/*!
\brief Constructor.
\param[in] AppName String containing unit test name.
\param[in] argc Number of arguments in argv
\param[in] argv Array of char arrays containing the command line arguments.
*/
dmz::Test::Test (const String &AppName, int argc, char *argv[]) :
obs (rt.get_context ()),
config ("global"),
log ("", rt.get_context ()),
error (False) {
const String LogLevelEnvStr (get_env ("DMZ_TEST_LOG_LEVEL"));
LogLevelEnum level (LogLevelWarn);
if (LogLevelEnvStr) { level = string_to_log_level (LogLevelEnvStr); }
obs.set_level (level);
log.out
<< "-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-" << endl
<< "Running " << AppName << " unit test." << endl
<< "-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-" << endl;
CommandLine cl (argc, argv);
CommandLineConfig clconfig;
if (!clconfig.process_command_line (cl, config)) {
log.error << "Unable to process command line: " << clconfig.get_error () << endl;
error = True;
}
}
/*!
\brief Process the command line.
\details Loads all XML configuration files specified by the command line.
\param[in] CL CommandLine object to process.
\return Returns dmz::True if command line was successfully processed. Returns
dmz::False if there was an error parsing the XML configuration files.
*/
dmz::Boolean
dmz::Application::process_command_line (const CommandLine &CL) {
CommandLineConfig clconfig;
if (!clconfig.process_command_line (CL, _state.global, &(_state.log))) {
_state.errorMsg.flush () << "Unable to process command line: "
<< clconfig.get_error ();
_state.log.error << _state.errorMsg << endl;
_state.error = True;
}
if (!_state.error) { _state.cache.configure (_state.global); }
// format_config_to_xml (global, _state.log.debug, True);
return !_state.error;
}
void App::solveGazeProblem(){
// Publish the query for visualisation in Director
bot_core::pose_t goalMsg;
goalMsg.utime = rstate_.utime;
goalMsg.pos[0] = cl_cfg_.gazeGoal(0);
goalMsg.pos[1] = cl_cfg_.gazeGoal(1);
goalMsg.pos[2] = cl_cfg_.gazeGoal(2);
goalMsg.orientation[0] = 1;
goalMsg.orientation[1] = 0;
goalMsg.orientation[2] = 0;
goalMsg.orientation[3] = 0;
lcm_->publish("POSE_BODY_ALT", &goalMsg);
// Solve the IK problem for the neck:
VectorXd q_star(robotStateToDrakePosition(rstate_, dofMap_, model_.num_positions));
VectorXd q_sol(model_.num_positions);
int info = getConstraints(q_star, q_sol);
if (info != 1) {
std::cout << "Problem not solved\n";
return;
}
bool mode = 0;
if (mode==0){ // publish utorso-to-head as orientation, not properly tracking but works with different orientations
// Get the utorso to head frame:
int pelvis_link = model_.findLinkId("pelvis");
int head_link = model_.findLinkId("head");
int utorso_link = model_.findLinkId("torso");
KinematicsCache<double> cache = model_.doKinematics(q_sol,0);
Eigen::Isometry3d world_to_pelvis = matrixdToIsometry3d( model_.forwardKin(cache, Vector3d::Zero().eval(), pelvis_link, 0, 2, 0).value() );
Eigen::Isometry3d world_to_head = matrixdToIsometry3d( model_.forwardKin(cache, Vector3d::Zero().eval(), head_link, 0, 2, 0).value() );
Eigen::Isometry3d pelvis_to_head = world_to_head.inverse()*world_to_pelvis;
Eigen::Isometry3d pelvis_to_utorso = matrixdToIsometry3d( model_.forwardKin(cache, Vector3d::Zero().eval(), utorso_link, 0, 2, 0).value() ).inverse()*world_to_pelvis;
Eigen::Isometry3d utorso_to_head = pelvis_to_utorso.inverse()*pelvis_to_head;
// Apply 180 roll as head orientation control seems to be in z-up frame
Eigen::Isometry3d rotation_frame;
rotation_frame.setIdentity();
Eigen::Quaterniond quat = euler_to_quat( M_PI, 0, 0);
rotation_frame.rotate(quat);
utorso_to_head = utorso_to_head*rotation_frame;
bot_core::pose_t world_to_head_frame_pose_msg = getPoseAsBotPose(world_to_head, rstate_.utime);
lcm_->publish("POSE_VICON",&world_to_head_frame_pose_msg);// for debug
bot_core::pose_t utorso_to_head_frame_pose_msg = getPoseAsBotPose(utorso_to_head, rstate_.utime);
lcm_->publish("DESIRED_HEAD_ORIENTATION",&utorso_to_head_frame_pose_msg);// temp
}else{ // publish neck pitch and yaw joints as orientation. this works ok when robot is facing 1,0,0,0
// Fish out the two neck joints (in simulation) and send as a command:
std::vector<string> jointNames;
for (int i=0 ; i <model_.num_positions ; i++){
// std::cout << model.getPositionName(i) << " " << i << "\n";
jointNames.push_back( model_.getPositionName(i) ) ;
}
drc::robot_state_t robot_state_msg;
getRobotState(robot_state_msg, 0*1E6, q_sol , jointNames);
lcm_->publish("CANDIDATE_ROBOT_ENDPOSE",&robot_state_msg);
std::vector<std::string>::iterator it1 = find(jointNames.begin(),
jointNames.end(), "lowerNeckPitch");
int lowerNeckPitchIndex = std::distance(jointNames.begin(), it1);
float lowerNeckPitchAngle = q_sol[lowerNeckPitchIndex];
std::vector<std::string>::iterator it2 = find(jointNames.begin(),
jointNames.end(), "neckYaw");
int neckYawIndex = std::distance(jointNames.begin(), it2);
float neckYawAngle = q_sol[neckYawIndex];
std::cout << lowerNeckPitchAngle << " (" << lowerNeckPitchAngle*180.0/M_PI << ") is lowerNeckPitchAngle\n";
std::cout << neckYawAngle << " (" << neckYawAngle*180.0/M_PI << ") is neckYawAngle\n";
bot_core::pose_t headOrientationMsg;
headOrientationMsg.utime = rstate_.utime;
headOrientationMsg.pos[0] = 0;
headOrientationMsg.pos[1] = 0;
headOrientationMsg.pos[2] = 0;
Eigen::Quaterniond quat = euler_to_quat(0, lowerNeckPitchAngle, neckYawAngle);
headOrientationMsg.orientation[0] = quat.w();
headOrientationMsg.orientation[1] = quat.x();
headOrientationMsg.orientation[2] = quat.y();
headOrientationMsg.orientation[3] = quat.z();
lcm_->publish("DESIRED_HEAD_ORIENTATION",&headOrientationMsg);
lcm_->publish("POSE_VICON",&headOrientationMsg); // for debug
}
//std::cout << "Desired orientation sent, exiting\n";
//exit(-1);
}
