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ControlBoardDriverCoupling.cpp
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/*
* Copyright (C) 2016 Fondazione Istituto Italiano di Tecnologia iCub Facility
* Authors: Marco Randazzo <[email protected]>
* CopyPolicy: Released under the terms of the LGPLv2.1 or any later version, see LGPL.TXT or LGPL3.TXT
*/
#include "ControlBoardDriver.h"
#include <GazeboYarpPlugins/common.h>
#include <ControlBoardDriverCoupling.h>
#include <cstdio>
#include <cmath>
#include <gazebo/physics/Model.hh>
#include "ControlBoardLog.h"
using namespace yarp::os;
using namespace yarp::sig;
using namespace yarp::dev;
using GazeboYarpPlugins::GAZEBOCONTROLBOARD;
//------------------------------------------------------------------------------------------------------------------
// BaseCouplingHandler
//------------------------------------------------------------------------------------------------------------------
BaseCouplingHandler::BaseCouplingHandler(gazebo::physics::Model* model, yarp::sig::VectorOf<int> coupled_joints, std::vector<std::string> coupled_joint_names, std::vector<Range> coupled_joint_limits)
{
m_robot = model;
m_coupledJoints=coupled_joints;
m_coupledJointNames=coupled_joint_names;
// Configure a map between coupled joints and limits
for (std::size_t i = 0, j = 0; i < coupled_joints.size(); i++)
{
const int coupled_joint_index = coupled_joints(i);
const std::string coupled_joint_name = getCoupledJointName(coupled_joint_index);
if (coupled_joint_name != "gyp_invalid" && coupled_joint_name != "reserved")
{
m_coupledJointLimits[coupled_joints[i]] = coupled_joint_limits[j];
j++;
}
}
//m_couplingSize = m_coupledJoints.size();
}
BaseCouplingHandler::~BaseCouplingHandler() {}
bool BaseCouplingHandler::checkJointIsCoupled(int joint)
{
for (size_t i = 0; i < m_coupledJoints.size(); ++i)
{
if (m_coupledJoints[i]==joint) return true;
}
return false;
}
yarp::sig::VectorOf<int> BaseCouplingHandler::getCoupledJoints()
{
return m_coupledJoints;
}
std::string BaseCouplingHandler::getCoupledJointName(int joint)
{
int c_joint = -1;
for (size_t i = 0; i < m_coupledJoints.size(); ++i)
{
if (m_coupledJoints[i]==joint) c_joint = i;
}
if (c_joint >= 0 && static_cast<size_t>(c_joint) < m_coupledJoints.size())
{
return m_coupledJointNames[c_joint];
}
else
{
return std::string("gyp_invalid");
}
}
void BaseCouplingHandler::setCoupledJointLimit(int joint, const double& min, const double& max)
{
const std::string coupled_joint_name = getCoupledJointName(joint);
if (coupled_joint_name != "reserved" && coupled_joint_name != "gyp_invalid")
{
m_coupledJointLimits.at(joint).min = min;
m_coupledJointLimits.at(joint).max = max;
}
}
void BaseCouplingHandler::getCoupledJointLimit(int joint, double& min, double& max)
{
const std::string coupled_joint_name = getCoupledJointName(joint);
if (coupled_joint_name != "reserved" && coupled_joint_name != "gyp_invalid")
{
min = m_coupledJointLimits.at(joint).min;
max = m_coupledJointLimits.at(joint).max;
}
}
//------------------------------------------------------------------------------------------------------------------
// EyesCouplingHandler
//------------------------------------------------------------------------------------------------------------------
EyesCouplingHandler::EyesCouplingHandler(gazebo::physics::Model* model, yarp::sig::VectorOf<int> coupled_joints, std::vector<std::string> coupled_joint_names, std::vector<Range> coupled_joint_limits)
: BaseCouplingHandler(model, coupled_joints,coupled_joint_names, coupled_joint_limits)
{
m_couplingSize = 2;
}
bool EyesCouplingHandler::decouplePos (yarp::sig::Vector& current_pos)
{
if (m_coupledJoints.size() != m_couplingSize) return false;
double temp = current_pos[m_coupledJoints[0]];
current_pos[m_coupledJoints[0]] = temp + current_pos[m_coupledJoints[1]];
current_pos[m_coupledJoints[1]] = temp - current_pos[m_coupledJoints[1]];
return true;
}
bool EyesCouplingHandler::decoupleVel (yarp::sig::Vector& current_vel)
{
if (m_coupledJoints.size() != m_couplingSize) return false;
double temp = current_vel[m_coupledJoints[0]];
current_vel[m_coupledJoints[0]] = temp + current_vel[m_coupledJoints[1]];
current_vel[m_coupledJoints[1]] = temp - current_vel[m_coupledJoints[1]];
return true;
}
bool EyesCouplingHandler::decoupleAcc (yarp::sig::Vector& current_acc)
{
if (m_coupledJoints.size() != m_couplingSize) return false;
double temp = current_acc[m_coupledJoints[0]];
current_acc[m_coupledJoints[0]] = temp + current_acc[m_coupledJoints[1]];
current_acc[m_coupledJoints[1]] = temp - current_acc[m_coupledJoints[1]];
return true;
}
bool EyesCouplingHandler::decoupleTrq (yarp::sig::Vector& current_trq)
{
if (m_coupledJoints.size() != m_couplingSize) return false;
return false;
}
yarp::sig::Vector EyesCouplingHandler::decoupleRefPos (yarp::sig::Vector& pos_ref)
{
yarp::sig::Vector out = pos_ref;
if (m_coupledJoints.size() != m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "EyesCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = (pos_ref[m_coupledJoints[0]] + pos_ref[m_coupledJoints[1]])/2;
out[m_coupledJoints[1]] = (pos_ref[m_coupledJoints[0]] - pos_ref[m_coupledJoints[1]])/2;
return out;
}
yarp::sig::Vector EyesCouplingHandler::decoupleRefVel (yarp::sig::Vector& vel_ref)
{
yarp::sig::Vector out = vel_ref;
if (m_coupledJoints.size() != m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "EyesCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = (vel_ref[m_coupledJoints[0]] + vel_ref[m_coupledJoints[1]])/2;
out[m_coupledJoints[1]] = (vel_ref[m_coupledJoints[0]] - vel_ref[m_coupledJoints[1]])/2;
return out;
}
yarp::sig::Vector EyesCouplingHandler::decoupleRefTrq (yarp::sig::Vector& trq_ref)
{
yarp::sig::Vector out = trq_ref;
if (m_coupledJoints.size() != m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "EyesCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = (trq_ref[m_coupledJoints[0]] + trq_ref[m_coupledJoints[1]])/2;
out[m_coupledJoints[1]] = (trq_ref[m_coupledJoints[0]] - trq_ref[m_coupledJoints[1]])/2;
return out;
}
//------------------------------------------------------------------------------------------------------------------
// ThumbCouplingHandler
//------------------------------------------------------------------------------------------------------------------
ThumbCouplingHandler::ThumbCouplingHandler(gazebo::physics::Model* model, yarp::sig::VectorOf<int> coupled_joints, std::vector<std::string> coupled_joint_names, std::vector<Range> coupled_joint_limits)
: BaseCouplingHandler(model, coupled_joints,coupled_joint_names, coupled_joint_limits)
{
m_couplingSize = 4;
}
bool ThumbCouplingHandler::decouplePos (yarp::sig::Vector& current_pos)
{
if (m_coupledJoints.size() != m_couplingSize) return false;
current_pos[m_coupledJoints[2]] = current_pos[m_coupledJoints[2]] + current_pos[m_coupledJoints[3]];
return true;
}
bool ThumbCouplingHandler::decoupleVel (yarp::sig::Vector& current_vel)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
current_vel[m_coupledJoints[2]] = current_vel[m_coupledJoints[2]] + current_vel[m_coupledJoints[3]];
return true;
}
bool ThumbCouplingHandler::decoupleAcc (yarp::sig::Vector& current_acc)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
current_acc[m_coupledJoints[2]] = current_acc[m_coupledJoints[2]] + current_acc[m_coupledJoints[3]];
return true;
}
bool ThumbCouplingHandler::decoupleTrq (yarp::sig::Vector& current_trq)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
return false;
}
yarp::sig::Vector ThumbCouplingHandler::decoupleRefPos (yarp::sig::Vector& pos_ref)
{
yarp::sig::Vector out = pos_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "ThumbCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = pos_ref[m_coupledJoints[0]];
out[m_coupledJoints[1]] = pos_ref[m_coupledJoints[1]];
out[m_coupledJoints[2]] = pos_ref[m_coupledJoints[2]]/2;
out[m_coupledJoints[3]] = pos_ref[m_coupledJoints[2]]/2;
return out;
}
yarp::sig::Vector ThumbCouplingHandler::decoupleRefVel (yarp::sig::Vector& vel_ref)
{
yarp::sig::Vector out = vel_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "ThumbCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = vel_ref[m_coupledJoints[0]];
out[m_coupledJoints[1]] = vel_ref[m_coupledJoints[1]];
out[m_coupledJoints[2]] = vel_ref[m_coupledJoints[2]]/2;
out[m_coupledJoints[3]] = vel_ref[m_coupledJoints[2]]/2;
return out;
}
yarp::sig::Vector ThumbCouplingHandler::decoupleRefTrq (yarp::sig::Vector& trq_ref)
{
yarp::sig::Vector out =trq_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "ThumbCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = trq_ref[m_coupledJoints[0]];
out[m_coupledJoints[1]] = trq_ref[m_coupledJoints[1]];
out[m_coupledJoints[2]] = trq_ref[m_coupledJoints[2]]/2;
out[m_coupledJoints[3]] = trq_ref[m_coupledJoints[2]]/2;
return out;
}
//------------------------------------------------------------------------------------------------------------------
// IndexCouplingHandler
//------------------------------------------------------------------------------------------------------------------
IndexCouplingHandler::IndexCouplingHandler(gazebo::physics::Model* model, yarp::sig::VectorOf<int> coupled_joints, std::vector<std::string> coupled_joint_names, std::vector<Range> coupled_joint_limits)
: BaseCouplingHandler(model, coupled_joints,coupled_joint_names, coupled_joint_limits)
{
m_couplingSize = 3;
}
bool IndexCouplingHandler::decouplePos (yarp::sig::Vector& current_pos)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
current_pos[m_coupledJoints[1]] = current_pos[m_coupledJoints[1]] + current_pos[m_coupledJoints[2]];
return true;
}
bool IndexCouplingHandler::decoupleVel (yarp::sig::Vector& current_vel)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
current_vel[m_coupledJoints[1]] = current_vel[m_coupledJoints[1]] + current_vel[m_coupledJoints[2]];
return true;
}
bool IndexCouplingHandler::decoupleAcc (yarp::sig::Vector& current_acc)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
current_acc[m_coupledJoints[1]] = current_acc[m_coupledJoints[1]] + current_acc[m_coupledJoints[2]];
return true;
}
bool IndexCouplingHandler::decoupleTrq (yarp::sig::Vector& current_trq)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
return false;
}
yarp::sig::Vector IndexCouplingHandler::decoupleRefPos (yarp::sig::Vector& pos_ref)
{
yarp::sig::Vector out = pos_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "IndexCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = pos_ref[m_coupledJoints[0]];
out[m_coupledJoints[1]] = pos_ref[m_coupledJoints[1]]/2;
out[m_coupledJoints[2]] = pos_ref[m_coupledJoints[1]]/2;
return out;
}
yarp::sig::Vector IndexCouplingHandler::decoupleRefVel (yarp::sig::Vector& vel_ref)
{
yarp::sig::Vector out = vel_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "IndexCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = vel_ref[m_coupledJoints[0]];
out[m_coupledJoints[1]] = vel_ref[m_coupledJoints[1]]/2;
out[m_coupledJoints[2]] = vel_ref[m_coupledJoints[1]]/2;
return out;
}
yarp::sig::Vector IndexCouplingHandler::decoupleRefTrq (yarp::sig::Vector& trq_ref)
{
yarp::sig::Vector out =trq_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "IndexCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = trq_ref[m_coupledJoints[0]];
out[m_coupledJoints[1]] = trq_ref[m_coupledJoints[1]]/2;
out[m_coupledJoints[2]] = trq_ref[m_coupledJoints[1]]/2;
return out;
}
//------------------------------------------------------------------------------------------------------------------
// MiddleCouplingHandler
//------------------------------------------------------------------------------------------------------------------
MiddleCouplingHandler::MiddleCouplingHandler(gazebo::physics::Model* model, yarp::sig::VectorOf<int> coupled_joints, std::vector<std::string> coupled_joint_names, std::vector<Range> coupled_joint_limits)
: BaseCouplingHandler(model, coupled_joints,coupled_joint_names, coupled_joint_limits)
{
m_couplingSize=3;
}
bool MiddleCouplingHandler::decouplePos(yarp::sig::Vector& current_pos)
{
if (m_coupledJoints.size() != m_couplingSize) return false;
current_pos[m_coupledJoints[1]] = current_pos[m_coupledJoints[1]] + current_pos[m_coupledJoints[2]];
return true;
}
bool MiddleCouplingHandler::decoupleVel (yarp::sig::Vector& current_vel)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
current_vel[m_coupledJoints[1]] = current_vel[m_coupledJoints[1]] + current_vel[m_coupledJoints[2]];
return true;
}
bool MiddleCouplingHandler::decoupleAcc (yarp::sig::Vector& current_acc)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
current_acc[m_coupledJoints[1]] = current_acc[m_coupledJoints[1]] + current_acc[m_coupledJoints[2]];
return true;
}
bool MiddleCouplingHandler::decoupleTrq (yarp::sig::Vector& current_trq)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
return false;
}
yarp::sig::Vector MiddleCouplingHandler::decoupleRefPos (yarp::sig::Vector& pos_ref)
{
yarp::sig::Vector out = pos_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "MiddleCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = pos_ref[m_coupledJoints[0]];
out[m_coupledJoints[1]] = pos_ref[m_coupledJoints[1]]/2;
out[m_coupledJoints[2]] = pos_ref[m_coupledJoints[1]]/2;
return out;
}
yarp::sig::Vector MiddleCouplingHandler::decoupleRefVel (yarp::sig::Vector& vel_ref)
{
yarp::sig::Vector out = vel_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "MiddleCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = vel_ref[m_coupledJoints[0]];
out[m_coupledJoints[1]] = vel_ref[m_coupledJoints[1]]/2;
out[m_coupledJoints[2]] = vel_ref[m_coupledJoints[1]]/2;
return out;
}
yarp::sig::Vector MiddleCouplingHandler::decoupleRefTrq (yarp::sig::Vector& trq_ref)
{
yarp::sig::Vector out =trq_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "MiddleCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = trq_ref[m_coupledJoints[0]];
out[m_coupledJoints[1]] = trq_ref[m_coupledJoints[1]]/2;
out[m_coupledJoints[2]] = trq_ref[m_coupledJoints[1]]/2;
return out;
}
//------------------------------------------------------------------------------------------------------------------
// PinkyCouplingHandler
//------------------------------------------------------------------------------------------------------------------
PinkyCouplingHandler::PinkyCouplingHandler(gazebo::physics::Model* model, yarp::sig::VectorOf<int> coupled_joints, std::vector<std::string> coupled_joint_names, std::vector<Range> coupled_joint_limits)
: BaseCouplingHandler(model, coupled_joints,coupled_joint_names, coupled_joint_limits)
{
m_couplingSize=6;
}
bool PinkyCouplingHandler::decouplePos (yarp::sig::Vector& current_pos)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
current_pos[m_coupledJoints[0]] = current_pos[m_coupledJoints[0]] + current_pos[m_coupledJoints[1]] + current_pos[m_coupledJoints[2]];
return true;
}
bool PinkyCouplingHandler::decoupleVel (yarp::sig::Vector& current_vel)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
current_vel[m_coupledJoints[0]] = current_vel[m_coupledJoints[0]] + current_vel[m_coupledJoints[1]] + current_vel[m_coupledJoints[2]];
return true;
}
bool PinkyCouplingHandler::decoupleAcc (yarp::sig::Vector& current_acc)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
current_acc[m_coupledJoints[0]] = current_acc[m_coupledJoints[0]] + current_acc[m_coupledJoints[1]] + current_acc[m_coupledJoints[2]];
return true;
}
bool PinkyCouplingHandler::decoupleTrq (yarp::sig::Vector& current_trq)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
return false;
}
yarp::sig::Vector PinkyCouplingHandler::decoupleRefPos (yarp::sig::Vector& pos_ref)
{
yarp::sig::Vector out = pos_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "PinkyCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = pos_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[1]] = pos_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[2]] = pos_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[3]] = pos_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[4]] = pos_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[5]] = pos_ref[m_coupledJoints[0]]/3;
return out;
}
yarp::sig::Vector PinkyCouplingHandler::decoupleRefVel (yarp::sig::Vector& vel_ref)
{
yarp::sig::Vector out = vel_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "PinkyCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = vel_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[1]] = vel_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[2]] = vel_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[3]] = vel_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[4]] = vel_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[5]] = vel_ref[m_coupledJoints[0]]/3;
return out;
}
yarp::sig::Vector PinkyCouplingHandler::decoupleRefTrq (yarp::sig::Vector& trq_ref)
{
yarp::sig::Vector out =trq_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "PinkyCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = trq_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[1]] = trq_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[2]] = trq_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[3]] = trq_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[4]] = trq_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[5]] = trq_ref[m_coupledJoints[0]]/3;
return out;
}
//------------------------------------------------------------------------------------------------------------------
// FingersAbductionCouplingHandler
//------------------------------------------------------------------------------------------------------------------
FingersAbductionCouplingHandler::FingersAbductionCouplingHandler(gazebo::physics::Model* model, yarp::sig::VectorOf<int> coupled_joints, std::vector<std::string> coupled_joint_names, std::vector<Range> coupled_joint_limits)
: BaseCouplingHandler(model, coupled_joints,coupled_joint_names, coupled_joint_limits)
{
m_couplingSize = 4;
}
bool FingersAbductionCouplingHandler::decouplePos (yarp::sig::Vector& current_pos)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
current_pos[m_coupledJoints[0]] = (20.0 - current_pos[m_coupledJoints[2]])*3;
return true;
}
bool FingersAbductionCouplingHandler::decoupleVel (yarp::sig::Vector& current_vel)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
current_vel[m_coupledJoints[0]] = -current_vel[m_coupledJoints[2]]*3;
return true;
}
bool FingersAbductionCouplingHandler::decoupleAcc (yarp::sig::Vector& current_acc)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
current_acc[m_coupledJoints[0]] = -current_acc[m_coupledJoints[2]]*3;
return true;
}
bool FingersAbductionCouplingHandler::decoupleTrq (yarp::sig::Vector& current_trq)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
return false;
}
yarp::sig::Vector FingersAbductionCouplingHandler::decoupleRefPos (yarp::sig::Vector& pos_ref)
{
yarp::sig::Vector out = pos_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "FingersAbductionCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = -(20.0 - pos_ref[m_coupledJoints[0]]/3);
out[m_coupledJoints[1]] = 0.0;
out[m_coupledJoints[2]] = 20.0 - pos_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[3]] = 20.0 - pos_ref[m_coupledJoints[0]]/3;
return out;
}
yarp::sig::Vector FingersAbductionCouplingHandler::decoupleRefVel (yarp::sig::Vector& vel_ref)
{
yarp::sig::Vector out = vel_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "FingersAbductionCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = vel_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[1]] = 0.0;
out[m_coupledJoints[2]] = -vel_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[3]] = -vel_ref[m_coupledJoints[0]]/3;
return out;
}
yarp::sig::Vector FingersAbductionCouplingHandler::decoupleRefTrq (yarp::sig::Vector& trq_ref)
{
yarp::sig::Vector out =trq_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "FingersAbductionCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = trq_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[1]] = 0.0;
out[m_coupledJoints[2]] = -trq_ref[m_coupledJoints[0]]/3;
out[m_coupledJoints[3]] = -trq_ref[m_coupledJoints[0]]/3;
return out;
}
//------------------------------------------------------------------------------------------------------------------
// CerHandCouplingHandler
//------------------------------------------------------------------------------------------------------------------
CerHandCouplingHandler::CerHandCouplingHandler(gazebo::physics::Model* model, yarp::sig::VectorOf<int> coupled_joints, std::vector<std::string> coupled_joint_names, std::vector<Range> coupled_joint_limits)
: BaseCouplingHandler(model, coupled_joints,coupled_joint_names, coupled_joint_limits)
{
m_couplingSize = 4;
}
bool CerHandCouplingHandler::decouplePos (yarp::sig::Vector& current_pos)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
double temp0 = current_pos[m_coupledJoints[0]];
double temp2 = current_pos[m_coupledJoints[2]];
current_pos[m_coupledJoints[0]] = temp0 + current_pos[m_coupledJoints[1]];
current_pos[m_coupledJoints[1]] = temp2 + current_pos[m_coupledJoints[3]];
return true;
}
bool CerHandCouplingHandler::decoupleVel (yarp::sig::Vector& current_vel)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
double temp0 = current_vel[m_coupledJoints[0]];
double temp2 = current_vel[m_coupledJoints[2]];
current_vel[m_coupledJoints[0]] = temp0 + current_vel[m_coupledJoints[1]];
current_vel[m_coupledJoints[1]] = temp2 + current_vel[m_coupledJoints[3]];
return true;
}
bool CerHandCouplingHandler::decoupleAcc (yarp::sig::Vector& current_acc)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
double temp0 = current_acc[m_coupledJoints[0]];
double temp2 = current_acc[m_coupledJoints[2]];
current_acc[m_coupledJoints[0]] = temp0 + current_acc[m_coupledJoints[1]];
current_acc[m_coupledJoints[1]] = temp2 + current_acc[m_coupledJoints[3]];
return true;
}
bool CerHandCouplingHandler::decoupleTrq (yarp::sig::Vector& current_trq)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
return false;
}
yarp::sig::Vector CerHandCouplingHandler::decoupleRefPos (yarp::sig::Vector& pos_ref)
{
yarp::sig::Vector out = pos_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "CerHandCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = pos_ref[m_coupledJoints[0]]/2;
out[m_coupledJoints[1]] = pos_ref[m_coupledJoints[0]]/2;
out[m_coupledJoints[2]] = pos_ref[m_coupledJoints[1]]/2;
out[m_coupledJoints[3]] = pos_ref[m_coupledJoints[1]]/2;
return out;
}
yarp::sig::Vector CerHandCouplingHandler::decoupleRefVel (yarp::sig::Vector& vel_ref)
{
yarp::sig::Vector out = vel_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "CerHandCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = vel_ref[m_coupledJoints[0]]/2;
out[m_coupledJoints[1]] = vel_ref[m_coupledJoints[0]]/2;
out[m_coupledJoints[2]] = vel_ref[m_coupledJoints[1]]/2;
out[m_coupledJoints[3]] = vel_ref[m_coupledJoints[1]]/2;
return out;
}
yarp::sig::Vector CerHandCouplingHandler::decoupleRefTrq (yarp::sig::Vector& trq_ref)
{
yarp::sig::Vector out =trq_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "CerHandCouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[0]] = trq_ref[m_coupledJoints[0]]/2;
out[m_coupledJoints[1]] = trq_ref[m_coupledJoints[0]]/2;
out[m_coupledJoints[2]] = trq_ref[m_coupledJoints[1]]/2;
out[m_coupledJoints[3]] = trq_ref[m_coupledJoints[1]]/2;
return out;
}
//------------------------------------------------------------------------------------------------------------------
// HandMk3CouplingHandler
//------------------------------------------------------------------------------------------------------------------
HandMk3CouplingHandler::HandMk3CouplingHandler(gazebo::physics::Model* model, yarp::sig::VectorOf<int> coupled_joints, std::vector<std::string> coupled_joint_names, std::vector<Range> coupled_joint_limits)
: BaseCouplingHandler(model, coupled_joints,coupled_joint_names, coupled_joint_limits), LUTSIZE(4096)
{
const double RAD2DEG = 180.0/atan2(0.0,-1.0);
const double DEG2RAD = 1.0/RAD2DEG;
m_couplingSize = 11;
thumb_lut.resize(LUTSIZE);
index_lut.resize(LUTSIZE);
std::vector<double> num(LUTSIZE);
for (int n = 0; n < LUTSIZE; ++n)
{
num[n] = 0.0;
thumb_lut[n] = 0.0;
}
// thumb
{
double L0x = -0.00555, L0y = 0.00195+0.0009;
double P1x = 0.020, P1y = 0.0015;
double L1x = P1x-0.0055-0.003, L1y = P1y-0.002+0.0019;
double l2 = (P1x - L1x)*(P1x - L1x) + (P1y - L1y)*(P1y - L1y);
double k2 = (L1x - L0x)*(L1x - L0x) + (L1y - L0y)*(L1y - L0y);
double offset = RAD2DEG*atan2(L1y-P1y, L1x-P1x);
for (double q1 = 0.0; q1 <= 85.5; q1 += 0.01)
{
double cq1 = cos(DEG2RAD*q1);
double sq1 = sin(DEG2RAD*q1);
double P1xr = cq1*P1x-sq1*P1y;
double P1yr = sq1*P1x+cq1*P1y;
double h2 = (P1xr - L0x)*(P1xr - L0x) + (P1yr - L0y)*(P1yr - L0y);
double alfa = RAD2DEG*atan2(L0y - P1yr, L0x - P1xr);
double beta = RAD2DEG*acos((h2 + l2 - k2)/(2.0*sqrt(h2*l2)));
double q2 = alfa + beta - offset;
while (q2 < 0.0) q2 += 360.0;
while (q2 >= 360.0) q2 -= 360.0;
double dindex = q2*10.0;
int iindex = int(dindex);
double w = dindex - double(iindex);
thumb_lut[iindex] += (1.0 - w)*q1;
num[iindex] += (1.0 - w);
thumb_lut[iindex + 1] += w*q1;
num[iindex + 1] += w;
}
for (int n = 0; n < LUTSIZE; ++n)
{
if (num[n] > 0.0)
{
thumb_lut[n] /= num[n];
}
}
}
for (int n = 0; n < LUTSIZE; ++n)
{
num[n] = 0.0;
index_lut[n] = 0.0;
}
// finger
{
double P1x = 0.0300, P1y = 0.0015;
double L0x = -0.0050, L0y = 0.0040;
double L1x = 0.0240, L1y = 0.0008;
double l2 = (P1x - L1x)*(P1x - L1x) + (P1y - L1y)*(P1y - L1y);
double k2 = (L1x - L0x)*(L1x - L0x) + (L1y - L0y)*(L1y - L0y);
double offset = RAD2DEG*atan2(L1y-P1y, L1x-P1x);
for (double q1 = 0.0; q1 <= 95.5; q1 += 0.01)
{
double cq1 = cos(DEG2RAD*q1);
double sq1 = sin(DEG2RAD*q1);
double P1xr = cq1*P1x-sq1*P1y;
double P1yr = sq1*P1x+cq1*P1y;
double h2 = (P1xr - L0x)*(P1xr - L0x) + (P1yr - L0y)*(P1yr - L0y);
double alfa = RAD2DEG*atan2(L0y - P1yr, L0x - P1xr);
double beta = RAD2DEG*acos((h2 + l2 - k2)/(2.0*sqrt(h2*l2)));
double q2 = alfa + beta - offset;
while (q2 < 0.0) q2 += 360.0;
while (q2 >= 360.0) q2 -= 360.0;
// get decimal part of q2 to find out how to weigh index and index+1
double dindex = q2*10.0;
int iindex = int(dindex);
double w = dindex - double(iindex);
// Construct LUT
index_lut[iindex] += (1.0 - w)*q1;
num[iindex] += (1.0 - w);
index_lut[iindex + 1] += w*q1;
num[iindex + 1] += w;
}
// divide each value in the LUT by the weight if it is greater than 0 to extract q1
for (int n = 0; n < LUTSIZE; ++n)
{
if (num[n] > 0.0)
{
index_lut[n] /= num[n];
}
}
}
}
bool HandMk3CouplingHandler::decouplePos (yarp::sig::Vector& current_pos)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
current_pos[m_coupledJoints[2]] = current_pos[m_coupledJoints[2]] + current_pos[m_coupledJoints[3]];
current_pos[m_coupledJoints[3]] = current_pos[m_coupledJoints[4]];
current_pos[m_coupledJoints[4]] = current_pos[m_coupledJoints[5]] + current_pos[m_coupledJoints[6]];
current_pos[m_coupledJoints[5]] = current_pos[m_coupledJoints[7]] + current_pos[m_coupledJoints[8]];
current_pos[m_coupledJoints[6]] = current_pos[m_coupledJoints[9]] + current_pos[m_coupledJoints[10]];
return true;
}
bool HandMk3CouplingHandler::decoupleVel (yarp::sig::Vector& current_vel)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
current_vel[m_coupledJoints[2]] = current_vel[m_coupledJoints[2]] + current_vel[m_coupledJoints[3]];
current_vel[m_coupledJoints[3]] = current_vel[m_coupledJoints[4]];
current_vel[m_coupledJoints[4]] = current_vel[m_coupledJoints[5]] + current_vel[m_coupledJoints[6]];
current_vel[m_coupledJoints[5]] = current_vel[m_coupledJoints[7]] + current_vel[m_coupledJoints[8]];
current_vel[m_coupledJoints[6]] = current_vel[m_coupledJoints[9]] + current_vel[m_coupledJoints[10]];
return true;
}
bool HandMk3CouplingHandler::decoupleAcc (yarp::sig::Vector& current_acc)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
current_acc[m_coupledJoints[2]] = current_acc[m_coupledJoints[2]] + current_acc[m_coupledJoints[3]];
current_acc[m_coupledJoints[3]] = current_acc[m_coupledJoints[4]];
current_acc[m_coupledJoints[4]] = current_acc[m_coupledJoints[5]] + current_acc[m_coupledJoints[6]];
current_acc[m_coupledJoints[5]] = current_acc[m_coupledJoints[7]] + current_acc[m_coupledJoints[8]];
current_acc[m_coupledJoints[6]] = current_acc[m_coupledJoints[9]] + current_acc[m_coupledJoints[10]];
return true;
}
bool HandMk3CouplingHandler::decoupleTrq (yarp::sig::Vector& current_trq)
{
if (m_coupledJoints.size()!=m_couplingSize) return false;
return false;
}
double HandMk3CouplingHandler::decouple (double q2, std::vector<double>& lut)
{
double dindex = q2*10.0;
int iindex = int(dindex);
// get decimal part of q2 to find out how to weigh index and index+1
double w = dindex - double(iindex);
// interpolate between index and the next with a convex combination weighting
return lut[iindex]*(1.0 - w) + lut[iindex + 1]*w;
}
yarp::sig::Vector HandMk3CouplingHandler::decoupleRefPos (yarp::sig::Vector& pos_ref)
{
yarp::sig::Vector out = pos_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "HandMk3CouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[2]] = decouple(pos_ref[m_coupledJoints[2]], thumb_lut);
out[m_coupledJoints[3]] = pos_ref[m_coupledJoints[2]] - out[m_coupledJoints[2]];
out[m_coupledJoints[4]] = pos_ref[m_coupledJoints[3]];
out[m_coupledJoints[5]] = decouple(pos_ref[m_coupledJoints[4]], index_lut);
out[m_coupledJoints[6]] = pos_ref[m_coupledJoints[4]] - out[m_coupledJoints[5]];
out[m_coupledJoints[7]] = decouple(pos_ref[m_coupledJoints[5]], index_lut);
out[m_coupledJoints[8]] = pos_ref[m_coupledJoints[5]] - out[m_coupledJoints[7]];
out[m_coupledJoints[9]] = decouple(pos_ref[m_coupledJoints[6]], index_lut);
out[m_coupledJoints[10]] = pos_ref[m_coupledJoints[6]] - out[m_coupledJoints[9]];
return out;
}
yarp::sig::Vector HandMk3CouplingHandler::decoupleRefVel (yarp::sig::Vector& vel_ref)
{
yarp::sig::Vector out = vel_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "HandMk3CouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[2]] = decouple(vel_ref[m_coupledJoints[2]], thumb_lut);
out[m_coupledJoints[3]] = vel_ref[m_coupledJoints[2]] - out[m_coupledJoints[2]];
out[m_coupledJoints[4]] = vel_ref[m_coupledJoints[3]];
out[m_coupledJoints[5]] = decouple(vel_ref[m_coupledJoints[4]], index_lut);
out[m_coupledJoints[6]] = vel_ref[m_coupledJoints[4]] - out[m_coupledJoints[5]];
out[m_coupledJoints[7]] = decouple(vel_ref[m_coupledJoints[5]], index_lut);
out[m_coupledJoints[8]] = vel_ref[m_coupledJoints[5]] - out[m_coupledJoints[7]];
out[m_coupledJoints[9]] = decouple(vel_ref[m_coupledJoints[6]], index_lut);
out[m_coupledJoints[10]] = vel_ref[m_coupledJoints[6]] - out[m_coupledJoints[9]];
return out;
}
yarp::sig::Vector HandMk3CouplingHandler::decoupleRefTrq (yarp::sig::Vector& trq_ref)
{
yarp::sig::Vector out =trq_ref;
if (m_coupledJoints.size()!=m_couplingSize) {yCError(GAZEBOCONTROLBOARD) << "HandMk3CouplingHandler: Invalid coupling vector"; return out;}
out[m_coupledJoints[2]] = decouple(trq_ref[m_coupledJoints[2]], thumb_lut);
out[m_coupledJoints[3]] = trq_ref[m_coupledJoints[2]] - out[m_coupledJoints[2]];
out[m_coupledJoints[4]] = trq_ref[m_coupledJoints[3]];
out[m_coupledJoints[5]] = decouple(trq_ref[m_coupledJoints[4]], index_lut);
out[m_coupledJoints[6]] = trq_ref[m_coupledJoints[4]] - out[m_coupledJoints[5]];
out[m_coupledJoints[7]] = decouple(trq_ref[m_coupledJoints[5]], index_lut);
out[m_coupledJoints[8]] = trq_ref[m_coupledJoints[5]] - out[m_coupledJoints[7]];
out[m_coupledJoints[9]] = decouple(trq_ref[m_coupledJoints[6]], index_lut);
out[m_coupledJoints[10]] = trq_ref[m_coupledJoints[6]] - out[m_coupledJoints[9]];
return out;
}
//------------------------------------------------------------------------------------------------------------------
// HandMk4CouplingHandler
//------------------------------------------------------------------------------------------------------------------
HandMk4CouplingHandler::HandMk4CouplingHandler(gazebo::physics::Model* model, yarp::sig::VectorOf<int> coupled_joints, std::vector<std::string> coupled_joint_names, std::vector<Range> coupled_joint_limits)
: BaseCouplingHandler(model, coupled_joints,coupled_joint_names, coupled_joint_limits), LUTSIZE(4096)
{
const double RAD2DEG = 180.0/atan2(0.0,-1.0);
const double DEG2RAD = 1.0/RAD2DEG;
m_couplingSize = 13;
thumb_lut.resize(LUTSIZE);
index_lut.resize(LUTSIZE);
pinkie_lut.resize(LUTSIZE);
std::vector<double> num(LUTSIZE);
// thumb
for (int n = 0; n < LUTSIZE; ++n)
{
num[n] = 0.0;
thumb_lut[n] = 0.0;
}
{
double L0x = -0.00555, L0y = 0.00285;
double P1x = 0.02, P1y = 0.0015;
double L1x = 0.0115, L1y = 0.0015;
double l2 = (P1x - L1x)*(P1x - L1x) + (P1y - L1y)*(P1y - L1y);
double k2 = (L1x - L0x)*(L1x - L0x) + (L1y - L0y)*(L1y - L0y);
double offset = 180;
for (double q1 = 0.0; q1 <= 85.5; q1 += 0.01)
{
double cq1 = cos(DEG2RAD*q1);
double sq1 = sin(DEG2RAD*q1);
double P1xr = cq1*P1x-sq1*P1y;
double P1yr = sq1*P1x+cq1*P1y;
double h2 = (P1xr - L0x)*(P1xr - L0x) + (P1yr - L0y)*(P1yr - L0y);
double alfa = RAD2DEG*atan2(L0y - P1yr, L0x - P1xr);
double beta = RAD2DEG*acos((h2 + l2 - k2)/(2.0*sqrt(h2*l2)));
double q2 = alfa + beta - offset;
while (q2 < 0.0) q2 += 360.0;
while (q2 >= 360.0) q2 -= 360.0;
double dindex = q2*10.0;
int iindex = int(dindex);
double w = dindex - double(iindex);
thumb_lut[iindex] += (1.0 - w)*q1;
num[iindex] += (1.0 - w);
thumb_lut[iindex + 1] += w*q1;
num[iindex + 1] += w;
}
for (int n = 0; n < LUTSIZE; ++n)
{
if (num[n] > 0.0)
{
thumb_lut[n] /= num[n];
}
}
}
// index, middle, ring
for (int n = 0; n < LUTSIZE; ++n)
{
num[n] = 0.0;
index_lut[n] = 0.0;
}
{
double P1x = 0.0300, P1y = 0.0015;
double L0x = -0.0050, L0y = 0.0040;
double L1x = 0.0240, L1y = 0.0008;
double l2 = (P1x - L1x)*(P1x - L1x) + (P1y - L1y)*(P1y - L1y);
double k2 = (L1x - L0x)*(L1x - L0x) + (L1y - L0y)*(L1y - L0y);
double offset = 173.35;
for (double q1 = 0.0; q1 <= 95.5; q1 += 0.01)
{
double cq1 = cos(DEG2RAD*q1);
double sq1 = sin(DEG2RAD*q1);
double P1xr = cq1*P1x-sq1*P1y;
double P1yr = sq1*P1x+cq1*P1y;
double h2 = (P1xr - L0x)*(P1xr - L0x) + (P1yr - L0y)*(P1yr - L0y);
double alfa = RAD2DEG*atan2(L0y - P1yr, L0x - P1xr);
double beta = RAD2DEG*acos((h2 + l2 - k2)/(2.0*sqrt(h2*l2)));
double q2 = alfa + beta - offset;
while (q2 < 0.0) q2 += 360.0;
while (q2 >= 360.0) q2 -= 360.0;
// get decimal part of q2 to find out how to weigh index and index+1
double dindex = q2*10.0;
int iindex = int(dindex);
double w = dindex - double(iindex);
// Construct LUT
index_lut[iindex] += (1.0 - w)*q1;
num[iindex] += (1.0 - w);
index_lut[iindex + 1] += w*q1;
num[iindex + 1] += w;
}
// divide each value in the LUT by the weight if it is greater than 0 to extract q1
for (int n = 0; n < LUTSIZE; ++n)
{
if (num[n] > 0.0)
{
index_lut[n] /= num[n];
}
}
}
// pinkie
for (int n = 0; n < LUTSIZE; ++n)
{
num[n] = 0.0;
pinkie_lut[n] = 0.0;
}
{
double P1x = 0.0250, P1y = 0.0015;
double L0x = -0.0050, L0y = 0.0040;
double L1x = 0.0190, L1y = 0.0005;
double l2 = (P1x - L1x)*(P1x - L1x) + (P1y - L1y)*(P1y - L1y);
double k2 = (L1x - L0x)*(L1x - L0x) + (L1y - L0y)*(L1y - L0y);
double offset = 170.54;
for (double q1 = 0.0; q1 <= 95.5; q1 += 0.01)
{
double cq1 = cos(DEG2RAD*q1);
double sq1 = sin(DEG2RAD*q1);
double P1xr = cq1*P1x-sq1*P1y;
double P1yr = sq1*P1x+cq1*P1y;
double h2 = (P1xr - L0x)*(P1xr - L0x) + (P1yr - L0y)*(P1yr - L0y);
double alfa = RAD2DEG*atan2(L0y - P1yr, L0x - P1xr);
double beta = RAD2DEG*acos((h2 + l2 - k2)/(2.0*sqrt(h2*l2)));
double q2 = alfa + beta - offset;