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/*
* Copyright 2010,
*
* Olivier Stasse
*
* JRL, CNRS/AIST
*
* This file is part of jrl-walkgen.
* jrl-walkgen is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* jrl-walkgen is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Lesser Public License for more details.
* You should have received a copy of the GNU Lesser General Public License
* along with jrl-walkgen. If not, see <http://www.gnu.org/licenses/>.
*
* Research carried out within the scope of the
* Joint Japanese-French Robotics Laboratory (JRL)
*/
/* \file This file tests M. Morisawa's walking algorithm for
* real-time CoM and ZMP trajectory generation
*/
#include "CommonTools.hh"
#include "TestObject.hh"
#include <hrp2-dynamics/hrp2OptHumanoidDynamicRobot.h>
#include <ZMPRefTrajectoryGeneration/DynamicFilter.hh>
using namespace::PatternGeneratorJRL;
using namespace::PatternGeneratorJRL::TestSuite;
using namespace std;
enum Profiles_t {
PROFIL_ANALYTICAL_ONLINE_WALKING, // 1
PROFIL_ANALYTICAL_SHORT_STRAIGHT_WALKING, // 2
PROFIL_ANALYTICAL_CLIMBING_STAIRS, // 3
PROFIL_ANALYTICAL_GOING_DOWN_STAIRS, // 4
PROFIL_ANALYTICAL_STEPPING_STONES, // 5
PROFIL_ANALYTICAL_WALKING_ON_BEAM // 6
};
#define NBOFPREDEFONLINEFOOTSTEPS 11
double OnLineFootSteps[NBOFPREDEFONLINEFOOTSTEPS][3]={
{ 0.05, 0.0, 0.0},
{ 0.05, 0.0, 0.0},
{ 0.05, 0.0, 0.0},
{ 0.05, 0.0, 0.0},
{ 0.05, 0.0, 0.0},
{ 0.05, 0.0, 0.0},
{ 0.05, 0.0, 0.0},
{ 0.05, 0.0, 0.0},
{ 0.05, 0.0, 0.0},
{ 0.05, 0.0, 0.0},
{ 0.05, 0.0, 0.0}
};
class TestMorisawa2007: public TestObject
{
private:
bool m_TestChangeFoot;
unsigned long int m_NbStepsModified;
// New time between two steps.
double m_deltatime;
ComAndFootRealization * ComAndFootRealization_;
SimplePluginManager * SPM ;
int iteration ;
public:
TestMorisawa2007(int argc, char*argv[], string &aString, int TestProfile):
TestObject(argc, argv, aString)
{
m_TestProfile = TestProfile;
m_TestChangeFoot = true;
m_NbStepsModified = 0;
m_deltatime = 0;
SPM = 0 ;
ComAndFootRealization_ = 0 ;
iteration = 0 ;
};
~TestMorisawa2007()
{
if ( ComAndFootRealization_ != 0 )
{
delete ComAndFootRealization_ ;
ComAndFootRealization_ = 0 ;
}
if ( SPM != 0 )
{
delete SPM ;
SPM = 0 ;
}
}
bool doTest(ostream &os)
{
// Set time reference.
m_clock.startingDate();
/*! Open and reset appropriatly the debug files. */
prepareDebugFiles();
for (unsigned int lNbIt=0;lNbIt<m_OuterLoopNbItMax;lNbIt++)
{
os << "<===============================================================>"<<endl;
os << "Iteration nb: " << lNbIt << endl;
m_clock.startPlanning();
/*! According to test profile initialize the current profile. */
chooseTestProfile();
m_clock.endPlanning();
if (m_DebugHDR!=0)
{
m_DebugHDR->currentConfiguration(m_PreviousConfiguration);
m_DebugHDR->currentVelocity(m_PreviousVelocity);
m_DebugHDR->currentAcceleration(m_PreviousAcceleration);
m_DebugHDR->computeForwardKinematics();
}
<<<<<<< HEAD
bool ok = true;
while(ok)
{
m_clock.startOneIteration();
if (m_PGIInterface==0)
{
ok = m_PGI->RunOneStepOfTheControlLoop(m_CurrentConfiguration,
m_CurrentVelocity,
m_CurrentAcceleration,
m_OneStep.ZMPTarget,
m_OneStep.finalCOMPosition,
m_OneStep.LeftFootPosition,
m_OneStep.RightFootPosition);
}
else if (m_PGIInterface==1)
{
ok = m_PGI->RunOneStepOfTheControlLoop(m_CurrentConfiguration,
m_CurrentVelocity,
m_CurrentAcceleration,
m_OneStep.ZMPTarget);
}
m_OneStep.NbOfIt++;
=======
bool ok = true;
while(ok)
{
m_clock.startOneIteration();
if (m_PGIInterface==0)
{
ok = m_PGI->RunOneStepOfTheControlLoop(m_CurrentConfiguration,
m_CurrentVelocity,
m_CurrentAcceleration,
m_OneStep.ZMPTarget,
m_OneStep.finalCOMPosition,
m_OneStep.LeftFootPosition,
m_OneStep.RightFootPosition);
}
else if (m_PGIInterface==1)
{
ok = m_PGI->RunOneStepOfTheControlLoop( m_CurrentConfiguration,
m_CurrentVelocity,
m_CurrentAcceleration,
m_OneStep.ZMPTarget);
}
// Number of iterations
m_OneStep.NbOfIt++;
// Check time of one iteration
m_clock.stopOneIteration();
// Save the current state to have it as previous one in the next iteration
m_PreviousConfiguration = m_CurrentConfiguration;
m_PreviousVelocity = m_CurrentVelocity;
m_PreviousAcceleration = m_CurrentAcceleration;
>>>>>>> 7a3ef81a5b208f3705201d61f19f044e7038440e
m_clock.stopOneIteration();
m_PreviousConfiguration = m_CurrentConfiguration;
m_PreviousVelocity = m_CurrentVelocity;
m_PreviousAcceleration = m_CurrentAcceleration;
/*! Call the reimplemented method to generate events. */
if (ok)
{
m_clock.startModification();
generateEvent();
m_clock.stopModification();
m_clock.fillInStatistics();
/*! Fill the debug files with appropriate information. */
fillInDebugFiles();
}
else
{
cerr << "Nothing to dump after " << m_OneStep.NbOfIt << endl;
}
}
os << endl << "End of iteration " << lNbIt << endl;
os << "<===============================================================>"<<endl;
}
string lProfileOutput= m_TestName;
lProfileOutput +="TimeProfile.dat";
m_clock.writeBuffer(lProfileOutput);
m_clock.displayStatistics(os,m_OneStep);
// Compare debugging files
return compareDebugFiles();
}
void init()
{
// Instanciate and initialize.
string RobotFileName = m_VRMLPath + m_VRMLFileName;
bool fileExist = false;
{
std::ifstream file (RobotFileName.c_str ());
fileExist = !file.fail ();
}
if (!fileExist)
throw std::string ("failed to open robot model");
CreateAndInitializeHumanoidRobot(RobotFileName,
m_SpecificitiesFileName,
m_LinkJointRank,
m_InitConfig,
m_HDR, m_DebugHDR, m_PGI);
// Specify the walking mode: here the default one.
istringstream strm2(":walkmode 0");
m_PGI->ParseCmd(strm2);
MAL_VECTOR_RESIZE(m_CurrentConfiguration, m_HDR->numberDof());
MAL_VECTOR_RESIZE(m_CurrentVelocity, m_HDR->numberDof());
MAL_VECTOR_RESIZE(m_CurrentAcceleration, m_HDR->numberDof());
MAL_VECTOR_RESIZE(m_PreviousConfiguration, m_HDR->numberDof());
MAL_VECTOR_RESIZE(m_PreviousVelocity, m_HDR->numberDof());
MAL_VECTOR_RESIZE(m_PreviousAcceleration, m_HDR->numberDof());
SPM = new SimplePluginManager();
ComAndFootRealization_ = new ComAndFootRealizationByGeometry( (PatternGeneratorInterfacePrivate*) SPM );
ComAndFootRealization_->setHumanoidDynamicRobot(m_HDR);
ComAndFootRealization_->SetStepStackHandler(new StepStackHandler(SPM));
ComAndFootRealization_->SetHeightOfTheCoM(0.814);
ComAndFootRealization_->setSamplingPeriod(0.005);
ComAndFootRealization_->Initialization();
initIK();
{
istringstream strm2(":setfeetconstraint XY 0.09 0.04");
m_PGI->ParseCmd(strm2);
}
}
protected:
double filterprecision(double adb)
{
if (fabs(adb)<1e-7)
return 0.0;
double ladb2 = adb * 1e7;
double lintadb2 = trunc(ladb2);
return lintadb2/1e7;
}
void initIK()
{
MAL_VECTOR_DIM(BodyAngles,double,MAL_VECTOR_SIZE(InitialPosition));
MAL_VECTOR_DIM(waist,double,6);
for (int i = 0 ; i < 6 ; ++i )
{
waist(i) = 0;
}
for (unsigned int i = 0 ; i < (m_HDR->numberDof()-6) ; ++i )
{
BodyAngles(i) = InitialPosition(i);
}
MAL_S3_VECTOR(lStartingCOMState,double);
lStartingCOMState(0) = m_OneStep.finalCOMPosition.x[0] ;
lStartingCOMState(1) = m_OneStep.finalCOMPosition.y[0] ;
lStartingCOMState(2) = m_OneStep.finalCOMPosition.z[0] ;
ComAndFootRealization_->SetHeightOfTheCoM(0.814);
ComAndFootRealization_->setSamplingPeriod(0.005);
ComAndFootRealization_->Initialization();
ComAndFootRealization_->InitializationCoM(BodyAngles,lStartingCOMState,
waist,
m_OneStep.LeftFootPosition, m_OneStep.RightFootPosition);
ComAndFootRealization_->Initialization();
}
void fillInDebugFiles()
{
TestObject::fillInDebugFiles();
if (m_DebugFGPI)
{
static int inc = 0 ;
ofstream aof;
string aFileName;
aFileName = m_TestName;
aFileName += "TestFGPIFull.dat";
if (inc==0)
{
aof.open(aFileName.c_str(),ofstream::out);
}
inc = 1;
aof.open(aFileName.c_str(),ofstream::app);
aof.precision(8);
aof.setf(ios::scientific, ios::floatfield);
aof << filterprecision(m_OneStep.NbOfIt*0.005 ) << " " // 1
<< filterprecision(m_OneStep.finalCOMPosition.x[0] ) << " " // 2
<< filterprecision(m_OneStep.finalCOMPosition.y[0] ) << " " // 3
<< filterprecision(m_OneStep.finalCOMPosition.z[0] ) << " " // 4
<< filterprecision(m_OneStep.finalCOMPosition.yaw[0] ) << " " // 5
<< filterprecision(m_OneStep.finalCOMPosition.x[1] ) << " " // 6
<< filterprecision(m_OneStep.finalCOMPosition.y[1] ) << " " // 7
<< filterprecision(m_OneStep.finalCOMPosition.z[1] ) << " " // 8
<< filterprecision(m_OneStep.finalCOMPosition.yaw[1] ) << " " // 9
<< filterprecision(m_OneStep.finalCOMPosition.x[2] ) << " " // 10
<< filterprecision(m_OneStep.finalCOMPosition.y[2] ) << " " // 11
<< filterprecision(m_OneStep.finalCOMPosition.z[2] ) << " " // 12
<< filterprecision(m_OneStep.finalCOMPosition.yaw[2] ) << " " // 13
<< filterprecision(m_OneStep.ZMPTarget(0) ) << " " // 14
<< filterprecision(m_OneStep.ZMPTarget(1) ) << " " // 15
<< filterprecision(m_OneStep.LeftFootPosition.x ) << " " // 16
<< filterprecision(m_OneStep.LeftFootPosition.y ) << " " // 17
<< filterprecision(m_OneStep.LeftFootPosition.z ) << " " // 18
<< filterprecision(m_OneStep.LeftFootPosition.dx ) << " " // 19
<< filterprecision(m_OneStep.LeftFootPosition.dy ) << " " // 20
<< filterprecision(m_OneStep.LeftFootPosition.dz ) << " " // 21
<< filterprecision(m_OneStep.LeftFootPosition.ddx ) << " " // 22
<< filterprecision(m_OneStep.LeftFootPosition.ddy ) << " " // 23
<< filterprecision(m_OneStep.LeftFootPosition.ddz ) << " " // 24
<< filterprecision(m_OneStep.LeftFootPosition.theta ) << " " // 25
<< filterprecision(m_OneStep.LeftFootPosition.dtheta ) << " " // 26
<< filterprecision(m_OneStep.LeftFootPosition.ddtheta ) << " " // 27
<< filterprecision(m_OneStep.LeftFootPosition.omega ) << " " // 28
<< filterprecision(m_OneStep.LeftFootPosition.omega2 ) << " " // 29
<< filterprecision(m_OneStep.RightFootPosition.x ) << " " // 30
<< filterprecision(m_OneStep.RightFootPosition.y ) << " " // 31
<< filterprecision(m_OneStep.RightFootPosition.z ) << " " // 32
<< filterprecision(m_OneStep.RightFootPosition.dx ) << " " // 33
<< filterprecision(m_OneStep.RightFootPosition.dy ) << " " // 34
<< filterprecision(m_OneStep.RightFootPosition.dz ) << " " // 35
<< filterprecision(m_OneStep.RightFootPosition.ddx ) << " " // 36
<< filterprecision(m_OneStep.RightFootPosition.ddy ) << " " // 37
<< filterprecision(m_OneStep.RightFootPosition.ddz ) << " " // 38
<< filterprecision(m_OneStep.RightFootPosition.theta ) << " " // 39
<< filterprecision(m_OneStep.RightFootPosition.dtheta ) << " " // 40
<< filterprecision(m_OneStep.RightFootPosition.ddtheta ) << " " // 41
<< filterprecision(m_OneStep.RightFootPosition.omega ) << " " // 42
<< filterprecision(m_OneStep.RightFootPosition.omega2 ) << " " ;// 43
aof << endl;
aof.close();
}
<<<<<<< HEAD
/// \brief calculate, from the CoM of computed by the preview control,
/// the corresponding articular position, velocity and acceleration
/// ------------------------------------------------------------------
MAL_VECTOR_DIM(aCOMState,double,6);
MAL_VECTOR_DIM(aCOMSpeed,double,6);
MAL_VECTOR_DIM(aCOMAcc,double,6);
MAL_VECTOR_DIM(aLeftFootPosition,double,5);
MAL_VECTOR_DIM(aRightFootPosition,double,5);
aCOMState(0) = m_OneStep.finalCOMPosition.x[0]; aCOMSpeed(0) = m_OneStep.finalCOMPosition.x[1]; aCOMAcc(0) = m_OneStep.finalCOMPosition.x[2];
aCOMState(1) = m_OneStep.finalCOMPosition.y[0]; aCOMSpeed(1) = m_OneStep.finalCOMPosition.y[1]; aCOMAcc(1) = m_OneStep.finalCOMPosition.y[2];
aCOMState(2) = m_OneStep.finalCOMPosition.z[0]; aCOMSpeed(2) = m_OneStep.finalCOMPosition.z[1]; aCOMAcc(2) = m_OneStep.finalCOMPosition.z[2];
aCOMState(3) = m_OneStep.finalCOMPosition.roll[0]*180/M_PI; aCOMSpeed(3) = m_OneStep.finalCOMPosition.roll[1]*180/M_PI; aCOMAcc(3) = m_OneStep.finalCOMPosition.roll[2]*180/M_PI;
aCOMState(4) = m_OneStep.finalCOMPosition.pitch[0]*180/M_PI; aCOMSpeed(4) = m_OneStep.finalCOMPosition.pitch[1]*180/M_PI; aCOMAcc(4) = m_OneStep.finalCOMPosition.pitch[2]*180/M_PI;
aCOMState(5) = m_OneStep.finalCOMPosition.yaw[0]*180/M_PI; aCOMSpeed(5) = m_OneStep.finalCOMPosition.yaw[1]*180/M_PI; aCOMAcc(5) = m_OneStep.finalCOMPosition.yaw[2]*180/M_PI;
aLeftFootPosition(0) = m_OneStep.LeftFootPosition.x; aRightFootPosition(0) = m_OneStep.RightFootPosition.x;
aLeftFootPosition(1) = m_OneStep.LeftFootPosition.y; aRightFootPosition(1) = m_OneStep.RightFootPosition.y;
aLeftFootPosition(2) = m_OneStep.LeftFootPosition.z; aRightFootPosition(2) = m_OneStep.RightFootPosition.z;
aLeftFootPosition(3) = m_OneStep.LeftFootPosition.theta; aRightFootPosition(3) = m_OneStep.RightFootPosition.theta;
aLeftFootPosition(4) = m_OneStep.LeftFootPosition.omega; aRightFootPosition(4) = m_OneStep.RightFootPosition.omega;
ComAndFootRealization_->setSamplingPeriod(0.005);
ComAndFootRealization_->ComputePostureForGivenCoMAndFeetPosture(aCOMState, aCOMSpeed, aCOMAcc,
aLeftFootPosition,
aRightFootPosition,
m_CurrentConfiguration,
m_CurrentVelocity,
m_CurrentAcceleration,
20,
1);
// carry the weight in front of him
// m_CurrentConfiguration(18)= 0.0 ; // CHEST_JOINT0
// m_CurrentConfiguration(19)= 0.015 ; // CHEST_JOINT1
// m_CurrentConfiguration(20)= 0.0 ; // HEAD_JOINT0
// m_CurrentConfiguration(21)= 0.0 ; // HEAD_JOINT1
// m_CurrentConfiguration(22)= -0.108210414 ; // RARM_JOINT0
// m_CurrentConfiguration(23)= 0.0383972435 ; // RARM_JOINT1
// m_CurrentConfiguration(24)= 0.474729557 ; // RARM_JOINT2
// m_CurrentConfiguration(25)= -1.41720735 ; // RARM_JOINT3
// m_CurrentConfiguration(26)= 1.45385927 ; // RARM_JOINT4
// m_CurrentConfiguration(27)= 0.509636142 ; // RARM_JOINT5
m_CurrentConfiguration(28)= 0.174532925 ; // RARM_JOINT6
// m_CurrentConfiguration(29)= -0.108210414 ; // LARM_JOINT0
// m_CurrentConfiguration(30)= -0.129154365 ; // LARM_JOINT1
// m_CurrentConfiguration(31)= -0.333357887 ; // LARM_JOINT2
// m_CurrentConfiguration(32)= -1.41720735 ; // LARM_JOINT3
// m_CurrentConfiguration(33)= 1.45385927 ; // LARM_JOINT4
// m_CurrentConfiguration(34)= -0.193731547 ; // LARM_JOINT5
m_CurrentConfiguration(35)= 0.174532925 ; // LARM_JOINT6
=======
// carry the weight in front of him
// m_CurrentConfiguration(18)= 0.0 ; // CHEST_JOINT0
// m_CurrentConfiguration(19)= 0.015 ; // CHEST_JOINT1
// m_CurrentConfiguration(20)= 0.0 ; // HEAD_JOINT0
// m_CurrentConfiguration(21)= 0.0 ; // HEAD_JOINT1
// m_CurrentConfiguration(22)= -0.108210414 ; // RARM_JOINT0
// m_CurrentConfiguration(23)= 0.0383972435 ; // RARM_JOINT1
// m_CurrentConfiguration(24)= 0.474729557 ; // RARM_JOINT2
// m_CurrentConfiguration(25)= -1.41720735 ; // RARM_JOINT3
// m_CurrentConfiguration(26)= 1.45385927 ; // RARM_JOINT4
// m_CurrentConfiguration(27)= 0.509636142 ; // RARM_JOINT5
// m_CurrentConfiguration(28)= 0.174532925 ; // RARM_JOINT6
// m_CurrentConfiguration(29)= -0.108210414 ; // LARM_JOINT0
// m_CurrentConfiguration(30)= -0.129154365 ; // LARM_JOINT1
// m_CurrentConfiguration(31)= -0.333357887 ; // LARM_JOINT2
// m_CurrentConfiguration(32)= -1.41720735 ; // LARM_JOINT3
// m_CurrentConfiguration(33)= 1.45385927 ; // LARM_JOINT4
// m_CurrentConfiguration(34)= -0.193731547 ; // LARM_JOINT5
// m_CurrentConfiguration(35)= 0.174532925 ; // LARM_JOINT6
>>>>>>> 7a3ef81a5b208f3705201d61f19f044e7038440e
// // carry the weight over the head
// m_CurrentConfiguration(18)= 0.0 ; // CHEST_JOINT0
// m_CurrentConfiguration(19)= 0.015 ; // CHEST_JOINT1
// m_CurrentConfiguration(20)= 0.0 ; // HEAD_JOINT0
// m_CurrentConfiguration(21)= 0.0 ; // HEAD_JOINT1
// m_CurrentConfiguration(22)= -1.4678219 ; // RARM_JOINT0
// m_CurrentConfiguration(23)= 0.0366519143 ; // RARM_JOINT1
// m_CurrentConfiguration(24)= 0.541052068 ; // RARM_JOINT2
// m_CurrentConfiguration(25)= -1.69296937 ; // RARM_JOINT3
// m_CurrentConfiguration(26)= 1.56556034 ; // RARM_JOINT4
// m_CurrentConfiguration(27)= 0.584685299 ; // RARM_JOINT5
// m_CurrentConfiguration(28)= 0.174532925 ; // RARM_JOINT6
// m_CurrentConfiguration(29)= -1.4678219 ; // LARM_JOINT0
// m_CurrentConfiguration(30)= -0.0366519143 ; // LARM_JOINT1
// m_CurrentConfiguration(31)= -0.541052068 ; // LARM_JOINT2
// m_CurrentConfiguration(32)= -1.69296937 ; // LARM_JOINT3
// m_CurrentConfiguration(33)= -1.56556034 ; // LARM_JOINT4
// m_CurrentConfiguration(34)= 0.584685299 ; // LARM_JOINT5
// m_CurrentConfiguration(35)= 0.174532925 ; // LARM_JOINT6
<<<<<<< HEAD
=======
/// \brief Create file .hip .pos .zmp
/// --------------------
ofstream aof;
string aFileName;
if ( iteration == 0 ){
aFileName = "/home/cvassall/Trajectories/";
aFileName+=m_TestName;
aFileName+=".pos";
aof.open(aFileName.c_str(),ofstream::out);
aof.close();
}
///----
aFileName = "/home/cvassall/Trajectories/";
aFileName+=m_TestName;
aFileName+=".pos";
aof.open(aFileName.c_str(),ofstream::app);
aof.precision(8);
aof.setf(ios::scientific, ios::floatfield);
aof << filterprecision( iteration * 0.005 ) << " " ; // 1
for(unsigned int i = 6 ; i < m_CurrentConfiguration.size() ; i++){
aof << filterprecision( m_CurrentConfiguration(i) ) << " " ; // 2
}
for(unsigned int i = 0 ; i < 9 ; i++){
aof << 0.0 << " " ;
}
aof << 0.0 << endl ;
aof.close();
if ( iteration == 0 ){
aFileName = "/home/cvassall/Trajectories/"; // change path
aFileName+=m_TestName;
aFileName+=".hip";
aof.open(aFileName.c_str(),ofstream::out);
aof.close();
}
aFileName = "/home/cvassall/Trajectories/";
aFileName+=m_TestName;
aFileName+=".hip";
aof.open(aFileName.c_str(),ofstream::app);
aof.precision(8);
aof.setf(ios::scientific, ios::floatfield);
aof << filterprecision( iteration * 0.005 ) << " " ; // 1
aof << filterprecision( m_OneStep.finalCOMPosition.roll[0]) << " " ; // 2
aof << filterprecision( m_OneStep.finalCOMPosition.pitch[0] ) << " " ; // 3
aof << filterprecision( m_OneStep.finalCOMPosition.yaw[0] ) ; // 4
aof << endl ;
aof.close();
if ( iteration == 0 ){
aFileName = "/home/cvassall/Trajectories/";
aFileName+=m_TestName;
aFileName+=".zmp";
aof.open(aFileName.c_str(),ofstream::out);
aof.close();
}
FootAbsolutePosition aSupportState;
if (m_OneStep.LeftFootPosition.stepType < 0 )
aSupportState = m_OneStep.LeftFootPosition ;
else
aSupportState = m_OneStep.RightFootPosition ;
aFileName = "/home/cvassall/Trajectories/";
aFileName+=m_TestName;
aFileName+=".zmp";
aof.open(aFileName.c_str(),ofstream::app);
aof.precision(8);
aof.setf(ios::scientific, ios::floatfield);
aof << filterprecision( iteration * 0.005 ) << " " ; // 1
aof << filterprecision( m_OneStep.ZMPTarget(0) - m_CurrentConfiguration(0)) << " " ; // 2
aof << filterprecision( m_OneStep.ZMPTarget(1) - m_CurrentConfiguration(1) ) << " " ; // 3
aof << filterprecision( aSupportState.z - m_CurrentConfiguration(2)) ; // 4
aof << endl ;
aof.close();
iteration++;
}
void SpecializedRobotConstructor( CjrlHumanoidDynamicRobot *& aHDR, CjrlHumanoidDynamicRobot *& aDebugHDR )
{
dynamicsJRLJapan::ObjectFactory aRobotDynamicsObjectConstructor;
Chrp2OptHumanoidDynamicRobot *aHRP2HDR = new Chrp2OptHumanoidDynamicRobot( &aRobotDynamicsObjectConstructor );
aHDR = aHRP2HDR;
aDebugHDR = new Chrp2OptHumanoidDynamicRobot(&aRobotDynamicsObjectConstructor);
}
void ComparingZMPs()
{
// Debug Purpose
// -------------
ofstream aof;
string aFileName;
ostringstream oss(std::ostringstream::ate);
static int iteration = 0;
vector<double> ZMPMBtmp;
dynamicfilter_->ComputeZMPMB(
samplingPeriod_, m_OneStep.finalCOMPosition, m_OneStep.LeftFootPosition,
m_OneStep.RightFootPosition, ZMPMBtmp, 1,iteration);
if (m_OneStep.NbOfIt<=10){
dInitX_ = m_OneStep.ZMPTarget(0) - ZMPMBtmp[0] ;
dInitY_ = m_OneStep.ZMPTarget(1) - ZMPMBtmp[1] ;
}
vector<double> dZMPtmp (2);
dZMPtmp[0] = m_OneStep.ZMPTarget(0) - ZMPMBtmp[0] - dInitX_ ;
dZMPtmp[1] = m_OneStep.ZMPTarget(1) - ZMPMBtmp[1] - dInitY_ ;
deltaZMP_vec.push_back(dZMPtmp);
ZMPMB_vec.push_back(ZMPMBtmp);
// --------------------
oss.str("DynamicFilterAllVariablesFiltered.dat");
aFileName = oss.str();
>>>>>>> 7a3ef81a5b208f3705201d61f19f044e7038440e
/// \brief Create file .hip .pos .zmp
/// --------------------
ofstream aof ;
string root = "/opt/grx/HRP2LAAS/etc/mnaveau/" ;
string aFileName = root + m_TestName + ".pos" ;
if ( iteration == 0 )
{
aof.open(aFileName.c_str(),ofstream::out);
aof.close();
}
aof.open(aFileName.c_str(),ofstream::app);
aof.precision(8);
aof.setf(ios::scientific, ios::floatfield);
aof << filterprecision( iteration * 0.005 ) << " " ; // 1
for(unsigned int i = 6 ; i < m_CurrentConfiguration.size() ; i++){
aof << filterprecision( m_CurrentConfiguration(i) ) << " " ; // 2
}
for(unsigned int i = 0 ; i < 9 ; i++){
aof << 0.0 << " " ;
}
aof << 0.0 << endl ;
aof.close();
aFileName = root + m_TestName + ".hip" ;
if ( iteration == 0 ){
aof.open(aFileName.c_str(),ofstream::out);
aof.close();
}
aof.open(aFileName.c_str(),ofstream::app);
aof.precision(8);
aof.setf(ios::scientific, ios::floatfield);
aof << filterprecision( iteration * 0.005 ) << " " ; // 1
aof << filterprecision( m_OneStep.finalCOMPosition.roll[0]) << " " ; // 2
aof << filterprecision( m_OneStep.finalCOMPosition.pitch[0]) << " " ;// 3
aof << filterprecision( m_OneStep.finalCOMPosition.yaw[0]) ; // 4
aof << endl ;
aof.close();
aFileName = root + m_TestName + ".waist" ;
if ( iteration == 0 ){
aof.open(aFileName.c_str(),ofstream::out);
aof.close();
}
aof.open(aFileName.c_str(),ofstream::app);
aof.precision(8);
aof.setf(ios::scientific, ios::floatfield);
aof << filterprecision( iteration * 0.005 ) << " " ; // 1
aof << filterprecision( m_OneStep.finalCOMPosition.roll[0]) << " " ; // 2
aof << filterprecision( m_OneStep.finalCOMPosition.pitch[0]) << " " ;// 3
aof << filterprecision( m_OneStep.finalCOMPosition.yaw[0]) ; // 4
aof << endl ;
aof.close();
aFileName = root + m_TestName + ".zmp" ;
if ( iteration == 0 ){
aof.open(aFileName.c_str(),ofstream::out);
aof.close();
}
FootAbsolutePosition aSupportState;
if (m_OneStep.LeftFootPosition.stepType < 0 )
aSupportState = m_OneStep.LeftFootPosition ;
else
aSupportState = m_OneStep.RightFootPosition ;
aof.open(aFileName.c_str(),ofstream::app);
aof.precision(8);
aof.setf(ios::scientific, ios::floatfield);
aof << filterprecision( iteration * 0.005 ) << " " ; // 1
aof << filterprecision( m_OneStep.ZMPTarget(0) - m_CurrentConfiguration(0)) << " " ; // 2
aof << filterprecision( m_OneStep.ZMPTarget(1) - m_CurrentConfiguration(1) ) << " " ;// 3
aof << filterprecision( aSupportState.z - m_CurrentConfiguration(2)) ; // 4
aof << endl ;
aof.close();
iteration++;
}
void SpecializedRobotConstructor( CjrlHumanoidDynamicRobot *& aHDR, CjrlHumanoidDynamicRobot *& aDebugHDR )
{
dynamicsJRLJapan::ObjectFactory aRobotDynamicsObjectConstructor;
Chrp2OptHumanoidDynamicRobot *aHRP2HDR = new Chrp2OptHumanoidDynamicRobot( &aRobotDynamicsObjectConstructor );
aHDR = aHRP2HDR;
aDebugHDR = new Chrp2OptHumanoidDynamicRobot(&aRobotDynamicsObjectConstructor);
}
void StartAnalyticalOnLineWalking(PatternGeneratorInterface &aPGI)
{
CommonInitialization(aPGI);
{
istringstream strm2(":SetAlgoForZmpTrajectory Morisawa");
aPGI.ParseCmd(strm2);
}
{
istringstream strm2(":onlinechangestepframe relative");
aPGI.ParseCmd(strm2);
}
{
istringstream strm2(":SetAutoFirstStep false");
aPGI.ParseCmd(strm2);
}
{
istringstream strm2(":StartOnLineStepSequencing 0.0 -0.095 0.0\
0.0 0.19 0.0\
0.0 -0.19 0.0\
0.0 0.19 0.0");
aPGI.ParseCmd(strm2);
}
}
void StopOnLineWalking(PatternGeneratorInterface &aPGI)
{
istringstream strm2(":StopOnLineStepSequencing");
aPGI.ParseCmd(strm2);
}
void AnalyticalShortStraightWalking(PatternGeneratorInterface &aPGI)
{
CommonInitialization(aPGI);
{
istringstream strm2(":SetAlgoForZmpTrajectory Morisawa");
aPGI.ParseCmd(strm2);
}
{
istringstream strm2(":stepstairseq\
0.0 -0.105 0.0 0.0\
0.2 0.19 0.0 0.0\
0.2 -0.19 0.0 0.0\
0.2 0.19 0.0 0.0\
0.2 -0.19 0.0 0.0\
0.2 0.19 0.0 0.0\
0.2 -0.19 0.0 0.0\
0.2 0.19 0.0 0.0\
0.2 -0.19 0.0 0.0\
0.2 0.19 0.0 0.0\
0.2 -0.19 0.0 0.0\
0.0 0.19 0.0 0.0\
");
aPGI.ParseCmd(strm2);
}
}
void AnalyticalClimbingStairs(PatternGeneratorInterface &aPGI)
{
CommonInitialization(aPGI);
{
istringstream strm2(":SetAlgoForZmpTrajectory Morisawa");
aPGI.ParseCmd(strm2);
}
{
istringstream strm2(":stepstairseq 0.0 -0.105 0.0 0.0\
0.31 0.19 0.15 0.0\
0.0 -0.19 0.0 0.0\
0.31 0.19 0.15 0.0\
0.0 -0.19 0.0 0.0\
0.31 0.19 0.15 0.0\
0.0 -0.19 0.0 0.0\
");
aPGI.ParseCmd(strm2);
}
}
void AnalyticalGoingDownStairs(PatternGeneratorInterface &aPGI)
{
CommonInitialization(aPGI);
{
istringstream strm2(":SetAlgoForZmpTrajectory Morisawa");
aPGI.ParseCmd(strm2);
}
{
istringstream strm2(":stepstairseq 0.0 -0.105 0.0 0.0\
0.32 0.19 -0.15 0.0\
0.0 -0.19 0.0 0.0\
0.32 0.19 -0.15 0.0\
0.0 -0.19 0.0 0.0\
0.31 0.19 -0.15 0.0\
0.0 -0.19 0.0 0.0\
");
aPGI.ParseCmd(strm2);
}
}
void AnalyticalSteppingStones(PatternGeneratorInterface &aPGI)
{
CommonInitialization(aPGI);
{
istringstream strm2(":SetAlgoForZmpTrajectory Morisawa");
aPGI.ParseCmd(strm2);
}
{
istringstream strm2(":singlesupporttime 1.4");
aPGI.ParseCmd(strm2);
}
{
istringstream strm2(":doublesupporttime 0.2");
aPGI.ParseCmd(strm2);
}
{
istringstream strm2(":stepstairseq 0.0 -0.105 0.0 0.0\
0.25 0.19 0.05 0.0\
0.2 -0.19 0.05 0.0\
0.25 0.19 0.05 0.0\
0.2 -0.19 0.05 0.0\
0.2 0.19 0.0 0.0\
0.2 -0.19 -0.05 0.0\
0.2 0.19 -0.05 0.0\
0.2 -0.19 -0.05 0.0\
0.2 0.19 0.0 0.0\
0.0 -0.19 0.0 0.0");
aPGI.ParseCmd(strm2);
}
}
// Define here the function to Generate Walking on Beam motion
void AnalyticalWalkingOnBeam(PatternGeneratorInterface &aPGI)
{
CommonInitialization(aPGI);
{
istringstream strm2(":SetAlgoForZmpTrajectory Morisawa");
aPGI.ParseCmd(strm2);
}
{
istringstream strm2(":singlesupporttime 1.4");
aPGI.ParseCmd(strm2);
}
{
istringstream strm2(":doublesupporttime 0.2");
aPGI.ParseCmd(strm2);
}
{
istringstream strm2(":stepstairseq 0.0 -0.105 0.0 0.0\
0.25 0.19 0.05 0.0\
0.2 -0.19 0.05 0.0\
0.25 0.19 0.05 0.0\
0.2 -0.19 0.05 0.0\
0.2 0.19 0.0 0.0\
0.2 -0.19 -0.05 0.0\
0.2 0.19 -0.05 0.0\
0.2 -0.19 -0.05 0.0\
0.2 0.19 0.0 0.0\
0.0 -0.19 0.0 0.0");
aPGI.ParseCmd(strm2);
}
}
void chooseTestProfile()
{
switch(m_TestProfile)
{
case PROFIL_ANALYTICAL_SHORT_STRAIGHT_WALKING:
AnalyticalShortStraightWalking(*m_PGI);
break;
case PROFIL_ANALYTICAL_CLIMBING_STAIRS:
AnalyticalClimbingStairs(*m_PGI);
break;
case PROFIL_ANALYTICAL_GOING_DOWN_STAIRS:
AnalyticalGoingDownStairs(*m_PGI);
break;
case PROFIL_ANALYTICAL_STEPPING_STONES:
AnalyticalSteppingStones(*m_PGI);
break;
case PROFIL_ANALYTICAL_ONLINE_WALKING:
StartAnalyticalOnLineWalking(*m_PGI);
break;
case PROFIL_ANALYTICAL_WALKING_ON_BEAM:
AnalyticalWalkingOnBeam(*m_PGI);
break;
default:
throw("No correct test profile");
break;
}
}
void generateEvent()
{
if (m_TestProfile==PROFIL_ANALYTICAL_SHORT_STRAIGHT_WALKING)
return;
if (m_TestProfile==PROFIL_ANALYTICAL_CLIMBING_STAIRS)
return;
if (m_TestProfile==PROFIL_ANALYTICAL_GOING_DOWN_STAIRS)
return;
if (m_TestProfile==PROFIL_ANALYTICAL_STEPPING_STONES)
return;
if (m_TestProfile==PROFIL_ANALYTICAL_WALKING_ON_BEAM)
return;
unsigned int StoppingTime = 70*200;
double r = 100.0*(double)m_OneStep.NbOfIt/(double)StoppingTime;
/* Stop after 30 seconds the on-line stepping */
if (m_OneStep.NbOfIt>StoppingTime)
{
StopOnLineWalking(*m_PGI);
}
else
{
/* Stay on the spot during 5.0 s before stopping. */
if (m_OneStep.NbOfIt<StoppingTime-200*5.0)
{
if (m_OneStep.NbOfIt%200==0)
{
cout << "Progress " << (unsigned int)r << " "<< "\r";
cout.flush();
}
double triggertime = 9.8*200 + m_deltatime*200;
if ((m_OneStep.NbOfIt>triggertime) &&
m_TestChangeFoot)
{
PatternGeneratorJRL::FootAbsolutePosition aFAP;
if (m_NbStepsModified<NBOFPREDEFONLINEFOOTSTEPS)
{
aFAP.x = OnLineFootSteps[m_NbStepsModified][0];
aFAP.y = OnLineFootSteps[m_NbStepsModified][1];
aFAP.theta = OnLineFootSteps[m_NbStepsModified][2];
}
else
{
aFAP.x=0.1;
aFAP.y=0.0;
aFAP.theta=5.0;
}
double newtime;
bool stepHandledCorrectly=true;
try
{
m_PGI->ChangeOnLineStep(0.805,aFAP,newtime);
}
catch(...)
{
cerr << "Step not well handled." << endl;
stepHandledCorrectly=false;
}
if (stepHandledCorrectly)
{
m_deltatime += newtime+0.025;
m_TestChangeFoot=true;
m_NbStepsModified++;
if (m_NbStepsModified==360)
m_TestChangeFoot=false;
}
else
{
m_deltatime += 0.005;
}
}
}
}
};
};
int PerformTests(int argc, char *argv[])
{
std::string CompleteName = string(argv[0]);
unsigned found = CompleteName.find_last_of("/\\");
std::string TestName = CompleteName.substr(found+1);
int TestProfiles[6] = { PROFIL_ANALYTICAL_ONLINE_WALKING,
PROFIL_ANALYTICAL_SHORT_STRAIGHT_WALKING,
PROFIL_ANALYTICAL_CLIMBING_STAIRS,
PROFIL_ANALYTICAL_GOING_DOWN_STAIRS,
PROFIL_ANALYTICAL_STEPPING_STONES,
PROFIL_ANALYTICAL_WALKING_ON_BEAM
};
int indexProfile=-1;
if (TestName.compare(16,6,"OnLine")==0)
indexProfile=0;
if (TestName.compare(16,9,"ShortWalk")==0)
indexProfile=1;
if (TestName.compare(16,8,"Climbing")==0)