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Add ports for offsets of limbCOP #538

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merged 2 commits into from
Mar 26, 2015
Merged

Add ports for offsets of limbCOP #538

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cea451f
Add ports for offsets of limbCOP
snozawa Mar 25, 2015
7c89fdc
Merge remote-tracking branch 'origin/master' into add_limbcop_ports2
snozawa Mar 26, 2015
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3 changes: 3 additions & 0 deletions python/hrpsys_config.py
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Original file line number Diff line number Diff line change
Expand Up @@ -369,6 +369,9 @@ def connectComps(self):
if self.abc:
connectPorts(self.sh.port(sen+"Out"),
self.abc.port("ref_" + sen))
if self.abc and self.st:
connectPorts(self.abc.port("limbCOPOffset_"+sen),
self.st.port("limbCOPOffset_"+sen))

# actual force sensors
if self.rmfo:
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22 changes: 22 additions & 0 deletions rtc/AutoBalancer/AutoBalancer.cpp
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Expand Up @@ -231,6 +231,8 @@ RTC::ReturnCode_t AutoBalancer::onInitialize()
int nforce = npforce + nvforce;
m_ref_force.resize(nforce);
m_ref_forceIn.resize(nforce);
m_limbCOPOffset.resize(nforce);
m_limbCOPOffsetOut.resize(nforce);
for (unsigned int i=0; i<npforce; i++){
sensor_names.push_back(m_robot->sensor(hrp::Sensor::FORCE, i)->name);
}
Expand All @@ -248,6 +250,15 @@ RTC::ReturnCode_t AutoBalancer::onInitialize()
std::cerr << "[" << m_profile.instance_name << "] name = " << std::string("ref_"+sensor_names[i]) << std::endl;
ref_forces.push_back(hrp::Vector3(0,0,0));
}
// set limb cop offset port
std::cerr << "[" << m_profile.instance_name << "] limbCOPOffset ports (" << nforce << ")" << std::endl;
for (unsigned int i=0; i<nforce; i++){
std::string nm("limbCOPOffset_"+sensor_names[i]);
m_limbCOPOffsetOut[i] = new OutPort<TimedPoint3D>(nm.c_str(), m_limbCOPOffset[i]);
registerOutPort(nm.c_str(), *m_limbCOPOffsetOut[i]);
m_limbCOPOffset[i].data.x = m_limbCOPOffset[i].data.y = m_limbCOPOffset[i].data.z = 0.0;
std::cerr << "[" << m_profile.instance_name << "] name = " << nm << std::endl;
}
sbp_offset = hrp::Vector3(0,0,0);
sbp_cog_offset = hrp::Vector3(0,0,0);
//use_force = MODE_NO_FORCE;
Expand Down Expand Up @@ -481,6 +492,11 @@ RTC::ReturnCode_t AutoBalancer::onExecute(RTC::UniqueId ec_id)
m_controlSwingSupportTime.tm = m_qRef.tm;
m_controlSwingSupportTimeOut.write();

for (unsigned int i=0; i<m_limbCOPOffsetOut.size(); i++){
m_limbCOPOffset[i].tm = m_qRef.tm;
m_limbCOPOffsetOut[i]->write();
}

return RTC::RTC_OK;
}

Expand Down Expand Up @@ -513,6 +529,12 @@ void AutoBalancer::getTargetParameters()
for (size_t i = 0; i < 2; i++)
for (size_t j = 0; j < 3; j++)
default_zmp_offsets[i](j) = default_zmp_offsets_output[i*3+j];
m_limbCOPOffset[contact_states_index_map["rleg"]].data.x = default_zmp_offsets[0](0);
m_limbCOPOffset[contact_states_index_map["rleg"]].data.y = default_zmp_offsets[0](1);
m_limbCOPOffset[contact_states_index_map["rleg"]].data.z = default_zmp_offsets[0](2);
m_limbCOPOffset[contact_states_index_map["lleg"]].data.x = default_zmp_offsets[1](0);
m_limbCOPOffset[contact_states_index_map["lleg"]].data.y = default_zmp_offsets[1](1);
m_limbCOPOffset[contact_states_index_map["lleg"]].data.z = default_zmp_offsets[1](2);
if (DEBUGP) {
std::cerr << "[" << m_profile.instance_name << "] default_zmp_offsets (interpolated)" << std::endl;
std::cerr << "[" << m_profile.instance_name << "] rleg = " << default_zmp_offsets[0].format(Eigen::IOFormat(Eigen::StreamPrecision, 0, ", ", ", ", "", "", " [", "]")) << "[m]" << std::endl;
Expand Down
2 changes: 2 additions & 0 deletions rtc/AutoBalancer/AutoBalancer.h
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Expand Up @@ -143,6 +143,8 @@ class AutoBalancer
OutPort<TimedBooleanSeq> m_contactStatesOut;
TimedDoubleSeq m_controlSwingSupportTime;
OutPort<TimedDoubleSeq> m_controlSwingSupportTimeOut;
std::vector<TimedPoint3D> m_limbCOPOffset;
std::vector<OutPort<TimedPoint3D> *> m_limbCOPOffsetOut;
// for debug
OutPort<TimedPoint3D> m_cogOut;

Expand Down
15 changes: 15 additions & 0 deletions rtc/Stabilizer/Stabilizer.cpp
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Expand Up @@ -164,6 +164,8 @@ RTC::ReturnCode_t Stabilizer::onInitialize()
int npforce = m_robot->numSensors(hrp::Sensor::FORCE);
m_wrenches.resize(npforce);
m_wrenchesIn.resize(npforce);
m_limbCOPOffset.resize(npforce);
m_limbCOPOffsetIn.resize(npforce);
for (unsigned int i=0; i<npforce; ++i){
hrp::Sensor *s = m_robot->sensor(hrp::Sensor::FORCE, i);
m_wrenchesIn[i] = new RTC::InPort<RTC::TimedDoubleSeq>(std::string(s->name+"Ref").c_str(), m_wrenches[i]);
Expand All @@ -172,6 +174,14 @@ RTC::ReturnCode_t Stabilizer::onInitialize()
std::cerr << "[" << m_profile.instance_name << "] force sensor" << std::endl;
std::cerr << "[" << m_profile.instance_name << "] name = " << s->name << std::endl;
}
std::cerr << "[" << m_profile.instance_name << "] limbCOPOffset ports (" << npforce << ")" << std::endl;
for (unsigned int i=0; i<npforce; ++i){
hrp::Sensor *s = m_robot->sensor(hrp::Sensor::FORCE, i);
std::string nm("limbCOPOffset_"+s->name);
m_limbCOPOffsetIn[i] = new RTC::InPort<RTC::TimedPoint3D>(nm.c_str(), m_limbCOPOffset[i]);
registerInPort(nm.c_str(), *m_limbCOPOffsetIn[i]);
std::cerr << "[" << m_profile.instance_name << "] name = " << nm << std::endl;
}

// setting from conf file
// rleg,TARGET_LINK,BASE_LINK,x,y,z,rx,ry,rz,rth #<=pos + rot (axis+angle)
Expand Down Expand Up @@ -387,6 +397,11 @@ RTC::ReturnCode_t Stabilizer::onExecute(RTC::UniqueId ec_id)
m_wrenchesIn[i]->read();
}
}
for (size_t i = 0; i < m_limbCOPOffsetIn.size(); ++i) {
if ( m_limbCOPOffsetIn[i]->isNew() ) {
m_limbCOPOffsetIn[i]->read();
}
}

if (is_legged_robot) {
getCurrentParameters();
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2 changes: 2 additions & 0 deletions rtc/Stabilizer/Stabilizer.h
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Expand Up @@ -163,6 +163,7 @@ class Stabilizer
RTC::TimedOrientation3D m_baseRpy;
RTC::TimedBooleanSeq m_contactStates;
RTC::TimedDoubleSeq m_controlSwingSupportTime;
std::vector<RTC::TimedPoint3D> m_limbCOPOffset;
RTC::TimedBooleanSeq m_actContactStates;
// for debug ouput
RTC::TimedPoint3D m_originRefZmp, m_originRefCog, m_originRefCogVel, m_originNewZmp;
Expand All @@ -186,6 +187,7 @@ class Stabilizer
RTC::InPort<RTC::TimedOrientation3D> m_baseRpyIn;
RTC::InPort<RTC::TimedBooleanSeq> m_contactStatesIn;
RTC::InPort<RTC::TimedDoubleSeq> m_controlSwingSupportTimeIn;
std::vector<RTC::InPort<RTC::TimedPoint3D> *> m_limbCOPOffsetIn;

std::vector<RTC::TimedDoubleSeq> m_wrenches;
std::vector<RTC::InPort<RTC::TimedDoubleSeq> *> m_wrenchesIn;
Expand Down