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Separate simplefullbodyiksolver #1150

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Jun 7, 2017
Merged

Separate simplefullbodyiksolver #1150

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c0b4648
separate into SimpleFullbodyInverseKinematicsSolver.h
ishiguroJSK Jun 6, 2017
d4b8bb3
move operator<< overload into .cpp
ishiguroJSK Jun 6, 2017
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13 changes: 12 additions & 1 deletion rtc/AutoBalancer/AutoBalancer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,17 @@ static const char* autobalancer_spec[] =
};
// </rtc-template>

static std::ostream& operator<<(std::ostream& os, const struct RTC::Time &tm)
{
int pre = os.precision();
os.setf(std::ios::fixed);
os << std::setprecision(6)
<< (tm.sec + tm.nsec/1e9)
<< std::setprecision(pre);
os.unsetf(std::ios::fixed);
return os;
}

AutoBalancer::AutoBalancer(RTC::Manager* manager)
: RTC::DataFlowComponentBase(manager),
// <rtc-template block="initializer">
Expand Down Expand Up @@ -1049,7 +1060,7 @@ void AutoBalancer::solveFullbodyIK ()
it->second.target_r0 = ikp[it->first].target_r0;
}
fik->ratio_for_vel = transition_interpolator_ratio * leg_names_interpolator_ratio;
fik->current_tm = m_qRef.tm;
// fik->current_tm = m_qRef.tm;
for ( std::map<std::string, ABCIKparam>::iterator it = ikp.begin(); it != ikp.end(); it++ ) {
fik->ikp[it->first].is_ik_enable = it->second.is_active;
}
Expand Down
338 changes: 1 addition & 337 deletions rtc/AutoBalancer/AutoBalancer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@
#include "AutoBalancerService_impl.h"
#include "interpolator.h"
#include "../TorqueFilter/IIRFilter.h"
#include "SimpleFullbodyInverseKinematicsSolver.h"

// </rtc-template>

Expand All @@ -38,343 +39,6 @@

using namespace RTC;

static std::ostream& operator<<(std::ostream& os, const struct RTC::Time &tm)
{
int pre = os.precision();
os.setf(std::ios::fixed);
os << std::setprecision(6)
<< (tm.sec + tm.nsec/1e9)
<< std::setprecision(pre);
os.unsetf(std::ios::fixed);
return os;
}

// Class for Simple Fullbody Inverse Kinematics
// Input : target root pos and rot, target COG, target joint angles, target EE coords
// Output : joint angles
// Algorithm : Limb IK + move base
class SimpleFullbodyInverseKinematicsSolver
{
private:
// Robot model for IK
hrp::BodyPtr m_robot;
// Org (current) joint angles before IK
hrp::dvector qorg;
// IK fail checking
int ik_error_debug_print_freq;
std::string print_str;
bool has_ik_failed;
public:
// IK parameter for each limb
struct IKparam {
// IK target EE coords
hrp::Vector3 target_p0;
hrp::Matrix33 target_r0;
// EE offset, EE link
hrp::Vector3 localPos;
hrp::Matrix33 localR;
hrp::Link* target_link;
// IK solver and parameter
hrp::JointPathExPtr manip;
double avoid_gain, reference_gain;
// IK fail checking
size_t pos_ik_error_count, rot_ik_error_count;
// Solve ik or not
bool is_ik_enable;
// Name of parent link in limb
std::string parent_name;
// Limb length
double max_limb_length, limb_length_margin;
IKparam ()
: avoid_gain(0.001), reference_gain(0.01),
pos_ik_error_count(0), rot_ik_error_count(0),
limb_length_margin(0.02)
{
};
};
std::map<std::string, IKparam> ikp;
// Used for ref joint angles overwrite before IK
std::vector<int> overwrite_ref_ja_index_vec;
// IK targets and current?
hrp::dvector qrefv;
hrp::Vector3 target_root_p;
hrp::Matrix33 target_root_R;
hrp::Vector3 current_root_p;
hrp::Matrix33 current_root_R;
// IK params
double move_base_gain, ratio_for_vel;
// For IK fail checking
double pos_ik_thre, rot_ik_thre;
struct RTC::Time current_tm;
// For limb stretch avoidance
double d_root_height, limb_stretch_avoidance_time_const, limb_stretch_avoidance_vlimit[2], m_dt;
bool use_limb_stretch_avoidance;

SimpleFullbodyInverseKinematicsSolver (hrp::BodyPtr& _robot, const std::string& _print_str, const double _dt)
: m_robot(_robot),
ik_error_debug_print_freq(static_cast<int>(0.2/_dt)), // once per 0.2 [s]
has_ik_failed(false),
overwrite_ref_ja_index_vec(), ikp(),
move_base_gain(0.8), ratio_for_vel(1.0),
pos_ik_thre(0.5*1e-3), // [m]
rot_ik_thre((1e-2)*M_PI/180.0), // [rad]
print_str(_print_str), m_dt(_dt),
use_limb_stretch_avoidance(false), limb_stretch_avoidance_time_const(1.5)
{
qorg.resize(m_robot->numJoints());
qrefv.resize(m_robot->numJoints());
limb_stretch_avoidance_vlimit[0] = -1000 * 1e-3 * _dt; // lower limit
limb_stretch_avoidance_vlimit[1] = 50 * 1e-3 * _dt; // upper limit
};
~SimpleFullbodyInverseKinematicsSolver () {};

void initializeInterlockingJoints (std::vector<std::pair<hrp::Link*, hrp::Link*> > & interlocking_joints)
{
for ( std::map<std::string, IKparam>::iterator it = ikp.begin(); it != ikp.end(); it++ ) {
std::cerr << "[" << print_str << "] Interlocking Joints for [" << it->first << "]" << std::endl;
it->second.manip->setInterlockingJointPairIndices(interlocking_joints, print_str);
}
};
void storeCurrentParameters()
{
current_root_p = m_robot->rootLink()->p;
current_root_R = m_robot->rootLink()->R;
for ( unsigned int i = 0; i < m_robot->numJoints(); i++ ){
qorg[i] = m_robot->joint(i)->q;
}
};
void revertRobotStateToCurrent ()
{
for ( std::map<std::string, IKparam>::iterator it = ikp.begin(); it != ikp.end(); it++ ) {
if (it->second.is_ik_enable) {
for ( unsigned int j = 0; j < it->second.manip->numJoints(); j++ ){
int i = it->second.manip->joint(j)->jointId;
m_robot->joint(i)->q = qorg[i];
}
}
}
m_robot->rootLink()->p = current_root_p;
m_robot->rootLink()->R = current_root_R;
m_robot->calcForwardKinematics();
};
void setReferenceJointAngles ()
{
for ( unsigned int i = 0; i < m_robot->numJoints(); i++ ){
qrefv[i] = m_robot->joint(i)->q;
}
};
// Solve fullbody IK using limb IK
void solveFullbodyIK (const hrp::Vector3& _dif_cog, const bool is_transition)
{
hrp::Vector3 dif_cog(ratio_for_vel*_dif_cog);
dif_cog(2) = m_robot->rootLink()->p(2) - target_root_p(2);
m_robot->rootLink()->p = m_robot->rootLink()->p + -1 * move_base_gain * dif_cog;
m_robot->rootLink()->R = target_root_R;
// Avoid limb stretch
{
std::vector<hrp::Vector3> tmp_p;
std::vector<std::string> tmp_name;
for ( std::map<std::string, IKparam>::iterator it = ikp.begin(); it != ikp.end(); it++ ) {
if (it->first.find("leg") != std::string::npos) {
tmp_p.push_back(it->second.target_p0);
tmp_name.push_back(it->first);
}
}
limbStretchAvoidanceControl(tmp_p, tmp_name);
}
// Overwrite by ref joint angle
for (size_t i = 0; i < overwrite_ref_ja_index_vec.size(); i++) {
m_robot->joint(overwrite_ref_ja_index_vec[i])->q = qrefv[overwrite_ref_ja_index_vec[i]];
}
m_robot->calcForwardKinematics();
for ( std::map<std::string, IKparam>::iterator it = ikp.begin(); it != ikp.end(); it++ ) {
if (it->second.is_ik_enable) solveLimbIK (it->second, it->first, ratio_for_vel, is_transition);
}
};
// Solve limb IK
bool solveLimbIK (IKparam& param, const std::string& limb_name, const double ratio_for_vel, const bool is_transition)
{
param.manip->calcInverseKinematics2Loop(param.target_p0, param.target_r0, 1.0, param.avoid_gain, param.reference_gain, &qrefv, ratio_for_vel,
param.localPos, param.localR);
checkIKTracking(param, limb_name, is_transition);
return true;
}
// IK fail check
void checkIKTracking (IKparam& param, const std::string& limb_name, const bool is_transition)
{
hrp::Vector3 vel_p, vel_r;
vel_p = param.target_p0 - (param.target_link->p + param.target_link->R * param.localPos);
rats::difference_rotation(vel_r, (param.target_link->R * param.localR), param.target_r0);
if (vel_p.norm() > pos_ik_thre && is_transition) {
if (param.pos_ik_error_count % ik_error_debug_print_freq == 0) {
std::cerr << "[" << print_str << "] [" << current_tm
<< "] Too large IK error in " << limb_name << " (vel_p) = [" << vel_p(0) << " " << vel_p(1) << " " << vel_p(2) << "][m], count = " << param.pos_ik_error_count << std::endl;
}
param.pos_ik_error_count++;
has_ik_failed = true;
} else {
param.pos_ik_error_count = 0;
}
if (vel_r.norm() > rot_ik_thre && is_transition) {
if (param.rot_ik_error_count % ik_error_debug_print_freq == 0) {
std::cerr << "[" << print_str << "] [" << current_tm
<< "] Too large IK error in " << limb_name << " (vel_r) = [" << vel_r(0) << " " << vel_r(1) << " " << vel_r(2) << "][rad], count = " << param.rot_ik_error_count << std::endl;
}
param.rot_ik_error_count++;
has_ik_failed = true;
} else {
param.rot_ik_error_count = 0;
}
};
// Reset IK fail params
void resetIKFailParam() {
has_ik_failed = false;
for ( std::map<std::string, IKparam>::iterator it = ikp.begin(); it != ikp.end(); it++ ) {
it->second.pos_ik_error_count = it->second.rot_ik_error_count = 0;
}
}
// Get IKparam
void getIKParam (std::vector<std::string>& ee_vec, _CORBA_Unbounded_Sequence<OpenHRP::AutoBalancerService::IKLimbParameters>& ik_limb_parameters)
{
ik_limb_parameters.length(ee_vec.size());
for (size_t i = 0; i < ee_vec.size(); i++) {
IKparam& param = ikp[ee_vec[i]];
OpenHRP::AutoBalancerService::IKLimbParameters& ilp = ik_limb_parameters[i];
ilp.ik_optional_weight_vector.length(param.manip->numJoints());
std::vector<double> ov;
ov.resize(param.manip->numJoints());
param.manip->getOptionalWeightVector(ov);
for (size_t j = 0; j < param.manip->numJoints(); j++) {
ilp.ik_optional_weight_vector[j] = ov[j];
}
ilp.sr_gain = param.manip->getSRGain();
ilp.avoid_gain = param.avoid_gain;
ilp.reference_gain = param.reference_gain;
ilp.manipulability_limit = param.manip->getManipulabilityLimit();
}
};
// Set IKparam
void setIKParam (std::vector<std::string>& ee_vec, const _CORBA_Unbounded_Sequence<OpenHRP::AutoBalancerService::IKLimbParameters>& ik_limb_parameters)
{
std::cerr << "[" << print_str << "] IK limb parameters" << std::endl;
bool is_ik_limb_parameter_valid_length = true;
if (ik_limb_parameters.length() != ee_vec.size()) {
is_ik_limb_parameter_valid_length = false;
std::cerr << "[" << print_str << "] ik_limb_parameters invalid length! Cannot be set. (input = " << ik_limb_parameters.length() << ", desired = " << ee_vec.size() << ")" << std::endl;
} else {
for (size_t i = 0; i < ee_vec.size(); i++) {
if (ikp[ee_vec[i]].manip->numJoints() != ik_limb_parameters[i].ik_optional_weight_vector.length())
is_ik_limb_parameter_valid_length = false;
}
if (is_ik_limb_parameter_valid_length) {
for (size_t i = 0; i < ee_vec.size(); i++) {
IKparam& param = ikp[ee_vec[i]];
const OpenHRP::AutoBalancerService::IKLimbParameters& ilp = ik_limb_parameters[i];
std::vector<double> ov;
ov.resize(param.manip->numJoints());
for (size_t j = 0; j < param.manip->numJoints(); j++) {
ov[j] = ilp.ik_optional_weight_vector[j];
}
param.manip->setOptionalWeightVector(ov);
param.manip->setSRGain(ilp.sr_gain);
param.avoid_gain = ilp.avoid_gain;
param.reference_gain = ilp.reference_gain;
param.manip->setManipulabilityLimit(ilp.manipulability_limit);
}
} else {
std::cerr << "[" << print_str << "] ik_optional_weight_vector invalid length! Cannot be set. (input = [";
for (size_t i = 0; i < ee_vec.size(); i++) {
std::cerr << ik_limb_parameters[i].ik_optional_weight_vector.length() << ", ";
}
std::cerr << "], desired = [";
for (size_t i = 0; i < ee_vec.size(); i++) {
std::cerr << ikp[ee_vec[i]].manip->numJoints() << ", ";
}
std::cerr << "])" << std::endl;
}
}
if (is_ik_limb_parameter_valid_length) {
printIKparam(ee_vec);
}
};
// Avoid limb stretch
void limbStretchAvoidanceControl (const std::vector<hrp::Vector3>& target_p, const std::vector<std::string>& target_name)
{
m_robot->calcForwardKinematics();
double tmp_d_root_height = 0.0, prev_d_root_height = d_root_height;
if (use_limb_stretch_avoidance) {
for (size_t i = 0; i < target_p.size(); i++) {
// Check whether inside limb length limitation
hrp::Link* parent_link = m_robot->link(ikp[target_name[i]].parent_name);
hrp::Vector3 rel_target_p = target_p[i] - parent_link->p; // position from parent to target link (world frame)
double limb_length_limitation = ikp[target_name[i]].max_limb_length - ikp[target_name[i]].limb_length_margin;
double tmp = limb_length_limitation * limb_length_limitation - rel_target_p(0) * rel_target_p(0) - rel_target_p(1) * rel_target_p(1);
if (rel_target_p.norm() > limb_length_limitation && tmp >= 0) {
tmp_d_root_height = std::min(tmp_d_root_height, rel_target_p(2) + std::sqrt(tmp));
}
}
// Change root link height depending on limb length
d_root_height = tmp_d_root_height == 0.0 ? (- 1/limb_stretch_avoidance_time_const * d_root_height * m_dt + d_root_height) : tmp_d_root_height;
} else {
d_root_height = - 1/limb_stretch_avoidance_time_const * d_root_height * m_dt + d_root_height;
}
d_root_height = vlimit(d_root_height, prev_d_root_height + limb_stretch_avoidance_vlimit[0], prev_d_root_height + limb_stretch_avoidance_vlimit[1]);
m_robot->rootLink()->p(2) += d_root_height;
};
double vlimit(const double value, const double llimit_value, const double ulimit_value)
{
if (value > ulimit_value) {
return ulimit_value;
} else if (value < llimit_value) {
return llimit_value;
}
return value;
};
// Set parameter
void printParam () const
{
std::cerr << "[" << print_str << "] move_base_gain = " << move_base_gain << std::endl;
std::cerr << "[" << print_str << "] pos_ik_thre = " << pos_ik_thre << "[m], rot_ik_thre = " << rot_ik_thre << "[rad]" << std::endl;
};
// Set IKparam
void printIKparam (std::vector<std::string>& ee_vec)
{
std::cerr << "[" << print_str << "] ik_optional_weight_vectors = ";
for (size_t i = 0; i < ee_vec.size(); i++) {
IKparam& param = ikp[ee_vec[i]];
std::vector<double> ov;
ov.resize(param.manip->numJoints());
param.manip->getOptionalWeightVector(ov);
std::cerr << "[";
for (size_t j = 0; j < param.manip->numJoints(); j++) {
std::cerr << ov[j] << " ";
}
std::cerr << "]";
}
std::cerr << std::endl;
std::cerr << "[" << print_str << "] sr_gains = [";
for (size_t i = 0; i < ee_vec.size(); i++) {
std::cerr << ikp[ee_vec[i]].manip->getSRGain() << ", ";
}
std::cerr << "]" << std::endl;
std::cerr << "[" << print_str << "] avoid_gains = [";
for (size_t i = 0; i < ee_vec.size(); i++) {
std::cerr << ikp[ee_vec[i]].avoid_gain << ", ";
}
std::cerr << "]" << std::endl;
std::cerr << "[" << print_str << "] reference_gains = [";
for (size_t i = 0; i < ee_vec.size(); i++) {
std::cerr << ikp[ee_vec[i]].reference_gain << ", ";
}
std::cerr << "]" << std::endl;
std::cerr << "[" << print_str << "] manipulability_limits = [";
for (size_t i = 0; i < ee_vec.size(); i++) {
std::cerr << ikp[ee_vec[i]].manip->getManipulabilityLimit() << ", ";
}
std::cerr << "]" << std::endl;
};
};

class AutoBalancer
: public RTC::DataFlowComponentBase
{
Expand Down
2 changes: 1 addition & 1 deletion rtc/AutoBalancer/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
set(comp_sources AutoBalancer.cpp AutoBalancerService_impl.cpp ../ImpedanceController/JointPathEx.cpp ../ImpedanceController/RatsMatrix.cpp ../SequencePlayer/interpolator.cpp PreviewController.cpp GaitGenerator.cpp ../TorqueFilter/IIRFilter.cpp)
set(comp_sources AutoBalancer.cpp AutoBalancerService_impl.cpp ../ImpedanceController/JointPathEx.cpp ../ImpedanceController/RatsMatrix.cpp ../SequencePlayer/interpolator.cpp PreviewController.cpp GaitGenerator.cpp SimpleFullbodyInverseKinematicsSolver.h ../TorqueFilter/IIRFilter.cpp)
set(libs hrpModel-3.1 hrpCollision-3.1 hrpUtil-3.1 hrpsysBaseStub)
add_library(AutoBalancer SHARED ${comp_sources})
target_link_libraries(AutoBalancer ${libs})
Expand Down
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