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garbage.txt
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garbage.txt
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////////////////////////////// online analysis
void sonar(){
////////////////////////////// create publishers and subscribers
ros::NodeHandle node;
ros::Subscriber subjoy = node.subscribe("joy", 5, joyCallback);
ros::Subscriber subkeydn = node.subscribe("keyboard/keydown", 5, keydownCallback);
ros::Subscriber subkeyup = node.subscribe("keyboard/keyup", 5, keyupCallback);
double dt = 1.0/10.0;//1.0/10.0;
double t = 0;
ros::Rate rate(1.0/dt);
ros::Publisher publisherWorkspace = node.advertise <visualization_msgs::Marker> ("workspace", 1);
ros::Publisher publisherOriWorkspace = node.advertise <visualization_msgs::Marker> ("oriworkspace", 5);
ros::Publisher publisherRobot = node.advertise <visualization_msgs::Marker> ("robot", 1);
ros::Publisher publisherTool = node.advertise <visualization_msgs::Marker> ("tool", 1);
ros::Publisher publisherJointLabels = node.advertise <visualization_msgs::Marker> ("jointlabels", 7);
ros::Publisher publisherElbowCost = node.advertise <visualization_msgs::Marker> ("elbowcost", 2);
ros::Publisher publisherCam = node.advertise <view_controller_msgs::CameraPlacement>("rviz/camera_placement", 1);
ros::Publisher publisherModel = node.advertise <sensor_msgs::JointState> ("joint_states", 1);
bool autoElbow = true;
////////////////////////////// initialize markers for sonar (ik probe rays)
bool sonarUseTriangles = true;
visualization_msgs::Marker markerSonar;
int splitFactor = 10;
int nSonarRays = sphere_icos_point_num(splitFactor);
// geodesic sphere
printf("\n\ncreating geodesic sphere for probe directions using qconvex (qhull must be installed!)...\n");
double *sphereGridPoints = new double[nSonarRays*3];
sphereGridPoints = sphere_icos2_points(splitFactor, nSonarRays);
// calculate faces using external program qhull (qconvex)
stringstream ss;
ss << "echo \"3 " << nSonarRays << "\n";
for(int i=0; i<nSonarRays; i++){
ss << sphereGridPoints[i*3 ] << " ";
ss << sphereGridPoints[i*3+1] << " ";
ss << sphereGridPoints[i*3+2] << "\n";
}
ss << "\" | qconvex i";
//cout << "\n\n" << ss.str() << "\n\n";
FILE *fp;
fp = popen(ss.str().c_str(), "r");
if (fp == NULL){printf("Failed to run command\n" ); exit(1);}
int nFaces;
fscanf(fp, "%d", &nFaces);
vector<int> geoFaces(nFaces*3, -1);
int i1, i2, i3;
for(int i=0; i<nFaces; i++){
fscanf(fp, "%d %d %d\n", &i1, &i2, &i3);
geoFaces[i*3 ] = i1;
geoFaces[i*3+1] = i2;
geoFaces[i*3+2] = i3;
}
pclose(fp);
if(!sonarUseTriangles){
markerSonar = initializeMarker(0, visualization_msgs::Marker::POINTS, nSonarRays);
markerSonar.scale.x = markerSonar.scale.y = markerSonar.scale.z = 0.01;
}
else{
markerSonar = initializeMarker(0, visualization_msgs::Marker::TRIANGLE_LIST, nFaces*3);
}
////////////////////////////// initialize line marker for robot and joints for publishing
visualization_msgs::Marker markerRobot =
initializeMarker(1, visualization_msgs::Marker::LINE_STRIP, 7);
markerRobot.scale.x = markerRobot.scale.y = markerRobot.scale.z = 0.04;
visualization_msgs::Marker markerTool = initializeMarker(37, visualization_msgs::Marker::MESH_RESOURCE, 0);
markerTool.mesh_resource = "file:///home/mirko/catkin_ws/src/wovi/misc/rubiktool.dae";
markerTool.mesh_use_embedded_materials = true;
markerTool.color = colorFromEigen(Vector4d(0.1,0.3,1,1));
sensor_msgs::JointState jointsPublish;
jointsPublish.position.resize(7);
jointsPublish.name.resize(7);
jointsPublish.name[0] = "lwr1_base_joint";
jointsPublish.name[1] = "lwr1_shoulder_joint";
jointsPublish.name[2] = "lwr1_upperarm_joint";
jointsPublish.name[3] = "lwr1_elbow_joint";
jointsPublish.name[4] = "lwr1_lowerarm_joint";
jointsPublish.name[5] = "lwr1_wrist_joint";
jointsPublish.name[6] = "lwr1_flange_joint";
////////////////////////////// initialize text markers for robot joints
visualization_msgs::Marker markerJoints[7];
for(int j=0; j<7; j++){
markerJoints[j] = initializeMarker(10+j, visualization_msgs::Marker::TEXT_VIEW_FACING, 1);
markerJoints[j].scale.x = markerJoints[j].scale.y = markerJoints[j].scale.z = 0.04;
markerJoints[j].color = colorFromEigen(Vector4d(0,0,0.8,1));
}
////////////////////////////// initialize triangle marker for elbow cost function
int nElbowCostSteps = 256;
double elbowCostR1 = 0.5;
double elbowCostR2 = 0.6;
visualization_msgs::Marker markerElbowCost =
initializeMarker(2, visualization_msgs::Marker::LINE_STRIP, nElbowCostSteps+1);
markerElbowCost.scale.x = markerElbowCost.scale.y = markerElbowCost.scale.z = 0.02;
visualization_msgs::Marker markerElbowZero =
initializeMarker(3, visualization_msgs::Marker::LINE_STRIP, nElbowCostSteps+1);
markerElbowZero.scale.x = markerElbowZero.scale.y = markerElbowZero.scale.z = 0.004;
for(int iv=0; iv<nElbowCostSteps+1; iv++){
markerElbowZero.colors[iv].r = 0.8; markerElbowZero.colors[iv].g = 0.9; markerElbowZero.colors[iv].b = 1.0;
}
////////////////////////////// initialize orientation targets and line marker for orientation checks
int nOriSonarRays = 128+2; // tilting about 32 axes and rolling to the left and to the right
Quaterniond *targetOrisRel = new Quaterniond[nOriSonarRays];
double oriPhiMax = 0.5*M_PI;
for(int i=0; i<nOriSonarRays-2; i++){
double yaw = (double)i / ((double)nOriSonarRays-2) *2.0*M_PI;
targetOrisRel[i] = AngleAxisd(oriPhiMax, Vector3d(cos(yaw), sin(yaw), 0) );
}
targetOrisRel[nOriSonarRays-2] = AngleAxisd( -oriPhiMax, Vector3d(0,0,1) );
targetOrisRel[nOriSonarRays-1] = AngleAxisd( +oriPhiMax, Vector3d(0,0,1) );
visualization_msgs::Marker markerOriSonar =
initializeMarker(4, visualization_msgs::Marker::LINE_STRIP, nOriSonarRays-2+1);
markerOriSonar.scale.x = markerOriSonar.scale.y = markerOriSonar.scale.z = 0.01;
markerOriSonar.color.a = 0.99; // so per vertex alpha is active
visualization_msgs::Marker markerRollSonar =
initializeMarker(5, visualization_msgs::Marker::LINE_LIST, 6);
markerRollSonar.scale.x = markerRollSonar.scale.y = markerRollSonar.scale.z = 0.01;
markerRollSonar.color.a = 0.99; // so per vertex alpha is active
visualization_msgs::Marker markerOriSonarSphere =
initializeMarker(6, visualization_msgs::Marker::SPHERE, 1);
markerOriSonarSphere.scale.x = markerOriSonarSphere.scale.y = markerOriSonarSphere.scale.z = 0.5;
markerOriSonarSphere.pose.position.z = 0.31;
markerOriSonarSphere.color = colorFromEigen(Vector4d(1,1,1,0.5));
markerOriSonarSphere.pose.orientation = orientationFromEigen(Vector4d(0.5,0.5,0.5,0.5));
////////////////////////////// configure camera position
view_controller_msgs::CameraPlacement cam;
double camyaw = 0;
double campitch = 0;
double camdst = 3;
cam.interpolation_mode = 1;
cam.target_frame = "";
cam.time_from_start.sec = 0;
cam.time_from_start.nsec = 1;//20*1e6;
cam.eye.point.x = 3; cam.eye.point.y = 2; cam.eye.point.z = 1;
cam.focus.point.x = 0; cam.focus.point.y = 0; cam.focus.point.z = 0.31;
cam.up.vector.x = 0; cam.up.vector.y = 0; cam.up.vector.z = 1;
cam.mouse_interaction_mode = 0;
cam.interaction_disabled = false;
cam.allow_free_yaw_axis = false;
////////////////////////////// prepare GPU stuff
printf("compiling for GPU...\n");
IKRay ikray;
printf("\n\nfilling arrays...\n");
int nSonarRays64 = ((nSonarRays+nOriSonarRays)/64+1)*64; // increased so 64 devides it
FLOAT* endParams = new FLOAT[nSonarRays64];
FLOAT* rayEnds = new FLOAT[nSonarRays64*4]; // cl_double3 is the same as cl_double4
FLOAT* rayColors = new FLOAT[nSonarRays64*4];
FLOAT* tcpPosStart = new FLOAT[4];
FLOAT* tcpOriStart = new FLOAT[4];
LwrFrame tool;
tool.setPos(0,0,0.3);
tool.setQuat(1,0,0,0);
LwrFrame invTool = tool.inverse();
FLOAT* invToolOcl = new FLOAT[16];
invToolOcl[0]=invTool.ori(0,0); invToolOcl[4]=invTool.ori(0,1); invToolOcl[ 8]=invTool.ori(0,2); invToolOcl[12]=invTool.pos(0);
invToolOcl[1]=invTool.ori(1,0); invToolOcl[5]=invTool.ori(1,1); invToolOcl[ 9]=invTool.ori(1,2); invToolOcl[13]=invTool.pos(1);
invToolOcl[2]=invTool.ori(2,0); invToolOcl[6]=invTool.ori(2,1); invToolOcl[10]=invTool.ori(2,2); invToolOcl[14]=invTool.pos(2);
invToolOcl[3]=0; invToolOcl[7]=0; invToolOcl[11]=0; invToolOcl[15]=1;
LwrFrame currentTcp;
LwrXCart currentPose;
currentTcp.setQuat(0.0, 0.0, 1.0, 0.0);
currentTcp.setPos(-0.6,0.0,0.3);
currentPose.pose = currentTcp*invTool;
tcpPosStart[0]=currentTcp.pos.x(); tcpPosStart[1]=currentTcp.pos.y(); tcpPosStart[2]=currentTcp.pos.z();
double buffer4[4];
currentTcp.getQuat(buffer4); // w x y z
tcpOriStart[0]=buffer4[0]; tcpOriStart[1]=buffer4[1]; tcpOriStart[2]=buffer4[2]; tcpOriStart[3]=buffer4[3];
FLOAT nsparam = 0;
int8_t config = 2;
FLOAT* targets = new FLOAT[nSonarRays64*4];
FLOAT* targetOris = new FLOAT[nSonarRays64*4];
uint32_t nrays = nSonarRays64;
uint32_t nsteps = 25;
FLOAT probeRadius = 0.7;
bool doublePrecision = false;
#ifdef DOUBLE_PRECISION
doublePrecision = true;
#endif
for(int iv=0; iv<nSonarRays; iv++){
targets[iv*4 ] = tcpPosStart[0] + sphereGridPoints[iv*3 ]*probeRadius;
targets[iv*4+1] = tcpPosStart[1] + sphereGridPoints[iv*3+1]*probeRadius;
targets[iv*4+2] = tcpPosStart[2] + sphereGridPoints[iv*3+2]*probeRadius;
targetOris[iv*4 ] = tcpOriStart[0];
targetOris[iv*4+1] = tcpOriStart[1];
targetOris[iv*4+2] = tcpOriStart[2];
targetOris[iv*4+3] = tcpOriStart[3];
}
for(int iv=0; iv<nOriSonarRays; iv++){
targets[(iv+nSonarRays)*4 ] = tcpPosStart[0];
targets[(iv+nSonarRays)*4+1] = tcpPosStart[1];
targets[(iv+nSonarRays)*4+2] = tcpPosStart[2];
Quaterniond bufq(tcpOriStart[0], tcpOriStart[1], tcpOriStart[2], tcpOriStart[3]);
bufq = bufq * targetOrisRel[iv];
targetOris[(iv+nSonarRays)*4 ] = bufq.w();
targetOris[(iv+nSonarRays)*4+1] = bufq.x();
targetOris[(iv+nSonarRays)*4+2] = bufq.y();
targetOris[(iv+nSonarRays)*4+3] = bufq.z();
}
printf("GPUing...\n");
tic();
ikray.compute(
endParams,
rayEnds,
rayColors,
tcpPosStart,
tcpOriStart,
invToolOcl,
&nsparam,
config,
targets,
targetOris,
nrays,
nsteps,
true,
doublePrecision,
debugArray,
debugIndex);
toc();
printf("done.\n");
////////////////////////////// game loop
bool firstRun = true;
while (ros::ok())
{
////////////////////////////// gamepad control
/*
camyaw += -0.2*sonarJoyAxesState[3];
campitch += 0.2*sonarJoyAxesState[4];
if(campitch > 1.57){campitch = 1.57;}
if(campitch < -1.57){campitch = -1.57;}
//camdst *= 1 + 0.1*(sonarJoyButtonsState[4]-sonarJoyButtonsState[5]);
if(sonarJoyButtonsState[9]){autoElbow = true;}
if(sonarJoyButtonsState[4] || sonarJoyButtonsState[5]){
autoElbow = false;
nsparam += (sonarJoyButtonsState[4]-sonarJoyButtonsState[5])*0.04;
}
camdst *= 1 + 0.1*(sonarJoyButtonsState[0]-sonarJoyButtonsState[3]);
cam.eye.point.x = cos(camyaw)*cos(campitch)*camdst + cam.focus.point.x;
cam.eye.point.y = sin(camyaw)*cos(campitch)*camdst + cam.focus.point.y;
cam.eye.point.z = sin(campitch)*camdst + cam.focus.point.z;
Matrix3d ccs = camcsys(camyaw, campitch, true);
currentTcp.pos = currentTcp.pos
+ ccs.col(0) * (-0.02*sonarJoyAxesState[0])
+ ccs.col(1) * (+0.02*sonarJoyAxesState[1]);
currentTcp.ori = AngleAxis<double>(0.1 * (sonarJoyAxesState[5]-sonarJoyAxesState[2]),
ccs.col(2)) * currentTcp.ori;
Vector3d camfocus(cam.focus.point.x, cam.focus.point.y, cam.focus.point.z);
camfocus = camfocus + ccs.col(0) * (-0.02*sonarJoyAxesState[6])
+ ccs.col(1) * (+0.02*sonarJoyAxesState[7]);
cam.focus.point.x = camfocus.x(); cam.focus.point.y = camfocus.y(); cam.focus.point.z = camfocus.z();
*/
camyaw += -0.2*joyAxesState[6];
campitch += 0.2*joyAxesState[7];
if(campitch > 1.57){campitch = 1.57;}
if(campitch < -1.57){campitch = -1.57;}
camdst *= 1 + 0.1*(joyButtonsState[0]-joyButtonsState[3]);
Matrix3d cc = camcsys(camyaw, campitch, false); // camera coordinates
Matrix3d ccs = camcsys(camyaw, campitch, true); // camera coordinates, snapped
cam.focus.point.x = currentTcp.pos.x();
cam.focus.point.y = currentTcp.pos.y();
cam.focus.point.z = currentTcp.pos.z();
cam.eye.point.x = cos(camyaw)*cos(campitch)*camdst + cam.focus.point.x;
cam.eye.point.y = sin(camyaw)*cos(campitch)*camdst + cam.focus.point.y;
cam.eye.point.z = sin(campitch)*camdst + cam.focus.point.z;
currentTcp.ori = AngleAxis<double>(-0.1 * joyAxesState[3], cc.col(1)) * currentTcp.ori;
currentTcp.ori = AngleAxis<double>(-0.1 * joyAxesState[4], cc.col(0)) * currentTcp.ori;
currentTcp.ori = AngleAxis<double>(-0.1 *
(joyAxesState[5]-joyAxesState[2]), currentTcp.ori.col(2)) * currentTcp.ori;
currentTcp.pos = currentTcp.pos
+ cc.col(0) * (-0.02*joyAxesState[0])
+ cc.col(1) * (+0.02*joyAxesState[1]);
tcpPosStart[0]=currentTcp.pos.x(); tcpPosStart[1]=currentTcp.pos.y(); tcpPosStart[2]=currentTcp.pos.z();
currentTcp.getQuat(buffer4);
tcpOriStart[0]=buffer4[0]; tcpOriStart[1]=buffer4[1]; tcpOriStart[2]=buffer4[2]; tcpOriStart[3]=buffer4[3];
////////////////////////////// elbow optimization
int nTrials = 15; // how many samples
double delta = 0.35; // up to which angle (abt. 20deg)
double nsp = nsparam;
currentPose.pose = currentTcp*invTool;
LwrXCart testPose = currentPose;
LwrJoints currentJoints;
LwrJoints testJoints;
testPose.nsparam = nsparam;
Lwr::inverseKinematics(currentJoints, testPose);
double costBefore = elbowCost2(currentJoints, currentJoints);
if(autoElbow){
testPose.nsparam = nsparam+1e-5;
Lwr::inverseKinematics(testJoints, testPose);
double costNext = elbowCost2(testJoints, currentJoints);
double dir = +1;
if(costBefore < costNext){dir = -1;}
// sample cost function in descending direction and stop if it starts rising again
for(int i=1; i<nTrials+1; i++){
double q = (double)i/(double)nTrials;
q = pow(q, 1.5);
nsp = nsparam + q*dir*delta;
testPose.nsparam = nsp;
Lwr::inverseKinematics(testJoints, testPose);
costNext = elbowCost2(testJoints, currentJoints);
if(costNext < costBefore){
costBefore = costNext;
nsparam = nsp;
}
else{
break;
}
}
}
////////////////////////////// draw robot
currentPose.nsparam = nsparam;
currentPose.config = config;
LwrJoints jnts;
Lwr::inverseKinematics(jnts, currentPose);
LwrFrame dhPositions[8];
fk(dhPositions, jnts);
Vector3d jointPositions[7];
jointPositions[0] = Vector3d(0,0,0);
jointPositions[1] = Vector3d(0,0,0.31);
jointPositions[2] = 0.5*(Vector3d(0,0,0.31) + dhPositions[3].pos);
jointPositions[3] = dhPositions[3].pos;
jointPositions[4] = 0.5*(dhPositions[3].pos + dhPositions[5].pos);
jointPositions[5] = dhPositions[5].pos;
jointPositions[6] = dhPositions[7].pos;
for(int j=0; j<7; j++){
markerRobot.points[j] = positionFromEigen(jointPositions[j]);
markerRobot.colors[j] = jointColor(j, jnts[j], Vector4d(1.0, 0.8, 0.6, 1.0));
markerJoints[j].pose.position =
positionFromEigen(jointPositions[j]*0.8 + 0.2*Vector3d(cam.eye.point.x, cam.eye.point.y, cam.eye.point.z));
markerJoints[j].text = int2str((int)(jnts[j]/M_PI*180));
if(j%2 == 0)
if(fabs(jnts[j]) > 170.0*M_PI/180.0){
markerJoints[j].color = colorFromEigen(Vector4d(0.8,0,0,1));}
else{
markerJoints[j].color = colorFromEigen(Vector4d(0,0.4,1.0,1));}
else{
if(fabs(jnts[j]) > 120.0*M_PI/180.0){
markerJoints[j].color = colorFromEigen(Vector4d(0.8,0,0,1));}
else{
markerJoints[j].color = colorFromEigen(Vector4d(0,0.4,1.0,1));}
}
}
////////////////////////////// draw elbow ring
Vector3d elbowPivot = 0.5*(Vector3d(0,0,0.31) + dhPositions[5].pos);
Vector3d elbowCircleNormal = dhPositions[5].pos - Vector3d(0,0,0.31);
elbowCircleNormal.normalize();
Vector3d sinVec = -elbowCircleNormal.cross(Vector3d(0,0,1));
sinVec.normalize();
Vector3d cosVec = -sinVec.cross(elbowCircleNormal);
for(int i=0; i<nElbowCostSteps+1; i++){
double phi = (double)i / (double)nElbowCostSteps * 2 * M_PI;
testPose.nsparam = phi;
Lwr::inverseKinematics(testJoints, testPose);
double q = elbowCost2(testJoints, currentJoints);
double qc = 0;
double qr = 0;
//double q = elbowCost(testJoints, currentJoints);
if(q > 0){
qc = q/3;
qr = q/3;
if(qc>1){qc=1;}
markerElbowCost.colors[i] = colorFromEigen((1-qc)*Vector4d(1,0,0,1) + qc*Vector4d(1,1,1,1));
}
else{
//q = pow(1-exp(-q),20); // function like this: __/"" from 0 to 1
qc = -q*10;
qr = q*10;
if(qc>1){qc=1;}
markerElbowCost.colors[i] = colorFromEigen((1-qc)*Vector4d(1,0.73,0,1) + qc*Vector4d(0,0.73,1,1));
}
qr = q;
markerElbowCost.points[i] =
positionFromEigen(elbowPivot +
0.2*qr*elbowCircleNormal +
(sinVec*sin(phi) + cosVec*cos(phi))*(elbowCostR1));
markerElbowZero.points[i] =
positionFromEigen(elbowPivot + (sinVec*sin(phi) + cosVec*cos(phi))*elbowCostR1);
}
////////////////////////////// compute GPU probe rays
for(int iv=0; iv<nSonarRays; iv++){
targets[iv*4 ] = tcpPosStart[0] + sphereGridPoints[iv*3 ]*probeRadius;
targets[iv*4+1] = tcpPosStart[1] + sphereGridPoints[iv*3+1]*probeRadius;
targets[iv*4+2] = tcpPosStart[2] + sphereGridPoints[iv*3+2]*probeRadius;
targetOris[iv*4 ] = tcpOriStart[0];
targetOris[iv*4+1] = tcpOriStart[1];
targetOris[iv*4+2] = tcpOriStart[2];
targetOris[iv*4+3] = tcpOriStart[3];
}
for(int iv=0; iv<nOriSonarRays; iv++){
targets[(iv+nSonarRays)*4 ] = tcpPosStart[0];
targets[(iv+nSonarRays)*4+1] = tcpPosStart[1];
targets[(iv+nSonarRays)*4+2] = tcpPosStart[2];
Quaterniond bufq(tcpOriStart[0], tcpOriStart[1], tcpOriStart[2], tcpOriStart[3]);
bufq = bufq * targetOrisRel[iv];
targetOris[(iv+nSonarRays)*4 ] = bufq.w();
targetOris[(iv+nSonarRays)*4+1] = bufq.x();
targetOris[(iv+nSonarRays)*4+2] = bufq.y();
targetOris[(iv+nSonarRays)*4+3] = bufq.z();
}
ikray.compute(
endParams,
rayEnds,
rayColors,
tcpPosStart,
tcpOriStart,
invToolOcl,
&nsparam,
config,
targets,
targetOris,
nrays,
nsteps,
true,
doublePrecision,
debugArray,
debugIndex);
if(!sonarUseTriangles){
for(int iv=0; iv<nSonarRays; iv++){
markerSonar.points[iv].x = rayEnds[iv*4 ];
markerSonar.points[iv].y = rayEnds[iv*4+1];
markerSonar.points[iv].z = rayEnds[iv*4+2];
markerSonar.colors[iv].r = rayColors[iv*4 ];
markerSonar.colors[iv].g = rayColors[iv*4+1];
markerSonar.colors[iv].b = rayColors[iv*4+2];
markerSonar.colors[iv].a = rayColors[iv*4+3];
}
}
else{
for(int iv=0; iv<3*nFaces; iv++){
markerSonar.points[iv].x = rayEnds[geoFaces[iv]*4 ];
markerSonar.points[iv].y = rayEnds[geoFaces[iv]*4+1];
markerSonar.points[iv].z = rayEnds[geoFaces[iv]*4+2];
markerSonar.colors[iv].r = rayColors[geoFaces[iv]*4 ];
markerSonar.colors[iv].g = rayColors[geoFaces[iv]*4+1];
markerSonar.colors[iv].b = rayColors[geoFaces[iv]*4+2];
markerSonar.colors[iv].a = rayColors[geoFaces[iv]*4+3];
}
}
Matrix3d twist;
double w;
for(int iv=0; iv<nOriSonarRays-2; iv++){
double yaw = (double)iv / ((double)nOriSonarRays-2) *2.0*M_PI;
w = endParams[iv+nSonarRays];
twist = AngleAxisd(w*oriPhiMax, Vector3d(cos(yaw), sin(yaw), 0) );
//markerOriSonar.points[iv] = positionFromEigen(Vector3d(cos(phi)*r, sin(phi)*r, 0));
markerOriSonar.points[iv] = positionFromEigen(
currentTcp.ori*twist*Vector3d(0,0,-1)*0.26 + currentTcp.pos);
markerOriSonar.colors[iv] = colorFromEigen(Vector4d(1,0,1,1)*(1-w) + Vector4d(0.59,0.59,0.59,0)*w);
}
markerOriSonar.points[nOriSonarRays-2] = markerOriSonar.points[0];
markerOriSonar.colors[nOriSonarRays-2] = markerOriSonar.colors[0];
markerRollSonar.points[0] =
markerRollSonar.points[2] =
markerRollSonar.points[4] = positionFromEigen(
currentTcp.ori*Vector3d(0,0,-1)*0.26 + currentTcp.pos);
markerRollSonar.points[1] = positionFromEigen(
currentTcp.ori*Vector3d(0.3,0,-1)*0.26 + currentTcp.pos);
markerRollSonar.colors[0] = markerRollSonar.colors[1] = colorFromEigen(Vector4d(0.4,0,0.4,0.7));
w = endParams[nSonarRays+nOriSonarRays-2];
twist = AngleAxisd(-w*oriPhiMax, Vector3d(0,0,1) );
markerRollSonar.points[3] = positionFromEigen(
currentTcp.ori*twist*Vector3d(0.3,0,-1)*0.26 + currentTcp.pos);
markerRollSonar.colors[2] = markerRollSonar.colors[3] =
colorFromEigen(Vector4d(1,0,1,1)*(1-w) + Vector4d(0.59,0.59,0.59,0)*w);
w = endParams[nSonarRays+nOriSonarRays-1];
twist = AngleAxisd(w*oriPhiMax, Vector3d(0,0,1) );
markerRollSonar.points[5] = positionFromEigen(
currentTcp.ori*twist*Vector3d(0.3,0,-1)*0.26 + currentTcp.pos);
markerRollSonar.colors[4] = markerRollSonar.colors[5] =
colorFromEigen(Vector4d(1,0,1,1)*(1-w) + Vector4d(0.59,0.59,0.59,0)*w);
markerOriSonarSphere.pose.position = positionFromEigen(currentTcp.pos);
////////////////////////////// publish all the stuff
publisherWorkspace.publish(markerSonar);
publisherOriWorkspace.publish(markerOriSonar);
publisherOriWorkspace.publish(markerRollSonar);
publisherOriWorkspace.publish(markerOriSonarSphere);
publisherRobot.publish(markerRobot);
publisherElbowCost.publish(markerElbowCost);
publisherElbowCost.publish(markerElbowZero);
publisherCam.publish(cam);
for(int j=0; j<7; j++){
publisherJointLabels.publish(markerJoints[j]);
}
for(int j=0; j<7; j++){
jointsPublish.position[j] = jnts[j];
}
jointsPublish.header.stamp = ros::Time::now();
publisherModel.publish(jointsPublish);
markerTool.pose.position = positionFromEigen(currentTcp.pos);
currentTcp.getQuat(markerTool.pose.orientation.w, markerTool.pose.orientation.x,
markerTool.pose.orientation.y, markerTool.pose.orientation.z);
publisherTool.publish(markerTool);
//pubcsys(Vector3d(cam.focus.point.x, cam.focus.point.y, cam.focus.point.z), ccs, "Focus");
pubcsys(currentTcp.pos, currentTcp.ori, "TCP");
//pubcsys(Vector3d(0,0,0), Matrix3d::Identity(), "Base");
rate.sleep();
ros::spinOnce();
t += dt;
firstRun = false;
}
delete[] sphereGridPoints;
delete[] endParams;
delete[] rayEnds;
delete[] rayColors;
delete[] tcpPosStart;
delete[] tcpOriStart;
delete[] invToolOcl;
delete[] targets;
delete[] targetOris;
delete[] targetOrisRel;
}
////////////////////////////// preop analysis
void accmap(){
////////////////////////////// create publishers and subscribers
ros::NodeHandle node;
ros::Subscriber subjoy = node.subscribe("joy", 5, joyCallback);
ros::Subscriber subkeydn = node.subscribe("keyboard/keydown", 5, keydownCallback);
ros::Subscriber subkeyup = node.subscribe("keyboard/keyup", 5, keyupCallback);
for(int i=0; i<1024; i++){keyState[i] = false;}
double dt = 1.0/10.0;//1.0/10.0;
double t = 0;
ros::Rate rate(1.0/dt);
ros::Publisher publisherAccMap = node.advertise <visualization_msgs::Marker> ("workspace", 1);
ros::Publisher publisherIntersection = node.advertise <visualization_msgs::Marker> ("wsintersection", 1);
//ros::Publisher publisherAccMap = node.advertise <visualization_msgs::Marker> ("MarchingCubes", 1);
ros::Publisher publisherCam = node.advertise <view_controller_msgs::CameraPlacement>("rviz/camera_placement", 1);
ros::Publisher publisherModel = node.advertise <sensor_msgs::JointState> ("joint_states", 1);
ros::Publisher publisherTestOris = node.advertise <visualization_msgs::Marker> ("test_oris", 1);
ros::Publisher publisherWorkpiece = node.advertise <visualization_msgs::Marker> ("workpiece", 1);
////////////////////////////// initialize joints for publishing
sensor_msgs::JointState jointsPublish;
jointsPublish.position.resize(7);
jointsPublish.name.resize(7);
jointsPublish.name[0] = "lwr1_base_joint";
jointsPublish.name[1] = "lwr1_shoulder_joint";
jointsPublish.name[2] = "lwr1_upperarm_joint";
jointsPublish.name[3] = "lwr1_elbow_joint";
jointsPublish.name[4] = "lwr1_lowerarm_joint";
jointsPublish.name[5] = "lwr1_wrist_joint";
jointsPublish.name[6] = "lwr1_flange_joint";
////////////////////////////// initialize text markers for robot joints
visualization_msgs::Marker markerJoints[7];
for(int j=0; j<7; j++){
markerJoints[j] = initializeMarker(10+j, visualization_msgs::Marker::TEXT_VIEW_FACING, 1);
markerJoints[j].scale.x = markerJoints[j].scale.y = markerJoints[j].scale.z = 0.04;
markerJoints[j].color = colorFromEigen(Vector4d(0,0,0.8,1));
}
////////////////////////////// initialize workpiece
visualization_msgs::Marker markerWorkpiece = initializeMarker(87, visualization_msgs::Marker::MESH_RESOURCE, 0);
markerWorkpiece.mesh_resource = "file:///home/mirko/catkin_ws/src/wovi/misc/rubik.dae";
markerWorkpiece.mesh_use_embedded_materials = true;
markerWorkpiece.color = colorFromEigen(Vector4d(0.1,0.3,1,1));
markerWorkpiece.scale.x = markerWorkpiece.scale.y = markerWorkpiece.scale.z = 0.1;
LwrFrame workpiecePose;
////////////////////////////// configure camera position
view_controller_msgs::CameraPlacement cam;
double camyaw = 0;
double campitch = 0;
double camdst = 3;
cam.interpolation_mode = 1;
cam.target_frame = "";
cam.time_from_start.sec = 0;
cam.time_from_start.nsec = 1;//20*1e6;
cam.eye.point.x = 3; cam.eye.point.y = 2; cam.eye.point.z = 1;
cam.focus.point.x = 0; cam.focus.point.y = 0; cam.focus.point.z = 0.31;
cam.up.vector.x = 0; cam.up.vector.y = 0; cam.up.vector.z = 1;
cam.mouse_interaction_mode = 0;
cam.interaction_disabled = false;
cam.allow_free_yaw_axis = false;
////////////////////////////// create test orientations
vector<Quaterniond> testOris(0);
visualization_msgs::Marker markerTestOris = initializeMarker(30, visualization_msgs::Marker::TRIANGLE_LIST, 0);
/* testOris.push_back(Quaterniond(1,0,0,0));
testOris.push_back(Quaterniond(0,1,0,0));
testOris.push_back(Quaterniond(0,0,1,0));
testOris.push_back(Quaterniond(0,0,0,1));*/
vector<Vector3d> arrowMesh(0);
arrowMesh.push_back(Vector3d(0,0,0));
arrowMesh.push_back(Vector3d(0,0,1));
arrowMesh.push_back(Vector3d(0.1,0,1));
arrowMesh.push_back(Vector3d(0,0,0));
arrowMesh.push_back(Vector3d(0.1,0,1));
arrowMesh.push_back(Vector3d(0.1,0,0.8));
arrowMesh.push_back(Vector3d(0,0,0));
arrowMesh.push_back(Vector3d(0.1,0,0.8));
arrowMesh.push_back(Vector3d(0.2,0,0.83));
////////////////////////////// prepare GPU stuff
printf("compiling for GPU...\n");
AccMap accmap;
printf("\n\nfilling arrays...\n");
const uint32_t nTriangles = 100000;
//const uint32_t nTriangles = 30;
visualization_msgs::Marker markeraccmap;
markeraccmap = initializeMarker(0, visualization_msgs::Marker::TRIANGLE_LIST, nTriangles*3);
visualization_msgs::Marker markeraccmapintersect;
markeraccmapintersect = initializeMarker(10, visualization_msgs::Marker::TRIANGLE_LIST, nTriangles*3);
//uint16_t nx = 175, ny = 175, nz = 155;
uint16_t nx = 47, ny = 47, nz = 42;
//uint16_t nx = 47*2-1, ny = 47*2-1, nz = 42*2-1;
//int nx = 36, ny = 36, nz = 26;
// double x0 =-0.87, y0 =-0.87, z0 =-0.36;
// double x1 = 0.87, y1 = 0.87, z1 = 1.18;
double x0 =-0.92, y0 =-0.92, z0 = -0.40;
double x1 = 0.92, y1 = 0.92, z1 = 1.24;
double iso = 0.9;
//double x0=-1.4, y0=-2, z0=-1.7, x1=2.6, y1=2, z1=2.3;
printf("Grid cell size: %f x %f x %f cm\n", (x1-x0)/(nx-1)*100, (y1-y0)/(ny-1)*100, (z1-z0)/(nz-1)*100);
int8_t* voxelData = new int8_t[nx*ny*nz];
double dx = (x1-x0)/(double)(nx-1);
double dy = (y1-y0)/(double)(ny-1);
double dz = (z1-z0)/(double)(nz-1);
double x = x0;
double y = y0;
double z = z0;
int nSamples = nx*ny*nz;
int nSamples64 = ((nSamples)/64+1)*64; // increased so 64 devides it
int16_t* errors = new int16_t[nSamples64];
//printf("\nerrors from 0x%X to 0x%X, %d bytes\n", errors, &(errors[nSamples64-1]) + 15, nSamples64*sizeof(int16_t));
int16_t* intervals = new int16_t[64*nSamples64];
//printf("\nintervals from 0x%X to 0x%X, %d bytes\n", intervals, &(intervals[64*nSamples64-1]) + 15, 64*nSamples64*sizeof(int16_t));
FLOAT* targets = new FLOAT[16*nSamples64];
//printf("\ntargets from 0x%X to 0x%X+.., %d bytes\n", targets, &(targets[16*nSamples64-1]), 16*nSamples64*sizeof(FLOAT));
uint8_t* configs = new uint8_t[nSamples64];
//printf("\nconfigs from 0x%X to 0x%X, %d bytes\n", configs, &(configs[nSamples64-1]) + 7, nSamples64*sizeof(uint8_t));
bool doublePrecision = false;
#ifdef DOUBLE_PRECISION
doublePrecision = true;
#endif
LwrFrame bufferFrame;
int iV=0;
x=x0; for(int ix=0; ix<nx; ix++){y=y0; for(int iy=0; iy<ny; iy++){z=z0; for(int iz=0; iz<nz; iz++){
bufferFrame.setPos(x, y, z);
oclFromFrame(&(targets[iV*16]), &bufferFrame);
configs[iV] = 2;
iV++;
z+=dz;} y+=dy;} x+=dx;}
LwrFrame tool;
tool.setPos(0,0,0.1);
tool.setQuat(1,0,0,0);
LwrFrame invTool = tool.inverse();
LwrFrame currentTcp;
LwrXCart currentPose;
currentTcp.setQuat(1.0, 0.0, 0.0, 0.0);
currentTcp.setPos(0.0,0.0,1.2);
currentPose.pose = currentTcp*invTool;
FLOAT* invToolOcl = new FLOAT[16];
oclFromFrame(invToolOcl, &invTool);
printf("\n\ntestrun...\n");
tic();
accmap.compute(errors, intervals, (void*) targets, configs, (void*) invToolOcl, nSamples64, doublePrecision);
toc();
printf("\n\ndone...\n");
////////////////////////////// game loop
bool firstRun = true;
while (ros::ok())
{
////////////////////////////// gamepad control
bool alternative = joyButtonsState[5];
bool gridsnap = joyButtonsState[4];
Matrix3d camcs = camcsys(camyaw, campitch, false); // camera coordinates
Matrix3d camcssnap = camcsys(camyaw, campitch, true); // camera coordinates, snapped
Matrix3d csys = camcs;
if(gridsnap){csys = camcssnap;}
cam.focus.point.x = 0;
cam.focus.point.y = 0;
cam.focus.point.z = 0.31;
cam.eye.point.x = cos(camyaw)*cos(campitch)*camdst + cam.focus.point.x;
cam.eye.point.y = sin(camyaw)*cos(campitch)*camdst + cam.focus.point.y;
cam.eye.point.z = sin(campitch)*camdst + cam.focus.point.z;
if(!alternative){
workpiecePose.ori = AngleAxis<double>(-0.1 * joyAxesState[3], csys.col(1)) * workpiecePose.ori;
workpiecePose.ori = AngleAxis<double>(-0.1 * joyAxesState[4], csys.col(0)) * workpiecePose.ori;
workpiecePose.pos = workpiecePose.pos
+ csys.col(0) * (-0.02*joyAxesState[0])
+ csys.col(1) * (+0.02*joyAxesState[1]);
camyaw += -0.2*joyAxesState[6];
campitch += 0.2*joyAxesState[7];
if(campitch > 1.57){campitch = 1.57;}
if(campitch < -1.57){campitch = -1.57;}
}
else{
workpiecePose.ori = AngleAxis<double>( 0.1 * joyAxesState[3], csys.col(2)) * workpiecePose.ori;
workpiecePose.pos = workpiecePose.pos
+ csys.col(2) * (-0.02*joyAxesState[1]);
camdst *= 1 - 0.1*joyAxesState[7];
}
////////////////////////////// compute IK samples on GPU
bufferFrame.ori = currentTcp.ori;
iV = 0;
x=x0; for(int ix=0; ix<nx; ix++){y=y0; for(int iy=0; iy<ny; iy++){z=z0; for(int iz=0; iz<nz; iz++){
bufferFrame.setPos(x,y,z);
oclFromFrame(&(targets[iV*16]), &bufferFrame);
configs[iV] = 2;
iV++;
z+=dz;} y+=dy;} x+=dx;}
accmap.compute(errors, intervals, (void*) targets, configs, (void*) invToolOcl, nSamples64, doublePrecision);
iV = 0;
x=x0; for(int ix=0; ix<nx; ix++){y=y0; for(int iy=0; iy<ny; iy++){z=z0; for(int iz=0; iz<nz; iz++){
voxelData[ix*ny*nz + iy*nz + iz] = (errors[iV] & (LWR_NO_SOLUTION_FOR_ELBOW | LWR_ERROR))>0 ? 10 : -10;
iV++;
z+=dz;} y+=dy;} x+=dx;}
marchCubes(&markeraccmap, nTriangles, voxelData, x0, y0, z0, dx, dy, dz, nx, ny, nz, iso, 0.3);
// display intersection of all tested orientations (could take some time)
if(joyButtonsPressed[8]){
joyButtonsPressed[8] = false;
// set all points to reachable
iV = 0;
x=x0; for(int ix=0; ix<nx; ix++){y=y0; for(int iy=0; iy<ny; iy++){z=z0; for(int iz=0; iz<nz; iz++){
voxelData[ix*ny*nz + iy*nz + iz] = 10;
iV++;
z+=dz;} y+=dy;} x+=dx;}
for(int iOri=0; iOri<testOris.size(); iOri++){
bufferFrame.ori = testOris[iOri];
// fill target array
iV = 0;
x=x0; for(int ix=0; ix<nx; ix++){y=y0; for(int iy=0; iy<ny; iy++){z=z0; for(int iz=0; iz<nz; iz++){
bufferFrame.setPos(x,y,z);
oclFromFrame(&(targets[iV*16]), &bufferFrame);
configs[iV] = 2;
iV++;
z+=dz;} y+=dy;} x+=dx;}
// GPU
accmap.compute(errors, intervals, (void*) targets, configs, (void*) invToolOcl, nSamples64, doublePrecision);
// subtract unreachable regions
iV = 0;
x=x0; for(int ix=0; ix<nx; ix++){y=y0; for(int iy=0; iy<ny; iy++){z=z0; for(int iz=0; iz<nz; iz++){
if((errors[iV] & (LWR_NO_SOLUTION_FOR_ELBOW | LWR_ERROR))){
voxelData[ix*ny*nz + iy*nz + iz] = -10;
}
iV++;
z+=dz;} y+=dy;} x+=dx;}
}
marchCubes(&markeraccmapintersect, nTriangles, voxelData, x0, y0, z0, dx, dy, dz, nx, ny, nz, iso, 0.6);
publisherIntersection.publish(markeraccmapintersect);
}
////////////////////////////// publish all the stuff
publisherAccMap.publish(markeraccmap);
for(int j=0; j<7; j++){
//jointsPublish.position[j] = jnts[j];
}
jointsPublish.header.stamp = ros::Time::now();
publisherModel.publish(jointsPublish);
publisherCam.publish(cam);
pubcsys(currentTcp.pos, currentTcp.ori, "TCP");
Matrix3d R;
markerTestOris.points.resize(0);
markerTestOris.colors.resize(0);
for(int ip=0; ip<arrowMesh.size(); ip++){
markerTestOris.points.push_back(positionFromEigen(0.5 * currentTcp.ori * arrowMesh[ip] + currentTcp.pos));
markerTestOris.colors.push_back(colorFromEigen(Vector4d (0.9,0.9,0.9,1)));
}
for(int i=0; i<testOris.size(); i++){
R = testOris[i];
for(int ip=0; ip<arrowMesh.size(); ip++){
markerTestOris.points.push_back(positionFromEigen(0.3 * R * arrowMesh[ip] + currentTcp.pos));
markerTestOris.colors.push_back(colorFromEigen(Vector4d(testOris[i].x()*0.5+0.5, testOris[i].y()*0.5+0.5, testOris[i].z()*0.5+0.5, 1.0)));
}
}
publisherTestOris.publish(markerTestOris);
markerWorkpiece.pose.position = positionFromEigen(workpiecePose.pos);
workpiecePose.getQuat(markerWorkpiece.pose.orientation.w, markerWorkpiece.pose.orientation.x,
markerWorkpiece.pose.orientation.y, markerWorkpiece.pose.orientation.z);
publisherWorkpiece.publish(markerWorkpiece);
rate.sleep();
ros::spinOnce();
t += dt;
firstRun = false;
//break;