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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 00149 /*! @param dx forward velocity (millimeters per second) 00150 * @param dy left velocity (millimeters per second) 00151 * @param da counterclockwise velocity (radians per second) 00152 * @param n steps to take (if unspecified or negative, walk forever) 00153 * Using a non-negative step count disables software acceleration of velocities 00154 * @see setTargetDisplacement() */ 00155 void setTargetVelocity(double dx,double dy,double da,int n=-1); 00156 //! returns current velocity we're trying to go 00157 const vector3d& getTargetVelocity() { return target_vel_xya; } 00158 //! returns the velocity we're actually moving (subject to clipping at max_accel_xya), doesn't reflect value of getPaused()... 00159 const vector3d& getCurVelocity() const { return vel_xya;} 00160 //! returns the time at which we started traveling along the current vector 00161 unsigned int getStartTravelTime() { return travelTime; } 00162 //! returns the amount of time we've been traveling along the current vector 00163 unsigned int getTravelTime() { return get_time()-getStartTravelTime(); } 00164 00165 //! recalculates the target velocity so steps are of a given length to achieve the specified displacement in @a n steps 00166 /*! @param dx length of displacement in millimeters along body's x axis 00167 * @param dy length of displacement in millimeters along body's y axis 00168 * @param da amount to turn in radians, counter-clockwise viewed from above 00169 * @param n number of steps to take 00170 * #step_count will be set to @a n, so if the required velocity is 00171 * beyond the abilities of the robot, it will stop on the @a n'th 00172 * step, regardless of distance remaining. 00173 * @see setTargetVelocity() 00174 */ 00175 void setTargetDisplacement(double dx, double dy, double da, unsigned int n); 00176 00177 //! returns remaining steps (#step_count) (negative means infinite) 00178 int getRemainingSteps() const { return step_count; } 00179 00180 00181 float getStepThreshold() const { return step_threshold; } //!< returns the step threshold -- see #step_threshold 00182 void setStepThreshold(float st) { step_threshold=st; } //!< sets the step threshold -- see #step_threshold 00183 00184 void setPaused(bool p) { isPaused=p; } //!< if set to true, will stop moving 00185 bool getPaused() const { return isPaused; } //!< if is true, we aren't moving 00186 void setHeight(double h) { wp.body_height=h; } //!< sets WalkParam::body_height of #wp 00187 double getHeight() { return wp.body_height; } //!< gets WalkParam::body_height of #wp 00188 void setAngle(double a) { wp.body_angle=a; } //!< sets WalkParam::body_angle of #wp 00189 double getAngle() { return wp.body_angle; } //!< gets WalkParam::body_angle of #wp 00190 void setHop(double h) { wp.hop=h; } //!< sets WalkParam::hop of #wp 00191 double getHop() { return wp.hop; } //!< gets WalkParam::hop of #wp 00192 void setSway(double h) { wp.sway=h; } //!< sets WalkParam::sway of #wp 00193 double getSway() { return wp.sway; } //!< gets WalkParam::sway of #wp 00194 void setPeriod(long p) { wp.period=p; } //!< sets WalkParam::period of #wp 00195 long getPeriod() { return wp.period; } //!< gets WalkParam::period of #wp 00196 void setSlowMo(float p) { slowmo=p; } //!< sets #slowmo 00197 float* getSlowMo() { return &slowmo; } //!< gets #slowmo 00198 00199 //!used to specify value for #acc_style 00200 enum AccelerationStyle_t { 00201 CALIBRATION_ACCEL, //!< use the acceleration specified by the calibration parameters 00202 INF_ACCEL, //!< ignore calibration acceleration (attempt infinite acceleration) 00203 DEFAULT_ACCEL //!< reference the value of Config::motion_config::walk_acceleration 00204 }; 00205 virtual void setAccelerationStyle(AccelerationStyle_t acc) { acc_style=acc; } //!< sets #acc_style 00206 virtual AccelerationStyle_t getAccelerationStyle() const { return acc_style; } //!< returns #acc_style 00207 00208 //! returns the current leg position of leg @a i 00209 const vector3d& getLegPosition(LegOrder_t i) const { return legpos[i]; } 00210 00211 WalkParam& getWP() { return wp; }; //!< returns the current walk parameter structure 00212 CalibrationParam& getCP() { return cp; }; //!< returns the current walk calibration parameter 00213 00214 //! takes current leg positions from WorldState and tries to match the point in the cycle most like it 00215 void resetLegPos(); 00216 00217 static const float MAX_DX; //!< ==180 mm/sec 00218 static const float MAX_DY; //!< ==140 mm/sec 00219 static const float MAX_DA; //!< ==1.8 rad/sec 00220 00221 static const vector3d max_accel_xya; //!< maximum acceleration of x, y, and a velocity 00222 00223 protected: 00224 //! holds current joint commands 00225 OutputCmd cmds[NumOutputs][NumFrames]; 00226 00227 //! converts @a in to calibration parameters and multiplies through the calibration matrix 00228 static void applyCalibration(const float mat[3][11], const vector3d& in, vector3d& out); 00229 00230 protected: 00231 //! does some setup stuff, calls LoadFile(pfile) 00232 void init(const char* pfile); 00233 00234 bool isPaused; //!< true if we are paused 00235 00236 WalkParam wp; //!< current walking parameters (note that it's not static - different WalkMC's can have different setting, handy... 00237 CalibrationParam cp; //!< calibration parameters for current walk. 00238 LegWalkState legw[NumLegs]; //!< current state of each leg 00239 vector3d legpos[NumLegs]; //!< current position of each leg 00240 splinepath body_loc; //!< the path the body goes through while walking (?) 00241 splinepath body_angle; //!< the path the body goes through while walking (?) 00242 vector3d liftPos[NumLegs]; //!< position each of the feet was last lifted 00243 vector3d downPos[NumLegs]; //!< position each of the feet is next going to be set down 00244 00245 AccelerationStyle_t acc_style; //!< lets you switch between finite or infinite acceleration models 00246 00247 int step_count; //!< number of steps to take before stopping; if negative, walk forever. 00248 float step_threshold; //!< point in a leg's cycle where the step counter should be decremented; 0 - leg lift, .25 - mid-air, .5 - leg down, .75 - mid-ground 00249 00250 double last_cycle; //!< where the walk is in it its cycle, updated at the end of each call to updateOutputs() 00251 00252 vector3d pos_delta; //!< how much we've moved 00253 float angle_delta; //!< how much we've turned 00254 00255 unsigned int travelTime; //!< the time of the last call to setTargetVelocity - handy to check the time we've been traveling current vector 00256 int time; //!< time of last call to updateOutputs() (scaled by slowmo) 00257 int TimeStep; //!< time to pretend passes between each call to updateOutputs() - usually RobotInfo::FrameTime 00258 float slowmo; //!< scales time values to make the walk move in slow motion for analysis (or fast forward) 00259 00260 // tss "SmoothWalk" addition follows 00261 /*! The CycleOffset variable is used to ensure that each time the AIBO 00262 * starts walking, it starts at the same point in the walk cycle as 00263 * where it stopped. This measure is intended to decrease the amount 00264 * of jerking (and hence deviation) that occurs when the AIBO starts 00265 * walking forward and then suddenly stops. */ 00266 int CycleOffset; 00267 /*! Each CycleOffset corresponds to a different TimeOffset once the 00268 * robot starts walking again. Consider this example: the robot 00269 * stops 2/3 of the way through the cycle, then starts again 1/3 00270 * of the way through the cycle on the absolute clock. The time 00271 * offset to advance the clock to the right part of the cycle is 00272 * 1/3 of a cycle, so we set TimeOffset to 1/3 cycle and add that to 00273 * every clock value used in the walk code. */ 00274 int TimeOffset; 00275 /*! Every time we stop, we know we'll have a new CycleOffset, and we'll 00276 * need to compute a new TimeOffset. This boolean says as much. */ 00277 bool NewCycleOffset; 00278 // tss "SmoothWalk" addition ends 00279 00280 vector3d vel_xya; //!< the current velocity we're moving 00281 vector3d target_vel_xya; //!< the velocity that was requested 00282 vector3d last_target_vel_xya; //!< the velocity that was last sent to motion 00283 }; 00284 00285 /* struct LegState{ 00286 long attr,reserved; 00287 point3d pos; 00288 double angles[3]; 00289 }; 00290 00291 struct HeadState{ 00292 long attr,reserved; 00293 vector3d target; 00294 double angles[3]; 00295 }; 00296 00297 struct BodyState{ 00298 BodyPosition pos; 00299 LegState leg[4]; 00300 HeadState head; 00301 }; 00302 */ 00303 00304 /*! @file 00305 * @brief Describes WalkMC, a MotionCommand for walking around 00306 * @author CMU RoboSoccer 2001-2002 (Creator) 00307 * @author ejt (ported) 00308 * @author PA Gov. School for the Sciences 2003 Team Project - Haoqian Chen, Yantian Martin, Jon Stahlman (modifications) 00309 * 00310 * @verbinclude CMPack_license.txt 00311 * 00312 * $Author: ejt $ 00313 * $Name: tekkotsu-2_4_1 $ 00314 * $Revision: 1.31 $ 00315 * $State: Exp $ 00316 * $Date: 2005/04/12 19:07:07 $ 00317 */ 00318 00319 #endif |
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