Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -18,85 +18,78 @@
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///quick demo showing the right-handed coordinate system and positive rotations around each axis
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class KukaGraspExample : public CommonExampleInterface
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{
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CommonGraphicsApp* m_app;
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CommonGraphicsApp* m_app;
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GUIHelperInterface* m_guiHelper;
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b3RobotSimulatorClientAPI m_robotSim;
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int m_kukaIndex;
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IKTrajectoryHelper m_ikHelper;
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int m_targetSphereInstance;
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b3Vector3 m_targetPos;
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b3Vector3 m_worldPos;
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b3Vector4 m_targetOri;
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b3Vector4 m_worldOri;
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double m_time;
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// int m_options;
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int m_kukaIndex;
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IKTrajectoryHelper m_ikHelper;
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int m_targetSphereInstance;
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b3Vector3 m_targetPos;
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b3Vector3 m_worldPos;
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b3Vector4 m_targetOri;
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b3Vector4 m_worldOri;
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double m_time;
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// int m_options;
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b3AlignedObjectArray<int> m_movingInstances;
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enum
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{
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numCubesX = 20,
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numCubesY = 20
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};
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public:
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KukaGraspExample(GUIHelperInterface* helper, int /* options */)
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:m_app(helper->getAppInterface()),
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m_guiHelper(helper),
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// m_options(options),
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m_kukaIndex(-1),
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m_time(0)
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{
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m_targetPos.setValue(0.5,0,1);
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m_worldPos.setValue(0, 0, 0);
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KukaGraspExample(GUIHelperInterface* helper, int /* options */)
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: m_app(helper->getAppInterface()),
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m_guiHelper(helper),
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// m_options(options),
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m_kukaIndex(-1),
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m_time(0)
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{
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m_targetPos.setValue(0.5, 0, 1);
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m_worldPos.setValue(0, 0, 0);
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m_app->setUpAxis(2);
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}
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virtual ~KukaGraspExample()
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{
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}
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}
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virtual ~KukaGraspExample()
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{
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}
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virtual void initPhysics()
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{
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///create some graphics proxy for the tracking target
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///the endeffector tries to track it using Inverse Kinematics
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{
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int sphereId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_MEDIUM);
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b3Quaternion orn(0, 0, 0, 1);
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b3Vector4 color = b3MakeVector4(1., 0.3, 0.3, 1);
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b3Vector3 scaling = b3MakeVector3(.02, .02, .02);
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m_targetSphereInstance = m_app->m_renderer->registerGraphicsInstance(sphereId, m_targetPos, orn, color, scaling);
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}
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m_app->m_renderer->writeTransforms();
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virtual void initPhysics()
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{
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///create some graphics proxy for the tracking target
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///the endeffector tries to track it using Inverse Kinematics
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{
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int sphereId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_MEDIUM);
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b3Quaternion orn(0, 0, 0, 1);
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b3Vector4 color = b3MakeVector4(1., 0.3, 0.3, 1);
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b3Vector3 scaling = b3MakeVector3(.02, .02, .02);
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m_targetSphereInstance = m_app->m_renderer->registerGraphicsInstance(sphereId, m_targetPos, orn, color, scaling);
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}
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m_app->m_renderer->writeTransforms();
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int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
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int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
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m_robotSim.setGuiHelper(m_guiHelper);
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bool connected = m_robotSim.connect(mode);
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// 0;//m_robotSim.connect(m_guiHelper);
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b3Printf("robotSim connected = %d",connected);
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{
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m_kukaIndex = m_robotSim.loadURDF("kuka_iiwa/model.urdf");
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if (m_kukaIndex >=0)
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{
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int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
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b3Printf("numJoints = %d",numJoints);
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for (int i=0;i<numJoints;i++)
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{
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b3JointInfo jointInfo;
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m_robotSim.getJointInfo(m_kukaIndex,i,&jointInfo);
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b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
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}
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/*
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// 0;//m_robotSim.connect(m_guiHelper);
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b3Printf("robotSim connected = %d", connected);
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{
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m_kukaIndex = m_robotSim.loadURDF("kuka_iiwa/model.urdf");
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if (m_kukaIndex >= 0)
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{
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int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
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b3Printf("numJoints = %d", numJoints);
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for (int i = 0; i < numJoints; i++)
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{
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b3JointInfo jointInfo;
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m_robotSim.getJointInfo(m_kukaIndex, i, &jointInfo);
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b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
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}
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/*
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int wheelJointIndices[4]={2,3,6,7};
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int wheelTargetVelocities[4]={-10,-10,-10,-10};
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for (int i=0;i<4;i++)
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@@ -107,202 +100,185 @@ public:
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m_robotSim.setJointMotorControl(m_kukaIndex,wheelJointIndices[i],controlArgs);
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}
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*/
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}
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}
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{
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m_robotSim.loadURDF("plane.urdf");
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m_robotSim.setGravity(btVector3(0,0,0));
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m_robotSim.setGravity(btVector3(0, 0, 0));
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}
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}
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}
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virtual void exitPhysics()
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{
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}
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virtual void exitPhysics()
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{
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m_robotSim.disconnect();
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}
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virtual void stepSimulation(float deltaTime)
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}
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virtual void stepSimulation(float deltaTime)
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{
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float dt = deltaTime;
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btClamp(dt,0.0001f,0.01f);
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btClamp(dt, 0.0001f, 0.01f);
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m_time+=dt;
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m_targetPos.setValue(0.4-0.4*b3Cos( m_time), 0, 0.8+0.4*b3Cos( m_time));
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m_targetOri.setValue(0, 1.0, 0, 0);
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m_targetPos.setValue(0.2*b3Cos( m_time), 0.2*b3Sin( m_time), 1.1);
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int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
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if (numJoints==7)
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{
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double q_current[7]={0,0,0,0,0,0,0};
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m_time += dt;
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m_targetPos.setValue(0.4 - 0.4 * b3Cos(m_time), 0, 0.8 + 0.4 * b3Cos(m_time));
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m_targetOri.setValue(0, 1.0, 0, 0);
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m_targetPos.setValue(0.2 * b3Cos(m_time), 0.2 * b3Sin(m_time), 1.1);
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b3JointStates2 jointStates;
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if (m_robotSim.getJointStates(m_kukaIndex,jointStates))
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{
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//skip the base positions (7 values)
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b3Assert(7+numJoints == jointStates.m_numDegreeOfFreedomQ);
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for (int i=0;i<numJoints;i++)
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{
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q_current[i] = jointStates.m_actualStateQ[i+7];
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}
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}
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// compute body position and orientation
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int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
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if (numJoints == 7)
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{
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double q_current[7] = {0, 0, 0, 0, 0, 0, 0};
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b3JointStates2 jointStates;
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if (m_robotSim.getJointStates(m_kukaIndex, jointStates))
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{
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//skip the base positions (7 values)
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b3Assert(7 + numJoints == jointStates.m_numDegreeOfFreedomQ);
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for (int i = 0; i < numJoints; i++)
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{
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q_current[i] = jointStates.m_actualStateQ[i + 7];
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}
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}
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// compute body position and orientation
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b3LinkState linkState;
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bool computeVelocity=true;
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bool computeForwardKinematics=true;
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m_robotSim.getLinkState(0, 6, computeVelocity,computeForwardKinematics, &linkState);
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bool computeVelocity = true;
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bool computeForwardKinematics = true;
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m_robotSim.getLinkState(0, 6, computeVelocity, computeForwardKinematics, &linkState);
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m_worldPos.setValue(linkState.m_worldLinkFramePosition[0], linkState.m_worldLinkFramePosition[1], linkState.m_worldLinkFramePosition[2]);
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m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]);
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m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]);
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b3Vector3DoubleData targetPosDataOut;
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m_targetPos.serializeDouble(targetPosDataOut);
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b3Vector3DoubleData worldPosDataOut;
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m_worldPos.serializeDouble(worldPosDataOut);
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b3Vector3DoubleData targetOriDataOut;
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m_targetOri.serializeDouble(targetOriDataOut);
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b3Vector3DoubleData worldOriDataOut;
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m_worldOri.serializeDouble(worldOriDataOut);
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b3Vector3DoubleData targetPosDataOut;
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m_targetPos.serializeDouble(targetPosDataOut);
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b3Vector3DoubleData worldPosDataOut;
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m_worldPos.serializeDouble(worldPosDataOut);
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b3Vector3DoubleData targetOriDataOut;
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m_targetOri.serializeDouble(targetOriDataOut);
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b3Vector3DoubleData worldOriDataOut;
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m_worldOri.serializeDouble(worldOriDataOut);
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b3RobotSimulatorInverseKinematicArgs ikargs;
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b3RobotSimulatorInverseKinematicsResults ikresults;
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ikargs.m_bodyUniqueId = m_kukaIndex;
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// ikargs.m_currentJointPositions = q_current;
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// ikargs.m_numPositions = 7;
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ikargs.m_endEffectorTargetPosition[0] = targetPosDataOut.m_floats[0];
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ikargs.m_endEffectorTargetPosition[1] = targetPosDataOut.m_floats[1];
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ikargs.m_endEffectorTargetPosition[2] = targetPosDataOut.m_floats[2];
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// ikargs.m_currentJointPositions = q_current;
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// ikargs.m_numPositions = 7;
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ikargs.m_endEffectorTargetPosition[0] = targetPosDataOut.m_floats[0];
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ikargs.m_endEffectorTargetPosition[1] = targetPosDataOut.m_floats[1];
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ikargs.m_endEffectorTargetPosition[2] = targetPosDataOut.m_floats[2];
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//ikargs.m_flags |= B3_HAS_IK_TARGET_ORIENTATION;
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ikargs.m_flags |= B3_HAS_JOINT_DAMPING;
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ikargs.m_flags |= B3_HAS_JOINT_DAMPING;
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ikargs.m_endEffectorTargetOrientation[0] = targetOriDataOut.m_floats[0];
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ikargs.m_endEffectorTargetOrientation[1] = targetOriDataOut.m_floats[1];
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ikargs.m_endEffectorTargetOrientation[2] = targetOriDataOut.m_floats[2];
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ikargs.m_endEffectorTargetOrientation[3] = targetOriDataOut.m_floats[3];
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ikargs.m_endEffectorLinkIndex = 6;
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// Settings based on default KUKA arm setting
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ikargs.m_lowerLimits.resize(numJoints);
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ikargs.m_upperLimits.resize(numJoints);
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ikargs.m_jointRanges.resize(numJoints);
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ikargs.m_restPoses.resize(numJoints);
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ikargs.m_jointDamping.resize(numJoints,0.5);
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ikargs.m_lowerLimits[0] = -2.32;
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ikargs.m_lowerLimits[1] = -1.6;
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ikargs.m_lowerLimits[2] = -2.32;
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ikargs.m_lowerLimits[3] = -1.6;
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ikargs.m_lowerLimits[4] = -2.32;
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ikargs.m_lowerLimits[5] = -1.6;
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ikargs.m_lowerLimits[6] = -2.4;
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ikargs.m_upperLimits[0] = 2.32;
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ikargs.m_upperLimits[1] = 1.6;
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ikargs.m_upperLimits[2] = 2.32;
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ikargs.m_upperLimits[3] = 1.6;
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ikargs.m_upperLimits[4] = 2.32;
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ikargs.m_upperLimits[5] = 1.6;
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ikargs.m_upperLimits[6] = 2.4;
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ikargs.m_jointRanges[0] = 5.8;
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ikargs.m_jointRanges[1] = 4;
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ikargs.m_jointRanges[2] = 5.8;
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ikargs.m_jointRanges[3] = 4;
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ikargs.m_jointRanges[4] = 5.8;
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ikargs.m_jointRanges[5] = 4;
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ikargs.m_jointRanges[6] = 6;
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ikargs.m_restPoses[0] = 0;
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ikargs.m_restPoses[1] = 0;
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ikargs.m_restPoses[2] = 0;
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ikargs.m_restPoses[3] = SIMD_HALF_PI;
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ikargs.m_restPoses[4] = 0;
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ikargs.m_restPoses[5] = -SIMD_HALF_PI*0.66;
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ikargs.m_restPoses[6] = 0;
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ikargs.m_jointDamping[0] = 10.0;
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ikargs.m_numDegreeOfFreedom = numJoints;
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if (m_robotSim.calculateInverseKinematics(ikargs,ikresults))
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ikargs.m_endEffectorLinkIndex = 6;
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// Settings based on default KUKA arm setting
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ikargs.m_lowerLimits.resize(numJoints);
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ikargs.m_upperLimits.resize(numJoints);
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ikargs.m_jointRanges.resize(numJoints);
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ikargs.m_restPoses.resize(numJoints);
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ikargs.m_jointDamping.resize(numJoints, 0.5);
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ikargs.m_lowerLimits[0] = -2.32;
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ikargs.m_lowerLimits[1] = -1.6;
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ikargs.m_lowerLimits[2] = -2.32;
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ikargs.m_lowerLimits[3] = -1.6;
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ikargs.m_lowerLimits[4] = -2.32;
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ikargs.m_lowerLimits[5] = -1.6;
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ikargs.m_lowerLimits[6] = -2.4;
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ikargs.m_upperLimits[0] = 2.32;
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ikargs.m_upperLimits[1] = 1.6;
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ikargs.m_upperLimits[2] = 2.32;
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ikargs.m_upperLimits[3] = 1.6;
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ikargs.m_upperLimits[4] = 2.32;
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ikargs.m_upperLimits[5] = 1.6;
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ikargs.m_upperLimits[6] = 2.4;
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ikargs.m_jointRanges[0] = 5.8;
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ikargs.m_jointRanges[1] = 4;
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ikargs.m_jointRanges[2] = 5.8;
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ikargs.m_jointRanges[3] = 4;
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ikargs.m_jointRanges[4] = 5.8;
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ikargs.m_jointRanges[5] = 4;
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ikargs.m_jointRanges[6] = 6;
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ikargs.m_restPoses[0] = 0;
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ikargs.m_restPoses[1] = 0;
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ikargs.m_restPoses[2] = 0;
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ikargs.m_restPoses[3] = SIMD_HALF_PI;
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ikargs.m_restPoses[4] = 0;
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ikargs.m_restPoses[5] = -SIMD_HALF_PI * 0.66;
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ikargs.m_restPoses[6] = 0;
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ikargs.m_jointDamping[0] = 10.0;
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ikargs.m_numDegreeOfFreedom = numJoints;
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if (m_robotSim.calculateInverseKinematics(ikargs, ikresults))
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{
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//copy the IK result to the desired state of the motor/actuator
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for (int i=0;i<numJoints;i++)
|
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{
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b3RobotSimulatorJointMotorArgs t(CONTROL_MODE_POSITION_VELOCITY_PD);
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t.m_targetPosition = ikresults.m_calculatedJointPositions[i];
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t.m_maxTorqueValue = 100.0;
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t.m_kp= 1.0;
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//copy the IK result to the desired state of the motor/actuator
|
||||
for (int i = 0; i < numJoints; i++)
|
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{
|
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b3RobotSimulatorJointMotorArgs t(CONTROL_MODE_POSITION_VELOCITY_PD);
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t.m_targetPosition = ikresults.m_calculatedJointPositions[i];
|
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t.m_maxTorqueValue = 100.0;
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t.m_kp = 1.0;
|
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t.m_targetVelocity = 0;
|
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t.m_kd = 1.0;
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m_robotSim.setJointMotorControl(m_kukaIndex,i,t);
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m_robotSim.setJointMotorControl(m_kukaIndex, i, t);
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}
|
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}
|
||||
}
|
||||
|
||||
}
|
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}
|
||||
|
||||
}
|
||||
|
||||
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m_robotSim.stepSimulation();
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}
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virtual void renderScene()
|
||||
{
|
||||
}
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virtual void renderScene()
|
||||
{
|
||||
m_robotSim.renderScene();
|
||||
|
||||
|
||||
b3Quaternion orn(0, 0, 0, 1);
|
||||
|
||||
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m_app->m_renderer->writeSingleInstanceTransformToCPU(m_targetPos, orn, m_targetSphereInstance);
|
||||
m_app->m_renderer->writeTransforms();
|
||||
|
||||
//draw the end-effector target sphere
|
||||
|
||||
//m_app->m_renderer->renderScene();
|
||||
}
|
||||
b3Quaternion orn(0, 0, 0, 1);
|
||||
|
||||
m_app->m_renderer->writeSingleInstanceTransformToCPU(m_targetPos, orn, m_targetSphereInstance);
|
||||
m_app->m_renderer->writeTransforms();
|
||||
|
||||
//draw the end-effector target sphere
|
||||
|
||||
//m_app->m_renderer->renderScene();
|
||||
}
|
||||
|
||||
virtual void physicsDebugDraw(int debugDrawMode)
|
||||
{
|
||||
m_robotSim.debugDraw(debugDrawMode);
|
||||
}
|
||||
virtual bool mouseMoveCallback(float x, float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool mouseButtonCallback(int button, int state, float x, float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool keyboardCallback(int key, int state)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
virtual void physicsDebugDraw(int debugDrawMode)
|
||||
{
|
||||
m_robotSim.debugDraw(debugDrawMode);
|
||||
}
|
||||
virtual bool mouseMoveCallback(float x,float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool mouseButtonCallback(int button, int state, float x, float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool keyboardCallback(int key, int state)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 3;
|
||||
float pitch = -30;
|
||||
float yaw = 0;
|
||||
float targetPos[3]={-0.2,0.8,0.3};
|
||||
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
|
||||
float targetPos[3] = {-0.2, 0.8, 0.3};
|
||||
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
|
||||
{
|
||||
m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
class CommonExampleInterface* KukaGraspExampleCreateFunc(struct CommonExampleOptions& options)
|
||||
class CommonExampleInterface* KukaGraspExampleCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new KukaGraspExample(options.m_guiHelper, options.m_option);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user