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WalkMC.hGo to the documentation of this file.00001 //-*-c++-*- 00002 00003 //This class is ported from Carnegie Mellon's 2001 Robosoccer entry, and falls under their license: 00004 /*========================================================================= 00005 CMPack'02 Source Code Release for OPEN-R SDK v1.0 00006 Copyright (C) 2002 Multirobot Lab [Project Head: Manuela Veloso] 00007 School of Computer Science, Carnegie Mellon University 00008 ------------------------------------------------------------------------- 00009 This software is distributed under the GNU General Public License, 00010 version 2. If you do not have a copy of this licence, visit 00011 www.gnu.org, or write: Free Software Foundation, 59 Temple Place, 00012 Suite 330 Boston, MA 02111-1307 USA. This program is distributed 00013 in the hope that it will be useful, but WITHOUT ANY WARRANTY, 00014 including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. 00015 ------------------------------------------------------------------------- 00016 Additionally licensed to Sony Corporation under the following terms: 00017 00018 This software is provided by the copyright holders AS IS and any 00019 express or implied warranties, including, but not limited to, the 00020 implied warranties of merchantability and fitness for a particular 00021 purpose are disclaimed. In no event shall authors be liable for 00022 any direct, indirect, incidental, special, exemplary, or consequential 00023 damages (including, but not limited to, procurement of substitute 00024 goods or services; loss of use, data, or profits; or business 00025 interruption) however caused and on any theory of liability, whether 00026 in contract, strict liability, or tort (including negligence or 00027 otherwise) arising in any way out of the use of this software, even if 00028 advised of the possibility of such damage. 00029 ========================================================================= 00030 */ 00031 00032 #ifndef INCLUDED_WalkMC_h 00033 #define INCLUDED_WalkMC_h 00034 00035 #include "MotionCommand.h" 00036 #include "Geometry.h" 00037 #include "OldKinematics.h" 00038 #include "Path.h" 00039 #include "Shared/get_time.h" 00040 #include "OutputCmd.h" 00041 #include "Shared/LoadSave.h" 00042 00043 //! A nice walking class from Carnegie Mellon University's 2001 Robosoccer team, modified to fit this framework, see their <a href="../CMPack_license.txt">license</a> 00044 /*! Moves the feet through a looping path in order to walk - default parameters use 00045 * a walk low to the ground so you don't walk over the ball. 00046 * 00047 * There are around 50 parameters which control the walk - these are 00048 * loaded from a file and can modify almost every aspect of the the 00049 * gait. It's a binary file format, I recommend using our Walk Edit 00050 * menu to edit the parameters in real time and get immediate 00051 * feedback. It's a tricky job to find a good set of parameters. 00052 * 00053 * And then, once you have it walking, there's a whole different 00054 * problem of actually moving at the speed that's requested. That's 00055 * what the calibration parameters do - map the requested target 00056 * speed to the command to pass to the engine so the resulting motion 00057 * will hopefully match what you asked for. 00058 * 00059 * You'll probably want to take a look at the setTargetVelocity() 00060 * function to control the direction of the walk. 00061 * 00062 * This class is in some dire need of some cleanup - we (Tekkotsu) 00063 * didn't write it, never really bothered to get a deep understanding 00064 * of it, but have none the less hacked around and added stuff on top 00065 * of it. So pardon the mess, unless you're feeling ambitious to 00066 * write your own ;) 00067 * 00068 * This portion of the code falls under CMPack's license: 00069 * @verbinclude CMPack_license.txt 00070 */ 00071 class WalkMC : public MotionCommand, public LoadSave { 00072 public: 00073 typedef SplinePath<vector3d,float> splinepath; //!<for convenience 00074 typedef HermiteSplineSegment<vector3d,float> spline; //!<for convenience 00075 00076 //! holds state about each leg's path 00077 struct LegWalkState { 00078 LegWalkState() : airpath(), air(0), cyc(0) {} //!< constructor 00079 spline airpath; //!< the path to follow 00080 bool air; //!< true if in the air 00081 float cyc; //!< % (0,1) of how far along the path we are 00082 }; 00083 00084 //! holds parameters about how to move each leg 00085 struct LegParam { 00086 LegParam() : neutral(), lift_vel(), down_vel(), lift_time(0), down_time(0) {} //!< constructor 00087 vector3d neutral; //!< defines the "neutral" point of each leg - where it is in midstep 00088 vector3d lift_vel; //!< give the velocities to use when raising the paw 00089 vector3d down_vel; //!< give the velocities to use when lowering the paw 00090 double lift_time; //!< the time (as percentage of WalkParam::period) in the cycle to lift (so you can set different offsets between the paws) 00091 double down_time; //!< the time (as percentage of WalkParam::period) in the cycle to put down (so you can set different offsets between the paws) 00092 }; 00093 00094 //! holds more general parameters about the walk 00095 struct WalkParam { 00096 WalkParam() : body_height(0), body_angle(0), hop(0), sway(0), period(0), useDiffDrive(0), sag(0), reserved() {} //!< constructor 00097 LegParam leg[4]; //!< a set of LegParam's, one for each leg 00098 double body_height; //!< the height to hold the body (mm) 00099 double body_angle; //!< the angle to hold the body (rad - 0 is level) 00100 double hop; //!< sinusoidal hop amplitude 00101 double sway; //!< sinusoidal sway in y direction 00102 long period; //!< the time between steps 00103 long useDiffDrive; //!< if non-zero, diff-drive style turning is used instead of rotational turning 00104 float sag; //!< the amount to sagging to account for when a foot is lifted 00105 float reserved; //!< just live with it 00106 }; 00107 00108 //! holds information to correct for slippage, non-idealities 00109 struct CalibrationParam { 00110 CalibrationParam(); 00111 00112 //! symbolic way to refer to each of the directions 00113 enum dimension_offset { 00114 forward, 00115 reverse, 00116 strafe, 00117 rotate, 00118 NUM_DIM 00119 }; 00120 00121 float f_calibration[3][11]; //!< matrix of calibration parameters; 3 columns for f,s,r speeds, 2 columns for abs s,r speeds, 1 gabor function, 1 squared planar speed, 3 columns for f*r,s*f,r*s, and 1 column for offset 00122 float b_calibration[3][11]; //!< matrix of calibration parameters; 3 columns for f,s,r speeds, 2 columns for abs s,r speeds, 1 gabor function, 1 squared planar speed, 3 columns for f*r,s*f,r*s, and 1 column for offset 00123 00124 float max_accel[NUM_DIM]; //!< maximum achievable acceleration, 0 for infinite (mm/s^2) 00125 float max_vel[NUM_DIM]; //!< maximum achievable velocity (mm/s) 00126 }; 00127 00128 //! constructor 00129 WalkMC(const char* pfile=NULL); 00130 00131 virtual void DoStart(); //!< sends an activate LocomotionEvent 00132 virtual void DoStop(); //!< sends a deactivate LocomotionEvent 00133 00134 virtual int updateOutputs(); //!< calculates current positions of the paws 00135 00136 //! Returns true if we are walking. This modified isDirty allows the AIBO to slow down to a stop rather than stopping immediately. 00137 virtual int isDirty(); 00138 00139 //! always true - never autoprunes 00140 virtual int isAlive() { return true; } 00141 00142 virtual unsigned int getBinSize() const; 00143 virtual unsigned int LoadBuffer(const char buf[], unsigned int len); 00144 virtual unsigned int SaveBuffer(char buf[], unsigned int len) const; 00145 virtual unsigned int LoadFile(const char* filename); 00146 virtual unsigned int SaveFile(const char* filename) const; 00147 00148 //! set the direction to walk - can specify x (forward), y (left), and angular (counterclockwise) velocities 00149 void setTargetVelocity(double dx,double dy,double da); 00150 //! returns current velocity we're trying to go 00151 const vector3d& getTargetVelocity() { return target_vel_xya; } 00152 //! returns the velocity we're actually moving (subject to clipping at max_accel_xya), doesn't reflect value of getPaused()... 00153 const vector3d& getCurVelocity() const { return vel_xya;} 00154 //! returns the time at which we started traveling along the current vector 00155 unsigned int getStartTravelTime() { return travelTime; } 00156 //! returns the amount of time we've been traveling along the current vector 00157 unsigned int getTravelTime() { return get_time()-getStartTravelTime(); } 00158 00159 void setPaused(bool p) { isPaused=p; } //!< if set to true, will stop moving 00160 bool getPaused() const { return isPaused; } //!< if is true, we aren't moving 00161 void setHeight(double h) { wp.body_height=h; } //!< sets WalkParam::body_height of #wp 00162 double getHeight() { return wp.body_height; } //!< gets WalkParam::body_height of #wp 00163 void setAngle(double a) { wp.body_angle=a; } //!< sets WalkParam::body_angle of #wp 00164 double getAngle() { return wp.body_angle; } //!< gets WalkParam::body_angle of #wp 00165 void setHop(double h) { wp.hop=h; } //!< sets WalkParam::hop of #wp 00166 double getHop() { return wp.hop; } //!< gets WalkParam::hop of #wp 00167 void setSway(double h) { wp.sway=h; } //!< sets WalkParam::sway of #wp 00168 double getSway() { return wp.sway; } //!< gets WalkParam::sway of #wp 00169 void setPeriod(long p) { wp.period=p; } //!< sets WalkParam::period of #wp 00170 long getPeriod() { return wp.period; } //!< gets WalkParam::period of #wp 00171 void setSlowMo(float p) { slowmo=p; } //!< sets slowmo 00172 float* getSlowMo() { return &slowmo; } //!< gets slowmo 00173 00174 const vector3d& getLegPosition(LegOrder_t i) const { return legpos[i]; } 00175 00176 WalkParam & getWP() { return wp; }; //!< returns the current walk parameter structure 00177 CalibrationParam & getCP() { return cp; }; //!< returns the current walk calibration parameter 00178 00179 //! takes current leg positions from WorldState and tries to match the point in the cycle most like it 00180 void resetLegPos(); 00181 00182 static const float MAX_DX; //!< ==180 mm/sec 00183 static const float MAX_DY; //!< ==140 mm/sec 00184 static const float MAX_DA; //!< ==1.8 rad/sec 00185 // tss "SmoothWalk" modification follows (actually only comment is changed) 00186 // static const vector3d max_accel_xya; //!< vector version of MAX_DX,MAX_DY,MAX_DA 00187 static const vector3d max_accel_xya; //!< maximum acceleration of x, y, and a velocity 00188 00189 protected: 00190 //! holds current joint commands 00191 OutputCmd cmds[NumOutputs][NumFrames]; 00192 00193 //! converts @a in to calibration parameters and multiplies through the calibration matrix 00194 static void applyCalibration(const float mat[3][11], const vector3d& in, vector3d& out); 00195 00196 protected: 00197 //! does some setup stuff, calls LoadFile(pfile) 00198 void init(const char* pfile); 00199 00200 bool isPaused; //!< true if we are paused 00201 00202 WalkParam wp; //!< current walking parameters (note that it's not static - different WalkMC's can have different setting, handy... 00203 CalibrationParam cp; //!< calibration parameters for current walk. 00204 LegWalkState legw[NumLegs]; //!< current state of each leg 00205 vector3d legpos[NumLegs]; //!< current position of each leg 00206 splinepath body_loc; //!< the path the body goes through while walking (?) 00207 splinepath body_angle; //!< the path the body goes through while walking (?) 00208 vector3d liftPos[NumLegs]; //!< position each of the feet was last lifted 00209 vector3d downPos[NumLegs]; //!< position each of the feet is next going to be set down 00210 00211 vector3d pos_delta; //!< how much we've moved 00212 float angle_delta; //!< how much we've turned 00213 00214 unsigned int travelTime; //!< the time of the last call to setTargetVelocity - handy to check the time we've been traveling current vector 00215 int time; //!< time of last call to updateJointCmds() (scaled by slowmo) 00216 int TimeStep; //!< time to pretend passes between each call to updateJointCmds() - usually RobotInfo::FrameTime 00217 float slowmo; //!< scales time values to make the walk move in slow motion for analysis (or fast forward) 00218 00219 // tss "SmoothWalk" addition follows 00220 /*! The CycleOffset variable is used to ensure that each time the AIBO 00221 * starts walking, it starts at the same point in the walk cycle as 00222 * where it stopped. This measure is intended to decrease the amount 00223 * of jerking (and hence deviation) that occurs when the AIBO starts 00224 * walking forward and then suddenly stops. */ 00225 int CycleOffset; 00226 /*! Each CycleOffset corresponds to a different TimeOffset once the 00227 * robot starts walking again. Consider this example: the robot 00228 * stops 2/3 of the way through the cycle, then starts again 1/3 00229 * of the way through the cycle on the absolute clock. The time 00230 * offset to advance the clock to the right part of the cycle is 00231 * 1/3 of a cycle, so we set TimeOffset to 1/3 cycle and add that to 00232 * every clock value used in the walk code. */ 00233 int TimeOffset; 00234 /*! Every time we stop, we know we'll have a new CycleOffset, and we'll 00235 * need to compute a new TimeOffset. This boolean says as much. */ 00236 bool NewCycleOffset; 00237 // tss "SmoothWalk" addition ends 00238 00239 vector3d vel_xya; //!< the current velocity we're moving 00240 vector3d target_vel_xya; //!< the velocity that was requested 00241 vector3d last_target_vel_xya; //!< the velocity that was last sent to motion 00242 }; 00243 00244 /* struct LegState{ 00245 long attr,reserved; 00246 point3d pos; 00247 double angles[3]; 00248 }; 00249 00250 struct HeadState{ 00251 long attr,reserved; 00252 vector3d target; 00253 double angles[3]; 00254 }; 00255 00256 struct BodyState{ 00257 BodyPosition pos; 00258 LegState leg[4]; 00259 HeadState head; 00260 }; 00261 */ 00262 00263 /*! @file 00264 * @brief Describes WalkMC, a MotionCommand for walking around 00265 * @author CMU RoboSoccer 2001-2002 (Creator) 00266 * @author ejt (ported) 00267 * @author PA Gov. School for the Sciences 2003 Team Project - Haoqian Chen, Yantian Martin, Jon Stahlman (modifications) 00268 * 00269 * @verbinclude CMPack_license.txt 00270 * 00271 * $Author: ejt $ 00272 * $Name: tekkotsu-2_2 $ 00273 * $Revision: 1.27 $ 00274 * $State: Exp $ 00275 * $Date: 2004/08/05 20:29:04 $ 00276 */ 00277 00278 #endif |
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