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Merge pull request ZebraDevs#53 from hanhongsun/ik-fast
added ik_fast plugin, set to default for 7-dof arm
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cmake_minimum_required(VERSION 2.8.3) | ||
project(fetch_ikfast_plugin) | ||
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find_package(catkin REQUIRED COMPONENTS | ||
moveit_core | ||
pluginlib | ||
roscpp | ||
tf_conversions | ||
) | ||
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include_directories(${catkin_INCLUDE_DIRS}) | ||
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catkin_package( | ||
LIBRARIES | ||
CATKIN_DEPENDS | ||
moveit_core | ||
pluginlib | ||
roscpp | ||
tf_conversions | ||
) | ||
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include_directories(include) | ||
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set(IKFAST_LIBRARY_NAME fetch_arm_moveit_ikfast_plugin) | ||
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find_package(LAPACK REQUIRED) | ||
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add_library(${IKFAST_LIBRARY_NAME} src/fetch_arm_ikfast_moveit_plugin.cpp) | ||
target_link_libraries(${IKFAST_LIBRARY_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${LAPACK_LIBRARIES}) | ||
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install(TARGETS ${IKFAST_LIBRARY_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) | ||
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install( | ||
FILES | ||
fetch_arm_moveit_ikfast_plugin_description.xml | ||
DESTINATION | ||
${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
) |
6 changes: 6 additions & 0 deletions
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fetch_ikfast_plugin/fetch_arm_moveit_ikfast_plugin_description.xml
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<?xml version='1.0' encoding='ASCII'?> | ||
<library path="lib/libfetch_arm_moveit_ikfast_plugin"> | ||
<class name="fetch_arm_kinematics/IKFastKinematicsPlugin" type="ikfast_kinematics_plugin::IKFastKinematicsPlugin" base_class_type="kinematics::KinematicsBase"> | ||
<description>IKFast61 plugin for closed-form kinematics</description> | ||
</class> | ||
</library> |
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// -*- coding: utf-8 -*- | ||
// Copyright (C) 2012 Rosen Diankov <[email protected]> | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
/** \brief Header file for all ikfast c++ files/shared objects. | ||
The ikfast inverse kinematics compiler is part of OpenRAVE. | ||
The file is divided into two sections: | ||
- <b>Common</b> - the abstract classes section that all ikfast share regardless of their settings | ||
- <b>Library Specific</b> - the library-specific definitions, which depends on the precision/settings that the library was compiled with | ||
The defines are as follows, they are also used for the ikfast C++ class: | ||
- IKFAST_HEADER_COMMON - common classes | ||
- IKFAST_HAS_LIBRARY - if defined, will include library-specific functions. by default this is off | ||
- IKFAST_CLIBRARY - Define this linking statically or dynamically to get correct visibility. | ||
- IKFAST_NO_MAIN - Remove the ``main`` function, usually used with IKFAST_CLIBRARY | ||
- IKFAST_ASSERT - Define in order to get a custom assert called when NaNs, divides by zero, and other invalid conditions are detected. | ||
- IKFAST_REAL - Use to force a custom real number type for IkReal. | ||
- IKFAST_NAMESPACE - Enclose all functions and classes in this namespace, the ``main`` function is excluded. | ||
*/ | ||
#include <vector> | ||
#include <list> | ||
#include <stdexcept> | ||
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#ifndef IKFAST_HEADER_COMMON | ||
#define IKFAST_HEADER_COMMON | ||
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/// should be the same as ikfast.__version__ | ||
#define IKFAST_VERSION 61 | ||
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namespace ikfast { | ||
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/// \brief holds the solution for a single dof | ||
template <typename T> | ||
class IkSingleDOFSolutionBase | ||
{ | ||
public: | ||
IkSingleDOFSolutionBase() : fmul(0), foffset(0), freeind(-1), maxsolutions(1) { | ||
indices[0] = indices[1] = indices[2] = indices[3] = indices[4] = -1; | ||
} | ||
T fmul, foffset; ///< joint value is fmul*sol[freeind]+foffset | ||
signed char freeind; ///< if >= 0, mimics another joint | ||
unsigned char jointtype; ///< joint type, 0x01 is revolute, 0x11 is slider | ||
unsigned char maxsolutions; ///< max possible indices, 0 if controlled by free index or a free joint itself | ||
unsigned char indices[5]; ///< unique index of the solution used to keep track on what part it came from. sometimes a solution can be repeated for different indices. store at least another repeated root | ||
}; | ||
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/// \brief The discrete solutions are returned in this structure. | ||
/// | ||
/// Sometimes the joint axes of the robot can align allowing an infinite number of solutions. | ||
/// Stores all these solutions in the form of free variables that the user has to set when querying the solution. Its prototype is: | ||
template <typename T> | ||
class IkSolutionBase | ||
{ | ||
public: | ||
virtual ~IkSolutionBase() { | ||
} | ||
/// \brief gets a concrete solution | ||
/// | ||
/// \param[out] solution the result | ||
/// \param[in] freevalues values for the free parameters \se GetFree | ||
virtual void GetSolution(T* solution, const T* freevalues) const = 0; | ||
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/// \brief std::vector version of \ref GetSolution | ||
virtual void GetSolution(std::vector<T>& solution, const std::vector<T>& freevalues) const { | ||
solution.resize(GetDOF()); | ||
GetSolution(&solution.at(0), freevalues.size() > 0 ? &freevalues.at(0) : NULL); | ||
} | ||
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/// \brief Gets the indices of the configuration space that have to be preset before a full solution can be returned | ||
/// | ||
/// \return vector of indices indicating the free parameters | ||
virtual const std::vector<int>& GetFree() const = 0; | ||
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/// \brief the dof of the solution | ||
virtual const int GetDOF() const = 0; | ||
}; | ||
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/// \brief manages all the solutions | ||
template <typename T> | ||
class IkSolutionListBase | ||
{ | ||
public: | ||
virtual ~IkSolutionListBase() { | ||
} | ||
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/// \brief add one solution and return its index for later retrieval | ||
/// | ||
/// \param vinfos Solution data for each degree of freedom of the manipulator | ||
/// \param vfree If the solution represents an infinite space, holds free parameters of the solution that users can freely set. | ||
virtual size_t AddSolution(const std::vector<IkSingleDOFSolutionBase<T> >& vinfos, const std::vector<int>& vfree) = 0; | ||
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/// \brief returns the solution pointer | ||
virtual const IkSolutionBase<T>& GetSolution(size_t index) const = 0; | ||
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/// \brief returns the number of solutions stored | ||
virtual size_t GetNumSolutions() const = 0; | ||
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/// \brief clears all current solutions, note that any memory addresses returned from \ref GetSolution will be invalidated. | ||
virtual void Clear() = 0; | ||
}; | ||
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/// \brief holds function pointers for all the exported functions of ikfast | ||
template <typename T> | ||
class IkFastFunctions | ||
{ | ||
public: | ||
IkFastFunctions() : _ComputeIk(NULL), _ComputeFk(NULL), _GetNumFreeParameters(NULL), _GetFreeParameters(NULL), _GetNumJoints(NULL), _GetIkRealSize(NULL), _GetIkFastVersion(NULL), _GetIkType(NULL), _GetKinematicsHash(NULL) { | ||
} | ||
virtual ~IkFastFunctions() { | ||
} | ||
typedef bool (*ComputeIkFn)(const T*, const T*, const T*, IkSolutionListBase<T>&); | ||
ComputeIkFn _ComputeIk; | ||
typedef void (*ComputeFkFn)(const T*, T*, T*); | ||
ComputeFkFn _ComputeFk; | ||
typedef int (*GetNumFreeParametersFn)(); | ||
GetNumFreeParametersFn _GetNumFreeParameters; | ||
typedef int* (*GetFreeParametersFn)(); | ||
GetFreeParametersFn _GetFreeParameters; | ||
typedef int (*GetNumJointsFn)(); | ||
GetNumJointsFn _GetNumJoints; | ||
typedef int (*GetIkRealSizeFn)(); | ||
GetIkRealSizeFn _GetIkRealSize; | ||
typedef const char* (*GetIkFastVersionFn)(); | ||
GetIkFastVersionFn _GetIkFastVersion; | ||
typedef int (*GetIkTypeFn)(); | ||
GetIkTypeFn _GetIkType; | ||
typedef const char* (*GetKinematicsHashFn)(); | ||
GetKinematicsHashFn _GetKinematicsHash; | ||
}; | ||
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// Implementations of the abstract classes, user doesn't need to use them | ||
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/// \brief Default implementation of \ref IkSolutionBase | ||
template <typename T> | ||
class IkSolution : public IkSolutionBase<T> | ||
{ | ||
public: | ||
IkSolution(const std::vector<IkSingleDOFSolutionBase<T> >& vinfos, const std::vector<int>& vfree) { | ||
_vbasesol = vinfos; | ||
_vfree = vfree; | ||
} | ||
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virtual void GetSolution(T* solution, const T* freevalues) const { | ||
for(std::size_t i = 0; i < _vbasesol.size(); ++i) { | ||
if( _vbasesol[i].freeind < 0 ) | ||
solution[i] = _vbasesol[i].foffset; | ||
else { | ||
solution[i] = freevalues[_vbasesol[i].freeind]*_vbasesol[i].fmul + _vbasesol[i].foffset; | ||
if( solution[i] > T(3.14159265358979) ) { | ||
solution[i] -= T(6.28318530717959); | ||
} | ||
else if( solution[i] < T(-3.14159265358979) ) { | ||
solution[i] += T(6.28318530717959); | ||
} | ||
} | ||
} | ||
} | ||
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virtual void GetSolution(std::vector<T>& solution, const std::vector<T>& freevalues) const { | ||
solution.resize(GetDOF()); | ||
GetSolution(&solution.at(0), freevalues.size() > 0 ? &freevalues.at(0) : NULL); | ||
} | ||
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virtual const std::vector<int>& GetFree() const { | ||
return _vfree; | ||
} | ||
virtual const int GetDOF() const { | ||
return static_cast<int>(_vbasesol.size()); | ||
} | ||
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virtual void Validate() const { | ||
for(size_t i = 0; i < _vbasesol.size(); ++i) { | ||
if( _vbasesol[i].maxsolutions == (unsigned char)-1) { | ||
throw std::runtime_error("max solutions for joint not initialized"); | ||
} | ||
if( _vbasesol[i].maxsolutions > 0 ) { | ||
if( _vbasesol[i].indices[0] >= _vbasesol[i].maxsolutions ) { | ||
throw std::runtime_error("index >= max solutions for joint"); | ||
} | ||
if( _vbasesol[i].indices[1] != (unsigned char)-1 && _vbasesol[i].indices[1] >= _vbasesol[i].maxsolutions ) { | ||
throw std::runtime_error("2nd index >= max solutions for joint"); | ||
} | ||
} | ||
} | ||
} | ||
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virtual void GetSolutionIndices(std::vector<unsigned int>& v) const { | ||
v.resize(0); | ||
v.push_back(0); | ||
for(int i = (int)_vbasesol.size()-1; i >= 0; --i) { | ||
if( _vbasesol[i].maxsolutions != (unsigned char)-1 && _vbasesol[i].maxsolutions > 1 ) { | ||
for(size_t j = 0; j < v.size(); ++j) { | ||
v[j] *= _vbasesol[i].maxsolutions; | ||
} | ||
size_t orgsize=v.size(); | ||
if( _vbasesol[i].indices[1] != (unsigned char)-1 ) { | ||
for(size_t j = 0; j < orgsize; ++j) { | ||
v.push_back(v[j]+_vbasesol[i].indices[1]); | ||
} | ||
} | ||
if( _vbasesol[i].indices[0] != (unsigned char)-1 ) { | ||
for(size_t j = 0; j < orgsize; ++j) { | ||
v[j] += _vbasesol[i].indices[0]; | ||
} | ||
} | ||
} | ||
} | ||
} | ||
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std::vector< IkSingleDOFSolutionBase<T> > _vbasesol; ///< solution and their offsets if joints are mimiced | ||
std::vector<int> _vfree; | ||
}; | ||
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/// \brief Default implementation of \ref IkSolutionListBase | ||
template <typename T> | ||
class IkSolutionList : public IkSolutionListBase<T> | ||
{ | ||
public: | ||
virtual size_t AddSolution(const std::vector<IkSingleDOFSolutionBase<T> >& vinfos, const std::vector<int>& vfree) | ||
{ | ||
size_t index = _listsolutions.size(); | ||
_listsolutions.push_back(IkSolution<T>(vinfos,vfree)); | ||
return index; | ||
} | ||
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virtual const IkSolutionBase<T>& GetSolution(size_t index) const | ||
{ | ||
if( index >= _listsolutions.size() ) { | ||
throw std::runtime_error("GetSolution index is invalid"); | ||
} | ||
typename std::list< IkSolution<T> >::const_iterator it = _listsolutions.begin(); | ||
std::advance(it,index); | ||
return *it; | ||
} | ||
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virtual size_t GetNumSolutions() const { | ||
return _listsolutions.size(); | ||
} | ||
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virtual void Clear() { | ||
_listsolutions.clear(); | ||
} | ||
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protected: | ||
std::list< IkSolution<T> > _listsolutions; | ||
}; | ||
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} | ||
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#endif // OPENRAVE_IKFAST_HEADER | ||
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// The following code is dependent on the C++ library linking with. | ||
#ifdef IKFAST_HAS_LIBRARY | ||
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// defined when creating a shared object/dll | ||
#ifdef IKFAST_CLIBRARY | ||
#ifdef _MSC_VER | ||
#define IKFAST_API extern "C" __declspec(dllexport) | ||
#else | ||
#define IKFAST_API extern "C" | ||
#endif | ||
#else | ||
#define IKFAST_API | ||
#endif | ||
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#ifdef IKFAST_NAMESPACE | ||
namespace IKFAST_NAMESPACE { | ||
#endif | ||
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#ifdef IKFAST_REAL | ||
typedef IKFAST_REAL IkReal; | ||
#else | ||
typedef double IkReal; | ||
#endif | ||
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/** \brief Computes all IK solutions given a end effector coordinates and the free joints. | ||
- ``eetrans`` - 3 translation values. For iktype **TranslationXYOrientation3D**, the z-axis is the orientation. | ||
- ``eerot`` | ||
- For **Transform6D** it is 9 values for the 3x3 rotation matrix. | ||
- For **Direction3D**, **Ray4D**, and **TranslationDirection5D**, the first 3 values represent the target direction. | ||
- For **TranslationXAxisAngle4D**, **TranslationYAxisAngle4D**, and **TranslationZAxisAngle4D** the first value represents the angle. | ||
- For **TranslationLocalGlobal6D**, the diagonal elements ([0],[4],[8]) are the local translation inside the end effector coordinate system. | ||
*/ | ||
IKFAST_API bool ComputeIk(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, ikfast::IkSolutionListBase<IkReal>& solutions); | ||
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/// \brief Computes the end effector coordinates given the joint values. This function is used to double check ik. | ||
IKFAST_API void ComputeFk(const IkReal* joints, IkReal* eetrans, IkReal* eerot); | ||
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/// \brief returns the number of free parameters users has to set apriori | ||
IKFAST_API int GetNumFreeParameters(); | ||
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/// \brief the indices of the free parameters indexed by the chain joints | ||
IKFAST_API int* GetFreeParameters(); | ||
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/// \brief the total number of indices of the chain | ||
IKFAST_API int GetNumJoints(); | ||
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/// \brief the size in bytes of the configured number type | ||
IKFAST_API int GetIkRealSize(); | ||
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/// \brief the ikfast version used to generate this file | ||
IKFAST_API const char* GetIkFastVersion(); | ||
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/// \brief the ik type ID | ||
IKFAST_API int GetIkType(); | ||
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/// \brief a hash of all the chain values used for double checking that the correct IK is used. | ||
IKFAST_API const char* GetKinematicsHash(); | ||
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#ifdef IKFAST_NAMESPACE | ||
} | ||
#endif | ||
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#endif // IKFAST_HAS_LIBRARY |
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