216 lines
7.5 KiB
C++
216 lines
7.5 KiB
C++
#include "IKTrajectoryHelper.h"
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#include "BussIK/Node.h"
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#include "BussIK/Tree.h"
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#include "BussIK/Jacobian.h"
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#include "BussIK/VectorRn.h"
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#include "BussIK/MatrixRmn.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "BulletDynamics/Featherstone/btMultiBody.h"
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#define RADIAN(X) ((X)*RadiansToDegrees)
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//use BussIK and Reflexxes to convert from Cartesian endeffector future target to
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//joint space positions at each real-time (simulation) step
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struct IKTrajectoryHelperInternalData
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{
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VectorR3 m_endEffectorTargetPosition;
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Tree m_ikTree;
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b3AlignedObjectArray<Node*> m_ikNodes;
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Jacobian* m_ikJacobian;
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IKTrajectoryHelperInternalData()
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{
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m_endEffectorTargetPosition.SetZero();
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}
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};
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IKTrajectoryHelper::IKTrajectoryHelper()
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{
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m_data = new IKTrajectoryHelperInternalData;
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}
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IKTrajectoryHelper::~IKTrajectoryHelper()
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{
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delete m_data;
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}
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bool IKTrajectoryHelper::createFromMultiBody(class btMultiBody* mb)
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{
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//todo: implement proper conversion. For now, we only 'detect' a likely KUKA iiwa and hardcode its creation
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if (mb->getNumLinks()==7)
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{
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createKukaIIWA();
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return true;
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}
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return false;
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}
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void IKTrajectoryHelper::createKukaIIWA()
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{
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const VectorR3& unitx = VectorR3::UnitX;
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const VectorR3& unity = VectorR3::UnitY;
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const VectorR3& unitz = VectorR3::UnitZ;
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const VectorR3 unit1(sqrt(14.0) / 8.0, 1.0 / 8.0, 7.0 / 8.0);
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const VectorR3& zero = VectorR3::Zero;
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float minTheta = -4 * PI;
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float maxTheta = 4 * PI;
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m_data->m_ikNodes.resize(8);//7DOF+additional endeffector
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m_data->m_ikNodes[0] = new Node(VectorR3(0.100000, 0.000000, 0.087500), unitz, 0.08, JOINT, -1e30, 1e30, RADIAN(0.));
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m_data->m_ikTree.InsertRoot(m_data->m_ikNodes[0]);
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m_data->m_ikNodes[1] = new Node(VectorR3(0.100000, -0.000000, 0.290000), unity, 0.08, JOINT, -0.5, 0.4, RADIAN(0.));
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m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[0], m_data->m_ikNodes[1]);
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m_data->m_ikNodes[2] = new Node(VectorR3(0.100000, -0.000000, 0.494500), unitz, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.));
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m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[1], m_data->m_ikNodes[2]);
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m_data->m_ikNodes[3] = new Node(VectorR3(0.100000, 0.000000, 0.710000), -unity, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.));
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m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[2], m_data->m_ikNodes[3]);
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m_data->m_ikNodes[4] = new Node(VectorR3(0.100000, 0.000000, 0.894500), unitz, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.));
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m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[3], m_data->m_ikNodes[4]);
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m_data->m_ikNodes[5] = new Node(VectorR3(0.100000, 0.000000, 1.110000), unity, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.));
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m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[4], m_data->m_ikNodes[5]);
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m_data->m_ikNodes[6] = new Node(VectorR3(0.100000, 0.000000, 1.191000), unitz, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.));
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m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[5], m_data->m_ikNodes[6]);
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m_data->m_ikNodes[7] = new Node(VectorR3(0.100000, 0.000000, 1.20000), zero, 0.08, EFFECTOR);
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m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[6], m_data->m_ikNodes[7]);
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m_data->m_ikJacobian = new Jacobian(&m_data->m_ikTree);
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// Reset(m_ikTree,m_ikJacobian);
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m_data->m_ikTree.Init();
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m_data->m_ikTree.Compute();
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m_data->m_ikJacobian->Reset();
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}
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bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
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const double endEffectorTargetOrientation[4],
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const double endEffectorWorldPosition[3],
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const double endEffectorWorldOrientation[4],
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const double* q_current, int numQ,
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double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, float dt)
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{
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if (numQ != 7)
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{
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return false;
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}
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for (int i=0;i<numQ;i++)
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{
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m_data->m_ikNodes[i]->SetTheta(q_current[i]);
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}
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bool UseJacobianTargets1 = false;
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if ( UseJacobianTargets1 ) {
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m_data->m_ikJacobian->SetJtargetActive();
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}
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else {
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m_data->m_ikJacobian->SetJendActive();
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}
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VectorR3 targets;
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targets.Set(endEffectorTargetPosition[0],endEffectorTargetPosition[1],endEffectorTargetPosition[2]);
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m_data->m_ikJacobian->ComputeJacobian(&targets); // Set up Jacobian and deltaS vectors
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// Set one end effector world position from Bullet
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VectorRn deltaS(3);
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for (int i = 0; i < 3; ++i)
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{
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deltaS.Set(i,(endEffectorTargetPosition[i]-endEffectorWorldPosition[i])/dt);
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}
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// Set one end effector world orientation from Bullet
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VectorRn deltaR(3);
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btQuaternion startQ(endEffectorWorldOrientation[0],endEffectorWorldOrientation[1],endEffectorWorldOrientation[2],endEffectorWorldOrientation[3]);
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btQuaternion endQ(endEffectorTargetOrientation[0],endEffectorTargetOrientation[1],endEffectorTargetOrientation[2],endEffectorTargetOrientation[3]);
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btQuaternion deltaQ = endQ*startQ.inverse();
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float angle = deltaQ.getAngle();
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btVector3 axis = deltaQ.getAxis();
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float angleDot = angle/dt;
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btVector3 angularVel = angleDot*axis.normalize();
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for (int i = 0; i < 3; ++i)
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{
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deltaR.Set(i,angularVel[i]);
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}
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VectorRn deltaC(6);
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for (int i = 0; i < 3; ++i)
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{
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deltaC.Set(i,deltaS[i]);
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deltaC.Set(i+3,deltaR[i]);
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}
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m_data->m_ikJacobian->SetDeltaS(deltaC);
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// Set Jacobian from Bullet body Jacobian
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int nRow = m_data->m_ikJacobian->GetNumRows();
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int nCol = m_data->m_ikJacobian->GetNumCols();
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b3Assert(jacobian_size==nRow*nCol);
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MatrixRmn completeJacobian(nRow,nCol);
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for (int i = 0; i < nRow/2; ++i)
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{
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for (int j = 0; j < nCol; ++j)
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{
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completeJacobian.Set(i,j,linear_jacobian[i*nCol+j]);
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completeJacobian.Set(i+nRow/2,j,angular_jacobian[i*nCol+j]);
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}
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}
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m_data->m_ikJacobian->SetJendTrans(completeJacobian);
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// Calculate the change in theta values
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switch (ikMethod) {
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case IK2_JACOB_TRANS:
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m_data->m_ikJacobian->CalcDeltaThetasTranspose(); // Jacobian transpose method
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break;
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case IK2_DLS:
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m_data->m_ikJacobian->CalcDeltaThetasDLS(); // Damped least squares method
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break;
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case IK2_DLS_SVD:
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m_data->m_ikJacobian->CalcDeltaThetasDLSwithSVD();
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break;
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case IK2_PURE_PSEUDO:
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m_data->m_ikJacobian->CalcDeltaThetasPseudoinverse(); // Pure pseudoinverse method
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break;
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case IK2_SDLS:
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m_data->m_ikJacobian->CalcDeltaThetasSDLS(); // Selectively damped least squares method
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break;
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case IK2_VEL_DLS:
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m_data->m_ikJacobian->CalcThetasDotDLS(dt); // Damped least square for velocity IK
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break;
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default:
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m_data->m_ikJacobian->ZeroDeltaThetas();
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break;
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}
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// Use for velocity IK, update theta dot
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m_data->m_ikJacobian->UpdateThetaDot();
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// Use for position IK, incrementally update theta
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//m_data->m_ikJacobian->UpdateThetas();
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// Apply the change in the theta values
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//m_data->m_ikJacobian->UpdatedSClampValue(&targets);
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for (int i=0;i<numQ;i++)
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{
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// Use for velocity IK
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q_new[i] = m_data->m_ikNodes[i]->GetTheta()*dt + q_current[i];
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// Use for position IK
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//q_new[i] = m_data->m_ikNodes[i]->GetTheta();
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}
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return true;
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}
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