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[test_dynamic_conic_constraint.cpp] Updated the franka emika definition. #15

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Nov 21, 2022
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[test_dynamic_conic_constraint.cpp] Updated the franka emika definition. #15

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24 changes: 7 additions & 17 deletions cmake/vrep_interface_tests/line_to_line_angle_jacobian/test_dynamic_conic_constraint.cpp
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@

/**
(C) Copyright 2022 DQ Robotics Developers
This file is part of DQ Robotics.
Expand Down Expand Up @@ -31,8 +32,9 @@ This file is part of DQ Robotics.
#include <dqrobotics/robot_modeling/DQ_SerialManipulatorMDH.h>
#include <dqrobotics/solvers/DQ_QPOASESSolver.h>
#include <dqrobotics/robot_control/DQ_ClassicQPController.h>
#include<dqrobotics/utils/DQ_Constants.h>
#include <dqrobotics/utils/DQ_Constants.h>
#include <dqrobotics/utils/DQ_Geometry.h>
#include <dqrobotics/robots/FrankaEmikaPandaRobot.h>


using namespace Eigen;
Expand All @@ -58,19 +60,7 @@ int main()


//------------------- Robot definition--------------------------
//---------- Franka Emika Panda serial manipulator
Eigen::Matrix<double,5,7> franka_mdh(5,7);
franka_mdh << 0, 0, 0, 0, 0, 0, 0,
0.333, 0, 3.16e-1, 0, 3.84e-1, 0, 0,
0, 0, 0, 8.25e-2, -8.25e-2, 0, 8.8e-2,
0, -M_PI_2, M_PI_2, M_PI_2, -M_PI_2, M_PI_2, M_PI_2,
0, 0, 0, 0, 0, 0, 0;
DQ_SerialManipulatorMDH franka(franka_mdh);
DQ robot_base = 1 + E_ * 0.5 * DQ(0, 0.0413, 0, 0);
franka.set_base_frame(robot_base);
franka.set_reference_frame(robot_base);
DQ robot_effector = 1+E_*0.5*k_*1.07e-1;
franka.set_effector(robot_effector);
DQ_SerialManipulatorMDH franka = FrankaEmikaPandaRobot::kinematics();

//Update the base of the robot from CoppeliaSim
DQ new_base_robot;
Expand Down Expand Up @@ -100,16 +90,16 @@ int main()
const double safe_angle = 15*(pi/180);
const double T = 0.005;
const double w = 0.2;
const double Alpha = 20*(pi/180);
const double alpha = 20*(pi/180);
double t = 0;


for (int i=0;i<iterations;i++)
{
t = i*T;

double phi_t = Alpha*sin(w*t);
double phi_t_dot = Alpha*w*cos(w*t);
double phi_t = alpha*sin(w*t);
double phi_t_dot = alpha*w*cos(w*t);
DQ r_dyn = cos(phi_t/2) + i_*sin(phi_t/2); //
DQ r_dyn_dot = (-sin(phi_t/2) + i_*cos(phi_t/2))*(phi_t_dot/2);

Expand Down