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joint.cpp
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joint.cpp
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#include "joint.h"
#include "stdio.h"
#include "math.h"
#include <iostream>
#define PI 3.141592654
#define TO_DEGREE (180/M_PI)
Joint::Joint(){
}
Joint::Joint(Vector3 absolutePos, Vector3 axisVector, char* s, bool d)
{
p = absolutePos;
q=0;
dq=0;
ddq=0;
a = axisVector;
Parent = NULL;
nChild = 0;
name = s;
dummy = d;
update();
}
Joint::Joint(Vector3 relativePos, Vector3 axisVector, Joint* parent, char *s, bool mdummy, int id, int offset, int sign, int type){
q = 0;
dq = 0;
ddq = 0;
a = axisVector;
b = relativePos;
Parent = parent;
Parent->Child[Parent->nChild] = this;
Parent->nChild++;
nChild = 0;
name = s;
dummy=mdummy;
if(dummy){
servoID = 0;
servoOffset = 0;
servoPosition = 0;
servoPosition = 0;
}
servoID = id;
servoOffset = offset;
servoPosition = servoOffset;
servoSign = sign;
servoType = type;
if(servoType == 1)
servoResolution = 0.088;
else if(servoType == 2)
servoResolution = 0.29;
update();
}
void Joint::setServoID(int id){
servoID = id;
}
void Joint::setServoOffset(int offset){
servoOffset = offset;
}
void Joint::setServoSign(int sign){
servoSign = sign;
}
void Joint::setServoType(int type){
servoType = type;
}
int Joint::getServoID(){
return servoID;
}
int Joint::getServoOffset(){
return servoOffset;
}
int Joint::getServoSign(){
return servoSign;
}
int Joint::getServoType(){
return servoType;
}
int Joint::getServoPosition(){
int temp;
temp = (int)(servoOffset-(servoSign*q*TO_DEGREE)/servoResolution);
// std::cout<<"joint ["<<name<<"] -> offset : "<<servoOffset<<" sign : "<<servoSign<<" resolution : "<<servoResolution<<" angle : "<<q*TO_DEGREE<<" pos : "<<temp<<std::endl;
return temp;
}
void Joint::setAngle(double angle){
if(!dummy)
q = angle;
}
void Joint::setAngularVelocity(double av){
dq = av;
}
void Joint::update(){
if(Parent!=NULL){
/*printf("\n\nupdating joint %s...\n",name);
printf("Joint angle : %f\n", q);
printf("Parent : %s\n", Parent->name);
printf("Parent P : %f %f %f\n\n", Parent->p.at(0), Parent->p.at(1), Parent->p.at(2));
*/
this->p = (Parent->R*this->b) + Parent->p;
this->R = Parent->R*rodrigues(a,q);
}
else {
this->R = rodrigues(a,q);
}
}
void Joint::updateShape(){
printf("updating shape %s\n", name);
for(int i=0;i<80;i++){
shape[i] = R*shape[i] + p;
printf("shape[%d] : %f %f %f\n", i, shape[i].at(0), shape[i].at(1), shape[i].at(2));
}
}
bool Joint::isDummy(){
return dummy;
}
Foot::Foot():Joint(){
}
Foot::Foot(double we, double le, double he, Vector3 wg, Vector3 rp, Joint *parent, char* s){
width = we;
length = le;
height = he;
center = wg;
Parent = parent;
Parent->Child[Parent->nChild++] = this;
q = 0;
dq = 0;
ddq = 0;
b = rp;
name = s;
rvertices[0] = b+Vector3(length/2+center.at(0),-(width/2+center.at(1)),height+center.at(2));
rvertices[1] = b+Vector3(length/2+center.at(0),width/2-center.at(1),height+center.at(2));
rvertices[2] = b+Vector3(-(length/2+center.at(0)),width/2-center.at(1),height+center.at(2));
rvertices[3] = b+Vector3(-(length/2+center.at(0)),-(width/2+center.at(1)),height+center.at(2));
rvertices[4] = b+Vector3(length/2+center.at(0),-(width/2+center.at(1)),center.at(2));
rvertices[5] = b+Vector3(length/2+center.at(0),width/2-center.at(1),center.at(2));
rvertices[6] = b+Vector3(-(length/2+center.at(0)),width/2-center.at(1),center.at(2));
rvertices[7] = b+Vector3(-(length/2+center.at(0)),-(width/2+center.at(1)),center.at(2));
update();
}
void Foot::update(){
for(int i=0; i<8; i++){
pvertices[i] = Parent->R*rvertices[i] + Parent->p;
}
}
Head::Head():Joint(){
}
Head::Head(Vector3 relativePos, Vector3 axisVector, Joint *parent, char *s){
q = 0;
dq = 0;
ddq = 0;
a = axisVector;
b = relativePos;
Parent = parent;
Parent->Child[Parent->nChild++] = this;
nChild = 0;
name = s;
rSphere=10;
update();
}
void ikleg(Joint* Hip, double x, double y, double z){
double r = sqrt(x*x+y*y+z*z);
double A = Hip->Child[0]->Child[0]->Child[0]->b.magnitude();
double B = Hip->Child[0]->Child[0]->Child[0]->Child[0]->b.magnitude();
double C = sqrt(x*x+y*y+z*z);
if(r<=30){
double c = (A*A+B*B-r*r)/(2*A*B);
double qKnee = PI-acos(c);
// if(abs(qKnee)>=3.14)qKnee=0;
double qHipRoll = atan2(y,r);
// if(abs(qHipRoll)>=3.14)qHipRoll=0;
double qHipPitcha = atan2(z,r);
double qHipPitchb = asin(((double)B*sin(qKnee))/r);
double qHipPitch = qHipPitcha + qHipPitchb;
// if(abs(qHipPitch)>=3.14)qHipPitch=0;
double qAnkleRoll = -qHipRoll;
// if(abs(qAnkleRoll)>=3.14)qAnkleRoll=0;
double qAnklePitcha = atan2(z,r);
double qAnklePitchb = asin((A*sin(qKnee))/r);
double qAnklePitch = qAnklePitchb - qAnklePitcha;
// if(abs(qAnklePitch)>=3.14)qAnklePitch=0;
Hip->Child[0]->setAngle(qHipRoll);
Hip->Child[0]->Child[0]->setAngle(qHipPitch-M_PI);
Hip->Child[0]->Child[0]->Child[0]->setAngle(qKnee);
Hip->Child[0]->Child[0]->Child[0]->Child[0]->Child[0]->setAngle(qAnklePitch);
Hip->Child[0]->Child[0]->Child[0]->Child[0]->Child[0]->Child[0]->setAngle(qAnkleRoll);
}
}
double* ikleg(Joint* body, Joint* Hip, double x, double y, double z, double roll, double pitch, double yaw){
double A; double B; double C; double q5; double q6a; double q7; int sign=1; double q6; double q2; double q3; double q4;
Matrix3 R;
A = Hip->Child[0]->Child[0]->Child[0]->b.magnitude();
B = Hip->Child[0]->Child[0]->Child[0]->Child[0]->b.magnitude();
C = sqrt(x*x+y*y+z*z);
q5 = -acos((A*A+B*B-C*C)/(2*A*B))+PI;
q6a = asin((A/C)*sin(PI-q5));
q7 = atan2(y,x);
if(x<0)sign=-1;
else sign=1;
q6 = -atan2(z,sign*sqrt(y*y+x*x))-q6a;
R = body->R; R.transpose();
R = rodrigues(Vector3(0,0,1),roll)*rodrigues(Vector3(0,1,0),pitch)*rodrigues(Vector3(1,0,0),yaw)*
rodrigues(Vector3(1,0,0),-q7)*rodrigues(Vector3(0,1,0),-q5-q6);
q2 = atan2(-R.at(0,1),R.at(1,1));
q3 = atan2(R.at(2,1),-R.at(0,1)*sin(q2)+R.at(1,1)*cos(q2));
q4 = atan2(-R.at(2,0),R.at(2,2));
Hip->setAngle(q2);
Hip->Child[0]->setAngle(q3);
Hip->Child[0]->Child[0]->setAngle(-q4);
Hip->Child[0]->Child[0]->Child[0]->setAngle(-q5);
Hip->Child[0]->Child[0]->Child[0]->Child[0]->setAngle(-q6);
Hip->Child[0]->Child[0]->Child[0]->Child[0]->Child[0]->setAngle(q7);
}