forked from blender/blender
779 lines
21 KiB
C++
779 lines
21 KiB
C++
/* SPDX-FileCopyrightText: 2009 Benoit Bolsee
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*
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* SPDX-License-Identifier: LGPL-2.1-or-later */
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/** \file
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* \ingroup intern_itasc
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*/
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#include "Armature.hpp"
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#include <algorithm>
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#include <string.h>
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#include <stdlib.h>
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namespace iTaSC {
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#if 0
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// a joint constraint is characterized by 5 values: tolerance, K, alpha, yd, yddot
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static const unsigned int constraintCacheSize = 5;
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#endif
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std::string Armature::m_root = "root";
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Armature::Armature():
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ControlledObject(),
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m_tree(),
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m_njoint(0),
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m_nconstraint(0),
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m_noutput(0),
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m_neffector(0),
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m_finalized(false),
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m_cache(NULL),
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m_buf(NULL),
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m_qCCh(-1),
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m_qCTs(0),
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m_yCCh(-1),
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#if 0
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m_yCTs(0),
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#endif
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m_qKdl(),
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m_oldqKdl(),
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m_newqKdl(),
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m_qdotKdl(),
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m_jac(NULL),
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m_armlength(0.0),
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m_jacsolver(NULL),
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m_fksolver(NULL)
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{
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}
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Armature::~Armature()
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{
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if (m_jac)
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delete m_jac;
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if (m_jacsolver)
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delete m_jacsolver;
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if (m_fksolver)
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delete m_fksolver;
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for (JointConstraintList::iterator it=m_constraints.begin(); it != m_constraints.end(); it++) {
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if (*it != NULL)
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delete (*it);
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}
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if (m_buf)
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delete [] m_buf;
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m_constraints.clear();
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}
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Armature::JointConstraint_struct::JointConstraint_struct(SegmentMap::const_iterator _segment, unsigned int _y_nr, ConstraintCallback _function, void* _param, bool _freeParam, bool _substep):
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segment(_segment), value(), values(), function(_function), y_nr(_y_nr), param(_param), freeParam(_freeParam), substep(_substep)
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{
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memset(values, 0, sizeof(values));
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memset(value, 0, sizeof(value));
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values[0].feedback = 20.0;
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values[1].feedback = 20.0;
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values[2].feedback = 20.0;
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values[0].tolerance = 1.0;
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values[1].tolerance = 1.0;
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values[2].tolerance = 1.0;
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values[0].values = &value[0];
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values[1].values = &value[1];
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values[2].values = &value[2];
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values[0].number = 1;
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values[1].number = 1;
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values[2].number = 1;
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switch (segment->second.segment.getJoint().getType()) {
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case Joint::RotX:
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value[0].id = ID_JOINT_RX;
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values[0].id = ID_JOINT_RX;
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v_nr = 1;
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break;
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case Joint::RotY:
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value[0].id = ID_JOINT_RY;
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values[0].id = ID_JOINT_RY;
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v_nr = 1;
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break;
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case Joint::RotZ:
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value[0].id = ID_JOINT_RZ;
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values[0].id = ID_JOINT_RZ;
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v_nr = 1;
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break;
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case Joint::TransX:
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value[0].id = ID_JOINT_TX;
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values[0].id = ID_JOINT_TX;
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v_nr = 1;
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break;
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case Joint::TransY:
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value[0].id = ID_JOINT_TY;
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values[0].id = ID_JOINT_TY;
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v_nr = 1;
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break;
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case Joint::TransZ:
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value[0].id = ID_JOINT_TZ;
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values[0].id = ID_JOINT_TZ;
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v_nr = 1;
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break;
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case Joint::Sphere:
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values[0].id = value[0].id = ID_JOINT_RX;
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values[1].id = value[1].id = ID_JOINT_RY;
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values[2].id = value[2].id = ID_JOINT_RZ;
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v_nr = 3;
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break;
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case Joint::Swing:
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values[0].id = value[0].id = ID_JOINT_RX;
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values[1].id = value[1].id = ID_JOINT_RZ;
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v_nr = 2;
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break;
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case Joint::None:
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break;
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}
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}
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Armature::JointConstraint_struct::~JointConstraint_struct()
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{
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if (freeParam && param)
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free(param);
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}
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void Armature::initCache(Cache *_cache)
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{
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m_cache = _cache;
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m_qCCh = -1;
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m_yCCh = -1;
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m_buf = NULL;
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if (m_cache) {
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// add a special channel for the joint
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m_qCCh = m_cache->addChannel(this, "q", m_qKdl.rows()*sizeof(double));
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#if 0
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// for the constraints, instead of creating many different channels, we will
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// create a single channel for all the constraints
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if (m_nconstraint) {
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m_yCCh = m_cache->addChannel(this, "y", m_nconstraint*constraintCacheSize*sizeof(double));
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m_buf = new double[m_nconstraint*constraintCacheSize];
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}
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// store the initial cache position at timestamp 0
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pushConstraints(0);
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#endif
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pushQ(0);
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}
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}
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void Armature::pushQ(CacheTS timestamp)
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{
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if (m_qCCh >= 0) {
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// try to keep the cache if the joints are the same
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m_cache->addCacheVectorIfDifferent(this, m_qCCh, timestamp, m_qKdl(0), m_qKdl.rows(), KDL::epsilon);
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m_qCTs = timestamp;
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}
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}
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/* return true if a m_cache position was loaded */
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bool Armature::popQ(CacheTS timestamp)
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{
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if (m_qCCh >= 0) {
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double* item;
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item = (double *)m_cache->getPreviousCacheItem(this, m_qCCh, ×tamp);
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if (item && m_qCTs != timestamp) {
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double* q = m_qKdl(0);
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memcpy(q, item, m_qKdl.rows()*sizeof(double));
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m_qCTs = timestamp;
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// changing the joint => recompute the jacobian
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updateJacobian();
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}
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return (item) ? true : false;
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}
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return true;
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}
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#if 0
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void Armature::pushConstraints(CacheTS timestamp)
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{
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if (m_yCCh >= 0) {
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double *buf = NULL;
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if (m_nconstraint) {
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double *item = m_buf;
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for (unsigned int i=0; i<m_nconstraint; i++) {
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JointConstraint_struct* pConstraint = m_constraints[i];
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*item++ = pConstraint->values.feedback;
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*item++ = pConstraint->values.tolerance;
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*item++ = pConstraint->value.yd;
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*item++ = pConstraint->value.yddot;
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*item++ = pConstraint->values.alpha;
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}
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}
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m_cache->addCacheVectorIfDifferent(this, m_yCCh, timestamp, m_buf, m_nconstraint*constraintCacheSize, KDL::epsilon);
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m_yCTs = timestamp;
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}
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}
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/* return true if a cache position was loaded */
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bool Armature::popConstraints(CacheTS timestamp)
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{
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if (m_yCCh >= 0) {
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double *item = (double*)m_cache->getPreviousCacheItem(this, m_yCCh, ×tamp);
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if (item && m_yCTs != timestamp) {
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for (unsigned int i=0; i<m_nconstraint; i++) {
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JointConstraint_struct* pConstraint = m_constraints[i];
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if (pConstraint->function != Joint1DOFLimitCallback) {
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pConstraint->values.feedback = *item++;
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pConstraint->values.tolerance = *item++;
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pConstraint->value.yd = *item++;
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pConstraint->value.yddot = *item++;
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pConstraint->values.alpha = *item++;
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} else {
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item += constraintCacheSize;
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}
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}
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m_yCTs = timestamp;
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}
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return (item) ? true : false;
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}
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return true;
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}
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#endif
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bool Armature::addSegment(const std::string& segment_name, const std::string& hook_name, const Joint& joint, const double& q_rest, const Frame& f_tip, const Inertia& M)
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{
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if (m_finalized)
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return false;
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Segment segment(joint, f_tip, M);
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if (!m_tree.addSegment(segment, segment_name, hook_name))
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return false;
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int ndof = joint.getNDof();
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for (int dof=0; dof<ndof; dof++) {
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Joint_struct js(joint.getType(), ndof, (&q_rest)[dof]);
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m_joints.push_back(js);
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}
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m_njoint+=ndof;
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return true;
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}
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bool Armature::getSegment(const std::string& name, const unsigned int q_size, const Joint* &p_joint, double &q_rest, double &q, const Frame* &p_tip)
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{
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SegmentMap::const_iterator sit = m_tree.getSegment(name);
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if (sit == m_tree.getSegments().end())
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return false;
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p_joint = &sit->second.segment.getJoint();
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if (q_size < p_joint->getNDof())
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return false;
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p_tip = &sit->second.segment.getFrameToTip();
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for (unsigned int dof=0; dof<p_joint->getNDof(); dof++) {
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(&q_rest)[dof] = m_joints[sit->second.q_nr+dof].rest;
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(&q)[dof] = m_qKdl[sit->second.q_nr+dof];
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}
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return true;
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}
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double Armature::getMaxJointChange()
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{
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if (!m_finalized)
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return 0.0;
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double maxJoint = 0.0;
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for (unsigned int i=0; i<m_njoint; i++) {
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// this is a very rough calculation, it doesn't work well for spherical joint
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double joint = fabs(m_oldqKdl[i]-m_qKdl[i]);
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if (maxJoint < joint)
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maxJoint = joint;
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}
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return maxJoint;
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}
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double Armature::getMaxEndEffectorChange()
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{
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if (!m_finalized)
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return 0.0;
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double maxDelta = 0.0;
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double delta;
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Twist twist;
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for (unsigned int i = 0; i<m_neffector; i++) {
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twist = diff(m_effectors[i].pose, m_effectors[i].oldpose);
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delta = twist.rot.Norm();
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if (delta > maxDelta)
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maxDelta = delta;
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delta = twist.vel.Norm();
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if (delta > maxDelta)
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maxDelta = delta;
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}
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return maxDelta;
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}
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int Armature::addConstraint(const std::string& segment_name, ConstraintCallback _function, void* _param, bool _freeParam, bool _substep)
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{
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SegmentMap::const_iterator segment_it = m_tree.getSegment(segment_name);
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// not suitable for NDof joints
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if (segment_it == m_tree.getSegments().end()) {
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if (_freeParam && _param)
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free(_param);
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return -1;
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}
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JointConstraintList::iterator constraint_it;
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JointConstraint_struct* pConstraint;
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int iConstraint;
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for (iConstraint=0, constraint_it=m_constraints.begin(); constraint_it != m_constraints.end(); constraint_it++, iConstraint++) {
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pConstraint = *constraint_it;
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if (pConstraint->segment == segment_it) {
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// redefining a constraint
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if (pConstraint->freeParam && pConstraint->param) {
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free(pConstraint->param);
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}
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pConstraint->function = _function;
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pConstraint->param = _param;
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pConstraint->freeParam = _freeParam;
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pConstraint->substep = _substep;
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return iConstraint;
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}
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}
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if (m_finalized) {
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if (_freeParam && _param)
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free(_param);
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return -1;
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}
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// new constraint, append
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pConstraint = new JointConstraint_struct(segment_it, m_noutput, _function, _param, _freeParam, _substep);
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m_constraints.push_back(pConstraint);
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m_noutput += pConstraint->v_nr;
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return m_nconstraint++;
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}
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int Armature::addLimitConstraint(const std::string& segment_name, unsigned int dof, double _min, double _max)
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{
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SegmentMap::const_iterator segment_it = m_tree.getSegment(segment_name);
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if (segment_it == m_tree.getSegments().end())
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return -1;
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const Joint& joint = segment_it->second.segment.getJoint();
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if (joint.getNDof() != 1 && joint.getType() != Joint::Swing) {
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// not suitable for Sphere joints
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return -1;
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}
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if ((joint.getNDof() == 1 && dof > 0) || (joint.getNDof() == 2 && dof > 1))
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return -1;
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Joint_struct& p_joint = m_joints[segment_it->second.q_nr+dof];
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p_joint.min = _min;
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p_joint.max = _max;
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p_joint.useLimit = true;
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return 0;
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}
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int Armature::addEndEffector(const std::string& name)
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{
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const SegmentMap& segments = m_tree.getSegments();
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if (segments.find(name) == segments.end())
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return -1;
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EffectorList::const_iterator it;
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int ee;
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for (it=m_effectors.begin(), ee=0; it!=m_effectors.end(); it++, ee++) {
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if (it->name == name)
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return ee;
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}
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if (m_finalized)
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return -1;
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Effector_struct effector(name);
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m_effectors.push_back(effector);
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return m_neffector++;
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}
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bool Armature::finalize()
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{
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unsigned int i, j, c;
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if (m_finalized)
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return true;
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if (m_njoint == 0)
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return false;
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initialize(m_njoint, m_noutput, m_neffector);
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for (i=c=0; i<m_nconstraint; i++) {
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JointConstraint_struct* pConstraint = m_constraints[i];
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for (j=0; j<pConstraint->v_nr; j++, c++) {
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m_Cq(c,pConstraint->segment->second.q_nr+j) = 1.0;
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m_Wy(c) = pConstraint->values[j].alpha/*/(pConstraint->values.tolerance*pConstraint->values.feedback)*/;
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}
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}
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m_jacsolver= new KDL::TreeJntToJacSolver(m_tree);
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m_fksolver = new KDL::TreeFkSolverPos_recursive(m_tree);
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m_jac = new Jacobian(m_njoint);
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m_qKdl.resize(m_njoint);
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m_oldqKdl.resize(m_njoint);
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m_newqKdl.resize(m_njoint);
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m_qdotKdl.resize(m_njoint);
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for (i=0; i<m_njoint; i++) {
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m_newqKdl[i] = m_oldqKdl[i] = m_qKdl[i] = m_joints[i].rest;
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}
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updateJacobian();
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// estimate the maximum size of the robot arms
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double length;
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m_armlength = 0.0;
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for (i=0; i<m_neffector; i++) {
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length = 0.0;
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KDL::SegmentMap::value_type const *sit = m_tree.getSegmentPtr(m_effectors[i].name);
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while (sit->first != "root") {
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Frame tip = sit->second.segment.pose(m_qKdl(sit->second.q_nr));
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length += tip.p.Norm();
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sit = sit->second.parent;
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}
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if (length > m_armlength)
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m_armlength = length;
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}
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if (m_armlength < KDL::epsilon)
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m_armlength = KDL::epsilon;
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m_finalized = true;
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return true;
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}
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void Armature::pushCache(const Timestamp& timestamp)
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{
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if (!timestamp.substep && timestamp.cache) {
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pushQ(timestamp.cacheTimestamp);
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//pushConstraints(timestamp.cacheTimestamp);
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}
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}
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bool Armature::setJointArray(const KDL::JntArray& joints)
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{
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if (!m_finalized)
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return false;
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if (joints.rows() != m_qKdl.rows())
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return false;
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m_qKdl = joints;
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updateJacobian();
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return true;
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}
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const KDL::JntArray& Armature::getJointArray()
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{
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return m_qKdl;
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}
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bool Armature::updateJoint(const Timestamp& timestamp, JointLockCallback& callback)
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{
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if (!m_finalized)
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return false;
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// integration and joint limit
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// for spherical joint we must use a more sophisticated method
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unsigned int q_nr;
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double* qdot=m_qdotKdl(0);
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double* q=m_qKdl(0);
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double* newq=m_newqKdl(0);
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double norm, qx, qz, CX, CZ, sx, sz;
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bool locked = false;
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int unlocked = 0;
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for (q_nr=0; q_nr<m_nq; ++q_nr)
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qdot[q_nr]=m_qdot[q_nr];
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for (q_nr=0; q_nr<m_nq; ) {
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Joint_struct* joint = &m_joints[q_nr];
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if (!joint->locked) {
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switch (joint->type) {
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case KDL::Joint::Swing:
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{
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KDL::Rotation base = KDL::Rot(KDL::Vector(q[0],0.0,q[1]));
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(base*KDL::Rot(KDL::Vector(qdot[0],0.0,qdot[1])*timestamp.realTimestep)).GetXZRot().GetValue(newq);
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if (joint[0].useLimit) {
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if (joint[1].useLimit) {
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// elliptical limit
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sx = sz = 1.0;
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qx = newq[0];
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qz = newq[1];
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// determine in which quadrant we are
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if (qx > 0.0 && qz > 0.0) {
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CX = joint[0].max;
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CZ = joint[1].max;
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} else if (qx <= 0.0 && qz > 0.0) {
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CX = -joint[0].min;
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CZ = joint[1].max;
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qx = -qx;
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sx = -1.0;
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} else if (qx <= 0.0 && qz <= 0.0) {
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CX = -joint[0].min;
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CZ = -joint[1].min;
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qx = -qx;
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|
qz = -qz;
|
|
sx = sz = -1.0;
|
|
} else {
|
|
CX = joint[0].max;
|
|
CZ = -joint[0].min;
|
|
qz = -qz;
|
|
sz = -1.0;
|
|
}
|
|
if (CX < KDL::epsilon || CZ < KDL::epsilon) {
|
|
// quadrant is degenerated
|
|
if (qx > CX) {
|
|
newq[0] = CX*sx;
|
|
joint[0].locked = true;
|
|
}
|
|
if (qz > CZ) {
|
|
newq[1] = CZ*sz;
|
|
joint[0].locked = true;
|
|
}
|
|
} else {
|
|
// general case
|
|
qx /= CX;
|
|
qz /= CZ;
|
|
norm = KDL::sqrt(KDL::sqr(qx)+KDL::sqr(qz));
|
|
if (norm > 1.0) {
|
|
norm = 1.0/norm;
|
|
newq[0] = qx*norm*CX*sx;
|
|
newq[1] = qz*norm*CZ*sz;
|
|
joint[0].locked = true;
|
|
}
|
|
}
|
|
} else {
|
|
// limit on X only
|
|
qx = newq[0];
|
|
if (qx > joint[0].max) {
|
|
newq[0] = joint[0].max;
|
|
joint[0].locked = true;
|
|
} else if (qx < joint[0].min) {
|
|
newq[0] = joint[0].min;
|
|
joint[0].locked = true;
|
|
}
|
|
}
|
|
} else if (joint[1].useLimit) {
|
|
// limit on Z only
|
|
qz = newq[1];
|
|
if (qz > joint[1].max) {
|
|
newq[1] = joint[1].max;
|
|
joint[0].locked = true;
|
|
} else if (qz < joint[1].min) {
|
|
newq[1] = joint[1].min;
|
|
joint[0].locked = true;
|
|
}
|
|
}
|
|
if (joint[0].locked) {
|
|
// check the difference from previous position
|
|
locked = true;
|
|
norm = KDL::sqr(newq[0]-q[0])+KDL::sqr(newq[1]-q[1]);
|
|
if (norm < KDL::epsilon2) {
|
|
// joint didn't move, no need to update the jacobian
|
|
callback.lockJoint(q_nr, 2);
|
|
} else {
|
|
// joint moved, compute the corresponding velocity
|
|
double deltaq[2];
|
|
(base.Inverse()*KDL::Rot(KDL::Vector(newq[0],0.0,newq[1]))).GetXZRot().GetValue(deltaq);
|
|
deltaq[0] /= timestamp.realTimestep;
|
|
deltaq[1] /= timestamp.realTimestep;
|
|
callback.lockJoint(q_nr, 2, deltaq);
|
|
// no need to update the other joints, it will be done after next rerun
|
|
goto end_loop;
|
|
}
|
|
} else
|
|
unlocked++;
|
|
break;
|
|
}
|
|
case KDL::Joint::Sphere:
|
|
{
|
|
(KDL::Rot(KDL::Vector(q))*KDL::Rot(KDL::Vector(qdot)*timestamp.realTimestep)).GetRot().GetValue(newq);
|
|
// no limit on this joint
|
|
unlocked++;
|
|
break;
|
|
}
|
|
default:
|
|
for (unsigned int i=0; i<joint->ndof; i++) {
|
|
newq[i] = q[i]+qdot[i]*timestamp.realTimestep;
|
|
if (joint[i].useLimit) {
|
|
if (newq[i] > joint[i].max) {
|
|
newq[i] = joint[i].max;
|
|
joint[0].locked = true;
|
|
} else if (newq[i] < joint[i].min) {
|
|
newq[i] = joint[i].min;
|
|
joint[0].locked = true;
|
|
}
|
|
}
|
|
}
|
|
if (joint[0].locked) {
|
|
locked = true;
|
|
norm = 0.0;
|
|
// compute delta to locked position
|
|
for (unsigned int i=0; i<joint->ndof; i++) {
|
|
qdot[i] = newq[i] - q[i];
|
|
norm += qdot[i]*qdot[i];
|
|
}
|
|
if (norm < KDL::epsilon2) {
|
|
// joint didn't move, no need to update the jacobian
|
|
callback.lockJoint(q_nr, joint->ndof);
|
|
} else {
|
|
// solver needs velocity, compute equivalent velocity
|
|
for (unsigned int i=0; i<joint->ndof; i++) {
|
|
qdot[i] /= timestamp.realTimestep;
|
|
}
|
|
callback.lockJoint(q_nr, joint->ndof, qdot);
|
|
goto end_loop;
|
|
}
|
|
} else
|
|
unlocked++;
|
|
}
|
|
}
|
|
qdot += joint->ndof;
|
|
q += joint->ndof;
|
|
newq += joint->ndof;
|
|
q_nr += joint->ndof;
|
|
}
|
|
end_loop:
|
|
// check if there any other unlocked joint
|
|
for ( ; q_nr<m_nq; ) {
|
|
Joint_struct* joint = &m_joints[q_nr];
|
|
if (!joint->locked)
|
|
unlocked++;
|
|
q_nr += joint->ndof;
|
|
}
|
|
// if all joints have been locked no need to run the solver again
|
|
return (unlocked) ? locked : false;
|
|
}
|
|
|
|
void Armature::updateKinematics(const Timestamp& timestamp){
|
|
|
|
//Integrate m_qdot
|
|
if (!m_finalized)
|
|
return;
|
|
|
|
// the new joint value have been computed already, just copy
|
|
memcpy(m_qKdl(0), m_newqKdl(0), sizeof(double)*m_qKdl.rows());
|
|
pushCache(timestamp);
|
|
updateJacobian();
|
|
// here update the desired output.
|
|
// We assume constant desired output for the joint limit constraint, no need to update it.
|
|
}
|
|
|
|
void Armature::updateJacobian()
|
|
{
|
|
//calculate pose and jacobian
|
|
for (unsigned int ee=0; ee<m_nee; ee++) {
|
|
m_fksolver->JntToCart(m_qKdl,m_effectors[ee].pose,m_effectors[ee].name,m_root);
|
|
m_jacsolver->JntToJac(m_qKdl,*m_jac,m_effectors[ee].name);
|
|
// get the jacobian for the base point, to prepare transformation to world reference
|
|
changeRefPoint(*m_jac,-m_effectors[ee].pose.p,*m_jac);
|
|
//copy to Jq:
|
|
e_matrix& Jq = m_JqArray[ee];
|
|
for(unsigned int i=0;i<6;i++) {
|
|
for(unsigned int j=0;j<m_nq;j++)
|
|
Jq(i,j)=(*m_jac)(i,j);
|
|
}
|
|
}
|
|
// remember that this object has moved
|
|
m_updated = true;
|
|
}
|
|
|
|
const Frame& Armature::getPose(const unsigned int ee)
|
|
{
|
|
if (!m_finalized)
|
|
return F_identity;
|
|
return (ee >= m_nee) ? F_identity : m_effectors[ee].pose;
|
|
}
|
|
|
|
bool Armature::getRelativeFrame(Frame& result, const std::string& segment_name, const std::string& base_name)
|
|
{
|
|
if (!m_finalized)
|
|
return false;
|
|
return (m_fksolver->JntToCart(m_qKdl,result,segment_name,base_name) < 0) ? false : true;
|
|
}
|
|
|
|
void Armature::updateControlOutput(const Timestamp& timestamp)
|
|
{
|
|
if (!m_finalized)
|
|
return;
|
|
|
|
|
|
if (!timestamp.substep && !timestamp.reiterate && timestamp.interpolate) {
|
|
popQ(timestamp.cacheTimestamp);
|
|
//popConstraints(timestamp.cacheTimestamp);
|
|
}
|
|
|
|
if (!timestamp.substep) {
|
|
// save previous joint state for getMaxJointChange()
|
|
memcpy(m_oldqKdl(0), m_qKdl(0), sizeof(double)*m_qKdl.rows());
|
|
for (unsigned int i=0; i<m_neffector; i++) {
|
|
m_effectors[i].oldpose = m_effectors[i].pose;
|
|
}
|
|
}
|
|
|
|
// remove all joint lock
|
|
for (JointList::iterator jit=m_joints.begin(); jit!=m_joints.end(); ++jit) {
|
|
(*jit).locked = false;
|
|
}
|
|
|
|
JointConstraintList::iterator it;
|
|
unsigned int iConstraint;
|
|
|
|
// scan through the constraints and call the callback functions
|
|
for (iConstraint=0, it=m_constraints.begin(); it!=m_constraints.end(); it++, iConstraint++) {
|
|
JointConstraint_struct* pConstraint = *it;
|
|
unsigned int nr, i;
|
|
for (i=0, nr = pConstraint->segment->second.q_nr; i<pConstraint->v_nr; i++, nr++) {
|
|
*(double *)&pConstraint->value[i].y = m_qKdl[nr];
|
|
*(double *)&pConstraint->value[i].ydot = m_qdotKdl[nr];
|
|
}
|
|
if (pConstraint->function && (pConstraint->substep || (!timestamp.reiterate && !timestamp.substep))) {
|
|
(*pConstraint->function)(timestamp, pConstraint->values, pConstraint->v_nr, pConstraint->param);
|
|
}
|
|
// recompute the weight in any case, that's the most likely modification
|
|
for (i=0, nr=pConstraint->y_nr; i<pConstraint->v_nr; i++, nr++) {
|
|
m_Wy(nr) = pConstraint->values[i].alpha/*/(pConstraint->values.tolerance*pConstraint->values.feedback)*/;
|
|
m_ydot(nr)=pConstraint->value[i].yddot+pConstraint->values[i].feedback*(pConstraint->value[i].yd-pConstraint->value[i].y);
|
|
}
|
|
}
|
|
}
|
|
|
|
bool Armature::setControlParameter(unsigned int constraintId, unsigned int valueId, ConstraintAction action, double value, double timestep)
|
|
{
|
|
unsigned int lastid, i;
|
|
if (constraintId == CONSTRAINT_ID_ALL) {
|
|
constraintId = 0;
|
|
lastid = m_nconstraint;
|
|
} else if (constraintId < m_nconstraint) {
|
|
lastid = constraintId+1;
|
|
} else {
|
|
return false;
|
|
}
|
|
for ( ; constraintId<lastid; ++constraintId) {
|
|
JointConstraint_struct* pConstraint = m_constraints[constraintId];
|
|
if (valueId == ID_JOINT) {
|
|
for (i=0; i<pConstraint->v_nr; i++) {
|
|
switch (action) {
|
|
case ACT_TOLERANCE:
|
|
pConstraint->values[i].tolerance = value;
|
|
break;
|
|
case ACT_FEEDBACK:
|
|
pConstraint->values[i].feedback = value;
|
|
break;
|
|
case ACT_ALPHA:
|
|
pConstraint->values[i].alpha = value;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
} else {
|
|
for (i=0; i<pConstraint->v_nr; i++) {
|
|
if (valueId == pConstraint->value[i].id) {
|
|
switch (action) {
|
|
case ACT_VALUE:
|
|
pConstraint->value[i].yd = value;
|
|
break;
|
|
case ACT_VELOCITY:
|
|
pConstraint->value[i].yddot = value;
|
|
break;
|
|
case ACT_TOLERANCE:
|
|
pConstraint->values[i].tolerance = value;
|
|
break;
|
|
case ACT_FEEDBACK:
|
|
pConstraint->values[i].feedback = value;
|
|
break;
|
|
case ACT_ALPHA:
|
|
pConstraint->values[i].alpha = value;
|
|
break;
|
|
case ACT_NONE:
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (m_finalized) {
|
|
for (i=0; i<pConstraint->v_nr; i++)
|
|
m_Wy(pConstraint->y_nr+i) = pConstraint->values[i].alpha/*/(pConstraint->values.tolerance*pConstraint->values.feedback)*/;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
}
|
|
|