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observerThread.cpp
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observerThread.cpp
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/*
* Copyright (C) 2011 RobotCub Consortium, European Commission FP6 Project IST-004370
* Author: Marco Randazzo, Matteo Fumagalli
* email: marco.randazzo@iit.it
* website: www.robotcub.org
* Permission is granted to copy, distribute, and/or modify this program
* under the terms of the GNU General Public License, version 2 or any
* later version published by the Free Software Foundation.
*
* A copy of the license can be found at
* http://www.robotcub.org/icub/license/gpl.txt
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details
*/
#include <cmath>
#include <iostream>
#include <iomanip>
#include <string>
#include <yarp/os/all.h>
#include <yarp/sig/all.h>
#include <yarp/dev/all.h>
#include <iCub/ctrl/math.h>
#include <iCub/ctrl/adaptWinPolyEstimator.h>
#include <iCub/iDyn/iDyn.h>
#include <iCub/iDyn/iDynBody.h>
#include <iCub/skinDynLib/skinContact.h>
#include "observerThread.h"
using namespace yarp::os;
using namespace yarp::sig;
using namespace yarp::math;
using namespace yarp::dev;
using namespace iCub::ctrl;
using namespace iCub::iDyn;
using namespace iCub::skinDynLib;
using namespace std;
#define TEST_LEG_SENSOR
#define MEASURE_FROM_FOOT
double lpf_ord1_3hz(double input, int j)
{
if (j<0 || j>= MAX_JN)
{
cout<<"Received an invalid joint index to filter"<<endl;
return 0;
}
static double xv[MAX_FILTER_ORDER][MAX_JN];
static double yv[MAX_FILTER_ORDER][MAX_JN];
xv[0][j] = xv[1][j] ;
xv[1][j] = input / 1.157889499e+01;
yv[0][j] = yv[1][j] ;
yv[1][j] = (xv[0][j] + xv[1][j] ) + ( 0.8272719460 * yv[0][j] );
return (yv[1][j]);
}
Vector inverseDynamics::evalVelUp(const Vector &x)
{
AWPolyElement el;
el.data=x;
el.time=Time::now();
return linEstUp->estimate(el);
}
Vector inverseDynamics::evalVelLow(const Vector &x)
{
AWPolyElement el;
el.data=x;
el.time=Time::now();
return linEstLow->estimate(el);
}
Vector inverseDynamics::eval_domega(const Vector &x)
{
AWPolyElement el;
el.data=x;
el.time=Time::now();
return InertialEst->estimate(el);
}
Vector inverseDynamics::evalAccUp(const Vector &x)
{
AWPolyElement el;
el.data=x;
el.time=Time::now();
return quadEstUp->estimate(el);
}
Vector inverseDynamics::evalAccLow(const Vector &x)
{
AWPolyElement el;
el.data=x;
el.time=Time::now();
return quadEstLow->estimate(el);
}
void inverseDynamics::init_upper()
{
//---------------------PARTS-------------------------//
// Left_arm variables
allJnt = 0;
int jnt=7;
encoders_arm_left.resize(jnt,0.0);
F_LArm.resize(6,0.0);
F_iDyn_LArm.resize(6,0.0);
Offset_LArm.resize(6,0.0);
allJnt+=jnt;
// Right_arm variables
jnt = 7;
encoders_arm_right.resize(jnt,0.0);
F_RArm.resize(6,0.0);
F_iDyn_RArm.resize(6,0.0);
Offset_RArm.resize(6,0.0);
allJnt+=jnt;
// Head variables
jnt = 3;
encoders_head.resize(jnt,0.0);
allJnt+=jnt;
current_status.all_q_up.resize(allJnt,0.0);
current_status.all_dq_up.resize(allJnt,0.0);
current_status.all_d2q_up.resize(allJnt,0.0);
F_sens_up.zero();
FM_sens_up.resize(6,2); FM_sens_up.zero();
}
void inverseDynamics::init_lower()
{
//---------------------PARTS-------------------------//
// Left_leg variables
allJnt = 0;
int jnt=6;
encoders_leg_left.resize(jnt,0.0);
F_LLeg.resize(6,0.0);
F_iDyn_LLeg.resize(6,0.0);
Offset_LLeg.resize(6,0.0);
F_LFoot.resize(6,0.0);
F_iDyn_LFoot.resize(6,0.0);
Offset_LFoot.resize(6,0.0);
allJnt+=jnt;
// Right_leg variables
jnt = 6;
encoders_leg_right.resize(jnt,0.0);
F_RLeg.resize(6,0.0);
F_iDyn_RLeg.resize(6,0.0);
Offset_RLeg.resize(6,0.0);
F_RFoot.resize(6,0.0);
F_iDyn_RFoot.resize(6,0.0);
Offset_RFoot.resize(6,0.0);
allJnt+=jnt;
// Torso variables
jnt = 3;
encoders_torso.resize(jnt,0.0);
allJnt+=jnt;
current_status.all_q_low.resize(allJnt,0.0);
current_status.all_dq_low.resize(allJnt,0.0);
current_status.all_d2q_low.resize(allJnt,0.0);
F_sens_low.zero();
FM_sens_low.resize(6,2); FM_sens_low.zero();
}
void inverseDynamics::setStiffMode()
{
if (iint_arm_left)
{
for (int i=0; i<7; i++)
iint_arm_left->setInteractionMode(i,VOCAB_IM_STIFF);
}
if (iint_arm_right)
{
for (int i=0; i<7; i++)
iint_arm_right->setInteractionMode(i,VOCAB_IM_STIFF);
}
if (iint_leg_left)
{
for (int i=0; i<6; i++)
iint_leg_left->setInteractionMode(i,VOCAB_IM_STIFF);
}
if (iint_leg_right)
{
for (int i=0; i<6; i++)
iint_leg_right->setInteractionMode(i,VOCAB_IM_STIFF);
}
if (iint_torso)
{
for (int i=0; i<3; i++)
iint_torso->setInteractionMode(i,VOCAB_IM_STIFF);
}
if (icmd_arm_left)
{
for (int i=0; i<7; i++)
{
int mode =0; icmd_arm_left->getControlMode(i, &mode);
if (mode==VOCAB_CM_TORQUE) icmd_arm_left->setControlMode(i, VOCAB_CM_POSITION);
}
}
if (icmd_arm_right)
{
for (int i=0; i<7; i++)
{
int mode =0; icmd_arm_right->getControlMode(i, &mode);
if (mode==VOCAB_CM_TORQUE) icmd_arm_right->setControlMode(i, VOCAB_CM_POSITION);
}
}
if (icmd_leg_left)
{
for (int i=0; i<6; i++)
{
int mode =0; icmd_leg_left->getControlMode(i, &mode);
if (mode==VOCAB_CM_TORQUE) icmd_leg_left->setControlMode(i, VOCAB_CM_POSITION);
}
}
if (icmd_leg_right)
{
for (int i=0; i<6; i++)
{
int mode =0; icmd_leg_right->getControlMode(i, &mode);
if (mode==VOCAB_CM_TORQUE) icmd_leg_right->setControlMode(i, VOCAB_CM_POSITION);
}
}
if (icmd_torso)
{
for (int i=0; i<3; i++)
{
int mode =0; icmd_torso->getControlMode(i, &mode);
if (mode==VOCAB_CM_TORQUE) icmd_torso->setControlMode(i, VOCAB_CM_POSITION);
}
}
}
inverseDynamics::inverseDynamics(int _rate, PolyDriver *_ddAL, PolyDriver *_ddAR, PolyDriver *_ddH, PolyDriver *_ddLL, PolyDriver *_ddLR, PolyDriver *_ddT, string _robot_name, string _local_name, version_tag _icub_type, bool _autoconnect) : RateThread(_rate), ddAL(_ddAL), ddAR(_ddAR), ddH(_ddH), ddLL(_ddLL), ddLR(_ddLR), ddT(_ddT), robot_name(_robot_name), icub_type(_icub_type), local_name(_local_name), zero_sens_tolerance (1e-12)
{
status_queue_size = 10;
autoconnect = _autoconnect;
com_enabled = true;
com_vel_enabled = false;
dummy_ft = false;
w0_dw0_enabled = false;
dumpvel_enabled = false;
auto_drift_comp = false;
add_legs_once = false;
icub = new iCubWholeBody(icub_type, DYNAMIC, VERBOSE);
icub_sens = new iCubWholeBody(icub_type, DYNAMIC, VERBOSE);
first = true;
skinContactsTimestamp = 0.0;
//--------------INTERFACE INITIALIZATION-------------//
iencs_arm_left = 0;
iencs_arm_right= 0;
iencs_head = 0;
iencs_leg_left = 0;
iencs_leg_right= 0;
iencs_torso = 0;
iint_arm_left = 0;
iint_arm_right = 0;
iint_head = 0;
iint_leg_left = 0;
iint_leg_right = 0;
iint_torso = 0;
icmd_arm_left = 0;
icmd_arm_right = 0;
icmd_head = 0;
icmd_leg_left = 0;
icmd_leg_right = 0;
icmd_torso = 0;
//---------------------PORT--------------------------//
port_inertial_thread=new BufferedPort<Vector>;
port_ft_arm_left=new BufferedPort<Vector>;
port_ft_arm_right=new BufferedPort<Vector>;
port_ft_leg_left=new BufferedPort<Vector>;
port_ft_leg_right=new BufferedPort<Vector>;
port_ft_foot_left=new BufferedPort<Vector>;
port_ft_foot_right=new BufferedPort<Vector>;
port_RATorques = new BufferedPort<Bottle>;
port_LATorques = new BufferedPort<Bottle>;
port_RLTorques = new BufferedPort<Bottle>;
port_LLTorques = new BufferedPort<Bottle>;
port_RWTorques = new BufferedPort<Bottle>;
port_LWTorques = new BufferedPort<Bottle>;
port_TOTorques = new BufferedPort<Bottle>;
port_HDTorques = new BufferedPort<Bottle>;
port_external_wrench_RA = new BufferedPort<Vector>;
port_external_wrench_LA = new BufferedPort<Vector>;
port_external_wrench_RL = new BufferedPort<Vector>;
port_external_wrench_LL = new BufferedPort<Vector>;
port_external_wrench_RF = new BufferedPort<Vector>;
port_external_wrench_LF = new BufferedPort<Vector>;
#ifdef TEST_LEG_SENSOR
port_sensor_wrench_RL = new BufferedPort<Vector>;
port_sensor_wrench_LL = new BufferedPort<Vector>;
port_model_wrench_RL = new BufferedPort<Vector>;
port_model_wrench_LL = new BufferedPort<Vector>;
#endif
port_external_wrench_TO = new BufferedPort<Vector>;
port_external_cartesian_wrench_RA = new BufferedPort<Vector>;
port_external_cartesian_wrench_LA = new BufferedPort<Vector>;
port_external_cartesian_wrench_RL = new BufferedPort<Vector>;
port_external_cartesian_wrench_LL = new BufferedPort<Vector>;
port_external_cartesian_wrench_RF = new BufferedPort<Vector>;
port_external_cartesian_wrench_LF = new BufferedPort<Vector>;
port_skin_contacts = new BufferedPort<skinContactList>;
port_com_all = new BufferedPort<Vector>;
port_com_lb = new BufferedPort<Vector>;
port_com_ub = new BufferedPort<Vector>;
port_com_la = new BufferedPort<Vector>;
port_com_ra = new BufferedPort<Vector>;
port_com_ll = new BufferedPort<Vector>;
port_com_rl = new BufferedPort<Vector>;
port_com_to = new BufferedPort<Vector>;
port_com_hd = new BufferedPort<Vector>;
port_com_all_foot = new BufferedPort<Vector>;
port_monitor = new BufferedPort<Vector>;
port_contacts = new BufferedPort<skinContactList>;
port_dumpvel = new BufferedPort<Vector>;
port_external_ft_arm_left = new BufferedPort<Vector>;
port_external_ft_arm_right = new BufferedPort<Vector>;
port_external_ft_leg_left = new BufferedPort<Vector>;
port_external_ft_leg_right = new BufferedPort<Vector>;
port_COM_vel = new BufferedPort<Vector>;
port_COM_Jacobian = new BufferedPort<Matrix>;
port_all_velocities = new BufferedPort<Vector>;
port_all_positions = new BufferedPort<Vector>;
port_root_position_mat = new BufferedPort<Matrix>;
port_root_position_vec = new BufferedPort<Vector>;
port_inertial_thread->open(string("/"+local_name+"/inertial:i").c_str());
port_ft_arm_left->open(string("/"+local_name+"/left_arm/FT:i").c_str());
port_ft_arm_right->open(string("/"+local_name+"/right_arm/FT:i").c_str());
port_ft_leg_left->open(string("/"+local_name+"/left_leg/FT:i").c_str());
port_ft_leg_right->open(string("/"+local_name+"/right_leg/FT:i").c_str());
port_ft_foot_left->open(string("/"+local_name+"/left_foot/FT:i").c_str());
port_ft_foot_right->open(string("/"+local_name+"/right_foot/FT:i").c_str());
port_RATorques->open(string("/"+local_name+"/right_arm/Torques:o").c_str());
port_LATorques->open(string("/"+local_name+"/left_arm/Torques:o").c_str());
port_RLTorques->open(string("/"+local_name+"/right_leg/Torques:o").c_str());
port_LLTorques->open(string("/"+local_name+"/left_leg/Torques:o").c_str());
port_RWTorques->open(string("/"+local_name+"/right_wrist/Torques:o").c_str());
port_LWTorques->open(string("/"+local_name+"/left_wrist/Torques:o").c_str());
port_TOTorques->open(string("/"+local_name+"/torso/Torques:o").c_str());
port_HDTorques->open(string("/"+local_name+"/head/Torques:o").c_str());
port_external_wrench_RA->open(string("/"+local_name+"/right_arm/endEffectorWrench:o").c_str());
port_external_wrench_LA->open(string("/"+local_name+"/left_arm/endEffectorWrench:o").c_str());
port_external_wrench_RL->open(string("/"+local_name+"/right_leg/endEffectorWrench:o").c_str());
port_external_wrench_LL->open(string("/"+local_name+"/left_leg/endEffectorWrench:o").c_str());
port_external_wrench_RF->open(string("/"+local_name+"/right_foot/endEffectorWrench:o").c_str());
port_external_wrench_LF->open(string("/"+local_name+"/left_foot/endEffectorWrench:o").c_str());
#ifdef TEST_LEG_SENSOR
port_sensor_wrench_RL->open(string("/"+local_name+"/right_leg/sensorWrench:o").c_str());
port_sensor_wrench_LL->open(string("/"+local_name+"/left_leg/sensorWrench:o").c_str());
port_model_wrench_RL->open(string("/"+local_name+"/right_leg/modelWrench:o").c_str());
port_model_wrench_LL->open(string("/"+local_name+"/left_leg/modelWrench:o").c_str());
#endif
port_external_cartesian_wrench_RA->open(string("/"+local_name+"/right_arm/cartesianEndEffectorWrench:o").c_str());
port_external_cartesian_wrench_LA->open(string("/"+local_name+"/left_arm/cartesianEndEffectorWrench:o").c_str());
port_external_cartesian_wrench_RL->open(string("/"+local_name+"/right_leg/cartesianEndEffectorWrench:o").c_str());
port_external_cartesian_wrench_LL->open(string("/"+local_name+"/left_leg/cartesianEndEffectorWrench:o").c_str());
port_external_cartesian_wrench_RF->open(string("/"+local_name+"/right_foot/cartesianEndEffectorWrench:o").c_str());
port_external_cartesian_wrench_LF->open(string("/"+local_name+"/left_foot/cartesianEndEffectorWrench:o").c_str());
port_external_wrench_TO->open(string("/"+local_name+"/torso/Wrench:o").c_str());
port_com_all->open(string("/"+local_name+"/com:o").c_str());
port_com_lb->open (string("/"+local_name+"/lower_body/com:o").c_str());
port_com_ub->open (string("/"+local_name+"/upper_body/com:o").c_str());
port_com_la ->open(string("/"+local_name+"/left_arm/com:o").c_str());
port_com_ra ->open(string("/"+local_name+"/right_arm/com:o").c_str());
port_com_ll ->open(string("/"+local_name+"/left_leg/com:o").c_str());
port_com_rl ->open(string("/"+local_name+"/right_leg/com:o").c_str());
port_com_hd ->open(string("/"+local_name+"/head/com:o").c_str());
port_com_to ->open(string("/"+local_name+"/torso/com:o").c_str());
port_com_all_foot->open(string("/"+local_name+"/com_foot:o").c_str());
port_skin_contacts->open(string("/"+local_name+"/skin_contacts:i").c_str());
port_monitor->open(string("/"+local_name+"/monitor:o").c_str());
port_contacts->open(string("/"+local_name+"/contacts:o").c_str());
port_dumpvel->open(string("/"+local_name+"/va:o").c_str());
port_external_ft_arm_left->open(string("/"+local_name+"/left_arm/ext_ft_sens:o").c_str());
port_external_ft_arm_right->open(string("/"+local_name+"/right_arm/ext_ft_sens:o").c_str());
port_external_ft_leg_left->open(string("/"+local_name+"/left_leg/ext_ft_sens:o").c_str());
port_external_ft_leg_right->open(string("/"+local_name+"/right_leg/ext_ft_sens:o").c_str());
port_COM_vel->open(string("/"+local_name+"/com_vel:o").c_str());
port_COM_Jacobian->open(string("/"+local_name+"/com_jacobian:o").c_str());
port_all_velocities->open(string("/"+local_name+"/all_velocities:o").c_str());
port_all_positions->open(string("/"+local_name+"/all_positions:o").c_str());
port_root_position_mat->open(string("/"+local_name+"/root_position_mat:o").c_str());
port_root_position_vec->open(string("/"+local_name+"/root_position_vec:o").c_str());
yInfo ("Waiting for port connections");
if (autoconnect)
{
//from iCub to wholeBodyDynamics
Network::connect(string("/"+local_name+"/filtered/inertial:o").c_str(),string("/"+local_name+"/inertial:i").c_str(),"tcp",false);
Network::connect(string("/"+robot_name+"/inertial").c_str(), string("/"+local_name+"/unfiltered/inertial:i").c_str(),"tcp",false);
Network::connect(string("/"+robot_name+"/left_arm/analog:o").c_str(), string("/"+local_name+"/left_arm/FT:i").c_str(),"tcp",false);
Network::connect(string("/"+robot_name+"/right_arm/analog:o").c_str(), string("/"+local_name+"/right_arm/FT:i").c_str(),"tcp",false);
Network::connect(string("/"+robot_name+"/left_leg/analog:o").c_str(), string("/"+local_name+"/left_leg/FT:i").c_str(),"tcp",false);
Network::connect(string("/"+robot_name+"/right_leg/analog:o").c_str(), string("/"+local_name+"/right_leg/FT:i").c_str(),"tcp",false);
Network::connect(string("/"+robot_name+"/left_foot/analog:o").c_str(), string("/"+local_name+"/left_foot/FT:i").c_str(),"tcp",false);
Network::connect(string("/"+robot_name+"/right_foot/analog:o").c_str(), string("/"+local_name+"/right_foot/FT:i").c_str(),"tcp",false);
//from wholeBodyDynamics to iCub (mandatory)
Network::connect(string("/"+local_name+"/left_arm/Torques:o").c_str(), string("/"+robot_name+"/joint_vsens/left_arm:i").c_str(),"tcp",false);
Network::connect(string("/"+local_name+"/right_arm/Torques:o").c_str(),string("/"+robot_name+"/joint_vsens/right_arm:i").c_str(),"tcp",false);
Network::connect(string("/"+local_name+"/left_leg/Torques:o").c_str(), string("/"+robot_name+"/joint_vsens/left_leg:i").c_str(),"tcp",false);
Network::connect(string("/"+local_name+"/right_leg/Torques:o").c_str(),string("/"+robot_name+"/joint_vsens/right_leg:i").c_str(),"tcp",false);
Network::connect(string("/"+local_name+"/torso/Torques:o").c_str(), string("/"+robot_name+"/joint_vsens/torso:i").c_str(),"tcp",false);
//from wholeBodyDynamics to iCub (optional)
if (Network::exists(string("/"+robot_name+"/joint_vsens/left_wrist:i").c_str()))
Network::connect(string("/"+local_name+"/left_wrist/Torques:o").c_str(), string("/"+robot_name+"/joint_vsens/left_wrist:i").c_str(),"tcp",false);
if (Network::exists(string("/"+robot_name+"/joint_vsens/right_wrist:i").c_str()))
Network::connect(string("/"+local_name+"/right_wrist/Torques:o").c_str(),string("/"+robot_name+"/joint_vsens/right_wrist:i").c_str(),"tcp",false);
}
yInfo ("Ports connected");
//---------------------DEVICES--------------------------//
if (ddAL) {ddAL->view(iencs_arm_left); ddAL->view(iint_arm_left); ddAL->view(icmd_arm_left);}
if (ddAR) {ddAR->view(iencs_arm_right); ddAR->view(iint_arm_right); ddAR->view(icmd_arm_right);}
if (ddH) {ddH->view(iencs_head); ddH ->view(iint_head); ddH ->view(icmd_head);}
if (ddLL) {ddLL->view(iencs_leg_left); ddLL->view(iint_leg_left); ddLL->view(icmd_leg_left);}
if (ddLR) {ddLR->view(iencs_leg_right); ddLR->view(iint_leg_right); ddLR->view(icmd_leg_right);}
if (ddT) {ddT->view(iencs_torso); ddT ->view(iint_torso); ddT ->view(icmd_torso);}
linEstUp =new AWLinEstimator(16,1.0);
quadEstUp=new AWQuadEstimator(25,1.0);
linEstLow =new AWLinEstimator(16,1.0);
quadEstLow=new AWQuadEstimator(25,1.0);
InertialEst = new AWLinEstimator(16,1.0);
//-----------parts INIT VARIABLES----------------//
init_upper();
init_lower();
//-----------CARTESIAN INIT VARIABLES----------------//
Fend.resize(3,0.0);
Muend.resize(3,0.0);
F_ext_up.resize(6,3);
F_ext_up = 0.0;
F_ext_low.resize(6,3);
F_ext_low = 0.0;
F_ext_left_arm.resize(6,0.0);
F_ext_right_arm.resize(6,0.0);
F_ext_cartesian_left_arm.resize(6,0.0);
F_ext_cartesian_right_arm.resize(6,0.0);
F_ext_left_leg.resize(6,0.0);
F_ext_right_leg.resize(6,0.0);
F_ext_cartesian_left_leg.resize(6,0.0);
F_ext_cartesian_right_leg.resize(6,0.0);
F_ext_left_foot.resize(6,0.0);
F_ext_right_foot.resize(6,0.0);
F_ext_cartesian_left_foot.resize(6,0.0);
F_ext_cartesian_right_foot.resize(6,0.0);
com_jac.resize(6,32);
}
bool inverseDynamics::threadInit()
{
yInfo("threadInit: waiting for port connections... \n\n");
if (!dummy_ft)
{
Vector *dummy = port_inertial_thread->read(true); //blocking call: waits for ports connection
}
// N trials to get a more accurate estimation
for(size_t i=0; i<status_queue_size; i++)
{
//read joints and ft sensor
bool ret = readAndUpdate(true,true);
if (ret == false)
{
yError("A problem occured during the initial readAndUpdate(), stopping... \n");
thread_status = STATUS_DISCONNECTED;
return false;
}
}
// the queue previous_status now contains status_queue_size elements, and we can calibrate
calibrateOffset();
thread_status = STATUS_OK;
return true;
}
bool iCubStatus::checkIcubNotMoving()
{
bool ret = true;
for (size_t i=0; i<this->all_dq_low.size(); i++)
if (fabs(all_dq_low[i])>0.7)
{
ret = false;
}
for (size_t i=0; i<this->all_dq_up.size(); i++)
if (fabs(all_dq_up[i])>0.7)
{
ret = false;
}
return ret;
}
void iCubStatus::dump (FILE* f)
{
fprintf (f, "%f ", timestamp);
fprintf (f, "%s ", all_q_up.toString().c_str());
fprintf (f, "%s ", all_dq_up.toString().c_str());
fprintf (f, "%s ", all_d2q_up.toString().c_str());
fprintf (f, "%s ", all_q_low.toString().c_str());
fprintf (f, "%s ", all_dq_low.toString().c_str());
fprintf (f, "%s ", all_d2q_low.toString().c_str());
fprintf (f, "%s ", ft_arm_left.toString().c_str());
fprintf (f, "%s ", ft_arm_right.toString().c_str());
fprintf (f, "%s ", ft_leg_left.toString().c_str());
fprintf (f, "%s ", ft_leg_right.toString().c_str());
fprintf (f, "%s ", inertial_w0.toString().c_str());
fprintf (f, "%s ", inertial_dw0.toString().c_str());
fprintf (f, "%s \n", inertial_d2p0.toString().c_str());
}
void inverseDynamics::run()
{
timestamp.update();
thread_status = STATUS_OK;
static int delay_check=0;
if(readAndUpdate(false) == false)
{
delay_check++;
yWarning ("network delays detected (%d/10)\n", delay_check);
if (delay_check>=10)
{
yError ("inverseDynamics thread lost connection with iCubInterface.\n");
thread_status = STATUS_DISCONNECTED;
}
}
else
{
delay_check = 0;
}
//remove the offset from the FT sensors measurements
F_LArm = -1.0 * (current_status.ft_arm_left-Offset_LArm);
F_RArm = -1.0 * (current_status.ft_arm_right-Offset_RArm);
F_LLeg = -1.0 * (current_status.ft_leg_left-Offset_LLeg);
F_RLeg = -1.0 * (current_status.ft_leg_right-Offset_RLeg);
F_LFoot = -1.0 * (current_status.ft_foot_left-Offset_LFoot);
F_RFoot = -1.0 * (current_status.ft_foot_right-Offset_RFoot);
//F_LFoot = 1.0 * (current_status.ft_foot_left);
//F_RFoot = 1.0 * (current_status.ft_foot_right);
//check if iCub is currently moving. If not, put the current iCub positions in the status queue
current_status.iCub_not_moving = current_status.checkIcubNotMoving();
if (current_status.iCub_not_moving == true)
{
not_moving_status.push_front(current_status);
if (not_moving_status.size()>status_queue_size)
{
not_moving_status.pop_back();
if (auto_drift_comp) yDebug ("drift_comp: buffer full\n"); //@@@DEBUG
}
}
else
{
//efficient way to clear the queue
not_moving_status.clear();
if (auto_drift_comp) yDebug ("drift_comp: clearing buffer\n"); //@@@DEBUG
}
// THIS BLOCK SHOULD BE NOW DEPRECATED
if (w0_dw0_enabled == false)
{
//if w0 and dw0 are too noisy, you can disable them using 'no_w0_dw0' option
current_status.inertial_w0.zero();
current_status.inertial_dw0.zero();
}
Vector F_up(6, 0.0);
icub->upperTorso->setInertialMeasure(current_status.inertial_w0,current_status.inertial_dw0,current_status.inertial_d2p0);
icub->upperTorso->setSensorMeasurement(F_RArm,F_LArm,F_up);
//#define DEBUG_PERFORMANCE
#ifdef DEBUG_PERFORMANCE
static double meanTime = 0.0;
static double startTime = 0;
startTime = Time::now();
#endif
icub->upperTorso->solveKinematics();
addSkinContacts();
icub->upperTorso->solveWrench();
#ifdef DEBUG_PERFORMANCE
meanTime += Time::now()-startTime;
yDebug("Mean uppertorso NE time: %.4f\n", meanTime/getIterations());
#endif
//#define DEBUG_KINEMATICS
#ifdef DEBUG_KINEMATICS
// DEBUG ONLY
yDebug ("\nHEAD: %s \n", d2p0.toString().c_str());
yDebug ("UPTORSO: %s \n", icub->upperTorso->getTorsoLinAcc().toString().c_str());
#endif
icub->attachLowerTorso(F_RLeg,F_LLeg);
icub->lowerTorso->solveKinematics();
icub->lowerTorso->solveWrench();
//#define DEBUG_KINEMATICS
#ifdef DEBUG_KINEMATICS
//DEBUG ONLY
yDebug ("LOWTORSO->UP: %s *** %s *** %s\n",
icub->lowerTorso->up->getLinAcc(0).toString().c_str(),
icub->lowerTorso->up->getLinAcc(1).toString().c_str(),
cub->lowerTorso->up->getLinAcc(2).toString().c_str());
yDebug ("LOWTORSO: %s \n", icub->lowerTorso->getLinAcc().toString().c_str());
yDebug ("LOWTORSO->RI: %s *** %s *** %s *** %s\n",
icub->lowerTorso->right->getLinAcc(0).toString().c_str(),
icub->lowerTorso->right->getLinAcc(1).toString().c_str(),
icub->lowerTorso->right->getLinAcc(2).toString().c_str(),
icub->lowerTorso->right->getLinAcc(3).toString().c_str());
yDebug ("LOWTORSO->LE: %s *** %s *** %s *** %s\n",
icub->lowerTorso->left->getLinAcc(0).toString().c_str(),
icub->lowerTorso->left->getLinAcc(1).toString().c_str(),
icub->lowerTorso->left->getLinAcc(2).toString().c_str(),
icub->lowerTorso->left->getLinAcc(3).toString().c_str());
#endif
//#define DEBUG_WRENCH
#ifdef DEBUG_WRENCH
yDebug ("LOWTORSO->UP: %s *** %s \n",
icub->lowerTorso->up->getForce(0).toString().c_str(),
icub->lowerTorso->up->getMoment(0).toString().c_str());
yDebug ("LOWTORSO->RO: %s *** %s \n",
icub->lowerTorso->up->getForce(2).toString().c_str(),
icub->lowerTorso->up->getMoment(2).toString().c_str());
#endif
Vector LATorques = icub->upperTorso->getTorques("left_arm");
Vector RATorques = icub->upperTorso->getTorques("right_arm");
Vector HDtmp = icub->upperTorso->getTorques("head");
Vector LLTorques = icub->lowerTorso->getTorques("left_leg");
Vector RLTorques = icub->lowerTorso->getTorques("right_leg");
Vector TOtmp = icub->lowerTorso->getTorques("torso");
Vector TOTorques(3);
Vector HDTorques(3);
//head torques
HDTorques[0] = HDtmp [0];
HDTorques[1] = HDtmp [1];
HDTorques[2] = HDtmp [2];
//torso torques
TOTorques[0] = TOtmp [2];
TOTorques[1] = TOtmp [1];
TOTorques[2] = TOtmp [0];
//#define DEBUG_TORQUES
#ifdef DEBUG_TORQUES
yDebug ("TORQUES: %s *** \n\n", TOTorques.toString().c_str());
#endif
writeTorque(RATorques, 1, port_RATorques); //arm
writeTorque(LATorques, 1, port_LATorques); //arm
writeTorque(TOTorques, 4, port_TOTorques); //torso
writeTorque(HDTorques, 0, port_HDTorques); //head
if (ddLR) writeTorque(RLTorques, 2, port_RLTorques); //leg
if (ddLL) writeTorque(LLTorques, 2, port_LLTorques); //leg
writeTorque(RATorques, 3, port_RWTorques); //wrist
writeTorque(LATorques, 3, port_LWTorques); //wrist
Vector com_all(7), com_ll(7), com_rl(7), com_la(7),com_ra(7), com_hd(7), com_to(7), com_lb(7), com_ub(7);
double mass_all , mass_ll , mass_rl , mass_la ,mass_ra , mass_hd, mass_to, mass_lb, mass_ub;
Vector com_v; com_v.resize(3); com_v.zero();
Vector all_dq; all_dq.resize(32,1); all_dq.zero();
Vector all_q; all_q.resize(32,1); all_q.zero();
// For balancing purposes
yarp::sig::Vector com_all_foot; com_all_foot.resize(3); com_all_foot.zero();
yarp::sig::Matrix rTf; rTf.resize(4,4); rTf.zero();
yarp::sig::Matrix fTr; fTr.resize(4,4); fTr.zero();
yarp::sig::Matrix lastRotTrans; lastRotTrans.resize(4,4); lastRotTrans.zero();
lastRotTrans(2,0)=lastRotTrans(3,3)=lastRotTrans(0,2)=1;
lastRotTrans(1,1)=-1;
rTf = icub->lowerTorso->right->getH();
rTf = (icub->lowerTorso->getHRight()) * rTf*lastRotTrans; //Until the world reference frame
fTr.setSubmatrix(rTf.submatrix(0,2,0,2).transposed(), 0, 0); //CHECKED
fTr.setSubcol(-1*fTr.submatrix(0,2,0,2)*rTf.subcol(0,3,3), 0, 3); //CHECKED
fTr(3,3) = 1;
//filling distance from root projection onto the floor to the right foot.
lastRotTrans(1,3)=-rTf(1,3);
lastRotTrans(2,3)= -rTf(0,3);
if (com_enabled)
{
icub->computeCOM();
if (com_vel_enabled)
{
icub->EXPERIMENTAL_computeCOMjacobian();
icub->EXPERIMENTAL_getCOMjacobian(BODY_PART_ALL,com_jac);
icub->EXPERIMENTAL_getCOMvelocity(BODY_PART_ALL,com_v,all_dq);
icub->getAllPositions(all_q);
}
icub->getCOM(BODY_PART_ALL, com_all, mass_all);
icub->getCOM(LOWER_BODY_PARTS, com_lb, mass_lb);
icub->getCOM(UPPER_BODY_PARTS, com_ub, mass_ub);
icub->getCOM(LEFT_LEG, com_ll, mass_ll);
icub->getCOM(RIGHT_LEG, com_rl, mass_rl);
icub->getCOM(LEFT_ARM, com_la, mass_la);
icub->getCOM(RIGHT_ARM, com_ra, mass_ra);
icub->getCOM(HEAD, com_hd, mass_hd);
icub->getCOM(TORSO, com_to, mass_to);
com_lb.push_back(mass_lb);
com_ub.push_back(mass_ub);
com_all.push_back(mass_all);
com_ll.push_back (mass_ll);
com_rl.push_back (mass_rl);
com_la.push_back (mass_la);
com_ra.push_back (mass_ra);
com_hd.push_back (mass_hd);
com_to.push_back (mass_to);
if (com_vel_enabled)
{
com_all.push_back(com_v[0]);
com_all.push_back(com_v[1]);
com_all.push_back(com_v[2]);
}
else
{
com_all.push_back(0);
com_all.push_back(0);
com_all.push_back(0);
}
#ifdef MEASURE_FROM_FOOT
com_all_foot.setSubvector(0,com_all.subVector(0,2));
com_all_foot.push_back(1);
com_all_foot = fTr*com_all_foot;
#endif
}
else
{
mass_all=mass_ll=mass_rl=mass_la=mass_ra=mass_hd=mass_to=0.0;
com_all.zero(); com_ll.zero(); com_rl.zero(); com_la.zero(); com_ra.zero(); com_hd.zero(); com_to.zero();
}
// DYN/SKIN CONTACTS
dynContacts = icub->upperTorso->leftSensor->getContactList();
const dynContactList& contactListR = icub->upperTorso->rightSensor->getContactList();
dynContacts.insert(dynContacts.begin(), contactListR.begin(), contactListR.end());
// for each dynContact find the related skinContact (if any) and set the wrench in it
unsigned long cId;
bool contactFound=false;
for(unsigned int i=0; i<dynContacts.size(); i++)
{
cId = dynContacts[i].getId();
for(unsigned int j=0; j<skinContacts.size(); j++)
{
if(cId == skinContacts[j].getId())
{
skinContacts[j].setForceMoment( dynContacts[i].getForceMoment() );
contactFound = true;
j = skinContacts.size(); // break from the inside for loop
}
}
// if there is no associated skin contact, create one
if(!contactFound)
skinContacts.push_back(skinContact(dynContacts[i]));
contactFound = false;
}
//*********************************************** add the legs contacts JUST TEMP FIX!! *******************
skinContact left_leg_contact;
left_leg_contact.setLinkNumber(5);
left_leg_contact.setBodyPart(iCub::skinDynLib::LEFT_LEG);
left_leg_contact.setForceMoment(F_ext_left_leg);
skinContact right_leg_contact;
right_leg_contact.setLinkNumber(5);
right_leg_contact.setBodyPart(iCub::skinDynLib::RIGHT_LEG);
right_leg_contact.setForceMoment(F_ext_right_leg);
if (!add_legs_once)
{
skinContacts.push_back(left_leg_contact);
skinContacts.push_back(right_leg_contact);
add_legs_once = true;
}
bool skin_lleg_found = false;
bool skin_rleg_found = false;
for(unsigned int j=0; j<skinContacts.size(); j++)
{
if (skinContacts[j].getBodyPart()==iCub::skinDynLib::LEFT_LEG)
{
skinContacts[j].setForceMoment(F_ext_left_leg);
skin_lleg_found = true;
}
if (skinContacts[j].getBodyPart()==iCub::skinDynLib::RIGHT_LEG)
{
skinContacts[j].setForceMoment(F_ext_right_leg);
skin_rleg_found = true;
}
}
if (!skin_rleg_found) {skinContacts.push_back(right_leg_contact);}
if (!skin_lleg_found) {skinContacts.push_back(left_leg_contact);}
//*********************************************** add the legs contacts JUST TEMP FIX!! *******************
F_ext_cartesian_left_arm = F_ext_cartesian_right_arm = zeros(6);
F_ext_cartesian_left_leg = F_ext_cartesian_right_leg = zeros(6);
F_ext_left_arm = icub->upperTorso->leftSensor->getForceMomentEndEff();
F_ext_right_arm = icub->upperTorso->rightSensor->getForceMomentEndEff();
F_ext_left_leg = icub->lowerTorso->leftSensor->getForceMomentEndEff();
F_ext_right_leg = icub->lowerTorso->rightSensor->getForceMomentEndEff();
// EXTERNAL DYNAMICS AT THE F/T SENSORS
Matrix F_sensor_up = icub_sens->upperTorso->estimateSensorsWrench(zeros(6,3));
F_ext_sens_right_arm = F_RArm - F_sensor_up.getCol(0); // measured wrench - internal wrench = external wrench
F_ext_sens_left_arm = F_LArm - F_sensor_up.getCol(1); // measured wrench - internal wrench = external wrench
#ifdef TEST_LEG_SENSOR
setUpperMeasure(true);
setLowerMeasure(true);
#endif
Matrix F_sensor_low = icub_sens->lowerTorso->estimateSensorsWrench(F_ext_low,false);
F_ext_sens_right_leg = F_RLeg - F_sensor_low.getCol(0); // measured wrench - internal wrench = external wrench
F_ext_sens_left_leg = F_LLeg - F_sensor_low.getCol(1); // measured wrench - internal wrench = external wrench
#ifdef TEST_LEG_SENSOR
F_mdl_right_leg = F_sensor_low.getCol(0);
F_mdl_left_leg = F_sensor_low.getCol(1);
F_sns_right_leg = F_RLeg;
F_sns_left_leg = F_LLeg;
#endif
yarp::sig::Matrix ht = icub->upperTorso->getHUp() * icub->upperTorso->up->getH();
yarp::sig::Matrix ahl = ht * icub->upperTorso->getHLeft() * icub->upperTorso->left->getH();
yarp::sig::Matrix ahr = ht * icub->upperTorso->getHRight() * icub->upperTorso->right->getH();
yarp::sig::Matrix lhl = icub->lowerTorso->getHLeft() * icub->lowerTorso->left->getH();
yarp::sig::Matrix lhr = icub->lowerTorso->getHRight() * icub->lowerTorso->right->getH();
yarp::sig::Vector tmp1,tmp2;
tmp1 = F_ext_left_arm.subVector(0,2); tmp1.push_back(0.0); tmp1 = ahl * tmp1;
tmp2 = F_ext_left_arm.subVector(3,5); tmp2.push_back(0.0); tmp2 = ahl * tmp2;
for (int i=0; i<3; i++) F_ext_cartesian_left_arm[i] = tmp1[i];
for (int i=3; i<6; i++) F_ext_cartesian_left_arm[i] = tmp2[i-3];
double n1=norm(F_ext_cartesian_left_arm.subVector(0,2));
double n2=norm(F_ext_cartesian_left_arm.subVector(3,5));
F_ext_cartesian_left_arm.push_back(n1);
F_ext_cartesian_left_arm.push_back(n2);
tmp1 = F_ext_right_arm.subVector(0,2); tmp1.push_back(0.0); tmp1 = ahr * tmp1;
tmp2 = F_ext_right_arm.subVector(3,5); tmp2.push_back(0.0); tmp2 = ahr * tmp2;
for (int i=0; i<3; i++) F_ext_cartesian_right_arm[i] = tmp1[i];
for (int i=3; i<6; i++) F_ext_cartesian_right_arm[i] = tmp2[i-3];
n1=norm(F_ext_cartesian_right_arm.subVector(0,2));
n2=norm(F_ext_cartesian_right_arm.subVector(3,5));
F_ext_cartesian_right_arm.push_back(n1);
F_ext_cartesian_right_arm.push_back(n2);
tmp1 = F_ext_left_leg.subVector(0,2); tmp1.push_back(0.0); tmp1 = lhl * tmp1;
tmp2 = F_ext_left_leg.subVector(3,5); tmp2.push_back(0.0); tmp2 = lhl * tmp2;
for (int i=0; i<3; i++) F_ext_cartesian_left_leg[i] = tmp1[i];
for (int i=3; i<6; i++) F_ext_cartesian_left_leg[i] = tmp2[i-3];
tmp1 = F_ext_right_leg.subVector(0,2); tmp1.push_back(0.0); tmp1 = lhr * tmp1;
tmp2 = F_ext_right_leg.subVector(3,5); tmp2.push_back(0.0); tmp2 = lhr * tmp2;
for (int i=0; i<3; i++) F_ext_cartesian_right_leg[i] = tmp1[i];
for (int i=3; i<6; i++) F_ext_cartesian_right_leg[i] = tmp2[i-3];
//computation of the root
yarp::sig::Vector angles (3);
angles[0] = 0;
angles[1] = -90/180.0*M_PI;
angles[2] = 0;
yarp::sig::Matrix r1 = yarp::math::euler2dcm(angles);
yarp::sig::Matrix ilhl = yarp::math::SE3inv(lhl);
yarp::sig::Matrix foot_root_mat = r1*ilhl;
yarp::sig::Vector foot_tmp = yarp::math::dcm2rpy(foot_root_mat);
//yDebug ("before\n %s\n", foot_root_mat.toString().c_str());
yarp::sig::Vector foot_root_vec (6,0.0);
foot_root_vec[3] = foot_root_mat[0][3]*1000;
foot_root_vec[4] = foot_root_mat[1][3]*1000;
foot_root_vec[5] = foot_root_mat[2][3]*1000;
foot_root_vec[0] = foot_tmp[0]*180.0/M_PI;
foot_root_vec[1] = foot_tmp[1]*180.0/M_PI;
foot_root_vec[2] = foot_tmp[2]*180.0/M_PI;
//yarp::sig::Matrix test = iCub::ctrl::rpy2dcm(foot_tmp);
//yDebug ("afer\n %s\n", test.toString().c_str());
//yDebug ("angles %+.2f %+.2f %+.2f\n", foot_tmp[0]*180.0/M_PI, foot_tmp[1]*180.0/M_PI, foot_tmp[2]*180.0/M_PI);
//computation for the foot
Matrix foot_hn(4,4); foot_hn.zero();
foot_hn(0,2)=1;foot_hn(0,3)=-7.75;
foot_hn(1,1)=-1;
foot_hn(2,0)=-1;
foot_hn(3,3)=1;
tmp1 = F_LFoot.subVector(0,2); tmp1.push_back(0.0); tmp1 = foot_hn * tmp1;
tmp2 = F_LFoot.subVector(3,5); tmp2.push_back(0.0); tmp2 = foot_hn * tmp2;
for (int i=0; i<3; i++) F_ext_left_foot[i] = tmp1[i];
for (int i=3; i<6; i++) F_ext_left_foot[i] = tmp2[i-3];
tmp1 = F_RFoot.subVector(0,2); tmp1.push_back(0.0); tmp1 = foot_hn * tmp1;
tmp2 = F_RFoot.subVector(3,5); tmp2.push_back(0.0); tmp2 = foot_hn * tmp2;
for (int i=0; i<3; i++) F_ext_right_foot[i] = tmp1[i];
for (int i=3; i<6; i++) F_ext_right_foot[i] = tmp2[i-3];
tmp1 = F_ext_left_foot.subVector(0,2); tmp1.push_back(0.0); tmp1 = lhl * tmp1;
tmp2 = F_ext_left_foot.subVector(3,5); tmp2.push_back(0.0); tmp2 = lhl * tmp2;
for (int i=0; i<3; i++) F_ext_cartesian_left_foot[i] = tmp1[i];
for (int i=3; i<6; i++) F_ext_cartesian_left_foot[i] = tmp2[i-3];
tmp1 = F_ext_right_foot.subVector(0,2); tmp1.push_back(0.0); tmp1 = lhr * tmp1;
tmp2 = F_ext_right_foot.subVector(3,5); tmp2.push_back(0.0); tmp2 = lhr * tmp2;
for (int i=0; i<3; i++) F_ext_cartesian_right_foot[i] = tmp1[i];
for (int i=3; i<6; i++) F_ext_cartesian_right_foot[i] = tmp2[i-3];
// *** MONITOR DATA ***
//sendMonitorData();
// *** DUMP VEL DATA ***
//sendVelAccData();
if (com_vel_enabled)
{
// com_jac = M_PI/180.0 * (com_jac);
// all_dq = 180.0/M_PI * all_dq;
// all_q = 180.0/M_PI * all_q;
broadcastData<Vector> (com_v, port_COM_vel);
broadcastData<Vector> (all_dq, port_all_velocities);
broadcastData<Vector> (all_q, port_all_positions);
broadcastData<Matrix> (com_jac, port_COM_Jacobian);
}
broadcastData<Vector> (com_all, port_com_all);
broadcastData<Vector> (com_lb, port_com_lb);
broadcastData<Vector> (com_ub, port_com_ub);
broadcastData<Vector> (com_ll, port_com_ll);
broadcastData<Vector> (com_rl, port_com_rl);
broadcastData<Vector> (com_la, port_com_la);
broadcastData<Vector> (com_ra, port_com_ra);
broadcastData<Vector> (com_hd, port_com_hd);
broadcastData<Vector> (com_to, port_com_to);
broadcastData<Vector> (com_all_foot, port_com_all_foot);
broadcastData<Vector> (F_up, port_external_wrench_TO);
broadcastData<Vector> (F_ext_right_arm, port_external_wrench_RA);
broadcastData<Vector> (F_ext_left_arm, port_external_wrench_LA);
broadcastData<Vector> (F_ext_cartesian_right_arm, port_external_cartesian_wrench_RA);
broadcastData<Vector> (F_ext_cartesian_left_arm, port_external_cartesian_wrench_LA);
broadcastData<Vector> (F_ext_right_leg, port_external_wrench_RL);
broadcastData<Vector> (F_ext_left_leg, port_external_wrench_LL);
broadcastData<Vector> (F_ext_right_foot, port_external_wrench_RF);
broadcastData<Vector> (F_ext_left_foot, port_external_wrench_LF);
#ifdef TEST_LEG_SENSOR
broadcastData<Vector> (F_sns_right_leg, port_sensor_wrench_RL);
broadcastData<Vector> (F_sns_left_leg, port_sensor_wrench_LL);
broadcastData<Vector> (F_mdl_right_leg, port_model_wrench_RL);
broadcastData<Vector> (F_mdl_left_leg, port_model_wrench_LL);
#endif
broadcastData<Vector> (F_ext_cartesian_right_leg, port_external_cartesian_wrench_RL);
broadcastData<Vector> (F_ext_cartesian_left_leg, port_external_cartesian_wrench_LL);
broadcastData<Vector> (F_ext_cartesian_right_foot, port_external_cartesian_wrench_RF);
broadcastData<Vector> (F_ext_cartesian_left_foot, port_external_cartesian_wrench_LF);
broadcastData<skinContactList>( skinContacts, port_contacts);