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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 "Kinematics.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 * @bug the legs try (briefly) to straighten out when first starting to move 00072 */ 00073 class WalkMC : public MotionCommand, public LoadSave { 00074 public: 00075 typedef SplinePath<vector3d,double> splinepath; //!<for convenience 00076 typedef HermiteSplineSegment<vector3d,double> spline; //!<for convenience 00077 00078 //! holds state about each leg's path 00079 struct LegWalkState { 00080 LegWalkState() : airpath(), air(0) {} //!< constructor 00081 spline airpath; //!< the path to follow 00082 bool air; //!< true if in the air 00083 }; 00084 00085 //! holds parameters about how to move each leg 00086 struct LegParam { 00087 LegParam() : neutral(), lift_vel(), down_vel(), lift_time(0), down_time(0) {} //!< constructor 00088 vector3d neutral; //!< defines the "neutral" point of each leg - where it is in midstep 00089 vector3d lift_vel; //!< give the velocities to use when raising the paw 00090 vector3d down_vel; //!< give the velocities to use when lowering the paw 00091 double lift_time; //!< the time (as percentage of WalkParam::period) in the cycle to lift (so you can set different offsets between the paws) 00092 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) 00093 }; 00094 00095 //! holds more general parameters about the walk 00096 struct WalkParam { 00097 WalkParam() : body_height(0), body_angle(0), hop(0), sway(0), period(0), reserved() {} //!< constructor 00098 LegParam leg[4]; //!< a set of LegParam's, one for each leg 00099 double body_height; //!< the height to hold the body (mm) 00100 double body_angle; //!< the angle to hold the body (rad - 0 is level) 00101 double hop; //!< sinusoidal hop amplitude 00102 double sway; //!< sinusoidal sway in y direction 00103 long period; //!< the time between steps 00104 long reserved; //!< live with it 00105 }; 00106 00107 //! holds information to correct for slippage, non-idealities 00108 struct CalibrationParam { 00109 CalibrationParam(); 00110 00111 //! symbolic way to refer to each of the directions 00112 enum dimension_offset { 00113 forward, 00114 reverse, 00115 strafe, 00116 rotate, 00117 NUM_DIM 00118 }; 00119 00120 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 00121 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 00122 00123 float max_accel[NUM_DIM]; //!< maximum achievable acceleration, 0 for infinite (mm/s^2) 00124 float max_vel[NUM_DIM]; //!< maximum achievable velocity (mm/s) 00125 }; 00126 00127 //! constructor 00128 WalkMC(const char* pfile=NULL); 00129 00130 virtual void DoStart(); //!< sends an activate LocomotionEvent 00131 virtual void DoStop(); //!< sends a deactivate LocomotionEvent 00132 00133 virtual int updateOutputs(); //!< calculates current positions of the paws 00134 00135 //! Returns true if we are walking. This modified isDirty allows the AIBO to slow down to a stop rather than stopping immediately. 00136 virtual int isDirty(); 00137 00138 //! always true - never autoprunes 00139 virtual int isAlive() { return true; } 00140 00141 virtual unsigned int getBinSize() const; 00142 virtual unsigned int LoadBuffer(const char buf[], unsigned int len); 00143 virtual unsigned int SaveBuffer(char buf[], unsigned int len) const; 00144 00145 //! set the direction to walk - can specify x (forward), y (left), and angular (counterclockwise) velocities 00146 void setTargetVelocity(double dx,double dy,double da); 00147 //! returns current velocity we're trying to go 00148 const vector3d& getTargetVelocity() { return target_vel_xya; } 00149 //! returns the velocity we're actually moving (subject to clipping at max_accel_xya), doesn't reflect value of getPaused()... 00150 const vector3d& getCurVelocity() const { return vel_xya;} 00151 //! returns the time at which we started traveling along the current vector 00152 unsigned int getStartTravelTime() { return travelTime; } 00153 //! returns the amount of time we've been traveling along the current vector 00154 unsigned int getTravelTime() { return get_time()-getStartTravelTime(); } 00155 00156 void setPaused(bool p) { isPaused=p; } //!< if set to true, will stop moving 00157 bool getPaused() const { return isPaused; } //!< if is true, we aren't moving 00158 void setHeight(double h) { wp.body_height=h; } //!< sets WalkParam::body_height of #wp 00159 double getHeight() { return wp.body_height; } //!< gets WalkParam::body_height of #wp 00160 void setAngle(double a) { wp.body_angle=a; } //!< sets WalkParam::body_angle of #wp 00161 double getAngle() { return wp.body_angle; } //!< gets WalkParam::body_angle of #wp 00162 void setHop(double h) { wp.hop=h; } //!< sets WalkParam::hop of #wp 00163 double getHop() { return wp.hop; } //!< gets WalkParam::hop of #wp 00164 void setSway(double h) { wp.sway=h; } //!< sets WalkParam::sway of #wp 00165 double getSway() { return wp.sway; } //!< gets WalkParam::sway of #wp 00166 void setPeriod(long p) { wp.period=p; } //!< sets WalkParam::period of #wp 00167 long getPeriod() { return wp.period; } //!< gets WalkParam::period of #wp 00168 void setSlowMo(float p) { slowmo=p; } //!< sets slowmo 00169 float* getSlowMo() { return &slowmo; } //!< gets slowmo 00170 00171 WalkParam & getWP() { return wp; }; //!< returns the current walk parameter structure 00172 CalibrationParam & getCP() { return cp; }; //!< returns the current walk calibration parameter 00173 00174 //! takes current leg positions from WorldState and tries to match the point in the cycle most like it 00175 void resetLegPos(); 00176 00177 static const float MAX_DX; //!< ==180 mm/sec 00178 static const float MAX_DY; //!< ==140 mm/sec 00179 static const float MAX_DA; //!< ==1.8 rad/sec 00180 // tss "SmoothWalk" modification follows (actually only comment is changed) 00181 // static const vector3d max_accel_xya; //!< vector version of MAX_DX,MAX_DY,MAX_DA 00182 static const vector3d max_accel_xya; //!< maximum acceleration of x, y, and a velocity 00183 00184 protected: 00185 //! holds current joint commands 00186 OutputCmd cmds[NumOutputs][NumFrames]; 00187 00188 //! converts @a in to calibration parameters and multiplies through the calibration matrix 00189 static void applyCalibration(const float mat[3][11], const vector3d& in, vector3d& out); 00190 00191 protected: 00192 //! does some setup stuff, calls LoadFile(pfile) 00193 void init(const char* pfile); 00194 00195 bool isPaused; //!< true if we are paused 00196 00197 WalkParam wp; //!< current walking parameters (note that it's not static - different WalkMC's can have different setting, handy... 00198 CalibrationParam cp; //!< calibration parameters for current walk. 00199 LegWalkState legw[NumLegs]; //!< current state of each leg 00200 vector3d legpos[NumLegs]; //!< current position of each leg 00201 splinepath body_loc; //!< the path the body goes through while walking (?) 00202 splinepath body_angle; //!< the path the body goes through while walking (?) 00203 00204 vector3d pos_delta; //!< how much we've moved 00205 double angle_delta; //!< how much we've turned 00206 00207 unsigned int travelTime; //!< the time of the last call to setTargetVelocity - handy to check the time we've been traveling current vector 00208 int time; //!< time of last call to updateJointCmds() (scaled by slowmo) 00209 int TimeStep; //!< time to pretend passes between each call to updateJointCmds() - usually RobotInfo::FrameTime 00210 float slowmo; //!< scales time values to make the walk move in slow motion for analysis (or fast forward) 00211 00212 // tss "SmoothWalk" addition follows 00213 /*! The CycleOffset variable is used to ensure that each time the AIBO 00214 * starts walking, it starts at the same point in the walk cycle as 00215 * where it stopped. This measure is intended to decrease the amount 00216 * of jerking (and hence deviation) that occurs when the AIBO starts 00217 * walking forward and then suddenly stops. */ 00218 int CycleOffset; 00219 /*! Each CycleOffset corresponds to a different TimeOffset once the 00220 * robot starts walking again. Consider this example: the robot 00221 * stops 2/3 of the way through the cycle, then starts again 1/3 00222 * of the way through the cycle on the absolute clock. The time 00223 * offset to advance the clock to the right part of the cycle is 00224 * 1/3 of a cycle, so we set TimeOffset to 1/3 cycle and add that to 00225 * every clock value used in the walk code. */ 00226 int TimeOffset; 00227 /*! Every time we stop, we know we'll have a new CycleOffset, and we'll 00228 * need to compute a new TimeOffset. This boolean says as much. */ 00229 bool NewCycleOffset; 00230 // tss "SmoothWalk" addition ends 00231 00232 vector3d vel_xya; //!< the current velocity we're moving 00233 vector3d target_vel_xya; //!< the velocity that was requested 00234 vector3d last_target_vel_xya; //!< the velocity that was last sent to motion 00235 }; 00236 00237 /* struct LegState{ 00238 long attr,reserved; 00239 point3d pos; 00240 double angles[3]; 00241 }; 00242 00243 struct HeadState{ 00244 long attr,reserved; 00245 vector3d target; 00246 double angles[3]; 00247 }; 00248 00249 struct BodyState{ 00250 BodyPosition pos; 00251 LegState leg[4]; 00252 HeadState head; 00253 }; 00254 */ 00255 00256 /*! @file 00257 * @brief Describes WalkMC, a MotionCommand for walking around 00258 * @author CMU RoboSoccer 2001-2002 (Creator) 00259 * @author ejt (ported) 00260 * @author PA Gov. School for the Sciences 2003 Team Project - Haoqian Chen, Yantian Martin, Jon Stahlman (modifications) 00261 * 00262 * @verbinclude CMPack_license.txt 00263 * 00264 * $Author: ejt $ 00265 * $Name: tekkotsu-2_1 $ 00266 * $Revision: 1.21 $ 00267 * $State: Exp $ 00268 * $Date: 2004/03/03 18:42:16 $ 00269 */ 00270 00271 #endif |
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