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Fix impedance codes2 #441

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merged 2 commits into from
Jan 5, 2015
Merged

Fix impedance codes2 #441

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dac6476
Fix velocity calculation. Convert ee frame objective vel -> link fram…
snozawa Jan 5, 2015
a58da66
Use moment-gain and force-gain as ee local param
snozawa Jan 5, 2015
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16 changes: 13 additions & 3 deletions rtc/ImpedanceController/ImpedanceController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -433,12 +433,13 @@ RTC::ReturnCode_t ImpedanceController::onExecute(RTC::UniqueId ec_id)
// std::cerr << "ref_moment = " << param.ref_moment[0] << " " << param.ref_moment[1] << " " << param.ref_moment[2] << std::endl;

// ref_force/ref_moment and force_gain/moment_gain are expressed in global coordinates.
vel_p = ( param.force_gain * (abs_forces[it->first] - abs_ref_forces[it->first]) * m_dt * m_dt
hrp::Matrix33 eeR = target->R * ee_map[target->name].localR;
vel_p = ( eeR * (param.force_gain * (eeR.transpose() * (abs_forces[it->first] - abs_ref_forces[it->first]))) * m_dt * m_dt
+ param.M_p * ( vel_pos1 - vel_pos0 )
+ param.D_p * ( dif_target_pos - vel_pos0 ) * m_dt
+ param.K_p * ( dif_pos * m_dt * m_dt ) ) /
(param.M_p + (param.D_p * m_dt) + (param.K_p * m_dt * m_dt));
vel_r = ( param.moment_gain * (abs_moments[it->first] - abs_ref_moments[it->first]) * m_dt * m_dt
vel_r = ( eeR * (param.moment_gain * (eeR.transpose() * (abs_moments[it->first] - abs_ref_moments[it->first]))) * m_dt * m_dt
+ param.M_r * ( vel_rot1 - vel_rot0 )
+ param.D_r * ( dif_target_rot - vel_rot0 ) * m_dt
+ param.K_r * ( dif_rot * m_dt * m_dt ) ) /
Expand All @@ -449,7 +450,6 @@ RTC::ReturnCode_t ImpedanceController::onExecute(RTC::UniqueId ec_id)
std::cerr << "[" << m_profile.instance_name << "] vel_p = " << vel_p.format(Eigen::IOFormat(Eigen::StreamPrecision, 0, ", ", ", ", "", "", "[", "]")) << "[m]" << std::endl;
std::cerr << "[" << m_profile.instance_name << "] vel_r = " << vel_r.format(Eigen::IOFormat(Eigen::StreamPrecision, 0, ", ", ", ", "", "", "[", "]")) << "[rad]" << std::endl;
}
manip->calcInverseKinematics2Loop(vel_p, vel_r, 1.0, param.avoid_gain, param.reference_gain, &qrefv);

param.current_p2 = param.current_p1;
param.current_r2 = param.current_r1;
Expand All @@ -468,6 +468,16 @@ RTC::ReturnCode_t ImpedanceController::onExecute(RTC::UniqueId ec_id)
param.target_p1 = param.target_p0;
param.target_r1 = param.target_r0;

// Solve ik
// Fix ee frame objective vel => link frame objective vel
hrp::Vector3 link_frame_pos;
hrp::Matrix33 link_frame_rot;
link_frame_rot = param.current_r1 * ee_map[target->name].localR.transpose();
link_frame_pos = param.current_p1 - link_frame_rot * ee_map[target->name].localPos;
vel_p = link_frame_pos - target->p;
rats::difference_rotation(vel_r, target->R, link_frame_rot);
manip->calcInverseKinematics2Loop(vel_p, vel_r, 1.0, param.avoid_gain, param.reference_gain, &qrefv);

if ( param.transition_count < 0 ) {
param.transition_count++;
}
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