Commit c23a9a54 authored by Nicolas Mansard's avatar Nicolas Mansard Committed by Nicolas Mansard
Browse files

IVIGIT.

parents
This package was written by and with the assistance of:
* Nicolas Mansard nicolas.mansard@laas.fr
* Layale Saab lsaab@laas.fr
* Olivier Stasse olivier.stasse@aist.go.jp
# Copyright 2010, Nicolas Mansard, LAAS-CNRS
#
# This file is part of sot-dyninv.
# sot-dyninv 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-dyninv 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-dyninv. If not, see <http://www.gnu.org/licenses/>.
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/lapack.cmake)
INCLUDE(cmake/cpack.cmake)
SET(PROJECT_NAME sot-dyninv)
SET(PROJECT_DESCRIPTION "control by inverse dynamics.")
SET(PROJECT_URL "http://github.com/laas/sot-dyninv")
SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)
SET(PKG_CONFIG_ADDITIONAL_VARIABLES
${PKG_CONFIG_ADDITIONAL_VARIABLES}
plugindirname
plugindir
)
SETUP_PROJECT()
# Search for dependencies.
ADD_REQUIRED_DEPENDENCY("jrl-mal >= 1.8.0")
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 1.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 1.0.0")
# List plug-ins that will be compiled.
SET(libs
controller-pd
)
LIST(APPEND LOGGING_WATCHED_TARGETS ${libs})
# Add subdirectories.
ADD_SUBDIRECTORY(include)
ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(unitTesting)
SETUP_PROJECT_FINALIZE()
SETUP_PROJECT_CPACK()
\ No newline at end of file
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sot-dyninv
==========
This sofware provides the solver and features to resolve the inverse of the
dynamics of a free-floating robot, in contact with its environment. The basics
are provided by the sot core, and the computation of the dynamics of the robot
can be computed by a third party lib, for example sot-dynamic.
Setup
-----
To compile this package, it is recommended to create a separate build
directory:
mkdir _build
cd _build
cmake [OPTIONS] ..
make install
Please note that CMake produces a `CMakeCache.txt` file which should
be deleted to reconfigure a package from scratch.
### Dependencies
The sot dynamic inverse depends on several packages which
have to be available on your machine.
- Libraries:
- sot-core (>= 1.0.0)
- System tools:
- CMake (>=2.6)
- pkg-config
- usual compilation tools (GCC/G++, make, etc.)
[sot-core]: http://github.com/jrl-umi3128/sot-core
# Template for uninstalling the files
# provided by this package.
#
# This file is coming straight from
# http://www.cmake.org/Wiki/CMake_FAQ
# O. Stasse, JRL, CNRS, 2010
#
IF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
MESSAGE(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
ENDIF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
FILE(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
STRING(REGEX REPLACE "\n" ";" files "${files}")
FOREACH(file ${files})
MESSAGE(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
IF(EXISTS "$ENV{DESTDIR}${file}")
EXEC_PROGRAM(
"@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
OUTPUT_VARIABLE rm_out
RETURN_VALUE rm_retval
)
IF(NOT "${rm_retval}" STREQUAL 0)
MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
ENDIF(NOT "${rm_retval}" STREQUAL 0)
ELSE(EXISTS "$ENV{DESTDIR}${file}")
MESSAGE(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
ENDIF(EXISTS "$ENV{DESTDIR}${file}")
ENDFOREACH(file)
#
# Copyright 2011 CNRS
# Author: Nicolas Mansard (empty doc file ... who else?)
#
INPUT = @CMAKE_SOURCE_DIR@/include \
@CMAKE_SOURCE_DIR@/doc/additionalDoc
IMAGE_PATH = @CMAKE_SOURCE_DIR@/doc/pictures
FILE_PATTERNS = *.cc *.cpp *.h *.hh *.hxx
TAGFILES = \
"@JRL_MAL_DOXYGENDOCDIR@/jrl-mal.doxytag = @JRL_MAL_DOXYGENDOCDIR@" \
"@DYNAMIC_GRAPH_DOXYGENDOCDIR@/dynamic-graph.doxytag = @DYNAMIC_GRAPH_DOXYGENDOCDIR@" \
"@SOT_CORE_DOXYGENDOCDIR@/sot-core.doxytag = @SOT_CORE_DOXYGENDOCDIR@"
/*
* Copyright 2010,
* François Bleibel,
* Olivier Stasse,
*
* CNRS/AIST
*
* This file is part of sot-dynamic.
* sot-dynamic 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-dynamic 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-dynamic. If not, see <http://www.gnu.org/licenses/>.
*/
/** \mainpage
\section sot_dynamic_section_introduction Introduction
The sot-dynamic package is a bridge between the stack of tasks framework and the dynamicsJRLJapan library.
It provides an inverse dynamic model of the robot through dynamic-graph entities.
More precisely it wraps the newton euler algorithm implemented by the dynamicsJRLJapan library
to make it accessible for the stack of tasks controllers
(in the Stack of Tasks Framework as defined in \ref Mansard2007.)
This package depends on the following packages:
\li dynamicsJRLJapan
\li sot-core
\li dynamic-graph
\li dynamic-graph-python
Optional packages (for specific support of the hrp2-N robots)
\li hrp210optimized
\li hrp2-dynamics
See the JRL umi3218's page on github for instructions on how to download and
install these packages at https://github.com/jrl-umi3218.
\section python_bindings Python bindings
As most packages based on the dynamic-graph framework (see https://github.com/jrl-umi3218/dynamic-graph),
the functionnality is exposed through entities. Hence python sub-modules of dynamic_graph are generated. See <a href="../sphinx-html/index.html">sphinx documentation</a> for more details.
The following entities are created by this package:\n
(all entites are placed in the namespace sot::)
\li sot::ZmprefFromCom
\li sot::ForceCompensation
\li sot::IntegratorForceExact
\li sot::MassApparent
\li sot::IntegratorForceRk4
\li sot::IntegratorForce
\li sot::AngleEstimator
\li sot::WaistAttitudeFromSensor
\li sot::Dynamic - provides the inverse dynamics computations for of a humanoid robot
Optionally, if the packages in brackets are installed, the following entities
are made available:
\li sot::DynamicHrp2 - same as sot::Dynamic, but specialized for hrp2 robots [needs hrp2-dynamics]
\li sot::DynamicHrp2_10 - same as previous, optimized for the hrp2-10 robot [needs hrp210optimized]
\li sot::DynamicHrp2_10_old [needs hrp210optimized]
See each entity's documentation page for more information (when available).
\section References
\anchor Mansard2007
<b>"Task sequencing for sensor-based control"</b>,
<em>N. Mansard, F. Chaumette,</em>
IEEE Trans. on Robotics, 23(1):60-72, February 2007
**/
Copy in this directory the image you wish to use in the footer of the documentation or edit file sot-core/doc/footer.html and
remove this file.
# Copyright 2011, Nicolas Mansard, LAAS-CNRS
#
# This file is part of sot-dyninv.
# sot-dyninv 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-dyninv 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-dyninv. If not, see <http://www.gnu.org/licenses/>.
SET(${PROJECT_NAME}_HEADERS
controller-pd.h
)
# Recreate correct path for the headers
#--------------------------------------
SET(fullpath_${PROJECT_NAME}_HEADERS)
FOREACH(lHeader ${${PROJECT_NAME}_HEADERS})
SET(fullpath_${PROJECT_NAME}_HEADERS
${fullpath_${PROJECT_NAME}_HEADERS}
./${PROJECT_NAME}/${lHeader}
)
ENDFOREACH(lHeader)
#----------------------------------------------------
# Install procedure for the header files
#----------------------------------------------------
INSTALL(FILES ${fullpath_${PROJECT_NAME}_HEADERS}
DESTINATION include/${PROJECT_NAME}
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
)
/*
* Copyright 2011, Nicolas Mansard, LAAS-CNRS
*
* This file is part of sot-dyninv.
* sot-dyninv 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-dyninv 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-dyninv. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __sot_dyninv_ControllerPD_H__
#define __sot_dyninv_ControllerPD_H__
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#if defined (WIN32)
# if defined (controller_pd_EXPORTS)
# define SOTCONTROLLERPD_EXPORT __declspec(dllexport)
# else
# define SOTCONTROLLERPD_EXPORT __declspec(dllimport)
# endif
#else
# define SOTCONTROLLERPD_EXPORT
#endif
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/* Matrix */
#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot-core/matrix-homogeneous.h>
#include <sot-core/vector-roll-pitch-yaw.h>
#include <sot-core/matrix-rotation.h>
/* STD */
#include <string>
namespace sot {
namespace dyninv {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
class SOTCONTROLLERPD_EXPORT ControllerPD
:public dg::Entity
{
public:
static const std::string CLASS_NAME;
public: /* --- CONSTRUCTION --- */
ControllerPD( const std::string& name );
virtual ~ControllerPD( void );
public: /* --- SIGNAL --- */
dg::SignalPtr<MatrixRotation,int> sensorWorldRotationSIN; // estimate(worldRc)
dg::SignalPtr<MatrixHomogeneous,int> sensorEmbeddedPositionSIN; // waistRchest
dg::SignalPtr<MatrixHomogeneous,int> contactWorldPositionSIN; // estimate(worldRf)
dg::SignalPtr<MatrixHomogeneous,int> contactEmbeddedPositionSIN; // waistRleg
dg::SignalTimeDependent<ml::Vector,int> anglesSOUT; // [ flex1 flex2 yaw_drift ]
dg::SignalTimeDependent<MatrixRotation,int> flexibilitySOUT; // footRleg
dg::SignalTimeDependent<MatrixRotation,int> driftSOUT; // Ryaw = worldRc est(wRc)^-1
dg::SignalTimeDependent<MatrixRotation,int> sensorWorldRotationSOUT; // worldRc
dg::SignalTimeDependent<MatrixRotation,int> waistWorldRotationSOUT; // worldRwaist
dg::SignalTimeDependent<MatrixHomogeneous,int> waistWorldPositionSOUT; // worldMwaist
dg::SignalTimeDependent<ml::Vector,int> waistWorldPoseRPYSOUT; // worldMwaist
public: /* --- FUNCTIONS --- */
ml::Vector& computeAngles( ml::Vector& res,
const int& time );
MatrixRotation& computeFlexibilityFromAngles( MatrixRotation& res,
const int& time );
MatrixRotation& computeDriftFromAngles( MatrixRotation& res,
const int& time );
MatrixRotation& computeSensorWorldRotation( MatrixRotation& res,
const int& time );
MatrixRotation& computeWaistWorldRotation( MatrixRotation& res,
const int& time );
MatrixHomogeneous& computeWaistWorldPosition( MatrixHomogeneous& res,
const int& time );
ml::Vector& computeWaistWorldPoseRPY( ml::Vector& res,
const int& time );
public: /* --- PARAMS --- */
void fromSensor(const bool& inFromSensor) { fromSensor_ = inFromSensor; }
bool fromSensor() const { return fromSensor_; }
private:
bool fromSensor_;
virtual void commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os );
};
} // namespace dyninv
} // namespace sot
#endif // #ifndef __sot_dyninv_ControllerPD_H__
prefix=${CMAKE_INSTALL_PREFIX}
exec_prefix=${install_pkg_prefix}
libdir=${install_pkg_exec_prefix}/lib/plugin
includedir=${install_pkg_prefix}/include
datarootdir=${install_pkg_prefix}/share
docdir=${install_pkg_datarootdir}/doc/${PROJECT_NAME}
Name: ${PROJECT_NAME}
Description:
Version: ${PROJECT_VERSION}
Requires: ${PACKAGE_REQUIREMENTS}
Libs: ${LIBDIR_KW}${install_pkg_libdir} ${${PROJECT_NAME}_LDFLAGS}
Cflags: -I${install_pkg_include_dir} ${${PROJECT_NAME}_CXXFLAGS}
# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST,
# Florent Lamiraux (CNRS/LAAS)
#
# This file is part of sot-dyninv.
# sot-dyninv 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-dyninv 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-dyninv. If not, see <http://www.gnu.org/licenses/>.
INCLUDE(../cmake/python.cmake)
IF(CMAKE_BUILD_TYPE STREQUAL "DEBUG")
ADD_DEFINITIONS(-DDEBUG=2)
ENDIF(CMAKE_BUILD_TYPE STREQUAL "DEBUG")
FOREACH(lib ${libs})
ADD_LIBRARY(${lib} SHARED ${lib}.cpp)
SET_TARGET_PROPERTIES(${lib} PROPERTIES
PREFIX ""
SOVERSION ${PROJECT_VERSION})
IF(${lib}_plugins_dependencies)
ADD_DEPENDENCIES(${lib} "${${lib}_plugins_dependencies}")
TARGET_LINK_LIBRARIES(${lib} "${${lib}_plugins_dependencies}")
ENDIF(${lib}_plugins_dependencies)
PKG_CONFIG_USE_DEPENDENCY(${lib} sot-core)
PKG_CONFIG_USE_DEPENDENCY(${lib} dynamic-graph)
INSTALL(TARGETS ${lib} DESTINATION lib/plugin)
# build python submodule
STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${lib})
ADD_DEPENDENCIES(${lib} MKDIR_${PYTHON_LIBRARY_NAME})
ADD_CUSTOM_TARGET(MKDIR_${PYTHON_LIBRARY_NAME}
mkdir -p dynamic_graph/sot/dyninv/${PYTHON_LIBRARY_NAME}
)
DYNAMIC_GRAPH_PYTHON_MODULE("sot/dyninv/${PYTHON_LIBRARY_NAME}"
${lib}
sot/dyninv/${PYTHON_LIBRARY_NAME}/wrap
)
ENDFOREACH(lib)
EXEC_PROGRAM(${PYTHON_EXECUTABLE} ARGS "-c \"from distutils import sysconfig; print sysconfig.get_python_lib(0,0,prefix='')\""
OUTPUT_VARIABLE PYTHON_SITELIB
)
# Install empty __init__.py files in intermediate directories.
INSTALL(FILES
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/__init__.py
DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dyninv