Commit 7bc2ca88 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

[80 cols] Reinforce the 80 cols policy

Display also more information with display() for device.
parent 4b317073
......@@ -30,14 +30,19 @@ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(OpPointModifier,"OpPointModifier");
OpPointModifier::
OpPointModifier( const std::string& name )
:Entity( name )
,jacobianSIN(NULL,"OpPointModifior("+name+")::input(matrix)::jacobianIN")
,positionSIN(NULL,"OpPointModifior("+name+")::input(matrixhomo)::positionIN")
,jacobianSOUT( boost::bind(&OpPointModifier::jacobianSOUT_function,this,_1,_2),
jacobianSIN,
"OpPointModifior("+name+")::output(matrix)::jacobian" )
,positionSOUT( boost::bind(&OpPointModifier::positionSOUT_function,this,_1,_2),
positionSIN,
"OpPointModifior("+name+")::output(matrixhomo)::position" )
,jacobianSIN(NULL,"OpPointModifior("+name+")::input(matrix)::jacobianIN")
,positionSIN
(NULL,"OpPointModifior("+name+
")::input(matrixhomo)::positionIN")
,jacobianSOUT
( boost::bind(&OpPointModifier::jacobianSOUT_function,
this,_1,_2),
jacobianSIN,
"OpPointModifior("+name+")::output(matrix)::jacobian" )
,positionSOUT
( boost::bind(&OpPointModifier::positionSOUT_function,this,_1,_2),
positionSIN,
"OpPointModifior("+name+")::output(matrixhomo)::position" )
,transformation()
,isEndEffector(true)
{
......@@ -47,18 +52,22 @@ OpPointModifier( const std::string& name )
{
using namespace dynamicgraph::command;
addCommand("getTransformation",
makeDirectGetter(*this,&transformation.matrix(),
docDirectGetter("transformation","matrix 4x4 homo")));
addCommand("setTransformation",
makeDirectSetter(*this, &transformation.matrix(),
docDirectSetter("dimension","matrix 4x4 homo")));
addCommand("getEndEffector",
makeDirectGetter(*this,&isEndEffector,
docDirectGetter("end effector mode","bool")));
addCommand("setEndEffector",
makeDirectSetter(*this, &isEndEffector,
docDirectSetter("end effector mode","bool")));
addCommand
("getTransformation",
makeDirectGetter(*this,&transformation.matrix(),
docDirectGetter("transformation","matrix 4x4 homo")));
addCommand
("setTransformation",
makeDirectSetter(*this, &transformation.matrix(),
docDirectSetter("dimension","matrix 4x4 homo")));
addCommand
("getEndEffector",
makeDirectGetter(*this,&isEndEffector,
docDirectGetter("end effector mode","bool")));
addCommand
("setEndEffector",
makeDirectSetter(*this, &isEndEffector,
docDirectSetter("end effector mode","bool")));
}
sotDEBUGOUT(15);
......
......@@ -72,42 +72,6 @@ fromMatrix( const MatrixRotation& rot )
}
}
// TRIAL (1)
// const float trace = 1 + rotmat(0,0) + rotmat(1,1) + rotmat(2,2);
// if( trace>1e-6 )
// {
// const float s = sqrt(1+trace) * 2;
// vector(0) = rotmat(2,1) - rotmat(1,2) / s;
// vector(1) = (rotmat(0,2) - rotmat(2,0)) / s;
// vector(2) = (rotmat(1,0) - rotmat(0,1)) / s;
// vector(3) = s / 4;
// }
// else if (rotmat(0,0) > rotmat(1,1) && rotmat(0,0) > rotmat(2,2))
// {
// const float s = sqrt(1.0f + rotmat(0,0) - rotmat(1,1) - rotmat(2,2)) * 2;
// vector(0) = s / 4;
// vector(1) = (rotmat(1,0) + rotmat(0,1)) / s;
// vector(2) = (rotmat(0,2) + rotmat(2,0)) / s;
// vector(3) = (rotmat(2,1) - rotmat(1,2)) / s;
// }
// else if (rotmat(1,1) > rotmat(2,2))
// {
// const float s = sqrt(1.0f + rotmat(1,1) - rotmat(0,0) - rotmat(2,2)) * 2;
// vector(0) = (rotmat(1,0) + rotmat(0,1)) / s;
// vector(1) = s / 4;
// vector(2) = (rotmat(2,1) + rotmat(1,2)) / s;
// vector(3) = (rotmat(0,2) - rotmat(2,0)) / s;
// }
// else
// {
// const float s = sqrt(1.0f + rotmat(2,2) - rotmat(0,0) - rotmat(1,1)) * 2;
// vector(0) = (rotmat(0,2) + rotmat(2,0)) / s;
// vector(1) = (rotmat(2,1) + rotmat(1,2)) / s;
// vector(2) = s / 4;
// vector(3) = (rotmat(1,0) - rotmat(0,1)) / s;
// }
sotDEBUGOUT(15) ;
return *this;
}
......@@ -167,63 +131,12 @@ toMatrix( MatrixRotation& rot ) const
rotmat(2,0) = 2 * (zx - ry);
rotmat(2,1) = 2 * (yz + rx);
// TRIAL (2)
// double Nq = w*w + x*x + y*y + z*z;
// double s= 0.0; if( Nq>0.0 ) s = 2/Nq; else s=0.0;
// double X = x*s; double Y = y*s; double Z = z*s;
// double wX = w*X; double wY = w*Y; double wZ = w*Z;
// double xX = x*X; double xY = x*Y; double xZ = x*Z;
// double yY = y*Y; double yZ = y*Z; double zZ = z*Z;
// rotmat(0,0) = 1.0-(yY+zZ);
// rotmat(0,1) = xY-wZ;
// rotmat(0,2) = xZ+wY;
// rotmat(1,0) = xY+wZ;
// rotmat(1,1) = 1.0-(xX+zZ);
// rotmat(1,2) = yZ-wX;
// rotmat(2,0) = xZ-wY;
// rotmat(2,1) = yZ+wX;
// rotmat(2,2) = 1.0-(xX+yY);
// TRIAL (1)
// const double& a = vector(0);
// const double& b = vector(1);
// const double& c = vector(2);
// const double& d = vector(3);
// double a2=a*a;
// double b2=b*b;
// double c2=c*c;
// double d2=d*d;
// const double bc = b*c;
// const double ad = a*d;
// const double bd = b*d;
// const double ac = a*c;
// const double ab = a*b;
// const double cd = c*d;
// rotmat(0,0) = a2+b2-c2-d2 ;
// rotmat(1,0) = bc-ad ;
// rotmat(2,0) = ac+bd ;
// rotmat(0,1) = ad+bc ;
// rotmat(1,1) = a2-b2+c2-d2 ;
// rotmat(2,1) = cd-ab ;
// rotmat(0,2) = bd-ac ;
// rotmat(1,2) = ab+cd ;
// rotmat(2,2) = a2-b2-c2+d2 ;
sotDEBUGOUT(15) ;
return rot;
}
VectorQuaternion& VectorQuaternion::conjugate(VectorQuaternion& res) const
VectorQuaternion& VectorQuaternion::
conjugate(VectorQuaternion& res) const
{
res.vector(0) = vector(0);
res.vector(1) = -vector(1);
......@@ -232,7 +145,8 @@ VectorQuaternion& VectorQuaternion::conjugate(VectorQuaternion& res) const
return res;
}
VectorQuaternion& VectorQuaternion::multiply(const VectorQuaternion& q2, VectorQuaternion& res) const
VectorQuaternion& VectorQuaternion::
multiply(const VectorQuaternion& q2, VectorQuaternion& res) const
{
double & a1 = vector(0);
double & b1 = vector(1);
......
......@@ -34,8 +34,11 @@ const std::string Device::CLASS_NAME = "Device";
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
void Device::integrateRollPitchYaw(Vector& state, const Vector& control,
double dt)
void Device::
integrateRollPitchYaw
(Vector& state,
const Vector& control,
double dt)
{
using Eigen::AngleAxisd;
using Eigen::Vector3d;
......@@ -56,11 +59,13 @@ void Device::integrateRollPitchYaw(Vector& state, const Vector& control,
ffPose_.translation() = qout.head<3>();
state.head<3>() = qout.head<3>();
ffPose_.linear() = QuaternionMapd(qout.tail<4>().data()).toRotationMatrix();
ffPose_.linear() =
QuaternionMapd(qout.tail<4>().data()).toRotationMatrix();
state.segment<3>(3) = ffPose_.linear().eulerAngles(2,1,0).reverse();
}
const MatrixHomogeneous& Device::freeFlyerPose() const
const MatrixHomogeneous&
Device::freeFlyerPose() const
{
return ffPose_;
}
......@@ -88,8 +93,9 @@ Device( const std::string& n )
,attitudeSOUT( "Device("+n+")::output(matrixRot)::attitude" )
,motorcontrolSOUT ( "Device("+n+")::output(vector)::motorcontrol" )
,previousControlSOUT( "Device("+n+")::output(vector)::previousControl" )
,ZMPPreviousControllerSOUT( "Device("+n+")::output(vector)::zmppreviouscontroller" )
,ZMPPreviousControllerSOUT
( "Device("+n+
")::output(vector)::zmppreviouscontroller" )
,robotState_ ("Device("+n+")::output(vector)::robotState")
,robotVelocity_ ("Device("+n+")::output(vector)::robotVelocity")
,pseudoTorqueSOUT("Device("+n+")::output(vector)::ptorque" )
......@@ -113,7 +119,8 @@ Device( const std::string& n )
<<velocitySOUT<<attitudeSOUT
<<attitudeSIN<<zmpSIN <<*forcesSOUT[0]<<*forcesSOUT[1]
<<*forcesSOUT[2]<<*forcesSOUT[3] <<previousControlSOUT
<<pseudoTorqueSOUT << motorcontrolSOUT << ZMPPreviousControllerSOUT );
<<pseudoTorqueSOUT << motorcontrolSOUT
<< ZMPPreviousControllerSOUT );
state_.fill(.0); stateSOUT.setConstant( state_ );
velocity_.resize(state_.size()); velocity_.setZero();
......@@ -161,9 +168,11 @@ Device( const std::string& n )
" acceleration measure instead of velocity \n"
"\n";
addCommand("setSecondOrderIntegration",
command::makeCommandVoid0(*this,&Device::setSecondOrderIntegration,
docstring));
addCommand
("setSecondOrderIntegration",
command::makeCommandVoid0
(*this,&Device::setSecondOrderIntegration,
docstring));
/* SET of control input type. */
docstring =
......@@ -185,23 +194,34 @@ Device( const std::string& n )
(*this, &Device::setSanityCheck, docstring));
addCommand("setPositionBounds",
command::makeCommandVoid2(*this,&Device::setPositionBounds,
command::docCommandVoid2 ("Set robot position bounds", "vector: lower bounds", "vector: upper bounds")
));
command::makeCommandVoid2
(*this,&Device::setPositionBounds,
command::docCommandVoid2
("Set robot position bounds",
"vector: lower bounds",
"vector: upper bounds")));
addCommand("setVelocityBounds",
command::makeCommandVoid2(*this,&Device::setVelocityBounds,
command::docCommandVoid2 ("Set robot velocity bounds", "vector: lower bounds", "vector: upper bounds")
));
command::makeCommandVoid2
(*this,&Device::setVelocityBounds,
command::docCommandVoid2
("Set robot velocity bounds",
"vector: lower bounds",
"vector: upper bounds")));
addCommand("setTorqueBounds",
command::makeCommandVoid2(*this,&Device::setTorqueBounds,
command::docCommandVoid2 ("Set robot torque bounds", "vector: lower bounds", "vector: upper bounds")
));
command::makeCommandVoid2
(*this,&Device::setTorqueBounds,
command::docCommandVoid2
("Set robot torque bounds",
"vector: lower bounds",
"vector: upper bounds")));
addCommand("getTimeStep",
command::makeDirectGetter (*this, &this->timestep_,
command::docDirectGetter ("Time step", "double")));
command::makeDirectGetter
(*this, &this->timestep_,
command::docDirectGetter
("Time step", "double")));
// Handle commands and signals called in a synchronous way.
periodicCallBefore_.addSpecificCommands(*this, commandMap, "before.");
......@@ -252,7 +272,8 @@ setState( const Vector& st )
if ( s != lowerVelocity_.size()
|| s != upperVelocity_.size() )
throw std::invalid_argument ("Upper and/or lower velocity bounds "
"do not match state size. Set them first with setVelocityBounds");
"do not match state size."
" Set them first with setVelocityBounds");
case CONTROL_INPUT_NO_INTEGRATION:
break;
default:
......@@ -332,18 +353,21 @@ setSanityCheck(const bool & enableCheck)
"to estimate the joint torques for the given acceleration.\n";
if ( s != lowerTorque_.size()
|| s != upperTorque_.size() )
throw std::invalid_argument ("Upper and/or lower torque bounds "
"do not match state size. Set them first with setTorqueBounds");
throw std::invalid_argument
("Upper and/or lower torque bounds "
"do not match state size. Set them first with setTorqueBounds");
case CONTROL_INPUT_ONE_INTEGRATION:
if ( s != lowerVelocity_.size()
|| s != upperVelocity_.size() )
throw std::invalid_argument ("Upper and/or lower velocity bounds "
"do not match state size. Set them first with setVelocityBounds");
throw std::invalid_argument
("Upper and/or lower velocity bounds "
"do not match state size. Set them first with setVelocityBounds");
case CONTROL_INPUT_NO_INTEGRATION:
if ( s != lowerPosition_.size()
|| s != upperPosition_.size() )
throw std::invalid_argument ("Upper and/or lower position bounds "
"do not match state size. Set them first with setPositionBounds");
throw std::invalid_argument
("Upper and/or lower position bounds "
"do not match state size. Set them first with setPositionBounds");
break;
default:
throw std::invalid_argument ("Invalid control mode type.");
......@@ -500,12 +524,12 @@ saturateBounds (double& val, const double& lower, const double& upper)
return false;
}
#define CHECK_BOUNDS(val, lower, upper, what) \
for (int i = 0; i < val.size(); ++i) { \
double old = val(i); \
if (saturateBounds (val(i), lower(i), upper(i))) \
dgRTLOG () << "Robot " what " bound violation at DoF " << i << \
": requested " << old << " but set " << val(i) << '\n'; \
#define CHECK_BOUNDS(val, lower, upper, what) \
for (int i = 0; i < val.size(); ++i) { \
double old = val(i); \
if (saturateBounds (val(i), lower(i), upper(i))) \
dgRTLOG () << "Robot " what " bound violation at DoF " << i << \
": requested " << old << " but set " << val(i) << '\n'; \
}
void Device::integrate( const double & dt )
......@@ -568,4 +592,8 @@ void Device::integrate( const double & dt )
/* --- DISPLAY ------------------------------------------------------------ */
void Device::display ( std::ostream& os ) const
{os <<name<<": "<<state_<<endl; }
{
os << name <<": "<<state_<<endl
<< "sanityCheck: " << sanityCheck_<< endl
<< "controlInputType:" << controlInputType_ << endl;
}
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