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Expose IK with null space task to shared memory API and RobotSimAPI.

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This commit is contained in:
yunfeibai
2016-09-30 00:05:00 -07:00
parent 29f890ae10
commit fd3cb061cb
9 changed files with 124 additions and 7 deletions
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3
examples/SharedMemory/IKTrajectoryHelper.cpp
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@@ -46,7 +46,7 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
const double* q_current, 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 useAngularPart = (ikMethod==IK2_VEL_DLS_WITH_ORIENTATION) ? true : false;
bool useAngularPart = (ikMethod==IK2_VEL_DLS_WITH_ORIENTATION || ikMethod==IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE) ? true : false;
m_data->m_ikJacobian = new Jacobian(useAngularPart,numQ);
@@ -133,6 +133,7 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
m_data->m_ikJacobian->CalcDeltaThetasDLS(); // Damped least squares method
break;
case IK2_VEL_DLS_WITH_NULLSPACE:
case IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE:
assert(m_data->m_nullSpaceVelocity.GetLength()==numQ);
m_data->m_ikJacobian->CalcDeltaThetasDLSwithNullspace(m_data->m_nullSpaceVelocity);
break;

1
examples/SharedMemory/IKTrajectoryHelper.h
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@@ -11,6 +11,7 @@ enum IK2_Method
IK2_VEL_DLS,
IK2_VEL_DLS_WITH_ORIENTATION,
IK2_VEL_DLS_WITH_NULLSPACE,
IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE,
};

45
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1391,6 +1391,51 @@ void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3SharedMemory
}
void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double* lowerLimit, const double* upperLimit, const double* jointRange)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CALCULATE_INVERSE_KINEMATICS);
command->m_updateFlags |= IK_HAS_TARGET_POSITION+IK_HAS_NULL_SPACE_VELOCITY;
command->m_calculateInverseKinematicsArguments.m_endEffectorLinkIndex = endEffectorLinkIndex;
command->m_calculateInverseKinematicsArguments.m_targetPosition[0] = targetPosition[0];
command->m_calculateInverseKinematicsArguments.m_targetPosition[1] = targetPosition[1];
command->m_calculateInverseKinematicsArguments.m_targetPosition[2] = targetPosition[2];
for (int i = 0; i < numDof; ++i)
{
command->m_calculateInverseKinematicsArguments.m_lowerLimit[i] = lowerLimit[i];
command->m_calculateInverseKinematicsArguments.m_upperLimit[i] = upperLimit[i];
command->m_calculateInverseKinematicsArguments.m_jointRange[i] = jointRange[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)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CALCULATE_INVERSE_KINEMATICS);
command->m_updateFlags |= IK_HAS_TARGET_POSITION+IK_HAS_TARGET_ORIENTATION+IK_HAS_NULL_SPACE_VELOCITY;
command->m_calculateInverseKinematicsArguments.m_endEffectorLinkIndex = endEffectorLinkIndex;
command->m_calculateInverseKinematicsArguments.m_targetPosition[0] = targetPosition[0];
command->m_calculateInverseKinematicsArguments.m_targetPosition[1] = targetPosition[1];
command->m_calculateInverseKinematicsArguments.m_targetPosition[2] = targetPosition[2];
command->m_calculateInverseKinematicsArguments.m_targetOrientation[0] = targetOrientation[0];
command->m_calculateInverseKinematicsArguments.m_targetOrientation[1] = targetOrientation[1];
command->m_calculateInverseKinematicsArguments.m_targetOrientation[2] = targetOrientation[2];
command->m_calculateInverseKinematicsArguments.m_targetOrientation[3] = targetOrientation[3];
for (int i = 0; i < numDof; ++i)
{
command->m_calculateInverseKinematicsArguments.m_lowerLimit[i] = lowerLimit[i];
command->m_calculateInverseKinematicsArguments.m_upperLimit[i] = upperLimit[i];
command->m_calculateInverseKinematicsArguments.m_jointRange[i] = jointRange[i];
}
}
int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -133,6 +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);
int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,

35
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2665,7 +2665,40 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btAlignedObjectArray<double> q_new;
q_new.resize(numDofs);
int ikMethod= (clientCmd.m_updateFlags& IK_HAS_TARGET_ORIENTATION)? IK2_VEL_DLS_WITH_ORIENTATION : IK2_VEL_DLS;
int ikMethod = 0;
if (clientCmd.m_updateFlags& (IK_HAS_TARGET_ORIENTATION+IK_HAS_NULL_SPACE_VELOCITY))
{
ikMethod = IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE;
}
else if (clientCmd.m_updateFlags& IK_HAS_TARGET_ORIENTATION)
{
ikMethod = IK2_VEL_DLS_WITH_ORIENTATION;
}
else if (clientCmd.m_updateFlags& IK_HAS_NULL_SPACE_VELOCITY)
{
ikMethod = IK2_VEL_DLS_WITH_NULLSPACE;
}
else
{
ikMethod = IK2_VEL_DLS;
}
if (clientCmd.m_updateFlags& IK_HAS_TARGET_ORIENTATION)
{
btAlignedObjectArray<double> lower_limit;
btAlignedObjectArray<double> upper_limit;
btAlignedObjectArray<double> joint_range;
lower_limit.resize(numDofs);
upper_limit.resize(numDofs);
joint_range.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]);
}
}
btVector3DoubleData endEffectorWorldPosition;
btVector3DoubleData endEffectorWorldOrientation;

6
examples/SharedMemory/SharedMemoryCommands.h
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@@ -395,7 +395,8 @@ enum EnumCalculateInverseKinematicsFlags
{
IK_HAS_TARGET_POSITION=1,
IK_HAS_TARGET_ORIENTATION=2,
//IK_HAS_CURRENT_JOINT_POSITIONS=4,//not used yet
IK_HAS_NULL_SPACE_VELOCITY=4,
//IK_HAS_CURRENT_JOINT_POSITIONS=8,//not used yet
};
struct CalculateInverseKinematicsArgs
@@ -405,6 +406,9 @@ struct CalculateInverseKinematicsArgs
double m_targetPosition[3];
double m_targetOrientation[4];//orientation represented as quaternion, x,y,z,w
int m_endEffectorLinkIndex;
double m_lowerLimit[MAX_DEGREE_OF_FREEDOM];
double m_upperLimit[MAX_DEGREE_OF_FREEDOM];
double m_jointRange[MAX_DEGREE_OF_FREEDOM];
};
struct CalculateInverseKinematicsResultArgs