blender/intern/itasc/Armature.cpp

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2011-02-25 11:45:16 +00:00
/** \file itasc/Armature.cpp
* \ingroup itasc
*/
/*
* Armature.cpp
*
* Created on: Feb 3, 2009
* Author: benoitbolsee
*/
#include "Armature.hpp"
#include <algorithm>
#include <string.h>
#include <stdlib.h>
namespace iTaSC {
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#if 0
// a joint constraint is characterized by 5 values: tolerance, K, alpha, yd, yddot
static const unsigned int constraintCacheSize = 5;
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#endif
std::string Armature::m_root = "root";
Armature::Armature():
ControlledObject(),
m_tree(),
m_njoint(0),
m_nconstraint(0),
m_noutput(0),
m_neffector(0),
m_finalized(false),
m_cache(NULL),
m_buf(NULL),
m_qCCh(-1),
m_qCTs(0),
m_yCCh(-1),
#if 0
m_yCTs(0),
#endif
m_qKdl(),
m_oldqKdl(),
m_newqKdl(),
m_qdotKdl(),
m_jac(NULL),
m_armlength(0.0),
m_jacsolver(NULL),
m_fksolver(NULL)
{
}
Armature::~Armature()
{
if (m_jac)
delete m_jac;
if (m_jacsolver)
delete m_jacsolver;
if (m_fksolver)
delete m_fksolver;
for (JointConstraintList::iterator it=m_constraints.begin(); it != m_constraints.end(); it++) {
if (*it != NULL)
delete (*it);
}
if (m_buf)
delete [] m_buf;
m_constraints.clear();
}
Armature::JointConstraint_struct::JointConstraint_struct(SegmentMap::const_iterator _segment, unsigned int _y_nr, ConstraintCallback _function, void* _param, bool _freeParam, bool _substep):
segment(_segment), value(), values(), function(_function), y_nr(_y_nr), param(_param), freeParam(_freeParam), substep(_substep)
{
memset(values, 0, sizeof(values));
memset(value, 0, sizeof(value));
values[0].feedback = 20.0;
values[1].feedback = 20.0;
values[2].feedback = 20.0;
values[0].tolerance = 1.0;
values[1].tolerance = 1.0;
values[2].tolerance = 1.0;
values[0].values = &value[0];
values[1].values = &value[1];
values[2].values = &value[2];
values[0].number = 1;
values[1].number = 1;
values[2].number = 1;
switch (segment->second.segment.getJoint().getType()) {
case Joint::RotX:
value[0].id = ID_JOINT_RX;
values[0].id = ID_JOINT_RX;
v_nr = 1;
break;
case Joint::RotY:
value[0].id = ID_JOINT_RY;
values[0].id = ID_JOINT_RY;
v_nr = 1;
break;
case Joint::RotZ:
value[0].id = ID_JOINT_RZ;
values[0].id = ID_JOINT_RZ;
v_nr = 1;
break;
case Joint::TransX:
value[0].id = ID_JOINT_TX;
values[0].id = ID_JOINT_TX;
v_nr = 1;
break;
case Joint::TransY:
value[0].id = ID_JOINT_TY;
values[0].id = ID_JOINT_TY;
v_nr = 1;
break;
case Joint::TransZ:
value[0].id = ID_JOINT_TZ;
values[0].id = ID_JOINT_TZ;
v_nr = 1;
break;
case Joint::Sphere:
values[0].id = value[0].id = ID_JOINT_RX;
values[1].id = value[1].id = ID_JOINT_RY;
values[2].id = value[2].id = ID_JOINT_RZ;
v_nr = 3;
break;
case Joint::Swing:
values[0].id = value[0].id = ID_JOINT_RX;
values[1].id = value[1].id = ID_JOINT_RZ;
v_nr = 2;
break;
case Joint::None:
break;
}
}
Armature::JointConstraint_struct::~JointConstraint_struct()
{
if (freeParam && param)
free(param);
}
void Armature::initCache(Cache *_cache)
{
m_cache = _cache;
m_qCCh = -1;
m_yCCh = -1;
m_buf = NULL;
if (m_cache) {
// add a special channel for the joint
m_qCCh = m_cache->addChannel(this, "q", m_qKdl.rows()*sizeof(double));
#if 0
// for the constraints, instead of creating many different channels, we will
// create a single channel for all the constraints
if (m_nconstraint) {
m_yCCh = m_cache->addChannel(this, "y", m_nconstraint*constraintCacheSize*sizeof(double));
m_buf = new double[m_nconstraint*constraintCacheSize];
}
// store the initial cache position at timestamp 0
pushConstraints(0);
#endif
pushQ(0);
}
}
void Armature::pushQ(CacheTS timestamp)
{
if (m_qCCh >= 0) {
// try to keep the cache if the joints are the same
m_cache->addCacheVectorIfDifferent(this, m_qCCh, timestamp, m_qKdl(0), m_qKdl.rows(), KDL::epsilon);
m_qCTs = timestamp;
}
}
/* return true if a m_cache position was loaded */
bool Armature::popQ(CacheTS timestamp)
{
if (m_qCCh >= 0) {
double* item;
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item = (double *)m_cache->getPreviousCacheItem(this, m_qCCh, &timestamp);
if (item && m_qCTs != timestamp) {
double* q = m_qKdl(0);
memcpy(q, item, m_qKdl.rows()*sizeof(double));
m_qCTs = timestamp;
// changing the joint => recompute the jacobian
updateJacobian();
}
return (item) ? true : false;
}
return true;
}
#if 0
void Armature::pushConstraints(CacheTS timestamp)
{
if (m_yCCh >= 0) {
double *buf = NULL;
if (m_nconstraint) {
double *item = m_buf;
for (unsigned int i=0; i<m_nconstraint; i++) {
JointConstraint_struct* pConstraint = m_constraints[i];
*item++ = pConstraint->values.feedback;
*item++ = pConstraint->values.tolerance;
*item++ = pConstraint->value.yd;
*item++ = pConstraint->value.yddot;
*item++ = pConstraint->values.alpha;
}
}
m_cache->addCacheVectorIfDifferent(this, m_yCCh, timestamp, m_buf, m_nconstraint*constraintCacheSize, KDL::epsilon);
m_yCTs = timestamp;
}
}
/* return true if a cache position was loaded */
bool Armature::popConstraints(CacheTS timestamp)
{
if (m_yCCh >= 0) {
double *item = (double*)m_cache->getPreviousCacheItem(this, m_yCCh, &timestamp);
if (item && m_yCTs != timestamp) {
for (unsigned int i=0; i<m_nconstraint; i++) {
JointConstraint_struct* pConstraint = m_constraints[i];
if (pConstraint->function != Joint1DOFLimitCallback) {
pConstraint->values.feedback = *item++;
pConstraint->values.tolerance = *item++;
pConstraint->value.yd = *item++;
pConstraint->value.yddot = *item++;
pConstraint->values.alpha = *item++;
} else {
item += constraintCacheSize;
}
}
m_yCTs = timestamp;
}
return (item) ? true : false;
}
return true;
}
#endif
bool Armature::addSegment(const std::string& segment_name, const std::string& hook_name, const Joint& joint, const double& q_rest, const Frame& f_tip, const Inertia& M)
{
if (m_finalized)
return false;
Segment segment(joint, f_tip, M);
if (!m_tree.addSegment(segment, segment_name, hook_name))
return false;
int ndof = joint.getNDof();
for (int dof=0; dof<ndof; dof++) {
Joint_struct js(joint.getType(), ndof, (&q_rest)[dof]);
m_joints.push_back(js);
}
m_njoint+=ndof;
return true;
}
bool Armature::getSegment(const std::string& name, const unsigned int q_size, const Joint* &p_joint, double &q_rest, double &q, const Frame* &p_tip)
{
SegmentMap::const_iterator sit = m_tree.getSegment(name);
if (sit == m_tree.getSegments().end())
return false;
p_joint = &sit->second.segment.getJoint();
if (q_size < p_joint->getNDof())
return false;
p_tip = &sit->second.segment.getFrameToTip();
for (unsigned int dof=0; dof<p_joint->getNDof(); dof++) {
(&q_rest)[dof] = m_joints[sit->second.q_nr+dof].rest;
(&q)[dof] = m_qKdl[sit->second.q_nr+dof];
}
return true;
}
double Armature::getMaxJointChange()
{
if (!m_finalized)
return 0.0;
double maxJoint = 0.0;
for (unsigned int i=0; i<m_njoint; i++) {
// this is a very rough calculation, it doesn't work well for spherical joint
double joint = fabs(m_oldqKdl[i]-m_qKdl[i]);
if (maxJoint < joint)
maxJoint = joint;
}
return maxJoint;
}
double Armature::getMaxEndEffectorChange()
{
if (!m_finalized)
return 0.0;
double maxDelta = 0.0;
double delta;
Twist twist;
for (unsigned int i = 0; i<m_neffector; i++) {
twist = diff(m_effectors[i].pose, m_effectors[i].oldpose);
delta = twist.rot.Norm();
if (delta > maxDelta)
maxDelta = delta;
delta = twist.vel.Norm();
if (delta > maxDelta)
maxDelta = delta;
}
return maxDelta;
}
int Armature::addConstraint(const std::string& segment_name, ConstraintCallback _function, void* _param, bool _freeParam, bool _substep)
{
SegmentMap::const_iterator segment_it = m_tree.getSegment(segment_name);
// not suitable for NDof joints
if (segment_it == m_tree.getSegments().end()) {
if (_freeParam && _param)
free(_param);
return -1;
}
JointConstraintList::iterator constraint_it;
JointConstraint_struct* pConstraint;
int iConstraint;
for (iConstraint=0, constraint_it=m_constraints.begin(); constraint_it != m_constraints.end(); constraint_it++, iConstraint++) {
pConstraint = *constraint_it;
if (pConstraint->segment == segment_it) {
// redefining a constraint
if (pConstraint->freeParam && pConstraint->param) {
free(pConstraint->param);
}
pConstraint->function = _function;
pConstraint->param = _param;
pConstraint->freeParam = _freeParam;
pConstraint->substep = _substep;
return iConstraint;
}
}
if (m_finalized) {
if (_freeParam && _param)
free(_param);
return -1;
}
// new constraint, append
pConstraint = new JointConstraint_struct(segment_it, m_noutput, _function, _param, _freeParam, _substep);
m_constraints.push_back(pConstraint);
m_noutput += pConstraint->v_nr;
return m_nconstraint++;
}
int Armature::addLimitConstraint(const std::string& segment_name, unsigned int dof, double _min, double _max)
{
SegmentMap::const_iterator segment_it = m_tree.getSegment(segment_name);
if (segment_it == m_tree.getSegments().end())
return -1;
const Joint& joint = segment_it->second.segment.getJoint();
if (joint.getNDof() != 1 && joint.getType() != Joint::Swing) {
// not suitable for Sphere joints
return -1;
}
if ((joint.getNDof() == 1 && dof > 0) || (joint.getNDof() == 2 && dof > 1))
return -1;
Joint_struct& p_joint = m_joints[segment_it->second.q_nr+dof];
p_joint.min = _min;
p_joint.max = _max;
p_joint.useLimit = true;
return 0;
}
int Armature::addEndEffector(const std::string& name)
{
const SegmentMap& segments = m_tree.getSegments();
if (segments.find(name) == segments.end())
return -1;
EffectorList::const_iterator it;
int ee;
for (it=m_effectors.begin(), ee=0; it!=m_effectors.end(); it++, ee++) {
if (it->name == name)
return ee;
}
if (m_finalized)
return -1;
Effector_struct effector(name);
m_effectors.push_back(effector);
return m_neffector++;
}
bool Armature::finalize()
{
unsigned int i, j, c;
if (m_finalized)
return true;
if (m_njoint == 0)
return false;
initialize(m_njoint, m_noutput, m_neffector);
for (i=c=0; i<m_nconstraint; i++) {
JointConstraint_struct* pConstraint = m_constraints[i];
for (j=0; j<pConstraint->v_nr; j++, c++) {
m_Cq(c,pConstraint->segment->second.q_nr+j) = 1.0;
m_Wy(c) = pConstraint->values[j].alpha/*/(pConstraint->values.tolerance*pConstraint->values.feedback)*/;
}
}
m_jacsolver= new KDL::TreeJntToJacSolver(m_tree);
m_fksolver = new KDL::TreeFkSolverPos_recursive(m_tree);
m_jac = new Jacobian(m_njoint);
m_qKdl.resize(m_njoint);
m_oldqKdl.resize(m_njoint);
m_newqKdl.resize(m_njoint);
m_qdotKdl.resize(m_njoint);
for (i=0; i<m_njoint; i++) {
m_newqKdl[i] = m_oldqKdl[i] = m_qKdl[i] = m_joints[i].rest;
}
updateJacobian();
// estimate the maximum size of the robot arms
double length;
m_armlength = 0.0;
for (i=0; i<m_neffector; i++) {
length = 0.0;
KDL::SegmentMap::value_type const *sit = m_tree.getSegmentPtr(m_effectors[i].name);
while (sit->first != "root") {
Frame tip = sit->second.segment.pose(m_qKdl(sit->second.q_nr));
length += tip.p.Norm();
sit = sit->second.parent;
}
if (length > m_armlength)
m_armlength = length;
}
if (m_armlength < KDL::epsilon)
m_armlength = KDL::epsilon;
m_finalized = true;
return true;
}
void Armature::pushCache(const Timestamp& timestamp)
{
if (!timestamp.substep && timestamp.cache) {
pushQ(timestamp.cacheTimestamp);
//pushConstraints(timestamp.cacheTimestamp);
}
}
bool Armature::setJointArray(const KDL::JntArray& joints)
{
if (!m_finalized)
return false;
if (joints.rows() != m_qKdl.rows())
return false;
m_qKdl = joints;
updateJacobian();
return true;
}
const KDL::JntArray& Armature::getJointArray()
{
return m_qKdl;
}
bool Armature::updateJoint(const Timestamp& timestamp, JointLockCallback& callback)
{
if (!m_finalized)
return false;
// integration and joint limit
// for spherical joint we must use a more sophisticated method
unsigned int q_nr;
double* qdot=m_qdotKdl(0);
double* q=m_qKdl(0);
double* newq=m_newqKdl(0);
double norm, qx, qz, CX, CZ, sx, sz;
bool locked = false;
int unlocked = 0;
for (q_nr=0; q_nr<m_nq; ++q_nr)
qdot[q_nr]=m_qdot[q_nr];
for (q_nr=0; q_nr<m_nq; ) {
Joint_struct* joint = &m_joints[q_nr];
if (!joint->locked) {
switch (joint->type) {
case KDL::Joint::Swing:
{
KDL::Rotation base = KDL::Rot(KDL::Vector(q[0],0.0,q[1]));
(base*KDL::Rot(KDL::Vector(qdot[0],0.0,qdot[1])*timestamp.realTimestep)).GetXZRot().GetValue(newq);
if (joint[0].useLimit) {
if (joint[1].useLimit) {
// elliptical limit
sx = sz = 1.0;
qx = newq[0];
qz = newq[1];
// determine in which quadrant we are
if (qx > 0.0 && qz > 0.0) {
CX = joint[0].max;
CZ = joint[1].max;
} else if (qx <= 0.0 && qz > 0.0) {
CX = -joint[0].min;
CZ = joint[1].max;
qx = -qx;
sx = -1.0;
} else if (qx <= 0.0 && qz <= 0.0) {
CX = -joint[0].min;
CZ = -joint[1].min;
qx = -qx;
qz = -qz;
sx = sz = -1.0;
} else {
CX = joint[0].max;
CZ = -joint[0].min;
qz = -qz;
sz = -1.0;
}
if (CX < KDL::epsilon || CZ < KDL::epsilon) {
// quadrant is degenerated
if (qx > CX) {
newq[0] = CX*sx;
joint[0].locked = true;
}
if (qz > CZ) {
newq[1] = CZ*sz;
joint[0].locked = true;
}
} else {
// general case
qx /= CX;
qz /= CZ;
norm = KDL::sqrt(KDL::sqr(qx)+KDL::sqr(qz));
if (norm > 1.0) {
norm = 1.0/norm;
newq[0] = qx*norm*CX*sx;
newq[1] = qz*norm*CZ*sz;
joint[0].locked = true;
}
}
} else {
// limit on X only
qx = newq[0];
if (qx > joint[0].max) {
newq[0] = joint[0].max;
joint[0].locked = true;
} else if (qx < joint[0].min) {
newq[0] = joint[0].min;
joint[0].locked = true;
}
}
} else if (joint[1].useLimit) {
// limit on Z only
qz = newq[1];
if (qz > joint[1].max) {
newq[1] = joint[1].max;
joint[0].locked = true;
} else if (qz < joint[1].min) {
newq[1] = joint[1].min;
joint[0].locked = true;
}
}
if (joint[0].locked) {
// check the difference from previous position
locked = true;
norm = KDL::sqr(newq[0]-q[0])+KDL::sqr(newq[1]-q[1]);
if (norm < KDL::epsilon2) {
// joint didn't move, no need to update the jacobian
callback.lockJoint(q_nr, 2);
} else {
// joint moved, compute the corresponding velocity
double deltaq[2];
(base.Inverse()*KDL::Rot(KDL::Vector(newq[0],0.0,newq[1]))).GetXZRot().GetValue(deltaq);
deltaq[0] /= timestamp.realTimestep;
deltaq[1] /= timestamp.realTimestep;
callback.lockJoint(q_nr, 2, deltaq);
// no need to update the other joints, it will be done after next rerun
goto end_loop;
}
} else
unlocked++;
break;
}
case KDL::Joint::Sphere:
{
(KDL::Rot(KDL::Vector(q))*KDL::Rot(KDL::Vector(qdot)*timestamp.realTimestep)).GetRot().GetValue(newq);
// no limit on this joint
unlocked++;
break;
}
default:
for (unsigned int i=0; i<joint->ndof; i++) {
newq[i] = q[i]+qdot[i]*timestamp.realTimestep;
if (joint[i].useLimit) {
if (newq[i] > joint[i].max) {
newq[i] = joint[i].max;
joint[0].locked = true;
} else if (newq[i] < joint[i].min) {
newq[i] = joint[i].min;
joint[0].locked = true;
}
}
}
if (joint[0].locked) {
locked = true;
norm = 0.0;
// compute delta to locked position
for (unsigned int i=0; i<joint->ndof; i++) {
qdot[i] = newq[i] - q[i];
norm += qdot[i]*qdot[i];
}
if (norm < KDL::epsilon2) {
// joint didn't move, no need to update the jacobian
callback.lockJoint(q_nr, joint->ndof);
} else {
// solver needs velocity, compute equivalent velocity
for (unsigned int i=0; i<joint->ndof; i++) {
qdot[i] /= timestamp.realTimestep;
}
callback.lockJoint(q_nr, joint->ndof, qdot);
goto end_loop;
}
} else
unlocked++;
}
}
qdot += joint->ndof;
q += joint->ndof;
newq += joint->ndof;
q_nr += joint->ndof;
}
end_loop:
// check if there any other unlocked joint
for ( ; q_nr<m_nq; ) {
Joint_struct* joint = &m_joints[q_nr];
if (!joint->locked)
unlocked++;
q_nr += joint->ndof;
}
// if all joints have been locked no need to run the solver again
return (unlocked) ? locked : false;
}
void Armature::updateKinematics(const Timestamp& timestamp){
//Integrate m_qdot
if (!m_finalized)
return;
// the new joint value have been computed already, just copy
memcpy(m_qKdl(0), m_newqKdl(0), sizeof(double)*m_qKdl.rows());
pushCache(timestamp);
updateJacobian();
// here update the desired output.
// We assume constant desired output for the joint limit constraint, no need to update it.
}
void Armature::updateJacobian()
{
//calculate pose and jacobian
for (unsigned int ee=0; ee<m_nee; ee++) {
m_fksolver->JntToCart(m_qKdl,m_effectors[ee].pose,m_effectors[ee].name,m_root);
m_jacsolver->JntToJac(m_qKdl,*m_jac,m_effectors[ee].name);
// get the jacobian for the base point, to prepare transformation to world reference
changeRefPoint(*m_jac,-m_effectors[ee].pose.p,*m_jac);
//copy to Jq:
e_matrix& Jq = m_JqArray[ee];
for(unsigned int i=0;i<6;i++) {
for(unsigned int j=0;j<m_nq;j++)
Jq(i,j)=(*m_jac)(i,j);
}
}
// remember that this object has moved
m_updated = true;
}
const Frame& Armature::getPose(const unsigned int ee)
{
if (!m_finalized)
return F_identity;
return (ee >= m_nee) ? F_identity : m_effectors[ee].pose;
}
bool Armature::getRelativeFrame(Frame& result, const std::string& segment_name, const std::string& base_name)
{
if (!m_finalized)
return false;
return (m_fksolver->JntToCart(m_qKdl,result,segment_name,base_name) < 0) ? false : true;
}
void Armature::updateControlOutput(const Timestamp& timestamp)
{
if (!m_finalized)
return;
if (!timestamp.substep && !timestamp.reiterate && timestamp.interpolate) {
popQ(timestamp.cacheTimestamp);
//popConstraints(timestamp.cacheTimestamp);
}
if (!timestamp.substep) {
// save previous joint state for getMaxJointChange()
memcpy(m_oldqKdl(0), m_qKdl(0), sizeof(double)*m_qKdl.rows());
for (unsigned int i=0; i<m_neffector; i++) {
m_effectors[i].oldpose = m_effectors[i].pose;
}
}
// remove all joint lock
for (JointList::iterator jit=m_joints.begin(); jit!=m_joints.end(); ++jit) {
(*jit).locked = false;
}
JointConstraintList::iterator it;
unsigned int iConstraint;
// scan through the constraints and call the callback functions
for (iConstraint=0, it=m_constraints.begin(); it!=m_constraints.end(); it++, iConstraint++) {
JointConstraint_struct* pConstraint = *it;
unsigned int nr, i;
for (i=0, nr = pConstraint->segment->second.q_nr; i<pConstraint->v_nr; i++, nr++) {
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*(double *)&pConstraint->value[i].y = m_qKdl[nr];
*(double *)&pConstraint->value[i].ydot = m_qdotKdl[nr];
}
if (pConstraint->function && (pConstraint->substep || (!timestamp.reiterate && !timestamp.substep))) {
(*pConstraint->function)(timestamp, pConstraint->values, pConstraint->v_nr, pConstraint->param);
}
// recompute the weight in any case, that's the most likely modification
for (i=0, nr=pConstraint->y_nr; i<pConstraint->v_nr; i++, nr++) {
m_Wy(nr) = pConstraint->values[i].alpha/*/(pConstraint->values.tolerance*pConstraint->values.feedback)*/;
m_ydot(nr)=pConstraint->value[i].yddot+pConstraint->values[i].feedback*(pConstraint->value[i].yd-pConstraint->value[i].y);
}
}
}
bool Armature::setControlParameter(unsigned int constraintId, unsigned int valueId, ConstraintAction action, double value, double timestep)
{
unsigned int lastid, i;
if (constraintId == CONSTRAINT_ID_ALL) {
constraintId = 0;
lastid = m_nconstraint;
} else if (constraintId < m_nconstraint) {
lastid = constraintId+1;
} else {
return false;
}
for ( ; constraintId<lastid; ++constraintId) {
JointConstraint_struct* pConstraint = m_constraints[constraintId];
if (valueId == ID_JOINT) {
for (i=0; i<pConstraint->v_nr; i++) {
switch (action) {
case ACT_TOLERANCE:
pConstraint->values[i].tolerance = value;
break;
case ACT_FEEDBACK:
pConstraint->values[i].feedback = value;
break;
case ACT_ALPHA:
pConstraint->values[i].alpha = value;
break;
default:
break;
}
}
} else {
for (i=0; i<pConstraint->v_nr; i++) {
if (valueId == pConstraint->value[i].id) {
switch (action) {
case ACT_VALUE:
pConstraint->value[i].yd = value;
break;
case ACT_VELOCITY:
pConstraint->value[i].yddot = value;
break;
case ACT_TOLERANCE:
pConstraint->values[i].tolerance = value;
break;
case ACT_FEEDBACK:
pConstraint->values[i].feedback = value;
break;
case ACT_ALPHA:
pConstraint->values[i].alpha = value;
break;
case ACT_NONE:
break;
}
}
}
}
if (m_finalized) {
for (i=0; i<pConstraint->v_nr; i++)
m_Wy(pConstraint->y_nr+i) = pConstraint->values[i].alpha/*/(pConstraint->values.tolerance*pConstraint->values.feedback)*/;
}
}
return true;
}
}