Update of /cvsroot/playerstage/code/player/server/drivers/mixed/p2os
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv3840
Modified Files:
p2os.h p2os.cc
Log Message:
Added support for position and orientation info of the actarray
Index: p2os.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/mixed/p2os/p2os.h,v
retrieving revision 1.30
retrieving revision 1.31
diff -C2 -d -r1.30 -r1.31
*** p2os.h 4 Apr 2006 21:31:37 -0000 1.30
--- p2os.h 22 Jun 2006 22:18:36 -0000 1.31
***************
*** 227,230 ****
--- 227,235 ----
/////////////////
// Actarray stuff
+ double aaOffsets[6];
+ double aaOrients[18];
+ double aaAxes[18];
+ player_point_3d_t aaBasePos;
+ player_orientation_3d_t aaBaseOrient;
inline double TicksToDegrees (int joint, unsigned char ticks);
inline unsigned char DegreesToTicks (int joint, double degrees);
Index: p2os.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/mixed/p2os/p2os.cc,v
retrieving revision 1.68
retrieving revision 1.69
diff -C2 -d -r1.68 -r1.69
*** p2os.cc 12 Apr 2006 22:01:42 -0000 1.68
--- p2os.cc 22 Jun 2006 22:18:36 -0000 1.69
***************
*** 89,92 ****
--- 89,97 ----
- The approach vector is forward along the gripper with the orientation
vector up from the gripper's centre.
+ - The kinematics calculator is based on the analytical method by Gan et al.
See:
+ J.Q. Gan, E. Oyama, E.M. Rosales, and H. Hu, "A complete analytical
+ solution to the inverse kinematics of the Pioneer 2 robotic arm,"
+ Robotica, vol.23, no.1, pp.123-129, 2005.
+
- @ref interface_bumper
***************
*** 225,228 ****
--- 230,254 ----
- Default: 0
- Use velocity bands
+ - aa_basepos (3 floats)
+ - Default: 0, 0, 0
+ - Position of the base of the arm from the robot centre in metres.
+ - aa_baseorient (3 floats)
+ - Default: 0, 0, 0
+ - Orientation of the base of the arm from the robot centre in radians.
+ - aa_offsets (6 floats)
+ - Default: all zero TODO: measure them
+ - Offsets for the actarray. Taken from previous actuator to current
actuator
+ (first should be from the actarray's base position). Each offset is a
+ straight line, not measured per axis.
+ - aa_orients (3x6 floats)
+ - Default: all zero TODO: measure them
+ - Orientation of each actuator when it is at 0. Measured by taking a line
from
+ this actuator to the next and measuring its angles about the 3 axes of the
+ previous actuator's coordinate space.
+ - Each set of three values is a single orientation.
+ - aa_axes (3x6 floats)
+ - Default: all zero TODO: measure them
+ - The axis of rotation for each joint in the actarray.
+ - Each set of three values is a vector along the axis of rotation.
- limb_pos (3 floats)
- Default: 0, 0, 0
***************
*** 235,239 ****
- Default: 0, 0, 0, 0, 0
- Angular offset of each joint from desired position to actual position
(calibration data).
! - Taken by commanding joints to 0rad with actarray interface, then
measuring their actual angle.
--- 261,266 ----
- Default: 0, 0, 0, 0, 0
- Angular offset of each joint from desired position to actual position
(calibration data).
! - Possibly taken by commanding joints to 0rad with actarray interface, then
measuring
! their actual angle.
***************
*** 504,507 ****
--- 531,550 ----
this->use_vel_band = cf->ReadInt(section, "use_vel_band", 0);
+ // Actarray configuration
+ for (int ii = 0; ii < 6; ii++)
+ {
+ aaOffsets[ii] = cf->ReadTupleFloat(section, "aa_offsets", ii, 0.0f);
+ }
+ for (int ii = 0; ii < 18; ii++)
+ {
+ aaOrients[ii] = cf->ReadTupleFloat(section, "aa_orients", ii, 0.0f);
+ aaAxes[ii] = cf->ReadTupleFloat(section, "aa_axes", ii, 0.0f);
+ }
+ aaBasePos.px = cf->ReadTupleFloat(section, "aa_basepos", 0, 0.0f);
+ aaBasePos.py = cf->ReadTupleFloat(section, "aa_basepos", 1, 0.0f);
+ aaBasePos.pz = cf->ReadTupleFloat(section, "aa_basepos", 2, 0.0f);
+ aaBaseOrient.proll = cf->ReadTupleFloat(section, "aa_baseorient", 0, 0.0f);
+ aaBaseOrient.ppitch = cf->ReadTupleFloat(section, "aa_baseorient", 1, 0.0f);
+ aaBaseOrient.pyaw = cf->ReadTupleFloat(section, "aa_baseorient", 2, 0.0f);
// Limb configuration
if(kineCalc)
***************
*** 2170,2173 ****
--- 2213,2223 ----
{
aaGeom.actuators[ii].type = PLAYER_ACTARRAY_TYPE_ROTARY;
+ aaGeom.actuators[ii].offset = aaOffsets[ii];
+ aaGeom.actuators[ii].orientation.proll = aaOrients[ii * 3];
+ aaGeom.actuators[ii].orientation.ppitch = aaOrients[ii * 3 + 1];
+ aaGeom.actuators[ii].orientation.pyaw = aaOrients[ii * 3 + 2];
+ aaGeom.actuators[ii].axis.px = aaAxes[ii * 3];
+ aaGeom.actuators[ii].axis.py = aaAxes[ii * 3 + 1];
+ aaGeom.actuators[ii].axis.pz = aaAxes[ii * 3 + 2];
aaGeom.actuators[ii].min = static_cast<float> (TicksToRadians (ii,
sippacket->armJoints[ii].min));
aaGeom.actuators[ii].centre = static_cast<float> (TicksToRadians (ii,
sippacket->armJoints[ii].centre));
***************
*** 2178,2181 ****
--- 2228,2238 ----
}
+ aaGeom.base_pos.px = aaBasePos.px;
+ aaGeom.base_pos.py = aaBasePos.py;
+ aaGeom.base_pos.pz = aaBasePos.pz;
+ aaGeom.base_orientation.proll = aaBaseOrient.proll;
+ aaGeom.base_orientation.ppitch = aaBaseOrient.ppitch;
+ aaGeom.base_orientation.pyaw = aaBaseOrient.pyaw;
+
this->Publish(this->actarray_id, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_ACTARRAY_GET_GEOM_REQ, &aaGeom, sizeof (aaGeom), NULL);
return 0;
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