if (ros::Time::now() - m_lastConstantStatusUpdate > ros::Duration(0.2))
{
UpdatePose();
m_statusPub.publish(m_status.GetMessage());
m_lastConstantStatusUpdate = ros::Time::now();
}
}
/***********************************************************************
* Method: RobotController::SendRobotStatus
* Params:
* Returns: void
* Effects: Sends the current status over ROS to any listening
* nodes
***********************************************************************/
bool RobotController::SendRobotStatus(global_planner::RobotStatusSrv::Request &req,
global_planner::RobotStatusSrv::Response &res)
{
UpdatePose();
res.status = m_status.GetMessage();
m_lastStatusUpdate = ros::Time::now();
return true;
}
bool SScanLine::add(SSensorData const& data) {
if(m_vecscan.empty()) {
m_vecscan.emplace_back(UpdatePose(rbt::pose<double>::zero(), data), data.m_nAngle, data.m_nDistance);
return true;
} else {
auto CompareAngle = [](int lhs, int rhs) {
if(lhs<rhs) return -1;
if(rhs<lhs) return 1;
return 0;
};
auto const nCompare = CompareAngle(m_vecscan.front().m_nAngle, m_vecscan.back().m_nAngle);
auto const nCompareOther = CompareAngle(m_vecscan.back().m_nAngle, data.m_nAngle);
if(nCompare==0 || nCompareOther==0 || nCompare==nCompareOther) {
// Lidar didn't change direction, add sensor to scanline
m_vecscan.emplace_back(UpdatePose(m_vecscan.back().m_pose, data), data.m_nAngle, data.m_nDistance);
return true;
} else {
return false; // start new scanline
}
}
}
/***********************************************************************
* Method: RobotController::SetupCallbacks
* Params:
* Returns: void
* Effects: Sets up the subscribers, publishers, and services for the bot
***********************************************************************/
void RobotController::SetupCallbacks()
{
m_eStopSub = m_nh->subscribe("/e_stop", 10, &RobotController::cb_eStopSub, this);
m_odomSub = m_nh->subscribe("odom", 10, &RobotController::cb_odomSub, this);
m_statusPub = m_nh->advertise<global_planner::RobotStatus>("/robot_status", 100);
ROS_INFO_STREAM("Connecting to service: "<<Conversion::RobotIDToWaypointFinishedTopic(m_status.GetID()));
// ROS_INFO_STREAM("Waiting for wp service to come up...");
// ros::service::waitForService( Conversion::RobotIDToWaypointFinishedTopic(m_status.GetID()) );
//Task Finished services
m_waypointFinishedPub = m_nh->serviceClient<global_planner::WaypointFinished>(Conversion::RobotIDToWaypointFinishedTopic(m_status.GetID()), false);
if (m_waypointFinishedPub.isValid())
{
ROS_INFO_STREAM("Successfully connected to wp finished service");
}
else
{
ROS_ERROR_STREAM("Could not connect to wp finished service.");
}
ROS_INFO_STREAM("Connecting to service: "<<Conversion::RobotIDToDumpFinishedTopic(m_status.GetID()));
// ROS_INFO_STREAM("Waiting for dump service to come up...");
// ros::service::waitForService( Conversion::RobotIDToDumpFinishedTopic(m_status.GetID()) );
m_dumpFinishedPub = m_nh->serviceClient<global_planner::DumpFinished>(Conversion::RobotIDToDumpFinishedTopic(m_status.GetID()), true);
if (m_dumpFinishedPub.isValid())
{
ROS_INFO_STREAM("Successfully connected to dump finished service");
}
else
{
ROS_ERROR_STREAM("Could not connect to dump finished service.");
}
m_statusService = m_nh->advertiseService(Conversion::RobotIDToServiceName(m_status.GetID()), &RobotController::SendRobotStatus, this);
m_waypointService = m_nh->advertiseService(Conversion::RobotIDToWaypointTopic(m_status.GetID()), &RobotController::cb_waypointSub, this);
m_dumpService = m_nh->advertiseService(Conversion::RobotIDToDumpTopic(m_status.GetID()), &RobotController::cb_dumpSub, this);
m_setStatusService = m_nh->advertiseService(Conversion::RobotIDToSetStatusTopic(m_status.GetID()), &RobotController::cb_SetRobotStatus, this);
m_setTrashService = m_nh->advertiseService(Conversion::RobotIDToSetTrash(m_status.GetID()), &RobotController::cb_SetTrash, this);
//Let the global planner know that this robot is alive an active
UpdatePose();
m_statusPub.publish(m_status.GetMessage());
// Publishers to send human interface output
m_soundPub = m_nh->advertise<std_msgs::String>("/interface_sound", 100);
m_textPub = m_nh->advertise<std_msgs::String>("/interface_text", 100);
ROS_INFO_STREAM("Finished setting up topics");
}
//-------------------------------------------
// とりあえずIK
void BoneModel::VMDIkAnimation()
{
//XMStoreFloat4()
//XMLoadFloat4()
if (mBone.empty())return;
if (mMotion.empty())return;
DWORD mBoneNum = mBone.size();
DWORD mIkNum = mIk.size();
// IK計算
for (DWORD i = 0; i < mIkNum; i++){
//{
// int i = 0;
Ik& ik = mIk[i];
UINT tg_idx = ik.target_bone_index;
UINT ik_idx = ik.bone_index;
for (UINT ite = 0; ite<ik.iterations; ++ite){
for (UINT chn = 0; chn<ik.chain_length; ++chn){
UINT link_idx = ik.child_bone_index[chn];//
if (link_idx >= mBoneNum)continue;
Bone& link_bone = mBone[link_idx];
//UINT link_pidx = link_bone.mIkBoneIdx;
UINT link_pidx = link_bone.mHierarchy.mIdxParent;
//if (link_bone.mIkBoneIdx != 0){
// continue;
//}
if (link_pidx >= mBoneNum)continue;
Bone& link_parent = mBone[link_pidx];
Bone& tg_bone = mBone[tg_idx];
(void)tg_bone;
Bone& ik_bone = mBone[ik_idx];
(void)ik_bone;
XMVECTOR target_wpos = mBone[tg_idx].mMtxPose.r[3];
XMVECTOR ik_wpos = mBone[ik_idx].mMtxPose.r[3];
XMVECTOR lp_wpos = link_parent.mMtxPose.r[3];
//Linkボーンのローカル空間に変換
XMVECTOR Determinant;
XMMATRIX inv_mtx = XMMatrixInverse(&Determinant, link_bone.mMtxPose);
XMVECTOR tg_pos = XMVector4Transform(target_wpos, inv_mtx);
XMVECTOR ik_pos = XMVector4Transform(ik_wpos, inv_mtx);
XMVECTOR lp_pos = XMVector4Transform(lp_wpos, inv_mtx);
// 回転軸と角度
XMVECTOR rot_axis = XMVectorSet(1, 0, 0, 0);
float ang = 0.0f;
bool same_dir = false;
if (!RotDir(tg_pos, ik_pos, ik.control_weight, &rot_axis, &ang)){
same_dir = true;
}
if (!same_dir){
//tg_dirをik_dirに一致させるための回転
XMVECTOR rot = XMQuaternionRotationAxis(rot_axis, ang);
XMVECTOR lrot = FloatToVector(link_bone.mRot);
XMVECTOR bone_rot_before = lrot;
link_bone.mRot = VectorToFloat(XMQuaternionMultiply(rot, lrot));
float dist_tg = XMVectorGetX(XMVector3Length(tg_pos));
float dist_ik = XMVectorGetX(XMVector3Length(ik_pos));
(void)dist_ik;
float dist_lp = XMVectorGetX(XMVector3Length(lp_pos));
(void)dist_lp;
float dist_pltg = XMVectorGetX(XMVector3Length(lp_pos - tg_pos));
float dist_plik = XMVectorGetX(XMVector3Length(lp_pos - ik_pos));
float dot_tgik = XMVectorGetX(XMVector3Dot(XMVector3Normalize(tg_pos), XMVector3Normalize(ik_pos)));
(void)dot_tgik;
// 回転制限
if (/*link.bLimit*/ 1){
XMVECTOR rotmax, rotmin;
//114.5916 = 2
float a = 2;// XM_PI / 180.0f * 57.25f;
rotmax = XMVectorSet(a, a, a, 0);//link.vMax;
rotmin = XMVectorSet(-a, -a, -a, 0);//link.vMin;
//名前に"ひざ"があったら回転制限
if (std::string::npos != link_bone.mStrName.find("ひざ")){
rotmax = XMVectorSet(-XM_PI / 180.0f*0.5f, 0, 0, 0);
rotmin = XMVectorSet(-XM_PI, 0, 0, 0);
}
struct IkLink{
XMFLOAT4 mMax;
XMFLOAT4 mMin;
};
IkLink link = { VectorToFloat(rotmax), VectorToFloat(rotmin) };
//Bone& link = link_bone;
link_bone.mRot = VectorToFloat(LimitAngle(FloatToVector(link_bone.mRot), rotmin, rotmax));
XMVECTOR angxyz = GetAngle(rot);
//膝を曲げるための仮処理 かなりてきとう
if (XMVectorGetX(angxyz) >= 0 &&
//0.9f < dot_tgik &&
//dist_tg > dist_ik &&
dist_pltg > dist_plik &&
link.mMax.x < 0 && link.mMax.y == link.mMin.y && link.mMax.z == link.mMin.z){
//親リンクの回転接平面（できるだけこの平面に近づけたほうがよりIK目標に近づける）
XMVECTOR lp_nor = XMVector3Normalize(-lp_pos);//平面の法線
//lp_norとの内積が0になる位置を目標にする
//２つあるので回転制限後の|内積|が小さいほう
XMVECTOR tng = XMVector3Cross(XMVectorSet(1, 0, 0, 0), lp_nor);
//+tngと-tngの２つ
XMVECTOR rot_axis0, rot_axis1;
float ang0 = 0, ang1 = 0;
// 回転軸をXに限定
rot_axis1 = rot_axis0 = XMVectorSet(1, 0, 0, 0);
XMVECTOR tdir = XMVector3Normalize(XMVectorSetX(tg_pos, 0));
tng = XMVector3Normalize(XMVectorSetX(tng, 0));
RotDir(tdir, tng, ik.control_weight, &rot_axis0, &ang0);
RotDir(tdir, -tng, ik.control_weight, &rot_axis1, &ang1);
if (XMVectorGetX(rot_axis0) < 0.0f)ang0 = -ang0;
if (XMVectorGetX(rot_axis1) < 0.0f)ang1 = -ang1;
//これは絶対違う ぴくぴく対策
float coef = (dist_pltg - dist_plik) / dist_tg;
if (coef > 1)coef = 1;
ang0 *= coef;
ang1 *= coef;
//ang0,1は現在の位置からの相対角度
// 回転制限を考慮した相対角度に
float angx_b = XMVectorGetX(GetAngle(bone_rot_before));
float angx_a0 = angx_b + ang0;
float angx_a1 = angx_b + ang1;
if (angx_a0 < link.mMin.x) angx_a0 = link.mMin.x;
if (angx_a0 > link.mMax.x) angx_a0 = link.mMax.x;
if (angx_a1 < link.mMin.x) angx_a1 = link.mMin.x;
if (angx_a1 > link.mMax.x) angx_a1 = link.mMax.x;
ang0 = angx_a0 - angx_b;
ang1 = angx_a1 - angx_b;
XMVECTOR rot0 = XMQuaternionRotationRollPitchYaw(ang0, 0, 0);
XMVECTOR rot1 = XMQuaternionRotationRollPitchYaw(ang1, 0, 0);
XMVECTOR tdir0 = XMVector3TransformCoord(tdir, XMMatrixRotationQuaternion(rot0));
XMVECTOR tdir1 = XMVector3TransformCoord(tdir, XMMatrixRotationQuaternion(rot1));
float d0 = XMVectorGetX(XMVectorAbs(XMVector3Dot(tdir0, lp_nor)));
float d1 = XMVectorGetX(XMVectorAbs(XMVector3Dot(tdir1, lp_nor)));
if (d0 < d1){
link_bone.mRot = VectorToFloat(XMQuaternionMultiply(rot0, bone_rot_before));
}
else{
link_bone.mRot = VectorToFloat(XMQuaternionMultiply(rot1, bone_rot_before));
}
}
}
}
//ワールド行列更新
link_bone.mMtxPose = SQTMatrix(FloatToVector(link_bone.mScale), FloatToVector(link_bone.mRot), FloatToVector(link_bone.mPos));
if (link_bone.mHierarchy.mIdxParent < mBoneNum){
link_bone.mMtxPose = XMMatrixMultiply(link_bone.mMtxPose, mBone[link_bone.mHierarchy.mIdxParent].mMtxPose);
}
// 子階層のリンク再計算
for (int lidown = chn - 1; lidown >= 0; --lidown){
UINT idx = ik.child_bone_index[lidown];
if (idx >= mBoneNum)continue;
Bone& linkb = mBone[idx];
linkb.mMtxPose = SQTMatrix(FloatToVector(linkb.mScale), FloatToVector(linkb.mRot), FloatToVector(linkb.mPos));
if (linkb.mHierarchy.mIdxParent < mBoneNum){
linkb.mMtxPose = XMMatrixMultiply(linkb.mMtxPose, mBone[linkb.mHierarchy.mIdxParent].mMtxPose);
}
}
mBone[tg_idx].mMtxPose = SQTMatrix(FloatToVector(mBone[tg_idx].mScale), FloatToVector(mBone[tg_idx].mRot), FloatToVector(mBone[tg_idx].mPos));
if (mBone[tg_idx].mHierarchy.mIdxParent < mBoneNum){
mBone[tg_idx].mMtxPose = XMMatrixMultiply(mBone[tg_idx].mMtxPose, mBone[mBone[tg_idx].mHierarchy.mIdxParent].mMtxPose);
}
}
}
//Bone& b = mBone[tg_idx];
//Bone& b2 = mBone[mBone[tg_idx].mHierarchy.mIdxParent];
//Bone& b3 = mBone[b2.mHierarchy.mIdxParent];
//int sa = 1;
//IKの計算結果を子階層に反映
//UpdatePose();
}
UpdatePose();
}
// とりあえずアニメーション
void BoneModel::VMDAnimation(float key_time)
{
if (!mBoneAssetDataPtr)return;
if (mMotion.empty())return;
auto& bones = mBoneAssetDataPtr->GetFileData().GetBoneData().mBoneBuffer;
if (bones.empty())return;
for (DWORD mid = 0; mid < bones.size(); mid++){
Motion& mot = mMotion[mid];
if (mot.mKeyFrame.size() == 0)continue;
UINT idx = 0;
for (auto key : mot.mKeyFrame){
if (key.mKeyFrame.FrameNo >= key_time){
break;
}
++idx;
}
if (idx >= mot.mKeyFrame.size())idx = mot.mKeyFrame.size() - 1;
UINT prev = idx;
if (idx>0)prev = idx - 1;
vmd::VMDKeyFrame& key0 = mot.mKeyFrame[prev].mKeyFrame;
vmd::VMDKeyFrame& key1 = mot.mKeyFrame[idx].mKeyFrame;
float t = 1.0f;
if (idx != prev){
t = float(key_time - key0.FrameNo) / float(key1.FrameNo - key0.FrameNo);
}
if (t < 0.0f)t = 0.0f;
if (t > 1.0f)t = 1.0f;
{
XMVECTOR pos0 = XMVectorSet(key0.Location[0], key0.Location[1], key0.Location[2], 0.0f);
XMVECTOR pos1 = XMVectorSet(key1.Location[0], key1.Location[1], key1.Location[2], 0.0f);
XMVECTOR rot0 = XMVectorSet(key0.Rotatation[0], key0.Rotatation[1], key0.Rotatation[2], key0.Rotatation[3]);
XMVECTOR rot1 = XMVectorSet(key1.Rotatation[0], key1.Rotatation[1], key1.Rotatation[2], key1.Rotatation[3]);
float tx = Bezier(key0.Interpolation[0], key0.Interpolation[8], key0.Interpolation[4], key0.Interpolation[12], t);
float ty = Bezier(key0.Interpolation[1], key0.Interpolation[9], key0.Interpolation[5], key0.Interpolation[13], t);
float tz = Bezier(key0.Interpolation[2], key0.Interpolation[10], key0.Interpolation[6], key0.Interpolation[14], t);
float tr = Bezier(key0.Interpolation[3], key0.Interpolation[11], key0.Interpolation[7], key0.Interpolation[15], t);
XMVECTOR v = XMVectorLerpV(pos0, pos1, XMVectorSet(tx, ty, tz, 0.0f));
mBone[mid].mPos = XMFLOAT3(XMVectorGetX(v), XMVectorGetY(v), XMVectorGetZ(v));
XMVECTOR q = XMQuaternionSlerp(rot0, rot1, tr);
mBone[mid].mRot = XMFLOAT4(XMVectorGetX(q), XMVectorGetY(q), XMVectorGetZ(q), XMVectorGetW(q));
////ワールド行列計算
//XMVECTOR scale = { 1, 1, 1, 1 };
//mBone[mid].mMtxPose = SRTMatrix(scale, q, v);
//if (mBone[mid].mHierarchy.mIdxParent < mBoneNum){
// mBone[mid].mMtxPose = XMMatrixMultiply(mBone[mid].mMtxPose, mBone[mBone[mid].mHierarchy.mIdxParent].mMtxPose);
//}
}
}
UpdatePose();
VMDIkAnimation();
}
