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ZmpPlaner.cpp
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ZmpPlaner.cpp
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#include<stdio.h>
#include<fstream>
#include<math.h>
#include "ZmpPlaner.h"
//std::ofstream ofszmp("/home/wu/src/HRP3.1x/sony_cnoid/zmp.log");
ZmpPlaner::ZmpPlaner()
{
Tsup=0.7;
Tdbl=0.1;//for preview
//Tdbl is set in calcSwingLegCP no necessery set here
dt=0.005;
disfoot=0.19;
offsetZMPy=0.01;//usually
offsetZMPy=0.025;
//offsetZMPx=0.01371;
//offsetZMPx=0.0;
offsetZMPx=0.015;
Zup=0.05;
Tv=0.0;
//Tv=0.08; //use no toe mode
//capture point init
cp<<0.0, 0.0;
std::cout<<"zmpplaner "<<std::endl;
stopOper=1;
limitZmpErr(0)=0.08;
limitZmpErr(1)=0.06;
//new
RLEG2LLEG<< 0.0,0.19;
LLEG2RLEG<< 0.0,-0.19;
offsetZMPr(0)=offsetZMPl(0)=offsetZMPx;
offsetZMPr(1)= offsetZMPy;
offsetZMPl(1)=-offsetZMPy;
///
TsupNum=(int)(Tsup/dt+NEAR0);
TdblNum=(int)(Tdbl/dt+NEAR0);
step1Num=(int)(1.5*TsupNum+7*0.25*TdblNum+NEAR0);
NomalPaceNum=(int)(TsupNum+0.5*TdblNum+NEAR0);
//pivot
pitch_angle=10*M_PI/180;
//Tp=Tdbl/4;
Tp=Tdbl;
link_b_front<< 0.13, 0.0, -0.105;
link_b_rear<< -0.1, 0.0, -0.105;
rzmpEnd<<0.0,0.0;
}
void ZmpPlaner::setInit(double &xIni, double &yIni)
{
zmpInit<<xIni , yIni;
cp<<xIni, yIni;
}
//unused
void ZmpPlaner::setInit(vector2 &Ini)
{
zmpInit=Ini;
}
//////////////
void ZmpPlaner::setw(double &wIn)
{
w= wIn;
}
void ZmpPlaner::PlanCP( BodyPtr m_robot, FootType FT, Vector3 *p_ref, Matrix3 *R_ref, vector2 swLegRef_p, Matrix3 object_ref_R, std::deque<vector2> &rfzmp, bool usePivot)
{
matrix22 swLegRef_R, SwLeg_R, SupLeg_R; //yow only already okla
swLegRef_R=RfromMatrix3(object_ref_R);
calcSwingLegCP(m_robot, FT, p_ref,R_ref, swLegRef_p, object_ref_R, usePivot);
vector2 SupLeg_p(MatrixXd::Zero(2,1));
vector2 offsetZMP_SupLeg,offsetZMP_SwLeg;
Link *SupLeg;
Link *SwLeg;
//for rfzmp
Vector2 swLeg_cur_p;
//////////parameter calculate/////////////////////
if((FT==FSRFsw)||(FT==RFsw)){
SupLeg=m_robot->link("LLEG_JOINT5");
SwLeg =m_robot->link("RLEG_JOINT5");
//SupLeg_p=pfromVector3(p_ref[LLEG]);
//matrix22 SupLeg_R(RfromMatrix3(R_ref[LLEG]));
offsetZMP_SupLeg=offsetZMPl;
offsetZMP_SwLeg =offsetZMPr;
}
else if((FT==FSLFsw)||(FT==LFsw)){
SupLeg=m_robot->link("RLEG_JOINT5");
SwLeg =m_robot->link("LLEG_JOINT5");
//SupLeg_p=pfromVector3(p_ref[RLEG]);
//matrix22 SupLeg_R(RfromMatrix3(R_ref[RLEG]));
offsetZMP_SupLeg=offsetZMPr;
offsetZMP_SwLeg =offsetZMPl;
}
SupLeg_p=pfromVector3(SupLeg->p());
SupLeg_R=RfromMatrix3(SupLeg->R());
SupLeg_p += SupLeg_R*offsetZMP_SupLeg;
swLegRef_p+= swLegRef_R*offsetZMP_SwLeg;
//for rfzmp
swLeg_cur_p=pfromVector3(SwLeg->p());
SwLeg_R=RfromMatrix3(SwLeg->R());
swLeg_cur_p+= SwLeg_R*offsetZMP_SwLeg;
////////////plan//////////////
vector2 zero(MatrixXd::Zero(2,1));
if((FT==FSRFsw)||(FT==FSLFsw)){
//for capture point//
vector2 cp_cur(zmpInit);
double b=exp(w*Tsup);
cZMP= (SupLeg_p- b*cp_cur)/(1-b);
for(int i=1;i<TsupNum+1;i++){
cp=cZMP+ exp( w*i*dt )*(cp_cur - cZMP);
cp_deque.push_back(cp);
}
//for rzmp//
Interplation5(cZMP, zero, zero, cZMP, zero, zero, Tsup, rfzmp);//
}
if((FT==RFsw)||(FT==LFsw)){
//for capture point//
Interplation5(cp, zero, zero, cp, zero, zero, Tdbl, cp_deque);//
vector2 cZMP_pre(cZMP);
vector2 cp_cur(cp);
//double b=exp(w*(Tsup));
double b=exp(w*(Tsup+Tp));
cZMP= (swLegRef_p- b*cp_cur)/(1-b);
//int timeLength=(int)((Tsup)/0.005+NEAR0);
int timeLength=(int)((Tsup+Tp)/0.005+NEAR0);
for(int i=1;i<timeLength+1;i++){
cp=cZMP+ exp( w*i*dt )*(cp_cur - cZMP);
cp_deque.push_back(cp);
}
//timeLength=(int)((Tp)/0.005+NEAR0);
//for(int i=0;i<timeLength;i++)
// cp_deque.push_back(cp);
//for rzmp
//Interplation5(cZMP_pre, zero, zero, cZMP, zero, zero, Tdbl, rfzmp);
//Interplation5(SupLeg_p, zero, zero, SupLeg_p, zero, zero, Tsup+Tp, rfzmp);
////Interplation5(cZMP, zero, zero, cZMP, zero, zero, Tsup, rfzmp);//no good
//try
//Interplation5(cZMP_pre, zero, zero, cZMP, zero, zero, 2*Tdbl, rfzmp);
Interplation5(swLeg_cur_p, zero, zero, SupLeg_p, zero, zero, 2*Tdbl, rfzmp);
timeLength=(int)((Tdbl)/0.005+NEAR0);
for(int i=0;i<timeLength;i++)
rfzmp.pop_front();
//Interplation5(SupLeg_p, zero, zero, SupLeg_p, zero, zero, Tsup, rfzmp);
Interplation5(cZMP, zero, zero, cZMP, zero, zero, Tsup, rfzmp);
Interplation5(SupLeg_p, zero, zero, swLegRef_p, zero, zero, 2*Tp, rfzmp);
for(int i=0;i<timeLength;i++)
rfzmp.pop_back();
}
//cout<<"cp "<<cp_deque.size()<<endl;
}
void ZmpPlaner::PlanCPstop(BodyPtr m_robot, FootType FT, Vector3 *p_ref, Matrix3 *R_ref, vector2 swLegRef_p, Matrix3 object_ref_R, std::deque<vector2> &rfzmp)
{
matrix22 swLegRef_R; //yow only already okla
swLegRef_R=RfromMatrix3(object_ref_R);
//foot no move
//calcSwingLegCP(FT, p_ref,R_ref, swLegRef_p, object_ref_R );
vector2 SupLeg_p(MatrixXd::Zero(2,1));
Link *SupLeg;
//////////parameter calculate/////////////////////
if((FT==FSRFsw)||(FT==RFsw)){
//SupLeg_p=pfromVector3(p_ref[LLEG]);
//matrix22 SupLeg_R(RfromMatrix3(R_ref[LLEG]));
SupLeg=m_robot->link("LLEG_JOINT5");
SupLeg_p=pfromVector3(SupLeg->p());
matrix22 SupLeg_R(RfromMatrix3(SupLeg->R()));
SupLeg_p+= SupLeg_R*offsetZMPl;
swLegRef_p+= swLegRef_R*offsetZMPr;
}
else if((FT==FSLFsw)||(FT==LFsw)){
//SupLeg_p=pfromVector3(p_ref[RLEG]);
//matrix22 SupLeg_R(RfromMatrix3(R_ref[RLEG]));
SupLeg=m_robot->link("RLEG_JOINT5");
SupLeg_p=pfromVector3(SupLeg->p());
matrix22 SupLeg_R(RfromMatrix3(SupLeg->R()));
SupLeg_p+= SupLeg_R*offsetZMPr;
swLegRef_p+= swLegRef_R*offsetZMPl;
}
////////////plan//////////////
vector2 zero(MatrixXd::Zero(2,1));
if((FT==RFsw)||(FT==LFsw)){
//focus on unity
//for capture point//
Interplation5(cp, zero, zero, cp, zero, zero, Tdbl, cp_deque);//
vector2 cZMP_pre(cZMP);
vector2 cp_cur(cp);
double b=exp(w*Tsup);
vector2 middle_of_foot;
middle_of_foot=(swLegRef_p+ SupLeg_p)/2;
cZMP= (middle_of_foot - b*cp_cur)/(1-b);
for(int i=1;i<TsupNum+1;i++){
cp=cZMP+ exp( w*i*dt )*(cp_cur - cZMP);
cp_deque.push_back(cp);
}
//for rzmp
Interplation5(cZMP_pre, zero, zero, cZMP, zero, zero, Tdbl, rfzmp);
Interplation5(cZMP, zero, zero, middle_of_foot, zero, zero, Tsup, rfzmp);
/*
//quick version
//for capture point//
vector2 cZMP_pre(cZMP);
vector2 cp_cur(cp);
double b=exp(w*Tsup);
vector2 middle_of_foot;
middle_of_foot=(swLegRef_p+ SupLeg_p)/2;
cZMP= (middle_of_foot - b*cp_cur)/(1-b);
Interplation5(cp, zero, zero, middle_of_foot, zero, zero, Tdbl, cp_deque);//
Interplation5(middle_of_foot, zero, zero, middle_of_foot, zero, zero, Tsup, cp_deque);
//for rzmp
Interplation5(cZMP, zero, zero, cZMP, zero, zero, Tdbl, rfzmp);
Interplation5(cZMP, zero, zero, middle_of_foot, zero, zero, Tsup, rfzmp);
*/
}
}
void ZmpPlaner::getNextCom(Vector3 &cm_ref)
{
//if(cp_deque.empty())
// return;
vector2 cm_cur, cp_cur, cm_vel, cm_out;
cm_cur<<cm_ref(0), cm_ref(1);
if(!cp_deque.empty()){
cp_cur=cp_deque.at(0);
cp_deque.pop_front();
}
else{
cp_cur=cp;
}
cm_vel= w*( cp_cur- cm_cur);
cm_out=cm_cur + cm_vel*dt;
cm_ref[0]=cm_out[0];
cm_ref[1]=cm_out[1];
//ofszmp<<cp_cur[0]<<" "<<cp_cur[1]<<" "<<cm_out[0]<<" "<<cm_out[1]<<endl;
}
//////
void ZmpPlaner::PlanZMPnew(FootType FT, Vector3 *p_ref, Matrix3 *R_ref, vector2 swLegRef_p, Matrix3 object_ref_R, std::deque<vector2> &rfzmp)
{
matrix22 swLegRef_R; //yow only already okla
swLegRef_R=RfromMatrix3(object_ref_R);
calcSwingLegXYONew(FT, p_ref,R_ref, swLegRef_p, object_ref_R );
//unuse
if((FT==FSRFsw)||(FT==FSLFsw))
beforeUpNum=(int)(0.5*TsupNum+1.5*TdblNum+NEAR0);
else if((FT==RFsw)||(FT==LFsw))
beforeUpNum=(int)(0.25*TdblNum+NEAR0);
vector2 SupLeg_p(MatrixXd::Zero(2,1));
vector2 PreSupLeg_p(MatrixXd::Zero(2,1));
vector2 nnextFootPlace(MatrixXd::Zero(2,1));
if((FT==FSRFsw)||(FT==RFsw)){
SupLeg_p=pfromVector3(p_ref[LLEG]);
if(FT==RFsw){
PreSupLeg_p=pfromVector3(p_ref[RLEG]);
matrix22 PreSupLeg_R(RfromMatrix3(R_ref[RLEG]));
PreSupLeg_p+= PreSupLeg_R*offsetZMPr;
}
matrix22 SupLeg_R(RfromMatrix3(R_ref[LLEG]));
nnextFootPlace= swLegRef_p+swLegRef_R*RLEG2LLEG;
SupLeg_p+= SupLeg_R*offsetZMPl;
nnextFootPlace+=swLegRef_R*offsetZMPl;
swLegRef_p+= swLegRef_R*offsetZMPr;
}
else if((FT==FSLFsw)||(FT==LFsw)){
SupLeg_p=pfromVector3(p_ref[RLEG]);
if(FT==LFsw){
PreSupLeg_p=pfromVector3(p_ref[LLEG]);
matrix22 PreSupLeg_R(RfromMatrix3(R_ref[LLEG]));
PreSupLeg_p+= PreSupLeg_R*offsetZMPl;//debug new
}
matrix22 SupLeg_R(RfromMatrix3(R_ref[RLEG]));
nnextFootPlace = swLegRef_p+swLegRef_R*LLEG2RLEG;
SupLeg_p+= SupLeg_R*offsetZMPr;
//presume RLEG_R is same as landing swLeg
nnextFootPlace+=swLegRef_R*offsetZMPr;
swLegRef_p+= swLegRef_R*offsetZMPl;
}
vector2 zero(MatrixXd::Zero(2,1));
if((FT==FSRFsw)||(FT==FSLFsw)){
vector2 Now(zmpInit);
Interplation5(Now, zero, zero, Now, zero, zero, 0.5*Tsup, rfzmp);//
Interplation5(Now, zero, zero, SupLeg_p, zero, zero, 1.5*Tdbl, rfzmp);
Interplation5(SupLeg_p, zero, zero, SupLeg_p, zero, zero, Tsup, rfzmp);
Interplation5(SupLeg_p, zero, zero, swLegRef_p, zero, zero, 0.5*Tdbl, rfzmp);
Interplation5(swLegRef_p, zero, zero, swLegRef_p, zero, zero, Tsup, rfzmp);
Interplation5(swLegRef_p, zero, zero, nnextFootPlace , zero, zero, 0.5*Tdbl, rfzmp);
Interplation5(nnextFootPlace, zero, zero, nnextFootPlace, zero, zero, Tsup, rfzmp);
Interplation5(nnextFootPlace, zero, zero, swLegRef_p, zero, zero, 0.5*Tdbl, rfzmp);
Interplation5(swLegRef_p, zero, zero, swLegRef_p, zero, zero, Tsup, rfzmp);
}
if((FT==RFsw)||(FT==LFsw)){
Interplation5(PreSupLeg_p, zero, zero, SupLeg_p, zero, zero, 0.5*Tdbl, rfzmp);//
Interplation5(SupLeg_p, zero, zero, SupLeg_p, zero, zero, Tsup, rfzmp);
Interplation5(SupLeg_p, zero, zero, swLegRef_p, zero, zero, 0.5*Tdbl, rfzmp);
Interplation5(swLegRef_p, zero, zero, swLegRef_p, zero, zero, Tsup, rfzmp);
Interplation5(swLegRef_p, zero, zero, nnextFootPlace , zero, zero, 0.5*Tdbl, rfzmp);
Interplation5(nnextFootPlace, zero, zero, nnextFootPlace, zero, zero, Tsup, rfzmp);
Interplation5(nnextFootPlace, zero, zero, swLegRef_p, zero, zero, 0.5*Tdbl, rfzmp);
Interplation5(swLegRef_p, zero, zero, swLegRef_p, zero, zero, Tsup, rfzmp);
//delete span of previous step
for(int i=0;i<TdblNum/4;i++)
rfzmp.pop_front();
}
//rfzmpOri= std::deque<vector2> (rfzmp);
/*
std::deque<vector2>::iterator itr = rfzmp.begin();
for( itr = rfzmp.begin(); itr != rfzmp.end(); itr++ ){
ofszmp<<(*(itr))[0]<<" "<<(*(itr))[1]<<endl;
}
ofszmp<<'\n'<<std::endl;
*/
}
/*
void ZmpPlaner::calcWaistR( FootType FT, Matrix3 *R_ref)
{
int swingLeg=swLeg(FT);
///
Matrix3 sup_R;
if((FT==FSRFsw)||(FT==RFsw)){
sup_R=extractYow(R_ref[LLEG]);
}
else if((FT==FSLFsw)||(FT==LFsw)){
sup_R=extractYow(R_ref[RLEG]);
}
Matrix3 sw_R(extractYow(R_ref[swingLeg]));
//Matrix3 Rmid( trans(sup_R) * R_ref[swingLeg]);
Matrix3 Rmid( sup_R.transpose() * sw_R);//for toe
Vector3 omega( omegaFromRot(Rmid));
//R_ref[WAIST]= sup_R*rodrigues(omega, 0.5);
R_ref[WAIST]= sup_R*rodoriges(omega, 0.5);
}
*/
Matrix3 ZmpPlaner::calcWaistR( FootType FT, BodyPtr m_robot)
{
Link* SwLeg;
Link* SupLeg;
if((FT==FSRFsw)||(FT==RFsw)){
SwLeg=m_robot->link("RLEG_JOINT5");
SupLeg=m_robot->link("LLEG_JOINT5");
}
else if((FT==FSLFsw)||(FT==LFsw)){
SwLeg=m_robot->link("LLEG_JOINT5");
SupLeg=m_robot->link("RLEG_JOINT5");
}
Matrix3 sup_R=extractYow(SupLeg->R());
Matrix3 sw_R=extractYow(SwLeg->R());
Matrix3 Rmid( sup_R.transpose() * sw_R);//for toe
Vector3 omega( omegaFromRot(Rmid));
//R_ref[WAIST]= sup_R*rodrigues(omega, 0.5);
Matrix3 R_ref_WAIST= sup_R*rodoriges(omega, 0.5);
return R_ref_WAIST;
}
void ZmpPlaner::atan2adjust(double &pre, double &cur)
{
if(fabs(pre - cur)>M_PI){
if(pre > cur ){
while(fabs(pre - cur)>M_PI)
cur+=2*M_PI;
}
else if(pre < cur ){
while(fabs(pre - cur)>M_PI)
cur-=2*M_PI;
}
}// if(fabs(pre - cur)>M_PI)
}
void ZmpPlaner::calcSwingLegCP( BodyPtr m_robot, FootType FT, Vector3 *p_ref, Matrix3 *R_ref, vector2 swLegRef_p, Matrix3 object_ref_R, bool usePivot)
{
vector2 swLegIni_p=MatrixXd::Zero(2,1);
int it=0;
double zs=0;
vector2 zero(MatrixXd::Zero(2,1));
Vector3 zerov3(MatrixXd::Zero(3,1));
swLegxy.clear();
Trajzd.clear();
swLeg_R.clear();
index.clear();
link_b_deque.clear();
rot_pitch.clear();
Link* SwLeg;
//Vector3 rpytemp=rpyFromRot(object_ref_R);
//Matrix3 tar_R=rotationZ(rpytemp(2));
Matrix3 tar_R=extractYow(object_ref_R);
Matrix3 swLeg_cur_R;
//nannnnnndatooo!!!!
if((FT==FSRFsw)||(FT==RFsw)){
SwLeg= m_robot->link("RLEG_JOINT5");
//swLegIni_p=pfromVector3(p_ref[RLEG]);
//swLeg_cur_R=R_ref[RLEG];
}
else if((FT==FSLFsw)||(FT==LFsw)){
SwLeg= m_robot->link("LLEG_JOINT5");
//swLegIni_p=pfromVector3(p_ref[LLEG]);
//swLeg_cur_R=R_ref[LLEG];
}
swLegIni_p=pfromVector3(SwLeg->p());
swLeg_cur_R=SwLeg->R();
Matrix3 Rmid( swLeg_cur_R.transpose() * tar_R);
Vector3 omega( omegaFromRot(Rmid));
Interplation5(0.0, 0.0, 0.0 , 1.0, 0.0, 0.0, Tsup-2*Tv, index);
///pivot
Vector3 link_b_s;
Vector3 link_b_f;
double pitch_s;
double pitch_f;
matrix22 swLegIni_R=RfromMatrix3(swLeg_cur_R);//33>>22
vector2 swLegIni_p_nomal=swLegIni_R.transpose()*swLegIni_p;
vector2 swLegRef_p_nomal=swLegIni_R.transpose()*swLegRef_p;
//for pivot////////////////////////////////////////////
if(usePivot){
//cout<<swLegRef_p_nomal(0)-swLegIni_p_nomal(0)<<endl;
if((swLegRef_p_nomal(0)-swLegIni_p_nomal(0))>0.1){
//front;
Tdbl=Tp=0.1;
link_b_s= link_b_front;
link_b_f= link_b_rear;
pitch_s=pitch_angle;
pitch_f=-pitch_angle;
//cout<<"front"<<endl;
}
else if((swLegRef_p_nomal(0)-swLegIni_p_nomal(0))<-0.08){
//back;
Tdbl=Tp=0.1;
link_b_s= link_b_rear;
link_b_f= link_b_front;
pitch_s=-pitch_angle*0.5;
pitch_f=pitch_angle;//*0.7;
//pitch=0.0;
//cout<<"back"<<endl;
}
else{
Tdbl=Tp=0.05;
link_b_s<<0.015, 0.0, -0.105;
link_b_f<<0.015, 0.0, -0.105;
pitch_s=pitch_f=0.0;
//cout<<"same"<<endl;
}
swLegIni_p+= pfromVector3(Vector3(swLeg_cur_R*link_b_s));
swLegRef_p+= pfromVector3(Vector3(tar_R*link_b_f));
}
/////////////////////////////////////////////////////
if((FT==FSRFsw)||(FT==FSLFsw)){
//foot no move during this span
}
else if((FT==RFsw)||(FT==LFsw)){
//x y
if(usePivot){
double vel=pitch_s *0.13/(Tp+Tv);
vector2 sp;
sp<<vel*sin(pitch_s)*1.5,0.0;
double sz=vel*cos(pitch_s)*1.5;
//test param
vel= pitch_s/Tp*0.3*0.23;
sp<<vel*sin(pitch_s)*5, 0.0;
sp=swLegIni_R*sp;
sz=vel*cos(pitch_s)*2.5;
//interpolation ver
//Interplation5(swLegIni_p, zero, zero, swLegIni_p, zero, zero, Tdbl+Tv, swLegxy);
////Interplation5(swLegIni_p, sp, zero, swLegRef_p, zero, zero, Tsup-2*Tv, swLegxy);
//Interplation5(swLegIni_p, zero, zero, swLegRef_p, zero, zero, Tsup-2*Tv, swLegxy);
//Interplation5(swLegRef_p, zero, zero, swLegRef_p, zero, zero, Tv+Tp, swLegxy);
//optimal solution ver
Vector4 Cx,Cy,Px,Py;
Matrix4 E,Einv;
double tf=Tsup-2*Tv;
Px<<swLegIni_p(0), swLegRef_p(0), 0.0, 0.0;
Py<<swLegIni_p(1), swLegRef_p(1), 0.0, 0.0;
E<<1.0, 1.0, 0.0, 1.0,
exp(tf), exp(-tf), tf, 1.0,
1.0, -1.0, 1.0, 0.0,
exp(tf), -exp(-tf), 1.0, 0.0;
Einv=E.inverse();
Cx=Einv*Px;Cy=Einv*Py;
Interplation5(swLegIni_p, zero, zero, swLegIni_p, zero, zero, Tdbl+Tv, swLegxy);
int timeLength=(int)(tf/0.005+NEAR0);
for(int i=1;i<timeLength+1;i++){
Vector2 temp;
temp(0)=Cx(0)*exp(i*dt)+Cx(1)*exp(-i*dt)+Cx(2)*i*dt+Cx(3);
temp(1)=Cy(0)*exp(i*dt)+Cy(1)*exp(-i*dt)+Cy(2)*i*dt+Cy(3);
swLegxy.push_back(temp);
}
Interplation5(swLegRef_p, zero, zero, swLegRef_p, zero, zero, Tv+Tp, swLegxy);
//z interpolation ver
/*
zs=0.0;
Interplation3(zs, 0.0, zs, 0.0, Tdbl, Trajzd);
//Interplation3(zs, sz, Zup, 0.0, 0.5*Tsup, Trajzd);
Interplation3(zs, 0.0, Zup, 0.0, 0.5*Tsup, Trajzd);
Interplation3(Zup, 0.0, zs, 0.0, 0.5*Tsup, Trajzd);
Interplation3(zs, 0.0, zs, 0.0, Tp, Trajzd);
*/
//spline.ver
zs=0.0;
Interplation3(zs, 0.0, zs, 0.0, Tdbl, Trajzd);
std::vector<double> X(5), Y(5);
X[0]=0.0; X[1]=0.1*Tsup; X[2]=0.5*Tsup; X[3]=Tsup-0.011; X[4]= Tsup;
Y[0]=0.0; Y[1]=Zup*0.05; Y[2]=Zup; Y[3]=Zup*0.005; Y[4]= 0.0;
tk::spline s;
s.set_points(X,Y);
for(int i=0;i<Tsup/dt;i++){
double temz=s((i+1)*dt);
Trajzd.push_back(temz);
}
Interplation3(zs, 0.0, zs, 0.0, Tp, Trajzd);
//cout<<"sw "<<swLegxy.size()<<endl;
}
/////////////////////unused//////////////////////////////
else{//non piovot mode
Interplation5(swLegIni_p, zero, zero, swLegIni_p, zero, zero, Tdbl+Tv, swLegxy);//
Interplation5(swLegIni_p, zero, zero, swLegRef_p, zero, zero, Tsup-2*Tv, swLegxy);//
Interplation5(swLegRef_p, zero, zero, swLegRef_p, zero, zero, Tv, swLegxy);//
//z
zs=0.0;
Interplation3(zs, 0.0, zs, 0.0, Tdbl, Trajzd);
Interplation3(zs, 0.0, Zup, 0.0, 0.5*Tsup, Trajzd);
Interplation3(Zup, 0.0, zs, 0.0, 0.5*Tsup, Trajzd);
//spline.ver
std::vector<double> X(6), Y(6);
X[0]=0.0; X[1]=Tp*0.2; X[2]=Tp; X[3]=Tp+Tsup; X[4]= Tp+Tsup+Tp-0.011; X[5]=Tp+Tsup+Tp;
Y[0]=0.0; Y[1]=pitch_s*0.05; Y[2]=pitch_s; Y[3]=pitch_f; Y[4]= pitch_f*0.005; Y[5]=0.0;
tk::spline s;
s.set_points(X,Y);
for(int i=0;i<0.9/dt;i++){
Matrix3 pushin(rotationY(s((i+1)*dt)));
rot_pitch.push_back (pushin);
}
}
//yow
int tem= (int)((Tdbl+Tv)/dt +NEAR0 );
for(int i=0;i<tem;i++)
swLeg_R.push_back(swLeg_cur_R);//Tdbl+tv
while(!index.empty()){
Matrix3 pushin(swLeg_cur_R*rodoriges(omega, index.at(0)));
swLeg_R.push_back (pushin);//Tsup-2tv
index.pop_front();
}
Matrix3 temR(swLeg_cur_R*rodoriges(omega, 1));
tem= (int)((Tv+Tp)/dt +NEAR0 );
for(int i=0;i<tem;i++)
swLeg_R.push_back(temR);//tv
//////pivot//////////////////
if(usePivot){
//link_b
//Interplation5(link_b_s,zerov3,zerov3,link_b_s, zerov3, zerov3, Tdbl+Tv, link_b_deque);
//Interplation5(link_b_s,zerov3,zerov3,link_b_f, zerov3, zerov3, Tsup-2*Tv, link_b_deque);
//Interplation5(link_b_f,zerov3,zerov3,link_b_f, zerov3, zerov3, Tv+Tp, link_b_deque);//
//optimal solution ver
Interplation5(link_b_s,zerov3,zerov3,link_b_s, zerov3, zerov3, Tdbl+Tv, link_b_deque);
Vector4 Cx,Cz,Px,Pz;
Matrix4 E,Einv;
double tf=Tsup-2*Tv;
Px<<link_b_s(0), link_b_f(0), 0.0, 0.0;
Pz<<link_b_s(2), link_b_f(2), 0.0, 0.0;
E<<1.0, 1.0, 0.0, 1.0,
exp(tf), exp(-tf), tf, 1.0,
1.0, -1.0, 1.0, 0.0,
exp(tf), -exp(-tf), 1.0, 0.0;
Einv=E.inverse();
Cx=Einv*Px;Cz=Einv*Pz;
int timeL=(int)(tf/0.005+NEAR0);
for(int i=1;i<timeL+1;i++){
Vector3 temp;
temp<<Cx(0)*exp(i*dt)+Cx(1)*exp(-i*dt)+Cx(2)*i*dt+Cx(3), 0.0,
Cz(0)*exp(i*dt)+Cz(1)*exp(-i*dt)+Cz(2)*i*dt+Cz(3);
link_b_deque.push_back(temp);
}
Interplation5(link_b_f,zerov3,zerov3,link_b_f, zerov3, zerov3, Tv+Tp, link_b_deque);//
//pitch angle
index.clear();
/*
Interplation3(0.0, 0.0, pitch_s, pitch_s/(Tp)*0.3, Tp, index);
Interplation3(pitch_s, pitch_s/(Tp)*0.3, pitch_f, 0.0, Tsup, index);
Interplation3(pitch_f, 0.0, 0.0, 0.0, Tp, index);
//Interplation3(0.0, 0.0, pitch_s, 0.0, Tp, index);
//Interplation3(pitch_s, 0.0, pitch_f, 0.0, Tsup, index);
//Interplation3(pitch_f, 0.0, 0.0, 0.0, Tp, index);
while(!index.empty()){
Matrix3 pushin(rotationY(index.at(0)));
rot_pitch.push_back (pushin);
index.pop_front();
}
*/
//spline.ver
std::vector<double> X(5), Y(5);
X[0]=0.0; X[1]=Tp; X[2]=Tp+Tsup; X[3]= Tp+Tsup+Tp-0.011; X[4]=Tp+Tsup+Tp;
Y[0]=0.0; Y[1]=pitch_s; Y[2]=pitch_f; Y[3]= pitch_f*0.005; Y[4]=0.0;
tk::spline s;
s.set_points(X,Y); // currently it is required that X is already sorted
int timeLength=(int)((Tsup+2*Tp)/dt+NEAR0);
for(int i=0;i<timeLength;i++){
Matrix3 pushin(rotationY(s((i+1)*dt)));
rot_pitch.push_back (pushin);
}
}
/////////////////////////
}
}
void ZmpPlaner::calcSwingLegXYONew(FootType FT, Vector3 *p_ref, Matrix3 *R_ref, vector2 swLegRef_p, Matrix3 object_ref_R)
{
vector2 swLegIni_p=MatrixXd::Zero(2,1);
int it=0;
double zs=0;
vector2 zero(MatrixXd::Zero(2,1));
Vector3 zerov3(MatrixXd::Zero(3,1));
swLegxy.clear();
Trajzd.clear();
swLeg_R.clear();
index.clear();
//Vector3 rpytemp=rpyFromRot(object_ref_R);
//Matrix3 tar_R=rotationZ(rpytemp(2));
Matrix3 tar_R=extractYow(object_ref_R);
Matrix3 swLeg_cur_R;
//nannnnnndatooo!!!!
if((FT==FSRFsw)||(FT==RFsw)){
swLegIni_p=pfromVector3(p_ref[RLEG]);
swLeg_cur_R=R_ref[RLEG];
}
else if((FT==FSLFsw)||(FT==LFsw)){
swLegIni_p=pfromVector3(p_ref[LLEG]);
swLeg_cur_R=R_ref[LLEG];
}
Matrix3 Rmid( swLeg_cur_R.transpose() * tar_R);
Vector3 omega( omegaFromRot(Rmid));
Interplation5(0.0, 0.0, 0.0 , 1.0, 0.0, 0.0, Tsup-2*Tv, index);
//swLeg_cur_R*rodrigues(omega, index.at(0))
if((FT==FSRFsw)||(FT==FSLFsw)){
//x y
Interplation5(swLegIni_p, zero, zero, swLegIni_p, zero, zero, 0.5*Tsup+1.5*Tdbl+Tv, swLegxy);//
Interplation5(swLegIni_p, zero, zero, swLegRef_p, zero, zero, Tsup-2*Tv, swLegxy);//
Interplation5(swLegRef_p, zero, zero, swLegRef_p, zero, zero, Tv+0.25*Tdbl, swLegxy);//
//yow
int tem= (int)((0.5*Tsup+1.5*Tdbl+Tv)/dt +NEAR0 );
for(int i=0;i<tem;i++)
swLeg_R.push_back(swLeg_cur_R);
while(!index.empty()){
Matrix3 pushin(swLeg_cur_R*rodoriges(omega, index.at(0)));
swLeg_R.push_back (pushin);
index.pop_front();
}
//cerr<<*(swLeg_R.end())<<endl;
Matrix3 temR(swLeg_cur_R*rodoriges(omega, 1));
//cerr<< temR<<endl;
//cerr<<tar_R<<endl;
tem= (int)((Tv+0.25*Tdbl)/dt +NEAR0 );
for(int i=0;i<tem;i++)
swLeg_R.push_back(temR);
//swLeg_R.push_back(tar_R);//??tar_R!=temR small error
//z
zs=0.0;
Interplation3(zs, 0.0, zs, 0.0, 0.5*Tsup+1.5*Tdbl, Trajzd);
Interplation3(zs, 0.0, Zup, 0.0, 0.5*Tsup, Trajzd);
Interplation3(Zup, 0.0, zs, 0.0, 0.5*Tsup, Trajzd);
Interplation3(zs, 0.0, zs, 0.0, 0.25*Tdbl, Trajzd);
}
else if((FT==RFsw)||(FT==LFsw)){
//x y
Interplation5(swLegIni_p, zero, zero, swLegIni_p, zero, zero, 0.25*Tdbl+Tv, swLegxy);//
Interplation5(swLegIni_p, zero, zero, swLegRef_p, zero, zero, Tsup-2*Tv, swLegxy);//
Interplation5(swLegRef_p, zero, zero, swLegRef_p, zero, zero, Tv+0.25*Tdbl, swLegxy);//
//yow
int tem= (int)((0.25*Tdbl+Tv)/dt +NEAR0 );
for(int i=0;i<tem;i++)
swLeg_R.push_back(swLeg_cur_R);
while(!index.empty()){
Matrix3 pushin(swLeg_cur_R*rodoriges(omega, index.at(0)));
swLeg_R.push_back (pushin);
index.pop_front();
}
Matrix3 temR(swLeg_cur_R*rodoriges(omega, 1));
tem= (int)((Tv+0.25*Tdbl)/dt +NEAR0 );
for(int i=0;i<tem;i++)
swLeg_R.push_back(temR);
//z
zs=0.0;
Interplation3(zs, 0.0, zs, 0.0, 0.25*Tdbl, Trajzd);
Interplation3(zs, 0.0, Zup, 0.0, 0.5*Tsup, Trajzd);
Interplation3(Zup, 0.0, zs, 0.0, 0.5*Tsup, Trajzd);
Interplation3(zs, 0.0, zs, 0.0, 0.25*Tdbl, Trajzd);
}
/*
std::deque<vector2>::iterator itr = swLegxy.begin();
for( itr = swLegxy.begin(); itr != swLegxy.end(); itr++ ){
ofszmp<<(*(itr))[0]<<" "<<(*(itr))[1]<<endl;
}
ofszmp<<'\n'<<std::endl;
*/
}
/////
/*
void ZmpPlaner::PlanZMPnew_toe(BodyPtr body, FootType FT, Vector3 *p_ref, Matrix3 *R_ref, vector2 swLegRef_p, Matrix3 object_ref_R, std::deque<vector2> &rfzmp)
{
matrix22 swLegRef_R; //yow only already okla
swLegRef_R=RfromMatrix3(object_ref_R);
calcSwingLegXYONew_toe(body, FT, p_ref,R_ref, swLegRef_p, object_ref_R );
/////////////////////////////////////////////////////
vector2 SupLeg_p(0);
vector2 PreSupLeg_p(0);
vector2 nnextFootPlace(0);
Link* SpLeg= new hrp::Link();
Link* SwLeg= new hrp::Link();
if((FT==FSRFsw)||(FT==RFsw)){
SpLeg=body->link("LLEG_JOINT5");
SwLeg=body->link("RLEG_JOINT5");
SupLeg_p=pfromVector3( SpLeg->p);
if(FT==RFsw){
PreSupLeg_p=pfromVector3(SwLeg->p);
matrix22 PreSupLeg_R(RfromMatrix3(SwLeg->R));
PreSupLeg_p+= PreSupLeg_R*offsetZMPr;
}
matrix22 SupLeg_R(RfromMatrix3(SpLeg->R));
nnextFootPlace= swLegRef_p+swLegRef_R*RLEG2LLEG;
SupLeg_p+= SupLeg_R*offsetZMPl;
nnextFootPlace+=swLegRef_R*offsetZMPl;
swLegRef_p+= swLegRef_R*offsetZMPr;
}
else if((FT==FSLFsw)||(FT==LFsw)){
SpLeg=body->link("RLEG_JOINT5");
SwLeg=body->link("LLEG_JOINT5");
SupLeg_p=pfromVector3(SpLeg->p);
if(FT==LFsw){
PreSupLeg_p=pfromVector3(SwLeg->p);
matrix22 PreSupLeg_R(RfromMatrix3(SwLeg->R));
PreSupLeg_p+= PreSupLeg_R*offsetZMPr;
}
matrix22 SupLeg_R(RfromMatrix3(SpLeg->R));
nnextFootPlace = swLegRef_p+swLegRef_R*LLEG2RLEG;
SupLeg_p+= SupLeg_R*offsetZMPr;
//presume RLEG_R is same as landing swLeg
nnextFootPlace+=swLegRef_R*offsetZMPr;
swLegRef_p+= swLegRef_R*offsetZMPl;
}
vector2 zero(0);
if((FT==FSRFsw)||(FT==FSLFsw)){
vector2 Now(zmpInit);
Interplation5(Now, zero, zero, Now, zero, zero, 0.5*Tsup, rfzmp);//
Interplation5(Now, zero, zero, SupLeg_p, zero, zero, 1.5*Tdbl, rfzmp);
Interplation5(SupLeg_p, zero, zero, SupLeg_p, zero, zero, Tsup, rfzmp);
Interplation5(SupLeg_p, zero, zero, swLegRef_p, zero, zero, 0.5*Tdbl, rfzmp);
Interplation5(swLegRef_p, zero, zero, swLegRef_p, zero, zero, Tsup, rfzmp);
Interplation5(swLegRef_p, zero, zero, nnextFootPlace , zero, zero, 0.5*Tdbl, rfzmp);
Interplation5(nnextFootPlace, zero, zero, nnextFootPlace, zero, zero, Tsup, rfzmp);
Interplation5(nnextFootPlace, zero, zero, swLegRef_p, zero, zero, 0.5*Tdbl, rfzmp);
Interplation5(swLegRef_p, zero, zero, swLegRef_p, zero, zero, Tsup, rfzmp);
}
if((FT==RFsw)||(FT==LFsw)){
Interplation5(PreSupLeg_p, zero, zero, SupLeg_p, zero, zero, 0.5*Tdbl, rfzmp);//
Interplation5(SupLeg_p, zero, zero, SupLeg_p, zero, zero, Tsup, rfzmp);
Interplation5(SupLeg_p, zero, zero, swLegRef_p, zero, zero, 0.5*Tdbl, rfzmp);
Interplation5(swLegRef_p, zero, zero, swLegRef_p, zero, zero, Tsup, rfzmp);
Interplation5(swLegRef_p, zero, zero, nnextFootPlace , zero, zero, 0.5*Tdbl, rfzmp);
Interplation5(nnextFootPlace, zero, zero, nnextFootPlace, zero, zero, Tsup, rfzmp);
Interplation5(nnextFootPlace, zero, zero, swLegRef_p, zero, zero, 0.5*Tdbl, rfzmp);
Interplation5(swLegRef_p, zero, zero, swLegRef_p, zero, zero, Tsup, rfzmp);
//delete span of previous step
for(int i=0;i<TdblNum/4;i++)
rfzmp.pop_front();
}
//rfzmpOri= std::deque<vector2> (rfzmp);
}
/////
void ZmpPlaner::calcSwingLegXYONew_toe(BodyPtr body, FootType FT, Vector3 *p_ref, Matrix3 *R_ref, vector2 swLegRef_p, Matrix3 object_ref_R)
{
vector2 swLegIni_p(0);
double zs=0;
vector2 zero(0);
Vector3 zerov3(0);
swLegxy.clear();
Trajzd.clear();
swLeg_R.clear();
index.clear();
link_b_deque.clear();
rot_pitch.clear();
Matrix3 tar_R=extractYow(object_ref_R);
Matrix3 swLeg_cur_R;
//nannnnnndatooo!!!!
if((FT==FSRFsw)||(FT==RFsw)){
//swLegIni_p=pfromVector3(p_ref[RLEG]);
swLegIni_p=pfromVector3(body->link("RLEG_JOINT5")->p);
swLeg_cur_R=R_ref[RLEG];
}
else if((FT==FSLFsw)||(FT==LFsw)){
//swLegIni_p=pfromVector3(p_ref[LLEG]);
swLegIni_p=pfromVector3(body->link("LLEG_JOINT5")->p);
swLeg_cur_R=R_ref[LLEG];
}
//for pitch///
matrix22 swLegIni_R;
swLegIni_R=RfromMatrix3(swLeg_cur_R);//33>>22
vector2 swLegIni_p_nomal(trans(swLegIni_R)*swLegIni_p);
vector2 swLegRef_p_nomal(trans(swLegIni_R)*swLegRef_p);
Vector3 link_b_s(0);
Vector3 link_b_f(0);
double pitch;
if((swLegRef_p_nomal(0)-swLegIni_p_nomal(0))>=0){
//front;
link_b_s= link_b_front;
link_b_f= link_b_rear;
pitch=pitch_angle;
}
else{
//back;
link_b_s= link_b_rear;
link_b_f= link_b_front;
pitch=-pitch_angle;
}
swLegIni_p+= pfromVector3(Vector3(swLeg_cur_R*link_b_s));
swLegRef_p+= pfromVector3(Vector3(tar_R*link_b_f));
////
//for yow
Matrix3 Rmid( trans(swLeg_cur_R) * tar_R);
Vector3 omega( omegaFromRot(Rmid));
Interplation5(0.0, 0.0, 0.0 , 1.0, 0.0, 0.0, Tsup-2*Tv, index);
//swLeg_cur_R*rodrigues(omega, index.at(0))
double vel=pitch *0.13/(Tp+Tv);
vector2 sp;
sp=vel*sin(pitch_angle)*1.5, 0.0;
double sz=vel*cos(pitch_angle)*1.5;
if((FT==FSRFsw)||(FT==FSLFsw)){
//x y of pivot
Interplation5(swLegIni_p, zero, zero, swLegIni_p, zero, zero, 0.5*Tsup+1.5*Tdbl+Tv, swLegxy);//
//Interplation5(swLegIni_p, zero, zero, swLegRef_p, zero, zero, Tsup-2*Tv, swLegxy);//
//Interplation5(swLegIni_p, sp, zero, swLegRef_p, zero, zero, Tsup-2*Tv, swLegxy);//
Interplation3(swLegIni_p, sp, swLegRef_p, zero, Tsup-2*Tv, swLegxy);//
Interplation5(swLegRef_p, zero, zero, swLegRef_p, zero, zero, Tv+0.25*Tdbl, swLegxy);//
//pivot b
Interplation5(link_b_s, zerov3, zerov3, link_b_s, zerov3, zerov3, 0.5*Tsup+1.5*Tdbl+Tv, link_b_deque);//
Interplation5(link_b_s, zerov3, zerov3, link_b_f, zerov3, zerov3, Tsup-2*Tv, link_b_deque);//
Interplation5(link_b_f, zerov3, zerov3, link_b_f, zerov3, zerov3, Tv+0.25*Tdbl, link_b_deque);//
//yow
int tem= (int)((0.5*Tsup+1.5*Tdbl+Tv)/dt +NEAR0 );
for(int i=0;i<tem;i++)
swLeg_R.push_back(swLeg_cur_R);
while(!index.empty()){
Matrix3 pushin(swLeg_cur_R*rodrigues(omega, index.at(0)));
swLeg_R.push_back (pushin);
index.pop_front();
}
//cerr<<*(swLeg_R.end())<<endl;
Matrix3 temR(swLeg_cur_R*rodrigues(omega, 1));
//cerr<< temR<<endl;
//cerr<<tar_R<<endl;
tem= (int)((Tv+0.25*Tdbl)/dt +NEAR0 );
for(int i=0;i<tem;i++)
swLeg_R.push_back(temR);
//swLeg_R.push_back(tar_R);//??tar_R!=temR small error
//pitch
index.clear();
tem= (int)((0.5*Tsup+1.5*Tdbl-Tp)/dt +NEAR0 );
for(int i=0;i<tem;i++){
rot_pitch.push_back(Matrix3(tvmet::identity<matrix33>()));
}
//Interplation5(0.0, 0.0, 0.0 , pitch, 0.0, 0.0, Tp+Tv, index);//TC
//Interplation5(pitch, 0.0, 0.0 , -pitch, 0.0, 0.0, Tsup-2*Tv, index);//SW
//Interplation5(-pitch, 0.0, 0.0 , 0.0, 0.0, 0.0, Tv+Tp, index);//HC
Interplation3(0.0, 0.0, pitch, 0.0, Tp+Tv, index);//TC
Interplation3(pitch, 0.0, -pitch, 0.0, Tsup-2*Tv, index);//SW
Interplation3(-pitch, pitch/(Tp+Tv), 0.0, 0.0, Tv+Tp, index);//HC
while(!index.empty()){