Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Expose rest pose for null space task to API.

Browse Source
This commit is contained in:
yunfeibai
2016-09-30 01:03:40 -07:00
parent 1c1d3db26d
commit 7e8d8b0488
9 changed files with 50 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
examples/SharedMemory/IKTrajectoryHelper.cpp
View File

@@ -174,19 +174,17 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
return true;
}
bool IKTrajectoryHelper::computeNullspaceVel(int numQ, const double* q_current, const double* lower_limit, const double* upper_limit, const double* joint_range)
bool IKTrajectoryHelper::computeNullspaceVel(int numQ, const double* q_current, const double* lower_limit, const double* upper_limit, const double* joint_range, const double* rest_pose)
{
m_data->m_nullSpaceVelocity.SetLength(numQ);
m_data->m_nullSpaceVelocity.SetZero();
double stayCloseToZeroGain = 0.1;
double stayAwayFromLimitsGain = 10.0;
double q_rest[7] = {0, 0, 0, SIMD_HALF_PI, 0, -SIMD_HALF_PI*0.66, 0};
// Stay close to zero
for (int i = 0; i < numQ; ++i)
{
m_data->m_nullSpaceVelocity[i] = stayCloseToZeroGain * (q_rest[i]-q_current[i]);
m_data->m_nullSpaceVelocity[i] = stayCloseToZeroGain * (rest_pose[i]-q_current[i]);
}
// Stay away from joint limits

2
examples/SharedMemory/IKTrajectoryHelper.h
View File

@@ -30,7 +30,7 @@ public:
const double* q_old, int numQ, int endEffectorIndex,
double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, const double dampIk[6]);
bool computeNullspaceVel(int numQ, const double* q_current, const double* lower_limit, const double* upper_limit, const double* joint_range);
bool computeNullspaceVel(int numQ, const double* q_current, const double* lower_limit, const double* upper_limit, const double* joint_range, const double* rest_pose);
};
#endif //IK_TRAJECTORY_HELPER_H

6
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -1391,7 +1391,7 @@ void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3SharedMemory
}
void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double* lowerLimit, const double* upperLimit, const double* jointRange)
void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
@@ -1408,10 +1408,11 @@ void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle
command->m_calculateInverseKinematicsArguments.m_lowerLimit[i] = lowerLimit[i];
command->m_calculateInverseKinematicsArguments.m_upperLimit[i] = upperLimit[i];
command->m_calculateInverseKinematicsArguments.m_jointRange[i] = jointRange[i];
command->m_calculateInverseKinematicsArguments.m_restPose[i] = restPose[i];
}
}
void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4], const double* lowerLimit, const double* upperLimit, const double* jointRange)
void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
@@ -1433,6 +1434,7 @@ void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHan
command->m_calculateInverseKinematicsArguments.m_lowerLimit[i] = lowerLimit[i];
command->m_calculateInverseKinematicsArguments.m_upperLimit[i] = upperLimit[i];
command->m_calculateInverseKinematicsArguments.m_jointRange[i] = jointRange[i];
command->m_calculateInverseKinematicsArguments.m_restPose[i] = restPose[i];
}
}

4
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -133,8 +133,8 @@ int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, double* linearJ
b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
void b3CalculateInverseKinematicsAddTargetPurePosition(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[3]);
void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4]);
void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double* lowerLimit, const double* upperLimit, const double* jointRange);
void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4], const double* lowerLimit, const double* upperLimit, const double* jointRange);
void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose);
void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose);
int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,

5
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -2688,15 +2688,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btAlignedObjectArray<double> lower_limit;
btAlignedObjectArray<double> upper_limit;
btAlignedObjectArray<double> joint_range;
btAlignedObjectArray<double> rest_pose;
lower_limit.resize(numDofs);
upper_limit.resize(numDofs);
joint_range.resize(numDofs);
rest_pose.resize(numDofs);
for (int i = 0; i < numDofs; ++i)
{
lower_limit[i] = clientCmd.m_calculateInverseKinematicsArguments.m_lowerLimit[i];
upper_limit[i] = clientCmd.m_calculateInverseKinematicsArguments.m_upperLimit[i];
joint_range[i] = clientCmd.m_calculateInverseKinematicsArguments.m_jointRange[i];
ikHelperPtr->computeNullspaceVel(numDofs, &q_current[0], &lower_limit[0], &upper_limit[0], &joint_range[0]);
rest_pose[i] = clientCmd.m_calculateInverseKinematicsArguments.m_restPose[i];
ikHelperPtr->computeNullspaceVel(numDofs, &q_current[0], &lower_limit[0], &upper_limit[0], &joint_range[0], &rest_pose[0]);
}
}

1
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -409,6 +409,7 @@ struct CalculateInverseKinematicsArgs
double m_lowerLimit[MAX_DEGREE_OF_FREEDOM];
double m_upperLimit[MAX_DEGREE_OF_FREEDOM];
double m_jointRange[MAX_DEGREE_OF_FREEDOM];
double m_restPose[MAX_DEGREE_OF_FREEDOM];
};
struct CalculateInverseKinematicsResultArgs