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  • lscherrer/sot-talos-balance
  • imaroger/sot-talos-balance
  • pfernbac/sot-talos-balance
  • ostasse/sot-talos-balance
  • gsaurel/sot-talos-balance
  • loco-3d/sot-talos-balance
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.git-blame-ignore-revs 0 → 100644
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# format (Guilhem Saurel, 2022-09-06)
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# [Python] format (Guilhem Saurel, 2021-08-18)
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# [Python] format (Guilhem Saurel, 2020-11-14)
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# format (Guilhem Saurel, 2020-11-14)
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# clang-format (Olivier Stasse, 2020-04-25)
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.gitignore
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......@@ -3,3 +3,6 @@ _build*
*~
*.pyc
Xcode*
*.dot
*.pdf
*.vscode
.gitlab-ci.yml 0 → 100644
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include: http://rainboard.laas.fr/project/sot-talos-balance/.gitlab-ci.yml
.gitmodules
View file @ e217f893
[submodule "cmake"]
path = cmake
url = git@github.com:jrl-umi3218/jrl-cmakemodules.git
url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
.pre-commit-config.yaml 0 → 100644
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ci:
autoupdate_branch: 'devel'
repos:
- repo: https://github.com/pre-commit/mirrors-clang-format
rev: v16.0.3
hooks:
- id: clang-format
args: [--style=Google]
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.4.0
hooks:
- id: check-added-large-files
- id: check-ast
- id: check-executables-have-shebangs
- id: check-json
- id: check-merge-conflict
- id: check-symlinks
- id: check-toml
- id: check-yaml
- id: debug-statements
- id: destroyed-symlinks
- id: detect-private-key
- id: end-of-file-fixer
- id: fix-byte-order-marker
- id: mixed-line-ending
- id: trailing-whitespace
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rev: 23.3.0
hooks:
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rev: 6.0.0
hooks:
- id: flake8
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rev: v0.6.13
hooks:
- id: cmake-format
CMakeLists.txt
View file @ e217f893
# Copyright 2018, Gepetto team, LAAS-CNRS
# Copyright 2018, 2021, Gepetto team, LAAS-CNRS
#
# This file is part of sot-talos-balance.
# sot-talos-balance 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.
#
# sot-talos-balance 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
# sot-talos-balance. If not, see <http://www.gnu.org/licenses/>.
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/eigen.cmake)
INCLUDE(cmake/python.cmake)
INCLUDE(cmake/test.cmake)
SET(PROJECT_NAME sot-talos-balance)
SET(PROJECT_DESCRIPTION "Collection of dynamic-graph entities aimed at implementing balance control on talos.")
SET(PROJECT_URL "https://gepgitlab.laas.fr/loco-3d/sot-talos-balance")
# So that generated headers are in same place as standard ones
SET(CUSTOM_HEADER_DIR "sot/talos_balance")
SET(DOXYGEN_USE_MATHJAX YES)
# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)
#add_compile_options(-std=c++11) # CMake 2.8.12 or newer
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
SET(PKG_CONFIG_ADDITIONAL_VARIABLES
${PKG_CONFIG_ADDITIONAL_VARIABLES}
plugindirname
plugindir
)
SETUP_PROJECT()
OPTION (INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" ON)
IF(INITIALIZE_WITH_NAN)
MESSAGE(STATUS "Initialize with NaN all the Eigen entries.")
ADD_DEFINITIONS(-DEIGEN_INITIALIZE_MATRICES_BY_NAN)
ENDIF(INITIALIZE_WITH_NAN)
PKG_CONFIG_APPEND_LIBS("sot-talos-balance")
# Search for dependencies.
# Boost
SET(BOOST_COMPONENTS thread filesystem program_options unit_test_framework system regex)
OPTION (BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
OPTION (BUILD_TEST "Build dynamic-graph architecture tests" OFF)
# name of the python module
IF(BUILD_PYTHON_INTERFACE)
SET(SOTTALOSBALANCE_PYNAME sot_talos_balance)
ENDIF(BUILD_PYTHON_INTERFACE)
IF(BUILD_PYTHON_INTERFACE)
FINDPYTHON()
SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
SET(${LIBRARY_NAME}_PYTHON_FILES python/*.py)
SET(PYTHON_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB}/${SOTTALOSBALANCE_PYNAME})
INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIR})
ENDIF(BUILD_PYTHON_INTERFACE)
SEARCH_FOR_BOOST()
SEARCH_FOR_EIGEN()
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2")
ADD_REQUIRED_DEPENDENCY("parametric-curves")
SET(SOTTALOSBALANCE_LIB_NAME ${PROJECT_NAME})
SET(LIBRARY_NAME ${SOTTALOSBALANCE_LIB_NAME})
SET(${LIBRARY_NAME}_HEADERS
# include/sot/talos_balance/example.hh
include/sot/talos_balance/stc-commands.hh
include/sot/talos_balance/utils/commands-helper.hh
include/sot/talos_balance/utils/signal-helper.hh
include/sot/talos_balance/utils/logger.hh
include/sot/talos_balance/utils/stop-watch.hh
include/sot/talos_balance/utils/vector-conversions.hh
)
#INSTALL(FILES ${${LIBRARY_NAME}_HEADERS}
# DESTINATION include/sot/talos_balance
# PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
SET(${LIBRARY_NAME}_SOURCES ${${LIBRARY_NAME}_HEADERS}
# src/example.cpp
src/utils/logger.cpp
src/utils/stop-watch.cpp
)
cmake_minimum_required(VERSION 3.1)
ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES})
SET_TARGET_PROPERTIES(${LIBRARY_NAME}
PROPERTIES
SOVERSION ${PROJECT_VERSION}
INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR})
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} sot-core)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} pinocchio)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} parametric-curves)
IF(BUILD_PYTHON_INTERFACE)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph-python)
ENDIF(BUILD_PYTHON_INTERFACE)
IF(UNIX)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CMAKE_DL_LIBS})
ENDIF(UNIX)
IF(UNIX AND NOT APPLE)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} pthread)
ENDIF(UNIX AND NOT APPLE)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR})
IF(BUILD_PYTHON_INTERFACE)
INSTALL(FILES python/${SOTTALOSBALANCE_PYNAME}/__init__.py
python/${SOTTALOSBALANCE_PYNAME}/main.py
python/${SOTTALOSBALANCE_PYNAME}/create_entities_utils.py
python/${SOTTALOSBALANCE_PYNAME}/meta_task_config.py
DESTINATION ${PYTHON_SITELIB}/${SOTTALOSBALANCE_PYNAME})
IF(BUILD_TEST)
INSTALL(FILES python/${SOTTALOSBALANCE_PYNAME}/test/__init__.py
python/${SOTTALOSBALANCE_PYNAME}/test/run_test_utils.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_dcmComControl.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_dcmComZmpControl.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_dcmZmpControl.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_comAdmittance.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_admittance_single_joint.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_singleTraj.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_jointTrajGen.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_jointControl.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_COMTraj.py
DESTINATION ${PYTHON_SITELIB}/${SOTTALOSBALANCE_PYNAME}/test)
ENDIF(BUILD_TEST)
ENDIF(BUILD_PYTHON_INTERFACE)
MACRO(DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE MODULENAME SUBMODULENAME LIBRARYNAME TARGETNAME)
# By default the __init__.py file is installed.
SET(INSTALL_INIT_PY 1)
SET(SOURCE_PYTHON_MODULE "cmake/dynamic_graph/python-module-py.cc")
IF("${SUBMODULENAME}" STREQUAL "")
SET(FULLMODULENAME "${MODULENAME}")
ELSE("${SUBMODULENAME}" STREQUAL "")
SET(FULLMODULENAME "${MODULENAME}/${SUBMODULENAME}")
ENDIF("${SUBMODULENAME}" STREQUAL "")
# Check if there is optional parameters.
set(extra_macro_args ${ARGN})
list(LENGTH extra_macro_args num_extra_args)
if( ${num_extra_args} GREATER 0)
list(GET extra_macro_args 0 INSTALL_INIT_PY)
if( ${num_extra_args} GREATER 1)
list(GET extra_macro_args 1 SOURCE_PYTHON_MODULE)
endif(${num_extra_args} GREATER 1)
endif(${num_extra_args} GREATER 0)
IF(NOT DEFINED PYTHONLIBS_FOUND)
FINDPYTHON()
ELSEIF(NOT ${PYTHONLIBS_FOUND} STREQUAL "TRUE")
MESSAGE(FATAL_ERROR "Python has not been found.")
ENDIF()
SET(PYTHON_MODULE ${TARGETNAME})
# We need to set this policy to old to accept wrap target.
CMAKE_POLICY(PUSH)
IF(POLICY CMP0037)
CMAKE_POLICY(SET CMP0037 OLD)
ENDIF()
ADD_LIBRARY(${PYTHON_MODULE}
MODULE
${PROJECT_SOURCE_DIR}/${SOURCE_PYTHON_MODULE})
FILE(MAKE_DIRECTORY ${PROJECT_BINARY_DIR}/src/${FULLMODULENAME})
SET_TARGET_PROPERTIES(${PYTHON_MODULE}
PROPERTIES PREFIX ""
OUTPUT_NAME ${FULLMODULENAME}/wrap
)
CMAKE_POLICY(POP)
TARGET_LINK_LIBRARIES(${PYTHON_MODULE} ${PUBLIC_KEYWORD} "-Wl,--no-as-needed")
TARGET_LINK_LIBRARIES(${PYTHON_MODULE} ${PUBLIC_KEYWORD} ${LIBRARYNAME} ${PYTHON_LIBRARY})
INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
#
# Installation
#
SET(PYTHON_INSTALL_DIR ${PYTHON_SITELIB}/${FULLMODULENAME})
INSTALL(TARGETS ${PYTHON_MODULE}
DESTINATION
${PYTHON_INSTALL_DIR})
SET(ENTITY_CLASS_LIST "")
FOREACH (ENTITY ${NEW_ENTITY_CLASS})
SET(ENTITY_CLASS_LIST "${ENTITY_CLASS_LIST}${ENTITY}('')\n")
ENDFOREACH(ENTITY ${NEW_ENTITY_CLASS})
# Install if INSTALL_INIT_PY is set to 1
IF (${INSTALL_INIT_PY} EQUAL 1)
CONFIGURE_FILE(
${PROJECT_SOURCE_DIR}/cmake/dynamic_graph/submodule/__init__.py.cmake
${PROJECT_BINARY_DIR}/src/${FULLMODULENAME}/__init__.py
)
INSTALL(
FILES ${PROJECT_BINARY_DIR}/src/${FULLMODULENAME}/__init__.py
DESTINATION ${PYTHON_INSTALL_DIR}
)
ENDIF(${INSTALL_INIT_PY} EQUAL 1)
ENDMACRO(DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE)
MACRO(SOT_TALOS_BALANCE_PYTHON_MODULE SUBMODULENAME LIBRARYNAME TARGETNAME)
DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE("${SOTTALOSBALANCE_PYNAME}" "${SUBMODULENAME}" "${LIBRARYNAME}" "${TARGETNAME}")
ENDMACRO(SOT_TALOS_BALANCE_PYTHON_MODULE)
ADD_SUBDIRECTORY(src)
# ADD_SUBDIRECTORY(unittest)
SETUP_PROJECT_FINALIZE()
# Project properties
set(PROJECT_ORG loco-3d)
set(PROJECT_NAME sot-talos-balance)
set(PROJECT_DESCRIPTION
"Collection of dynamic-graph entities aimed at implementing balance control on talos."
)
set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
# Project options
option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
option(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
option(INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" OFF)
option(BUILD_ROS_PACKAGES "Build ros packages" ON)
# Project configuration
if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
set(PROJECT_USE_CMAKE_EXPORT TRUE)
endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
set(CUSTOM_HEADER_DIR "sot/talos_balance")
set(CXX_DISABLE_WERROR TRUE)
set(DOXYGEN_USE_MATHJAX YES)
# Check if the submodule cmake have been initialized
set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
if(NOT EXISTS "${CMAKE_SOURCE_DIR}/cmake/base.cmake")
if(${CMAKE_VERSION} VERSION_LESS "3.14.0")
message(
FATAL_ERROR
"\nPlease run the following command first:\ngit submodule update --init\n"
)
else()
message(STATUS "JRL cmakemodules not found. Let's fetch it.")
include(FetchContent)
FetchContent_Declare(
"jrl-cmakemodules"
GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
FetchContent_MakeAvailable("jrl-cmakemodules")
FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
endif()
endif()
include("${JRL_CMAKE_MODULES}/base.cmake")
include("${JRL_CMAKE_MODULES}/boost.cmake")
set_default_cmake_build_type("RelWithDebInfo")
# Project definition
compute_project_args(PROJECT_ARGS LANGUAGES CXX C)
project(${PROJECT_NAME} ${PROJECT_ARGS})
check_minimal_cxx_standard(14 REQUIRED)
if(INITIALIZE_WITH_NAN)
message(STATUS "Initialize with NaN all the Eigen entries.")
add_definitions(-DEIGEN_INITIALIZE_MATRICES_BY_NAN)
endif(INITIALIZE_WITH_NAN)
# Project dependencies
if(BUILD_PYTHON_INTERFACE)
add_project_dependency(dynamic-graph-python 4.0.0 REQUIRED)
string(REGEX REPLACE "-" "_" PROJECT_NAME_UNDERSCORE ${PROJECT_NAME})
set(PY_NAME ${PROJECT_NAME_UNDERSCORE})
endif(BUILD_PYTHON_INTERFACE)
if(BUILD_TESTING)
find_package(Boost REQUIRED COMPONENTS unit_test_framework)
find_package(example-robot-data REQUIRED)
endif(BUILD_TESTING)
if(Boost_VERSION GREATER 107299 OR Boost_VERSION_MACRO GREATER 107299)
# Silence a warning about a deprecated use of boost bind by boost >= 1.73
# without dropping support for boost < 1.73
add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
endif()
add_project_dependency(dynamic-graph 4.4.0 REQUIRED)
add_project_dependency(sot-core REQUIRED)
add_project_dependency(eiquadprog REQUIRED)
add_project_dependency(parametric-curves REQUIRED)
# Verbosity level
if(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
add_definitions(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
endif(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
set(${LIBRARY_NAME}_HEADERS
include/${CUSTOM_HEADER_DIR}/utils/commands-helper.hh
include/${CUSTOM_HEADER_DIR}/utils/statistics.hh
include/${CUSTOM_HEADER_DIR}/math/fwd.hh
include/${CUSTOM_HEADER_DIR}/robot/fwd.hh
include/${CUSTOM_HEADER_DIR}/robot/robot-wrapper.hh
include/${CUSTOM_HEADER_DIR}/sdk_qualisys/Network.h
include/${CUSTOM_HEADER_DIR}/sdk_qualisys/RTPacket.h
include/${CUSTOM_HEADER_DIR}/sdk_qualisys/RTProtocol.h
include/${CUSTOM_HEADER_DIR}/sdk_qualisys/Markup.h)
set(${PROJECT_NAME}_SOURCES
src/utils/statistics.cpp src/robot/robot-wrapper.cpp
src/sdk_qualisys/Network.cpp src/sdk_qualisys/RTPacket.cpp
src/sdk_qualisys/RTProtocol.cpp src/sdk_qualisys/Markup.cpp)
add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
${${PROJECT_NAME}_HEADERS})
target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
target_link_libraries(
${PROJECT_NAME} PUBLIC sot-core::sot-core
parametric-curves::parametric-curves)
if(SUFFIX_SO_VERSION)
set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
endif(SUFFIX_SO_VERSION)
if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
install(
TARGETS ${PROJECT_NAME}
EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION lib)
endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
add_subdirectory(src)
if(BUILD_ROS_PACKAGES AND NOT INSTALL_PYTHON_INTERFACE_ONLY)
add_subdirectory(ros)
endif(BUILD_ROS_PACKAGES AND NOT INSTALL_PYTHON_INTERFACE_ONLY)
if(BUILD_TESTING)
add_subdirectory(tests)
endif(BUILD_TESTING)
if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
install(FILES package.xml DESTINATION share/${PROJECT_NAME})
endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
LICENSE 0 → 100644
View file @ e217f893
BSD 2-Clause License
Copyright (c) 2019, loco-3d
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
README.md
View file @ e217f893
# sot-talos-balance
Coordination project for the control of the balance of Talos.
\ No newline at end of file
[![Pipeline status](https://gitlab.laas.fr/stack-of-tasks/sot-talos-balance/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/sot-talos-balance/commits/master)
[![Coverage report](https://gitlab.laas.fr/stack-of-tasks/sot-talos-balance/badges/master/coverage.svg?job=doc-coverage)](https://gepettoweb.laas.fr/doc/stack-of-tasks/sot-talos-balance/master/coverage/)
[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/stack-of-tasks/sot-talos-balance/master.svg)](https://results.pre-commit.ci/latest/github/stack-of-tasks/sot-talos-balance)
Coordination project for the control of the balance of Talos.
## Installation procedure
Assuming you have all the dependencies correctly installed inside `/opt/openrobots`,
the package is installed as follows.
The detailed explanation of the commands is available in the documentation.
```
git clone --recursive git@github.com:loco-3d/sot-talos-balance.git
cd sot-talos-balance
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/openrobots ..
make -j4
make install
cmake @ 17cbc7f7
Subproject commit a921f1ead10e551804da70d6080a95dba1e673bd
Subproject commit 17cbc7f73afa4471ecf320d9ec8a2b07c4494f3a
doc/Doxyfile.extra.in 0 → 100644
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This diff is collapsed.
doc/Overview.md 0 → 100644
View file @ e217f893
# Overview {#index}
<!--
//
// Copyright (c) 2016, 2018 CNRS
// Author: Florent Lamiraux, Justin Carpentier, Guilhem Saurel
//
// This file is part of Pinocchio
// Pinocchio 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.
//
// Pinocchio 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
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
-->
\section OverviewIntro Introduction to sot-talos-balance
The library sot-talos-balance allows to execute your trajectory with the help of a stabilizer
You can find the full installation procedure <a href="md_doc_installation.html">in the installation page</a>
Quick instructions on how to run a test can be found <a href="md_doc_running.html">here</a>
doc/customdoxygen.css 0 → 100644
View file @ e217f893
/* Customizing Doxygen output */
/* Needed to allow line breaks in tables*/
.memberdecls {
table-layout: fixed;
width: 100%;
}
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white-space: normal !important;
word-wrap: break-word;
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/* Needed to break long template names*/
.memItemLeft {
white-space: normal !important;
word-wrap: break-word;
}
doc/header.html 0 → 100644
View file @ e217f893
<!-- HTML header for doxygen 1.8.11-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
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<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen $doxygenversion"/>
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<link href="$relpath^pinocchio.ico" rel="icon" type="image/x-icon">
<script type="text/javascript" src="$relpath^jquery.js"></script>
<script type="text/javascript" src="$relpath^dynsections.js"></script>
$treeview
$search
$mathjax
<link href="$relpath^$stylesheet" rel="stylesheet" type="text/css" />
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doc/installation.md 0 → 100644
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# Installation
1. Clone the git repository:
```
git clone --recursive git@gepgitlab.laas.fr:loco-3d/sot-talos-balance.git
cd sot-talos-balance
```
2. If you need it, switch to the devel branch
```
git checkout devel
```
3. Create the build directory and move there
```
mkdir build
cd build
```
4. Run cmake
```
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/openrobots ..
```
5. Build the package
```
make -j4
```
6. Install the package
```
make install
```
doc/running.md 0 → 100644
View file @ e217f893
# Running a test
In the following, we quickly demonstrate how to run a test with sot-talos-balance.
## Start the simulation
First of all, you need to start the simulation.
To start Gazebo, load a scene and spawn Talos, the simplest way is to directly use the launch file provided by PAL, without een using sot-talos-balance
```
roslaunch talos_gazebo talos_gazebo.launch
```
Notice that this will spawn Talos at configuration zero. This is not always what you want.
The package sot-talos-balance offers different launch files to spawn it at different configurations.
Most commonly, you might want to spawn the robot in the half-sitting position
```
roslaunch sot_talos_balance talos_gazebo_half_sitting.launch
```
If you ever need a different configuration, all you have to do is taking talos_gazebo_half_sitting.launch, copying it with a different name and modifying it.
## Start the SoT in position mode
To start the SoT in simulation in position mode:
```
roslaunch roscontrol_sot_talos sot_talos_controller_gazebo.launch
```
## Run the test
First of all, you need to go to the folder where your script is.
For instance, for running the standard tests of sot-talos-balance,
assuming you are in the root directory:
```
cd python/sot_talos_balance/test
```
Then, you can just run the chosen test. For instance:
```
python test_dcm_zmp_control.py
```
This will launch a test routine executing a sinusoid and raising the foot.
## Run the test with your own recorded movements
The test that needs to be run in order o execute your own prerecorded movement is
```
python test_dcm_zmp_control.py [testfolder]
```
where `[testfolder]` contains the following files:
```
CoM.dat
LeftFoot.dat
RightFoot.dat
WaistOrientation.dat
optionally, ZMP.dat (if not given, it is computed from the CoM)
```
where the CoM and the ZMP are in the following format:
```
[position3D velocity3D acceleration3D]
```
the feet are
```
[position6D velocity6D acceleration6D]
```
and the waist
```
[orientation3D angular_velocity3D angular_acceleration3D]
```
Pay attention that the lines of each file should *not* have trailing whitespace.
Actually, the velocity and acceleration information are only really needed for the CoM. For all other quantities, these values are not really employed, but they are needed due to how nd-trajectory-generator is implemented. You can set this quantities arbitrarily to zero.
If you are running a simulation, folder `[testfolder]` can be anyways in your computer.
If you are running an experiment on the robot, folder `[testfolder]` must be installed somewhere on the robot itself.
A quick-and-dirty way of installing new motions in the robot is putting them in sot-talos-balance.
In this case, you have to put it in
```
[sot-talos-balance-repo]/ros/sot_talos_balance/data
```
This way, when executing (see <a href="md_doc_installation.html">the installation page</a>)
```
make install
```
it will automatically be copied to
```
/opt/openrobots/share/sot_talos_balance/data
```
which will then be copied to the robot when you update sot-talos-balance on it.
If you which, you can access the motions in sot-talos-balance without specifying the full path, by doing
```
python test_dcm_zmp_control.py -0 [testfolder]
```
which will automatically look in
```
/opt/openrobots/share/sot_talos_balance/data/[testfolder]
```
## Interacting with the dynamic graph
If you want to dynamically interact with the graph
```
rosrun dynamic_graph_bridge run_command
```
## Other
More information on how to use the SoT and how to work on Talos can be found <a href="https://wiki.laas.fr/robots/Pyrene">in the robot wiki page</a> (you need LAAS permissions to access this).
doc/treeview.dox 0 → 100644
View file @ e217f893
//
// Copyright (c) 2016 CNRS
// Author: Florian Valenza
//
// This file is part of Pinocchio
// Pinocchio 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.
//
// Pinocchio 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
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
//
// This file strutures pages and modules into a convenient hierarchical structure.
//
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
//
// Pages/ tutorials organization
//
// \page md_doc_installation
// \page md_doc_running
}
}
}
include/sot/talos_balance/admittance-controller-end-effector.hh 0 → 100644
View file @ e217f893
/*
* Copyright 2019
*
* LAAS-CNRS
*
* Fanny Risbourg
* This file is part of sot-talos-balance.
* See license file.
*/
#ifndef __sot_talos_balance_admittance_controller_end_effector_H__
#define __sot_talos_balance_admittance_controller_end_effector_H__
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#if defined(WIN32)
#if defined(admittance_controller_end_effector_EXPORTS)
#define ADMITTANCECONTROLLERENDEFFECTOR_EXPORT __declspec(dllexport)
#else
#define ADMITTANCECONTROLLERENDEFFECTOR_EXPORT __declspec(dllimport)
#endif
#else
#define ADMITTANCECONTROLLERENDEFFECTOR_EXPORT
#endif
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#include <pinocchio/fwd.hpp>
// include pinocchio first
#include <dynamic-graph/signal-helper.h>
#include <map>
#include <pinocchio/algorithm/center-of-mass.hpp>
#include <pinocchio/algorithm/frames.hpp>
#include <pinocchio/algorithm/kinematics.hpp>
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/parsers/urdf.hpp>
#include <sot/core/robot-utils.hh>
#include "boost/assign.hpp"
#include "pinocchio/spatial/motion.hpp"
#include "pinocchio/spatial/se3.hpp"
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/**
* @brief Admittance controller for an upper body end-effector (right or left
* wrist)
*
* This entity computes a velocity reference for an end-effector based
* on the force error in the world frame :
* w_dq = integral(Kp(w_forceDes-w_force)) + Kd (w_dq)
*
*/
class ADMITTANCECONTROLLERENDEFFECTOR_EXPORT AdmittanceControllerEndEffector
: public ::dynamicgraph::Entity {
DYNAMIC_GRAPH_ENTITY_DECL();
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/* --- CONSTRUCTOR ---- */
AdmittanceControllerEndEffector(const std::string &name);
/* --- SIGNALS --- */
/// \brief Gain (6d) for the integration of the error on the force
DECLARE_SIGNAL_IN(Kp, dynamicgraph::Vector);
/// \brief Derivative gain (6d) for the error on the force
DECLARE_SIGNAL_IN(Kd, dynamicgraph::Vector);
/// \brief Value of the saturation to apply on the velocity output
DECLARE_SIGNAL_IN(dqSaturation, dynamicgraph::Vector);
/// \brief 6d force given by the sensor in its local frame
DECLARE_SIGNAL_IN(force, dynamicgraph::Vector);
/// \brief 6d desired force of the end-effector in the world frame
DECLARE_SIGNAL_IN(w_forceDes, dynamicgraph::Vector);
/// \brief Current joint configuration of the robot
DECLARE_SIGNAL_IN(q, dynamicgraph::Vector);
/// \brief 6d force given by the sensor in the world frame
DECLARE_SIGNAL_INNER(w_force, dynamicgraph::Vector);
/// \brief Internal intergration computed in the world frame
DECLARE_SIGNAL_INNER(w_dq, dynamicgraph::Vector);
/// \brief Velocity reference for the end-effector in the local frame
DECLARE_SIGNAL_OUT(dq, dynamicgraph::Vector);
/* --- COMMANDS --- */
/**
* @brief Initialize the entity
*
* @param[in] dt Time step of the control
* @param[in] sensorFrameName Name of the force sensor of the end-effector
* used in the pinocchio model
* @param[in] endeffectorName Name of the endEffectorJoint
*/
void init(const double &dt, const std::string &sensorFrameName,
const std::string &endeffectorName);
/**
* @brief Reset the velocity
*/
void resetDq();
/* --- ENTITY INHERITANCE --- */
virtual void display(std::ostream &os) const;
protected:
/// Dimension of the force signals and of the output
int m_n;
/// True if the entity has been successfully initialized
bool m_initSucceeded;
/// Internal state
dynamicgraph::Vector m_w_dq;
/// Time step of the control
double m_dt;
// Weight of the end-effector
double m_mass;
/// Robot Util instance to get the sensor frame
RobotUtilShrPtr m_robot_util;
/// Pinocchio robot model
pinocchio::Model m_model;
/// Pinocchio robot data
pinocchio::Data *m_data;
/// Id of the force sensor frame
pinocchio::FrameIndex m_sensorFrameId;
/// Id of the joint of the end-effector
pinocchio::JointIndex m_endEffectorId;
}; // class AdmittanceControllerEndEffector
} // namespace talos_balance
} // namespace sot
} // namespace dynamicgraph
#endif // #ifndef __sot_talos_balance_admittance_controller_end_effector_H__
include/sot/talos_balance/ankle-admittance-controller.hh 0 → 100644
View file @ e217f893
/*
* Copyright 2018, Gepetto team, LAAS-CNRS
*
* This file is part of sot-talos-balance.
* sot-talos-balance 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.
* sot-talos-balance 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 Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-talos-balance. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __sot_talos_balance_ankle_admittance_controller_H__
#define __sot_talos_balance_ankle_admittance_controller_H__
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#if defined(WIN32)
#if defined(ankle_admittance_controller_EXPORTS)
#define ANKLEADMITTANCECONTROLLER_EXPORT __declspec(dllexport)
#else
#define ANKLEADMITTANCECONTROLLER_EXPORT __declspec(dllimport)
#endif
#else
#define ANKLEADMITTANCECONTROLLER_EXPORT
#endif
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#include <dynamic-graph/signal-helper.h>
#include <map>
#include "boost/assign.hpp"
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
class ANKLEADMITTANCECONTROLLER_EXPORT AnkleAdmittanceController
: public ::dynamicgraph::Entity {
DYNAMIC_GRAPH_ENTITY_DECL();
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/* --- CONSTRUCTOR ---- */
AnkleAdmittanceController(const std::string& name);
void init();
/* --- SIGNALS --- */
DECLARE_SIGNAL_IN(gainsXY, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(wrench, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(pRef, dynamicgraph::Vector);
DECLARE_SIGNAL_OUT(dRP, dynamicgraph::Vector);
DECLARE_SIGNAL_OUT(vDes, dynamicgraph::Vector);
/* --- COMMANDS --- */
/* --- ENTITY INHERITANCE --- */
virtual void display(std::ostream& os) const;
protected:
bool
m_initSucceeded; /// true if the entity has been successfully initialized
}; // class AnkleAdmittanceController
} // namespace talos_balance
} // namespace sot
} // namespace dynamicgraph
#endif // #ifndef __sot_talos_balance_ankle_admittance_controller_H__
include/sot/talos_balance/joint-admittance-controller.hh → include/sot/talos_balance/ankle-joint-selector.hh
View file @ e217f893
......@@ -14,87 +14,91 @@
* with sot-talos-balance. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __sot_talos_balance_joint_admittance_controller_H__
#define __sot_talos_balance_joint_admittance_controller_H__
#ifndef __sot_talos_balance_ankle_joint_selector_H__
#define __sot_talos_balance_ankle_joint_selector_H__
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#if defined (WIN32)
# if defined (joint_admittance_controller_EXPORTS)
# define JOINTADMITTANCECONTROLLER_EXPORT __declspec(dllexport)
# else
# define JOINTADMITTANCECONTROLLER_EXPORT __declspec(dllimport)
# endif
#if defined(WIN32)
#if defined(position_controller_EXPORTS)
#define ANKLE_JOINT_SELECTOR_EXPORT __declspec(dllexport)
#else
# define JOINTADMITTANCECONTROLLER_EXPORT
#define ANKLE_JOINT_SELECTOR_EXPORT __declspec(dllimport)
#endif
#else
#define ANKLE_JOINT_SELECTOR_EXPORT
#endif
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#include "utils/signal-helper.hh"
#include "utils/logger.hh"
#include <dynamic-graph/signal-helper.h>
#include <map>
#include <sot/core/flags.hh>
#include "boost/assign.hpp"
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
namespace sot {
namespace talos_balance {
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
class JOINTADMITTANCECONTROLLER_EXPORT JointAdmittanceController
: public ::dynamicgraph::Entity
{
DYNAMIC_GRAPH_ENTITY_DECL();
class ANKLE_JOINT_SELECTOR_EXPORT AnkleJointSelector
: public ::dynamicgraph::Entity {
DYNAMIC_GRAPH_ENTITY_DECL();
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/* --- CONSTRUCTOR ---- */
JointAdmittanceController( const std::string & name );
/* --- CONSTRUCTOR ---- */
AnkleJointSelector(const std::string& name);
void init(const double & dt, const unsigned & n);
void init(const int& n);
void setPosition(const dynamicgraph::Vector &);
/* --- SIGNALS --- */
DECLARE_SIGNAL_IN(phase, int);
/* --- SIGNALS --- */
DECLARE_SIGNAL_IN(Kp, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(state, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(tau, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(tauDes, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(rightRollCoupled, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(rightRollDecoupled, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(rightPitchCoupled, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(rightPitchDecoupled, dynamicgraph::Vector);
DECLARE_SIGNAL_OUT(dqRef, dynamicgraph::Vector);
DECLARE_SIGNAL_OUT(qRef, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(leftRollCoupled, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(leftRollDecoupled, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(leftPitchCoupled, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(leftPitchDecoupled, dynamicgraph::Vector);
/* --- COMMANDS --- */
/* --- ENTITY INHERITANCE --- */
virtual void display( std::ostream& os ) const;
DECLARE_SIGNAL_OUT(selecLeft, Flags);
DECLARE_SIGNAL_OUT(selecRight, Flags);
void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0)
{
getLogger().sendMsg("[JointAdmittanceController-"+name+"] "+msg, t, file, line);
}
DECLARE_SIGNAL_OUT(rightRoll, dynamicgraph::Vector);
DECLARE_SIGNAL_OUT(rightPitch, dynamicgraph::Vector);
protected:
int m_n;
bool m_initSucceeded; /// true if the entity has been successfully initialized
dynamicgraph::Vector m_Kp;
dynamicgraph::Vector m_q; // internal state
double m_dt;
DECLARE_SIGNAL_OUT(leftRoll, dynamicgraph::Vector);
DECLARE_SIGNAL_OUT(leftPitch, dynamicgraph::Vector);
}; // class JointAdmittanceController
/* --- COMMANDS --- */
/* --- ENTITY INHERITANCE --- */
virtual void display(std::ostream& os) const;
} // namespace talos_balance
} // namespace sot
} // namespace dynamicgraph
protected:
Flags m_zeros;
Flags m_ones;
int m_n;
bool
m_initSucceeded; /// true if the entity has been successfully initialized
}; // class AnkleJointSelector
} // namespace talos_balance
} // namespace sot
} // namespace dynamicgraph
#endif // #ifndef __sot_talos_balance_joint_admittance_controller_H__
#endif // #ifndef __sot_talos_balance_ankle_joint_selector_H__
include/sot/talos_balance/boolean-identity.hh 0 → 100644
View file @ e217f893
/*
* Copyright 2018, Gepetto team, LAAS-CNRS
*
* This file is part of sot-talos-balance.
* sot-talos-balance 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.
* sot-talos-balance 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 Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-talos-balance. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __sot_talos_balance_boolean_identity_H__
#define __sot_talos_balance_boolean_identity_H__
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#if defined(WIN32)
#if defined(position_controller_EXPORTS)
#define BOOLEAN_IDENTITY_EXPORT __declspec(dllexport)
#else
#define BOOLEAN_IDENTITY_EXPORT __declspec(dllimport)
#endif
#else
#define BOOLEAN_IDENTITY_EXPORT
#endif
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#include <dynamic-graph/signal-helper.h>
#include <map>
#include "boost/assign.hpp"
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
class BOOLEAN_IDENTITY_EXPORT BooleanIdentity : public ::dynamicgraph::Entity {
DYNAMIC_GRAPH_ENTITY_DECL();
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/* --- CONSTRUCTOR ---- */
BooleanIdentity(const std::string& name);
void init() {}
/* --- SIGNALS --- */
DECLARE_SIGNAL_IN(sin, bool);
DECLARE_SIGNAL_OUT(sout, bool);
/* --- COMMANDS --- */
/* --- ENTITY INHERITANCE --- */
virtual void display(std::ostream& os) const;
}; // class BooleanIdentity
} // namespace talos_balance
} // namespace sot
} // namespace dynamicgraph
#endif // #ifndef __sot_talos_balance_boolean_identity_H__