philipp schoenberger
10 years ago
31 changed files with 620 additions and 1097 deletions
-
1.gitignore
-
49lwrserv/Makefile
-
7lwrserv/doc/doxygenconfig
-
2lwrserv/include/BangBangTrajectory.h
-
3lwrserv/include/LinearTrajectory.h
-
2lwrserv/include/Mat.h
-
62lwrserv/include/Robot.h
-
0lwrserv/include/SocketObject.h
-
0lwrserv/include/StringTool.h
-
74lwrserv/include/SvrData.h
-
0lwrserv/include/SvrHandling.h
-
5lwrserv/include/Trajectroy.h
-
2lwrserv/include/Vec.h
-
11lwrserv/include/commands.h
-
1lwrserv/include/config.h
-
6lwrserv/include/defines.h
-
0lwrserv/include/friComm.h
-
0lwrserv/include/friremote.h
-
0lwrserv/include/friudp.h
-
34lwrserv/include/global.h
-
6lwrserv/include/lwr4.h
-
585lwrserv/program.cpp
-
0lwrserv/src/SocketObject.cpp
-
0lwrserv/src/StringTool.cpp
-
109lwrserv/src/SvrData.cpp
-
23lwrserv/src/SvrHandling.cpp
-
371lwrserv/src/commands.cpp
-
0lwrserv/src/friremote.cpp
-
0lwrserv/src/friudp.cpp
-
183lwrserv/src/main.cpp
-
177lwrserv/src/program.cpp
@ -1,2 +1,3 @@ |
|||
build |
|||
Release |
|||
html |
|||
@ -0,0 +1,7 @@ |
|||
PROJECT_NAME = lwr_server |
|||
OUTPUT_DIRECTORY = html |
|||
WARNINGS = YES |
|||
INPUT = src |
|||
FILE_PATTERNS = *.cc *.h |
|||
INCLUDE_PATH = examples src |
|||
SEARCHENGINE = YES |
|||
@ -1,7 +1,6 @@ |
|||
/* config.h. Generated from config.h.in by configure. */ |
|||
/* config.h.in. Generated from configure.ac by autoheader. */ |
|||
|
|||
|
|||
/* Compiling CppUTest itself */ |
|||
#define CPPUTEST_COMPILATION 1 |
|||
|
|||
@ -1,9 +1,11 @@ |
|||
|
|||
#ifndef __DEFINES_H__ |
|||
#define __DEFINES_H__ |
|||
|
|||
#define M_PI 3.141592654f |
|||
#ifndef M_PI |
|||
#define M_PI 3.141592654f |
|||
#endif |
|||
|
|||
#define REAL_ROBOT false |
|||
|
|||
#endif /* __DEFINES_H__ */ |
|||
|
|||
@ -1,34 +0,0 @@ |
|||
extern bool __SVR_CURRENT_JOB; |
|||
extern bool __MSRMSRJNTPOS; |
|||
extern bool __MSRCMDJNTPOS; |
|||
extern bool __MSRCMDPOSE; |
|||
extern bool __SETVELOCITY; |
|||
extern bool __SETACCEL; |
|||
extern bool __DEBUG; |
|||
extern bool __POTFIELDMODE; |
|||
extern bool __MSRSTARTPOTFIELD; |
|||
extern bool __MSRSTOPPOTFIELD; |
|||
extern bool __MSRSETPOS; |
|||
extern bool __CARTMOVE; |
|||
extern bool __DOUS; |
|||
extern bool __DOUS2; |
|||
|
|||
extern int globi; |
|||
|
|||
extern float MSRMSRJNTPOS[7]; |
|||
extern double MSRMSRCARTPOS[12]; |
|||
extern float MSRCMDCARTPOS[12]; |
|||
extern double MSRMSRJACOBIAN[42]; |
|||
extern double MSRMSRFTTCP[6]; |
|||
extern double MSRCMDJNTPOS[7]; |
|||
extern double MSRCMDPOSE[3][4]; |
|||
|
|||
#ifndef SSSS |
|||
#define SSSS |
|||
//void sleep(DWORD ms); |
|||
|
|||
//void sleep(DWORD ms) |
|||
//{ |
|||
// Sleep(ms); |
|||
//} |
|||
#endif |
|||
@ -1,585 +0,0 @@ |
|||
#include "sgn.h"
|
|||
#include <error.h>
|
|||
#include <errno.h>
|
|||
#include <math.h>
|
|||
#include <Trajectroy.h>
|
|||
|
|||
#include "SvrData.h"
|
|||
#include "SvrHandling.h"
|
|||
#include <boost/thread/thread.hpp>
|
|||
|
|||
#include "mat.h"
|
|||
#include "vec.h"
|
|||
#include "robot.h"
|
|||
|
|||
float* abctomat(float a, float b, float c) |
|||
{ |
|||
Mat4f rx; |
|||
float ca = cos(c); |
|||
float sa = sin(c); |
|||
|
|||
rx(0,0) = 1.0f; |
|||
rx(1,1) = ca; |
|||
rx(1,2) = -sa; |
|||
rx(2,1) = sa; |
|||
rx(2,2) = ca; |
|||
rx(3,3) = 1.0f; |
|||
|
|||
Mat4f ry; |
|||
float cb = cos(b); |
|||
float sb = sin(b); |
|||
ry(0,0) = cb; |
|||
ry(0,2) = sb; |
|||
ry(1,1) = 1.0f; |
|||
ry(2,0) = -sb; |
|||
ry(2,2) = cb; |
|||
ry(3,3) = 1.0f; |
|||
|
|||
Mat4f rz; |
|||
float cc = cos(a); |
|||
float sc = sin(a); |
|||
rz(0,0) = cc; |
|||
rz(0,1) = -sc; |
|||
rz(1,0) = sc; |
|||
rz(1,1) = cc; |
|||
rz(2,2) = 1.0f; |
|||
rz(3,3) = 1.0f; |
|||
|
|||
Mat4f result; |
|||
Mat4f temp; |
|||
temp = rz * ry; |
|||
result = temp * rx; |
|||
|
|||
#ifdef __DEBUG__
|
|||
printMat(rx); |
|||
printMat(ry); |
|||
printMat(rz); |
|||
printMat(result); |
|||
#endif
|
|||
|
|||
float *res = new float[12]; |
|||
//TODO simple converter for mat
|
|||
for (int j=0;j<3;j++) |
|||
{ |
|||
for (int k=0;k<4;k++) |
|||
{ |
|||
res[j*4+k] = result(j,k); |
|||
} |
|||
} |
|||
return res; |
|||
} |
|||
|
|||
float* mattoabc(float M[12]) |
|||
{ |
|||
float norm; |
|||
float sa; |
|||
float ca; |
|||
float *abc = new float[3]; |
|||
|
|||
norm = sqrt((M[0]*M[0])+(M[4]*M[4])); |
|||
|
|||
if (norm>1e-5) |
|||
{ |
|||
sa = M[4]/norm; |
|||
ca = M[0]/norm; |
|||
abc[0] = atan2(sa,ca); |
|||
} |
|||
else |
|||
{ |
|||
sa = 0; |
|||
ca = 1; |
|||
abc[0] = 0; |
|||
} |
|||
abc[1] = atan2(-M[8],ca*M[0]+sa*M[4]); |
|||
abc[2] = atan2(sa*M[2]-ca*M[6],-sa*M[1]+ca*M[5]); |
|||
return abc; |
|||
} |
|||
|
|||
Mat4f vecToMat2(float vec[12]) |
|||
{ |
|||
Mat4f result; |
|||
for (int i=0; i<3; i++) |
|||
{ |
|||
for (int j=0; j<4; j++) |
|||
{ |
|||
result(i,j) = (float)vec[i*4+j]; |
|||
} |
|||
} |
|||
result(3,3)=1.0f; |
|||
return result; |
|||
} |
|||
|
|||
float* matToVec2(Mat4f mat) |
|||
{ |
|||
float* vec = new float[12]; |
|||
for (int j=0;j<3;j++) |
|||
{ |
|||
for (int k=0;k<4;k++) |
|||
{ |
|||
vec[j*4+k] = mat(j,k); |
|||
} |
|||
} |
|||
return vec; |
|||
} |
|||
|
|||
float* vectoquat(float vec[12]) |
|||
{ |
|||
float *quat = new float[4]; |
|||
float diag[3]; |
|||
int v; int w; int u; |
|||
diag[0] = vec[0]; |
|||
diag[1] = vec[5]; |
|||
diag[2] = vec[10]; |
|||
float u_ = *std::max_element(diag,diag+2); |
|||
|
|||
if (u_==diag[0]) |
|||
{ |
|||
u = 1; |
|||
v = 2; |
|||
w = 3; |
|||
} else if (u_==diag[1]) |
|||
{ |
|||
u = 2; |
|||
v = 3; |
|||
w = 1; |
|||
} else |
|||
{ |
|||
u = 3; |
|||
v = 1; |
|||
w = 2; |
|||
} |
|||
float r = sqrt(1+vec[(u-1)*4+(u-1)] - vec[(v-1)*4+(v-1)] - vec[(w-1)*4+(w-1)]); |
|||
quat[0] = (vec[(w-1)*4+(v-1)] - vec[(v-1)*4+(w-1)]) / (2*r); |
|||
quat[u] = r/2; |
|||
quat[v] = (vec[(u-1)*4+(v-1)] + vec[(v-1)*4+(u-1)]) / (2*r); |
|||
quat[w] = (vec[(w-1)*4+(u-1)] + vec[(u-1)*4+(w-1)]) / (2*r); |
|||
|
|||
return quat; |
|||
} |
|||
|
|||
float* quattovec(float quat[4]) |
|||
{ |
|||
float *vec = new float[12]; |
|||
vec[0] = quat[0]*quat[0]+quat[1]*quat[1]-quat[2]*quat[2]-quat[3]*quat[3]; |
|||
vec[4] = 2*(quat[1]*quat[2]+quat[0]*quat[3]); |
|||
vec[8] = 2*(quat[1]*quat[3]-quat[0]*quat[2]); |
|||
|
|||
vec[1] = 2*(quat[1]*quat[2]-quat[0]*quat[3]); |
|||
vec[5] = quat[0]*quat[0]-quat[1]*quat[1]+quat[2]*quat[2]-quat[3]*quat[3]; |
|||
vec[9] = 2*(quat[2]*quat[3]+quat[0]*quat[1]); |
|||
|
|||
vec[2] = 2*(quat[1]*quat[3]+quat[0]*quat[2]); |
|||
vec[6] = 2*(quat[2]*quat[3]-quat[0]*quat[1]); |
|||
vec[10] = quat[0]*quat[0]-quat[1]*quat[1]-quat[2]*quat[2]+quat[3]*quat[3]; |
|||
|
|||
return vec; |
|||
} |
|||
|
|||
void *threadRobotMovement(void *arg) |
|||
{ |
|||
// unused parameters
|
|||
(void) arg; |
|||
|
|||
Trajectory<JOINT_NUMBER>* currentTrajectory = NULL; |
|||
enum MovementType currentMovementType = MovementJointBased; |
|||
|
|||
Robot::VecJoint currentJointPos(0.0f); |
|||
MatCarthesian currentCartPos(0.0f,1.0f); |
|||
|
|||
friRemote* friInst = SvrData::getInstance()->getFriRemote(); |
|||
|
|||
// get current robot position
|
|||
int tries = 2; |
|||
|
|||
for (int i= 0 ; i < tries ; ++i) |
|||
{ |
|||
if (REAL_ROBOT) |
|||
SvrData::getInstance()->updateMessurement(); |
|||
currentJointPos = SvrData::getInstance()->getMeasuredJointPos(); |
|||
|
|||
SvrData::getInstance()->setCommandedJointPos(currentJointPos); |
|||
|
|||
float newJointPosToSend[JOINT_NUMBER] = {0.0f}; |
|||
currentJointPos.getData(newJointPosToSend); |
|||
if (REAL_ROBOT) |
|||
friInst->doPositionControl(newJointPosToSend); |
|||
} |
|||
std::cout << "init position is " << currentJointPos << "\n"; |
|||
|
|||
while(true) |
|||
{ |
|||
if (REAL_ROBOT) |
|||
SvrData::getInstance()->updateMessurement(); |
|||
|
|||
bool positionChanged = false; |
|||
// check if we have to cancel current trajectory
|
|||
bool cancel = SvrData::getInstance()->getTrajectoryCancel(); |
|||
if (cancel) |
|||
{ |
|||
// free the current trajectory
|
|||
if ( currentTrajectory != NULL) |
|||
{ |
|||
delete currentTrajectory; |
|||
currentTrajectory = NULL; |
|||
} |
|||
// signal waiting thread the cancellation
|
|||
SvrData::getInstance()->trajectoryCancelDone(); |
|||
goto end; |
|||
} |
|||
|
|||
// check for new trajectory
|
|||
if (currentTrajectory == NULL) |
|||
{ |
|||
// get next trajectory from svrData
|
|||
currentTrajectory = SvrData::getInstance()->popTrajectory(); |
|||
|
|||
// no new trajectory
|
|||
if(currentTrajectory == NULL) |
|||
{ |
|||
// mark that we reached the end of the trajectory
|
|||
// stay on current position
|
|||
goto end; |
|||
} |
|||
else |
|||
{ |
|||
std::cout <<"new Trajectory with " << currentTrajectory->getSteps()<<"\n"; |
|||
} |
|||
} |
|||
|
|||
// get next commanded trajectory type
|
|||
if (currentTrajectory != NULL) |
|||
{ |
|||
switch (currentTrajectory->getMovementType()) |
|||
{ |
|||
case MovementCartBased: |
|||
{ |
|||
currentCartPos = currentTrajectory->getNextCartPos(); |
|||
positionChanged = true; |
|||
currentMovementType = MovementCartBased; |
|||
} |
|||
break; |
|||
case MovementJointBased: |
|||
{ |
|||
currentJointPos = currentTrajectory->getNextJointPos(); |
|||
positionChanged = true; |
|||
currentMovementType = MovementJointBased; |
|||
} |
|||
break; |
|||
default: |
|||
{ |
|||
// invalid trajectory skip it
|
|||
delete currentTrajectory; |
|||
currentTrajectory = NULL; |
|||
goto end; |
|||
} |
|||
break; |
|||
} |
|||
} |
|||
|
|||
end: |
|||
switch (currentMovementType) |
|||
{ |
|||
case MovementJointBased: |
|||
{ |
|||
// send the new joint values
|
|||
float newJointPosToSend[JOINT_NUMBER] = {0.0f}; |
|||
Robot::VecJoint newJointPosToSendRad = currentJointPos*(1./180*M_PI); |
|||
newJointPosToSendRad.getData(newJointPosToSend); |
|||
if (REAL_ROBOT) |
|||
friInst->doPositionControl(newJointPosToSend); |
|||
} |
|||
break; |
|||
case MovementCartBased: |
|||
{ |
|||
float Stiff[6] = {1000.0, 1000.0, 1000.0, 10.0, 10.0, 10.0}; |
|||
float Damp[6] = {0.7, 0.7, 0.7, 0.7, 0.7, 0.7}; |
|||
float newCartPosToSend[12] = {0.0f}; |
|||
currentCartPos.getData(newCartPosToSend); |
|||
if (REAL_ROBOT) |
|||
friInst->doCartesianImpedanceControl(newCartPosToSend,Stiff, Damp, NULL, NULL, true); |
|||
} |
|||
break; |
|||
} |
|||
|
|||
// start timer for the last sent msg
|
|||
// TODO
|
|||
|
|||
// check if current trajectory is over
|
|||
if(currentTrajectory != NULL && currentTrajectory->getRemainingSteps() == 0) |
|||
{ |
|||
std::cout << " Trajectory finished \n "; |
|||
|
|||
static int trajcetorycount = 0; |
|||
trajcetorycount +=1; |
|||
|
|||
currentTrajectory->saveToFile(std::string("trajectory/a.csv")); |
|||
// invalid trajectory skip it
|
|||
delete currentTrajectory; |
|||
currentTrajectory = NULL; |
|||
} |
|||
} |
|||
} |
|||
|
|||
#if 0
|
|||
void *threadFriDataExchange(void *arg) |
|||
{ |
|||
// unused
|
|||
(void) arg; |
|||
|
|||
friRemote* friInst = SvrData::getInstance()->getFriRemote(); |
|||
|
|||
while (1) |
|||
{ |
|||
//#######################################
|
|||
// Communication loop
|
|||
|
|||
// update current joint positions
|
|||
SvrData::getInstance()->updateMessurement(); |
|||
|
|||
// get current joint position
|
|||
Robot::VecJoint currentJointPos = SvrData::getInstance()->getMessuredJointPos(); |
|||
|
|||
MatCarthesian currentCartPost = SvrData::getInstance()->getMessuredCartPos(); |
|||
|
|||
// get current force and torque
|
|||
Robot::VecJoint currentForceAndTorque = SvrData::getInstance()->getMessuredForceTorque(); |
|||
|
|||
// get current jacobian
|
|||
// TODO use svr data
|
|||
float* friJacobian = friInst->getJacobian(); |
|||
if ( friJacobian == NULL) |
|||
{ |
|||
fprintf(stderr,"Failed: could not get jacobian\n"); |
|||
break; |
|||
} |
|||
for (int i = 0; i < FRI_CART_VEC*LBR_MNJ ; i++) |
|||
{ |
|||
MSRMSRJACOBIAN[i] = friJacobian[i]; |
|||
} |
|||
|
|||
//#########################################################
|
|||
// PTP Joint Movement
|
|||
if (__MSRCMDJNTPOS) |
|||
{ |
|||
Vec<float,LBR_MNJ> maxJointLocalVelocity; |
|||
Vec<float,LBR_MNJ> maxJointLocalAcceleration; |
|||
Vec<float,LBR_MNJ> delta; |
|||
Vec<float,LBR_MNJ> deltaAbs; |
|||
Vec<float,LBR_MNJ> dMaxSpeed; |
|||
Vec<float,LBR_MNJ> lMaxSpeed; |
|||
Vec<float,LBR_MNJ> dGesamt; |
|||
float sampleTime = SvrData::getInstance()->getSampleTimeMs(); |
|||
|
|||
// get current robot constraints
|
|||
Vec<float,LBR_MNJ> maxVelocityJoint = SvrData::getInstance()->getMaxVelocity(); |
|||
Vec<float,LBR_MNJ> maxAccelarationJoint = SvrData::getInstance()->getMaxAcceleration(); |
|||
Vec<float,LBR_MNJ> messuredJointPos = SvrData::getInstance()->getMessuredJointPos(); |
|||
Vec<float,LBR_MNJ> commandedJointPos = SvrData::getInstance()->getCommandedJointPos(); |
|||
|
|||
float velocity = SvrData::getInstance()->getRobotVelocity(); |
|||
float accelaration = SvrData::getInstance()->getRobotAcceleration(); |
|||
|
|||
// calculate delta positions of movement
|
|||
delta = commandedJointPos - messuredJointPos; |
|||
deltaAbs = delta.abs(); |
|||
maxJointLocalVelocity = maxVelocityJoint * sampleTime * (velocity/100.0f); |
|||
maxJointLocalAcceleration = maxAccelarationJoint * sampleTime * (accelaration/100.0f); |
|||
|
|||
// calculate number of movement steps
|
|||
dMaxSpeed = maxJointLocalVelocity.celldivide(maxJointLocalAcceleration); |
|||
lMaxSpeed = dMaxSpeed.cellmultiply(dMaxSpeed).cellmultiply(maxJointLocalAcceleration) * 0.5f; |
|||
|
|||
for (int j=0; j<LBR_MNJ; j++) |
|||
{ |
|||
if (lMaxSpeed(j) > deltaAbs(j)/(double)2.0) |
|||
{ |
|||
dGesamt(j) = sqrt(deltaAbs(j) / maxJointLocalAcceleration (j))*2.0; |
|||
} else |
|||
{ |
|||
dGesamt(j) = dMaxSpeed(j)*2 + (deltaAbs(j)-lMaxSpeed(j)*2.0)/maxJointLocalVelocity(j); |
|||
} |
|||
} |
|||
int maxSteps = ceil(dGesamt.max()); |
|||
|
|||
// there are atleast 2 steps otherwise it is no trajectory
|
|||
if (maxSteps == 0 || maxSteps == 1) |
|||
goto end; |
|||
|
|||
for (int j=0; j<LBR_MNJ; j++) |
|||
{ |
|||
// ceil maxsteps/2 - sqrt(maxsteps^2 - deltaAbs/maxaccelaration)
|
|||
dMaxSpeed(j) = ceil( maxSteps /2.0f - sqrt((maxSteps/2.0f)*(maxSteps/2.0f) - deltaAbs(j)/maxAccelarationJoint(j))); |
|||
if (dMaxSpeed(j) == 0.0f) |
|||
{ |
|||
maxJointLocalAcceleration(j) = 0.0f; |
|||
} else |
|||
{ |
|||
maxJointLocalAcceleration(j) = -deltaAbs(j)/(dMaxSpeed(j)*dMaxSpeed(j)-maxSteps*dMaxSpeed(j)); |
|||
} |
|||
maxJointLocalVelocity(j) = dMaxSpeed(j)*maxJointLocalAcceleration(j); |
|||
} |
|||
|
|||
// do the trajectory
|
|||
{ |
|||
Vec<float,LBR_MNJ> currentInk; |
|||
Vec<float,LBR_MNJ> currentInkLast; |
|||
Vec<float,LBR_MNJ> currentDist; |
|||
Vec<float,LBR_MNJ> currentDistLast; |
|||
|
|||
// bang bang
|
|||
for (int i=0;i<maxSteps;i++) |
|||
{ |
|||
for (int j=0;j<LBR_MNJ;j++) |
|||
{ |
|||
if (i+1 <= maxSteps/2.0f) |
|||
{ |
|||
currentInk(j) = min(currentInkLast(j)+maxJointLocalAcceleration(j),maxJointLocalVelocity(j)); |
|||
}else if (i+1 > maxSteps-dMaxSpeed(j)) |
|||
{ |
|||
currentInk(j) = max(currentInkLast(j)-maxJointLocalAcceleration(j),0.0f); |
|||
}else |
|||
{ |
|||
currentInk(j) = currentInkLast(j); |
|||
} |
|||
currentDist(j) = currentDistLast(j) + sgn(delta(j))*currentInk(j); |
|||
currentInkLast(j) = currentInk(j); |
|||
currentDistLast(j) = currentDist(j); |
|||
MSRMSRJNTPOS[j] += sgn(delta(j))*currentInk(j)*(1./180*M_PI); |
|||
} |
|||
// set new position
|
|||
friInst->doPositionControl(MSRMSRJNTPOS); |
|||
} |
|||
} |
|||
end: |
|||
// mark state to be done
|
|||
__MSRCMDJNTPOS = false; |
|||
|
|||
} else if (__CARTMOVE) |
|||
{ |
|||
//##########################################################
|
|||
//Cartesian Movement
|
|||
|
|||
const float Stiff[6] = {1000.0, 1000.0, 1000.0, 150.0, 150.0, 150.0}; |
|||
const float Damp[6] = {0.7, 0.7, 0.7, 0.7, 0.7, 0.7}; |
|||
float th = 0.000; |
|||
float deltaCart[12]; |
|||
float Pos[12]; |
|||
float dist; |
|||
float rot; |
|||
float sum; |
|||
float b; |
|||
float c; |
|||
float t_fact = 1; |
|||
float t_outerT = 0.007; |
|||
float t_innerT = 0.000; |
|||
float t_outerR = 0.007; |
|||
float t_innerR = 0.000; |
|||
|
|||
while (true) |
|||
{ |
|||
for ( int i =0; i < FRI_CART_FRM_DIM; i++) |
|||
{ |
|||
Pos[i] = friInst->getMsrCartPosition()[i]; |
|||
MSRMSRCARTPOS[i] = friInst->getMsrCartPosition()[i]; |
|||
deltaCart[i] = MSRCMDCARTPOS[i]-Pos[i]; |
|||
} |
|||
sum = 0; |
|||
for (int i=0; i<3 ; i++) |
|||
{ |
|||
sum = sum + (deltaCart[(i*4)+3]*deltaCart[(i*4)+3]); |
|||
} |
|||
dist = sqrt(sum); |
|||
sum = 0; |
|||
for (int i=0;i<12;i++) |
|||
{ |
|||
if (i != 3 && i != 7 && i != 11) |
|||
{ |
|||
sum = sum + deltaCart[i]*deltaCart[i]; |
|||
} |
|||
} |
|||
rot = sqrt(sum); |
|||
b = t_fact*max((float)0.0,(float)min((float)1.0,(t_outerT-dist+(t_innerT-t_outerT))*(1/(t_innerT-t_outerT)))); |
|||
c = t_fact*max((float)0.0,(float)min((float)1.0,(float)(t_outerR-rot+(t_innerR-t_outerR))*(float)(1/(t_innerR-t_outerR)))); |
|||
|
|||
if (dist < th) |
|||
{ |
|||
for (int i=0; i<3; i++) |
|||
{ |
|||
deltaCart[(i*4)+3] = 0; |
|||
} |
|||
}else |
|||
{ |
|||
for (int i=0; i<3; i++) |
|||
{ |
|||
deltaCart[(i*4)+3] = (deltaCart[(i*4)+3] / dist)*b; |
|||
} |
|||
} |
|||
|
|||
// check offset to point
|
|||
if (rot < th) |
|||
{ |
|||
for (int i=0;i<12;i++) |
|||
{ |
|||
if (i != 3 && i != 7 && i != 11) |
|||
{ |
|||
deltaCart[i] = 0; |
|||
} |
|||
} |
|||
}else |
|||
{ |
|||
for (int i=0;i<12;i++) |
|||
{ |
|||
if (i != 3 && i != 7 && i != 11) |
|||
{ |
|||
deltaCart[i] = (deltaCart[i] / rot)*c; |
|||
} |
|||
} |
|||
} |
|||
for (int i=0;i<12;i++) |
|||
{ |
|||
Pos[i]+= deltaCart[i]*0.02; |
|||
} |
|||
friInst->doCartesianImpedanceControl(Pos, Stiff,Damp,NULL,NULL, true); |
|||
|
|||
} |
|||
} |
|||
//float Stiff[6] = {1000.0, 1000.0, 1000.0, 10.0, 10.0, 10.0};
|
|||
//float Damp[6] = {0.7, 0.7, 0.7, 0.7, 0.7, 0.7};
|
|||
//float Test[12] = {MSRMSRCARTPOS[0],MSRMSRCARTPOS[1],MSRMSRCARTPOS[2],MSRMSRCARTPOS[3],MSRMSRCARTPOS[4],MSRMSRCARTPOS[5],MSRMSRCARTPOS[6],MSRMSRCARTPOS[7],MSRMSRCARTPOS[8],MSRMSRCARTPOS[9],MSRMSRCARTPOS[10],MSRMSRCARTPOS[11]};
|
|||
//friInst->doCartesianImpedanceControl(Test,Stiff, Damp, NULL, NULL, true);
|
|||
|
|||
// innerhlab 5ms
|
|||
friInst->doPositionControl(MSRMSRJNTPOS); |
|||
|
|||
//i = 0;
|
|||
//}
|
|||
//friInst->doCartesianImpedanceControl(Test,Stiff, Damp, NULL, NULL, true);
|
|||
} |
|||
return NULL; |
|||
} |
|||
#endif
|
|||
|
|||
int main() |
|||
{ |
|||
int err = 0; |
|||
//Setting pthread for FRI interface
|
|||
pthread_t fri_t; |
|||
//Start fri_thread
|
|||
err = pthread_create(&fri_t,NULL,&threadRobotMovement,NULL); |
|||
if (err > 0 ) |
|||
{ |
|||
std::cerr << "Failed: could not create thread\n" << std::endl; |
|||
return err; |
|||
} |
|||
|
|||
//Start client handling
|
|||
SvrHandling *svr = new SvrHandling(); |
|||
if (svr == NULL) |
|||
{ |
|||
std::cerr << "Failed: could not create server \n" << std::endl; |
|||
return -ENOMEM; |
|||
} |
|||
svr->run(); |
|||
|
|||
return 0; |
|||
} |
|||
@ -0,0 +1,183 @@ |
|||
#include "sgn.h"
|
|||
#include <error.h>
|
|||
#include <errno.h>
|
|||
#include <math.h>
|
|||
#include <Trajectroy.h>
|
|||
|
|||
#include "Robot.h"
|
|||
#include "SvrData.h"
|
|||
#include "SvrHandling.h"
|
|||
#include <boost/thread/thread.hpp>
|
|||
|
|||
#include "Mat.h"
|
|||
#include "Vec.h"
|
|||
|
|||
void *threadRobotMovement(void *arg) |
|||
{ |
|||
// unused parameters
|
|||
(void) arg; |
|||
|
|||
Trajectory<jointNumber>* currentTrajectory = NULL; |
|||
enum MovementType currentMovementType = MovementJointBased; |
|||
|
|||
VecJoint currentJointPos(0.0f); |
|||
MatCarthesian currentCartPos(0.0f,1.0f); |
|||
|
|||
friRemote* friInst = SvrData::getInstance()->getFriRemote(); |
|||
|
|||
// get current robot position
|
|||
int tries = 2; |
|||
|
|||
for (int i= 0 ; i < tries ; ++i) |
|||
{ |
|||
if (REAL_ROBOT) |
|||
SvrData::getInstance()->updateMessurement(); |
|||
currentJointPos = SvrData::getInstance()->getMeasuredJointPos(); |
|||
|
|||
SvrData::getInstance()->setCommandedJointPos(currentJointPos); |
|||
|
|||
float newJointPosToSend[jointNumber] = {0.0f}; |
|||
currentJointPos.getData(newJointPosToSend); |
|||
if (REAL_ROBOT) |
|||
friInst->doPositionControl(newJointPosToSend); |
|||
} |
|||
std::cout << "init position is " << currentJointPos << "\n"; |
|||
|
|||
while(true) |
|||
{ |
|||
if (REAL_ROBOT) |
|||
SvrData::getInstance()->updateMessurement(); |
|||
|
|||
bool positionChanged = false; |
|||
// check if we have to cancel current trajectory
|
|||
bool cancel = SvrData::getInstance()->getTrajectoryCancel(); |
|||
if (cancel) |
|||
{ |
|||
// free the current trajectory
|
|||
if ( currentTrajectory != NULL) |
|||
{ |
|||
delete currentTrajectory; |
|||
currentTrajectory = NULL; |
|||
} |
|||
// signal waiting thread the cancellation
|
|||
SvrData::getInstance()->trajectoryCancelDone(); |
|||
goto end; |
|||
} |
|||
|
|||
// check for new trajectory
|
|||
if (currentTrajectory == NULL) |
|||
{ |
|||
// get next trajectory from svrData
|
|||
currentTrajectory = SvrData::getInstance()->popTrajectory(); |
|||
|
|||
// no new trajectory
|
|||
if(currentTrajectory == NULL) |
|||
{ |
|||
// mark that we reached the end of the trajectory
|
|||
// stay on current position
|
|||
goto end; |
|||
} |
|||
else |
|||
{ |
|||
std::cout <<"new Trajectory with " << currentTrajectory->getSteps()<<"\n"; |
|||
} |
|||
} |
|||
|
|||
// get next commanded trajectory type
|
|||
if (currentTrajectory != NULL) |
|||
{ |
|||
switch (currentTrajectory->getMovementType()) |
|||
{ |
|||
case MovementCartBased: |
|||
{ |
|||
currentCartPos = currentTrajectory->getNextCartPos(); |
|||
positionChanged = true; |
|||
currentMovementType = MovementCartBased; |
|||
} |
|||
break; |
|||
case MovementJointBased: |
|||
{ |
|||
currentJointPos = currentTrajectory->getNextJointPos(); |
|||
positionChanged = true; |
|||
currentMovementType = MovementJointBased; |
|||
} |
|||
break; |
|||
default: |
|||
{ |
|||
// invalid trajectory skip it
|
|||
delete currentTrajectory; |
|||
currentTrajectory = NULL; |
|||
goto end; |
|||
} |
|||
break; |
|||
} |
|||
} |
|||
|
|||
end: |
|||
switch (currentMovementType) |
|||
{ |
|||
case MovementJointBased: |
|||
{ |
|||
// send the new joint values
|
|||
float newJointPosToSend[jointNumber] = {0.0f}; |
|||
VecJoint newJointPosToSendRad = currentJointPos*(1./180*M_PI); |
|||
newJointPosToSendRad.getData(newJointPosToSend); |
|||
if (REAL_ROBOT) |
|||
friInst->doPositionControl(newJointPosToSend); |
|||
} |
|||
break; |
|||
case MovementCartBased: |
|||
{ |
|||
float Stiff[6] = {1000.0, 1000.0, 1000.0, 10.0, 10.0, 10.0}; |
|||
float Damp[6] = {0.7, 0.7, 0.7, 0.7, 0.7, 0.7}; |
|||
float newCartPosToSend[12] = {0.0f}; |
|||
currentCartPos.getData(newCartPosToSend); |
|||
if (REAL_ROBOT) |
|||
friInst->doCartesianImpedanceControl(newCartPosToSend,Stiff, Damp, NULL, NULL, true); |
|||
} |
|||
break; |
|||
} |
|||
|
|||
// start timer for the last sent msg
|
|||
// TODO
|
|||
|
|||
// check if current trajectory is over
|
|||
if(currentTrajectory != NULL && currentTrajectory->getRemainingSteps() == 0) |
|||
{ |
|||
std::cout << " Trajectory finished \n "; |
|||
|
|||
static int trajcetorycount = 0; |
|||
trajcetorycount +=1; |
|||
|
|||
currentTrajectory->saveToFile(std::string("trajectory/a.csv")); |
|||
// invalid trajectory skip it
|
|||
delete currentTrajectory; |
|||
currentTrajectory = NULL; |
|||
} |
|||
} |
|||
} |
|||
int main() |
|||
{ |
|||
int err = 0; |
|||
//Setting pthread for FRI interface
|
|||
pthread_t fri_t; |
|||
|
|||
//Start the thread for the robot movement
|
|||
err = pthread_create(&fri_t,NULL,&threadRobotMovement,NULL); |
|||
if (err > 0 ) |
|||
{ |
|||
std::cerr << "Failed: could not create thread\n" << std::endl; |
|||
return err; |
|||
} |
|||
|
|||
//Start client handling
|
|||
SvrHandling *svr = new SvrHandling(); |
|||
if (svr == NULL) |
|||
{ |
|||
std::cerr << "Failed: could not create server \n" << std::endl; |
|||
return -ENOMEM; |
|||
} |
|||
svr->run(); |
|||
|
|||
return 0; |
|||
} |
|||
@ -0,0 +1,177 @@ |
|||
#include "sgn.h"
|
|||
#include <error.h>
|
|||
#include <errno.h>
|
|||
#include <math.h>
|
|||
#include <Trajectroy.h>
|
|||
|
|||
#include "SvrData.h"
|
|||
#include "SvrHandling.h"
|
|||
#include <boost/thread/thread.hpp>
|
|||
|
|||
#include "Mat.h"
|
|||
#include "Vec.h"
|
|||
#include "Robot.h"
|
|||
|
|||
float* abctomat(float a, float b, float c) |
|||
{ |
|||
Mat4f rx; |
|||
float ca = cos(c); |
|||
float sa = sin(c); |
|||
|
|||
rx(0,0) = 1.0f; |
|||
rx(1,1) = ca; |
|||
rx(1,2) = -sa; |
|||
rx(2,1) = sa; |
|||
rx(2,2) = ca; |
|||
rx(3,3) = 1.0f; |
|||
|
|||
Mat4f ry; |
|||
float cb = cos(b); |
|||
float sb = sin(b); |
|||
ry(0,0) = cb; |
|||
ry(0,2) = sb; |
|||
ry(1,1) = 1.0f; |
|||
ry(2,0) = -sb; |
|||
ry(2,2) = cb; |
|||
ry(3,3) = 1.0f; |
|||
|
|||
Mat4f rz; |
|||
float cc = cos(a); |
|||
float sc = sin(a); |
|||
rz(0,0) = cc; |
|||
rz(0,1) = -sc; |
|||
rz(1,0) = sc; |
|||
rz(1,1) = cc; |
|||
rz(2,2) = 1.0f; |
|||
rz(3,3) = 1.0f; |
|||
|
|||
Mat4f result; |
|||
Mat4f temp; |
|||
temp = rz * ry; |
|||
result = temp * rx; |
|||
|
|||
#ifdef __DEBUG__
|
|||
printMat(rx); |
|||
printMat(ry); |
|||
printMat(rz); |
|||
printMat(result); |
|||
#endif
|
|||
|
|||
float *res = new float[12]; |
|||
//TODO simple converter for mat
|
|||
for (int j=0;j<3;j++) |
|||
{ |
|||
for (int k=0;k<4;k++) |
|||
{ |
|||
res[j*4+k] = result(j,k); |
|||
} |
|||
} |
|||
return res; |
|||
} |
|||
|
|||
float* mattoabc(float M[12]) |
|||
{ |
|||
float norm; |
|||
float sa; |
|||
float ca; |
|||
float *abc = new float[3]; |
|||
|
|||
norm = sqrt((M[0]*M[0])+(M[4]*M[4])); |
|||
|
|||
if (norm>1e-5) |
|||
{ |
|||
sa = M[4]/norm; |
|||
ca = M[0]/norm; |
|||
abc[0] = atan2(sa,ca); |
|||
} |
|||
else |
|||
{ |
|||
sa = 0; |
|||
ca = 1; |
|||
abc[0] = 0; |
|||
} |
|||
abc[1] = atan2(-M[8],ca*M[0]+sa*M[4]); |
|||
abc[2] = atan2(sa*M[2]-ca*M[6],-sa*M[1]+ca*M[5]); |
|||
return abc; |
|||
} |
|||
|
|||
Mat4f vecToMat2(float vec[12]) |
|||
{ |
|||
Mat4f result; |
|||
for (int i=0; i<3; i++) |
|||
{ |
|||
for (int j=0; j<4; j++) |
|||
{ |
|||
result(i,j) = (float)vec[i*4+j]; |
|||
} |
|||
} |
|||
result(3,3)=1.0f; |
|||
return result; |
|||
} |
|||
|
|||
float* matToVec2(Mat4f mat) |
|||
{ |
|||
float* vec = new float[12]; |
|||
for (int j=0;j<3;j++) |
|||
{ |
|||
for (int k=0;k<4;k++) |
|||
{ |
|||
vec[j*4+k] = mat(j,k); |
|||
} |
|||
} |
|||
return vec; |
|||
} |
|||
|
|||
float* vectoquat(float vec[12]) |
|||
{ |
|||
float *quat = new float[4]; |
|||
float diag[3]; |
|||
int v; int w; int u; |
|||
diag[0] = vec[0]; |
|||
diag[1] = vec[5]; |
|||
diag[2] = vec[10]; |
|||
float u_ = *std::max_element(diag,diag+2); |
|||
|
|||
if (u_==diag[0]) |
|||
{ |
|||
u = 1; |
|||
v = 2; |
|||
w = 3; |
|||
} else if (u_==diag[1]) |
|||
{ |
|||
u = 2; |
|||
v = 3; |
|||
w = 1; |
|||
} else |
|||
{ |
|||
u = 3; |
|||
v = 1; |
|||
w = 2; |
|||
} |
|||
float r = sqrt(1+vec[(u-1)*4+(u-1)] - vec[(v-1)*4+(v-1)] - vec[(w-1)*4+(w-1)]); |
|||
quat[0] = (vec[(w-1)*4+(v-1)] - vec[(v-1)*4+(w-1)]) / (2*r); |
|||
quat[u] = r/2; |
|||
quat[v] = (vec[(u-1)*4+(v-1)] + vec[(v-1)*4+(u-1)]) / (2*r); |
|||
quat[w] = (vec[(w-1)*4+(u-1)] + vec[(u-1)*4+(w-1)]) / (2*r); |
|||
|
|||
return quat; |
|||
} |
|||
|
|||
float* quattovec(float quat[4]) |
|||
{ |
|||
float *vec = new float[12]; |
|||
vec[0] = quat[0]*quat[0]+quat[1]*quat[1]-quat[2]*quat[2]-quat[3]*quat[3]; |
|||
vec[4] = 2*(quat[1]*quat[2]+quat[0]*quat[3]); |
|||
vec[8] = 2*(quat[1]*quat[3]-quat[0]*quat[2]); |
|||
|
|||
vec[1] = 2*(quat[1]*quat[2]-quat[0]*quat[3]); |
|||
vec[5] = quat[0]*quat[0]-quat[1]*quat[1]+quat[2]*quat[2]-quat[3]*quat[3]; |
|||
vec[9] = 2*(quat[2]*quat[3]+quat[0]*quat[1]); |
|||
|
|||
vec[2] = 2*(quat[1]*quat[3]+quat[0]*quat[2]); |
|||
vec[6] = 2*(quat[2]*quat[3]-quat[0]*quat[1]); |
|||
vec[10] = quat[0]*quat[0]-quat[1]*quat[1]-quat[2]*quat[2]+quat[3]*quat[3]; |
|||
|
|||
return vec; |
|||
} |
|||
|
|||
Write
Preview
Loading…
Cancel
Save
Reference in new issue