compile more than one robot simultaneously

.gitignore

@@ -4,9 +4,15 @@ bin/
 **generatedFiles/
 *_gen.h
 *_gen.cpp
-src/thunder_robot/robots/
-src/thunder_robot/library/
-src/thunder_robot/src/
-src/thunder_robot_chrono/robots/
-src/thunder_robot_chrono/library/
-src/thunder_robot_chrono/src/
+src/thunder_robot/robots/**
+src/thunder_robot/library/**
+src/thunder_robot/src/**
+src/thunder_robot_chrono/robots/**
+src/thunder_robot_chrono/library/**
+src/thunder_robot_chrono/src/**
+!src/thunder_robot/robots/.gitkeep
+!src/thunder_robot/library/.gitkeep
+!src/thunder_robot/src/.gitkeep
+!src/thunder_robot_chrono/robots/.gitkeep
+!src/thunder_robot_chrono/library/.gitkeep
+!src/thunder_robot_chrono/src/.gitkeep

README.md

@@ -1,4 +1,4 @@
-# Thunder - [thunder_dynamics](https://github.com/CentroEPiaggio/thunder_dynamics) v0.2.1
+# Thunder - [thunder_dynamics](https://github.com/CentroEPiaggio/thunder_dynamics) - v0.2.1 + 0.0.1
 
 The aim of `thunder_dynamics` is to generate code useful for robot's control.
 

src/thunder/library/robot.h

@@ -89,6 +89,7 @@ namespace thunder_ns{
 			// double _mu_;
 
 		public:
+			std::string robotName = "robot";
 			const int STD_PAR_LINK = 10;
 			/* Init variables
 			numJoints: number of joints

src/thunder/src/robot.cpp

@@ -689,15 +689,15 @@ namespace thunder_ns{
 		return 1;
 	}
 
-	int Robot::add_function(std::string name, casadi::SX expr, std::vector<std::string> f_args, std::string descr){
-		// maybe directly model[name] = ...?
-		if (model.count(name)){
+	int Robot::add_function(std::string f_name, casadi::SX expr, std::vector<std::string> f_args, std::string descr){
+		// maybe directly model[f_name] = ...?
+		if (model.count(f_name)){
 			// key already exists
 			return 0;
 		} else {
-			model[name] = expr;
-			fun_args[name] = f_args;
-			fun_descr[name] = descr;
+			model[f_name] = expr;
+			fun_args[f_name] = f_args;
+			fun_descr[f_name] = descr;
 
 			casadi::SXVector inputs(f_args.size());
 			// for (const auto& arg : f_args) {
@@ -709,9 +709,9 @@ namespace thunder_ns{
 				i++;
 			}
 
-			casadi::Function fun(name+"_fun", inputs, {densify(expr)});
+			casadi::Function fun(robotName+"_"+f_name+"_fun", inputs, {densify(expr)});
 			// cout<<"fun: "<<fun<<endl;
-			casadi_fun[name] = fun;
+			casadi_fun[f_name] = fun;
 		}
 
 		return 1;

src/thunder/src/utils.cpp

@@ -106,6 +106,7 @@ namespace thunder_ns{
 	int change_to_robot(const string from_robot, const string to_robot, Robot& robot, const string file_path_h, const string file_path_cpp){
 
 		// - get parameters from robot - //
+		std::string robotName = robot.robotName;
 		int n_joints = robot.get_numJoints();
 		int numElasticJoints = robot.get_numElasticJoints();
 		bool ELASTIC = robot.get_ELASTIC();
@@ -144,6 +145,7 @@ namespace thunder_ns{
 			replace_all(file_content_h, from_robot, to_robot);
 
 			// - add variables - //
+			replace_all(file_content_h, "/*#-ROBOT_NAME-#*/", robotName);
 			replace_all(file_content_h, "/*#-n_joints-#*/", to_string(n_joints));
 			replace_all(file_content_h, "/*#-ELASTIC-#*/", to_string(ELASTIC));
 			replace_all(file_content_h, "/*#-numElasticJoints-#*/", to_string(numElasticJoints));
@@ -163,7 +165,7 @@ namespace thunder_ns{
 			replace_all(file_content_h, "/*#-isElasticJoint-#*/", eJ_str);
 
 			// - insert functions - //
-			string functions_string = "";
+			string functions_string = "\n";
 			for (int i=0; i<functions.size(); i++){
 				functions_string.append("\t\t// - " + functions[i].description + " - //\n");
 				functions_string.append("\t\tEigen::MatrixXd get_" + functions[i].name + "();\n\n");
@@ -199,9 +201,10 @@ namespace thunder_ns{
 			replace_all(file_content_cpp, from_robot, to_robot);
 
 			// - insert functions - //
-			string functions_string = "";
+			string functions_string = "\n";
 			for (int i=0; i<functions.size(); i++){
-				std::string fun_name = functions[i].name;
+				std::string fun_name = "get_" + functions[i].name;
+				std::string fun_name_gen = robotName + "_" + functions[i].name;
 				std::vector<std::string> fun_args = functions[i].args;
 				std::vector<int> out_size = functions[i].out_size;
 				// // function arguments
@@ -211,11 +214,11 @@ namespace thunder_ns{
 				// }
 				// other parts
 				functions_string.append("// - " + functions[i].description + " - //\n");
-				functions_string.append("Eigen::MatrixXd thunder_" + to_robot + "::get_" + fun_name + "(){\n");
+				functions_string.append("Eigen::MatrixXd thunder_" + to_robot + "::" + fun_name + "(){\n");
 				functions_string.append("\tEigen::MatrixXd out;\n");
 				functions_string.append("\tout.resize("+to_string(out_size[0])+","+to_string(out_size[1])+");\n");
-				functions_string.append("\tlong long p3[" + fun_name + "_fun_SZ_IW];\n");
-				functions_string.append("\tdouble p4[" + fun_name + "_fun_SZ_W];\n");
+				functions_string.append("\tlong long p3[" + fun_name_gen + "_fun_SZ_IW];\n");
+				functions_string.append("\tdouble p4[" + fun_name_gen + "_fun_SZ_W];\n");
 				// inputs
 				functions_string.append("\tconst double* input_[] = {" + fun_args[0]+".data()");
 				for (int j=1; j<fun_args.size(); j++){
@@ -224,7 +227,7 @@ namespace thunder_ns{
 				functions_string.append("};\n");
 				// output
 				functions_string.append("\tdouble* output_[] = {out.data()};\n");
-				functions_string.append("\tint check = " + fun_name + "_fun(input_, output_, p3, p4, 0);\n");
+				functions_string.append("\tint check = " + fun_name_gen + "_fun(input_, output_, p3, p4, 0);\n");
 				functions_string.append("\treturn out;\n");
 				functions_string.append("}\n\n");
 			}

src/thunder/thunder_main.cpp

@@ -103,6 +103,7 @@ int main(int argc, char* argv[]){
 
 	// --- Robot creation --- //
 	Robot robot = robot_from_file(config_file, 0);
+	robot.robotName = robot_name;
 	compute_kinematics(robot);
 	compute_dynamics(robot);
 	compute_regressors(robot);

src/thunder/thunder_robot_template/thunder_robot.h

@@ -47,6 +47,7 @@ class thunder_robot{
 		Eigen::Matrix3d hat(const Eigen::Vector3d v);
 
 	public:
+		const std::string robotName = "/*#-ROBOT_NAME-#*/";
 		const int n_joints = /*#-n_joints-#*/;
 		const bool ELASTIC = /*#-ELASTIC-#*/;
 		const int numElasticJoints = /*#-numElasticJoints-#*/;

src/thunder_robot/thunder_robot_test.cpp

@@ -11,14 +11,15 @@
 // #include <yaml-cpp/yaml.h>
 
 // #include "thunder_robot.h"
+#include "thunder_RRR.h"
 #include "thunder_seaRRR.h"
 
 // #define NJ 3
 // #define N_PARAM_DYN 30
 // const std::string inertial_file = "../robots/seaRRR_inertial_DYN.yaml";
 // const std::string elastic_file = "../../thunder/robots/RRR_sea/seaRRR.yaml";
-const std::string inertial_file = "../robots/seaRRR_inertial_DYN.yaml";
-const std::string elastic_file = "../../thunder/robots/RRR_sea/seaRRR.yaml";
+const std::string inertial_file = "../robots/RRR_inertial_DYN.yaml";
+// const std::string elastic_file = "../../thunder/robots/RRR_sea/seaRRR.yaml";
 const std::string saved_inertial_file = "../robots/robot/saved_robot_inertial_DYN.yaml";
 
 using namespace std::chrono;
@@ -36,7 +37,7 @@ int main(){
 	auto time_stop = high_resolution_clock::now();
 	auto duration = duration_cast<nanoseconds>(time_stop - time_start).count();
 
-	thunder_seaRRR robot;
+	thunder_RRR robot;
 
 	robot.load_par_DYN(inertial_file);
 	const int NJ = robot.get_numJoints();
@@ -93,10 +94,10 @@ int main(){
 	myG = robot.get_G();
 	cout<<"\n\nG\n"<<myG;
 	// --- Should be commented if Dl does not exists, Uncomment for link friction --- //
-	if (robot.Dl_order){
-		Dl = robot.get_Dl();
-		cout<<"\n\nD_link\n"<<Dl;
-	}
+	// if (robot.Dl_order){
+	// 	Dl = robot.get_Dl();
+	// 	cout<<"\n\nD_link\n"<<Dl;
+	// }
 	// --- end --- //
 	Yr = robot.get_Yr();
 	cout<<"\n\nYr\n"<<Yr;
@@ -115,46 +116,46 @@ int main(){
 	// robot.save_par_DYN(saved_inertial_file);
 
 	// --- Should be commented if ELASTIC = 0, Uncomment for elastic behavior --- //
-	if (robot.ELASTIC){
-		int NEJ = robot.numElasticJoints;
-		cout<<endl<<"num elastic joints: "<< NEJ<<endl;
-		robot.load_par_elastic(elastic_file);
-
-		Eigen::VectorXd x(NEJ), dx(NEJ), ddxr(NEJ);
-		x = 2*x.setOnes();
-		dx = 2*dx.setOnes();
-		ddxr = 2*ddxr.setOnes();
-		robot.set_x(x);
-		robot.set_dx(dx);
-		robot.set_ddxr(ddxr);
-
-		int N_PARAM_K = NEJ*robot.K_order;
-		int N_PARAM_D = NEJ*robot.D_order;
-		int N_PARAM_DM = NEJ*robot.Dm_order;
-		Eigen::VectorXd par_K(N_PARAM_K);
-		Eigen::VectorXd par_D(N_PARAM_D);
-		Eigen::VectorXd par_Dm(N_PARAM_DM);
-		Eigen::MatrixXd K(NEJ, 1);
-		Eigen::MatrixXd D(NEJ, 1);
-		Eigen::MatrixXd Dm(NEJ, 1);
-		Eigen::MatrixXd reg_K(NJ, N_PARAM_K);
-		Eigen::MatrixXd reg_D(NJ, N_PARAM_D);
-		Eigen::MatrixXd reg_Dm(NJ, N_PARAM_DM);
-
-		par_K = robot.get_par_K();
-		par_D = robot.get_par_D();
-		par_Dm = robot.get_par_Dm();
-		cout<<endl<<"par_K:"<<endl<<par_K.transpose()<<endl;
-		cout<<endl<<"par_D:"<<endl<<par_D.transpose()<<endl;
-		cout<<endl<<"par_Dm:"<<endl<<par_Dm.transpose()<<endl;
-
-		K = robot.get_K();
-		cout<<endl<<"K\n"<<K<<endl;
-		// D = robot.get_D();
-		// cout<<endl<<"D_coupling\n"<<D<<endl;
-		Dm = robot.get_Dm();
-		cout<<endl<<"D_motor\n"<<Dm<<endl;
-	}
+	// if (robot.ELASTIC){
+	// 	int NEJ = robot.numElasticJoints;
+	// 	cout<<endl<<"num elastic joints: "<< NEJ<<endl;
+	// 	robot.load_par_elastic(elastic_file);
+
+	// 	Eigen::VectorXd x(NEJ), dx(NEJ), ddxr(NEJ);
+	// 	x = 2*x.setOnes();
+	// 	dx = 2*dx.setOnes();
+	// 	ddxr = 2*ddxr.setOnes();
+	// 	robot.set_x(x);
+	// 	robot.set_dx(dx);
+	// 	robot.set_ddxr(ddxr);
+
+	// 	int N_PARAM_K = NEJ*robot.K_order;
+	// 	int N_PARAM_D = NEJ*robot.D_order;
+	// 	int N_PARAM_DM = NEJ*robot.Dm_order;
+	// 	Eigen::VectorXd par_K(N_PARAM_K);
+	// 	Eigen::VectorXd par_D(N_PARAM_D);
+	// 	Eigen::VectorXd par_Dm(N_PARAM_DM);
+	// 	Eigen::MatrixXd K(NEJ, 1);
+	// 	Eigen::MatrixXd D(NEJ, 1);
+	// 	Eigen::MatrixXd Dm(NEJ, 1);
+	// 	Eigen::MatrixXd reg_K(NJ, N_PARAM_K);
+	// 	Eigen::MatrixXd reg_D(NJ, N_PARAM_D);
+	// 	Eigen::MatrixXd reg_Dm(NJ, N_PARAM_DM);
+
+	// 	par_K = robot.get_par_K();
+	// 	par_D = robot.get_par_D();
+	// 	par_Dm = robot.get_par_Dm();
+	// 	cout<<endl<<"par_K:"<<endl<<par_K.transpose()<<endl;
+	// 	cout<<endl<<"par_D:"<<endl<<par_D.transpose()<<endl;
+	// 	cout<<endl<<"par_Dm:"<<endl<<par_Dm.transpose()<<endl;
+
+	// 	K = robot.get_K();
+	// 	cout<<endl<<"K\n"<<K<<endl;
+	// 	// D = robot.get_D();
+	// 	// cout<<endl<<"D_coupling\n"<<D<<endl;
+	// 	Dm = robot.get_Dm();
+	// 	cout<<endl<<"D_motor\n"<<Dm<<endl;
+	// }
 	// --- end --- //
 
 	return 0;

src/todo.todo

@@ -1,5 +1,6 @@
 improvings:
-	☐ multiple robot library in the same folder, problem function names
+	✔ multiple robot library in the same folder @done (10/18/2024, 1:30:21 PM)
+	☐ robotName in config file. Needed for creation of library without the command './thunder gen', problems in name of generated functions
 	☐ idea for parameters: thunder created a configuration files with everything, maybe this file can be used to create robot and by thunder_robot both.
 	☐ thunder_robot can only load par_DYN and par_REG, general method needed for all the parameters
 	☐ thunder_utils with LinkProp and other classes needed both by thunder and thunder_robot
@@ -11,11 +12,11 @@ improvings:
 	☐ generalize path with absolute_path
 	☐ clean everything
 	☐ FrameOffset not so general, use T as internal transformation and provide conversions
-	✔ create library thunder_utils that contain all that cannot be generated, best if it is useful both on thunder and thunder_robot @done (8/27/2024, 11:13:54 AM)
-	☐ is possible to have two different robots? due to casadi definitions on generated file?
+	☐ create library thunder_utils that contain all that cannot be generated, best if it is useful both on thunder and thunder_robot
 	☐ elastic matrices and quantities are related on motor side equation, have to be modified to use in link side equation by selection matrix
 	☐ genYaml have to be into Robot, now is used to create parameter file from config_file
 	☐ improve the linkProp structure, must be general to all parameters in the map args
+	☐ copy robot from thunder to the main folder instead of having a fixed copy
 
 will be in Thunder:
 	✔ elasticity @done (10/17/2024, 3:05:53 PM)