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cmvr-es/src/devices/robot/humanoid_robot/humanoid_robot.cpp

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feat:add eye hand calibration and pose follow
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//
// Created by xtkuang on 2025/7/24.
//
#include "humanoid_robot.h"
#include "motor/ti5_motor/canopen/ti5_motor_canopen_protocol.h"
#include "motor/ti5_motor/ti5_motor.h"
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#include "utils/base/abstract_interpolation.h"
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using namespace std;
using namespace cmvr::device;
template<int DOF>
HumanoidRobot<DOF>::HumanoidRobot(const XmlNode &cfg) : AbstractRobot(cfg) {
try {
id_ = cfg.getAttrString("id");
dof_ = DOF;
if (!pathExists(cfg.getAttrString("urdf"))) {
throw runtime_error("urdf file does not exist");
}
auto rcfg = cmvr::dyn::LoadRobotFromURDF(
cfg.getAttrString("urdf"), cfg.getAttrString("baseLink"));
m_robot_ = std::make_shared<cmvr::dyn::Robot<DOF> >(rcfg);
joint_names_ = splitString(cfg.getAttrString("jointNames"), ",");
link_names_ = splitString(cfg.getAttrString("linkNames"), ",");
if (joint_names_.size() != dof_) {
throw runtime_error("joint names size mismatched with dof");
}
m_state_ = m_robot_->MakeState(link_names_, joint_names_);
m_cctrl_ = make_shared<ctrl::CartesianController<DOF> >(m_robot_);
upd_freq_ = cfg.getAttrDefault("updFreq", 500);
CSP_buffer_ = make_shared<SPMCRingBuffer<JointPoint> >(cfg.getAttrDefault("bufferSize", 50));
CSV_buffer_ = make_shared<SPMCRingBuffer<JointVelocityCommand> >(cfg.getAttrDefault("bufferSize", 50));
CSC_buffer_ = make_shared<SPMCRingBuffer<JointCurrentCommand> >(cfg.getAttrDefault("bufferSize", 50));
auto can_cfg = cfg.getChild("CanManger");
auto l_can_cfg = can_cfg.getChild("LeftArmCan");
l_motors_cfg_ = l_can_cfg.getChildren("Motor");
l_can_client_ = std::make_shared<SocketCanClientRaw>(l_can_cfg);
l_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail> >();
l_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail> >();
l_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail> >();
auto r_can_cfg = can_cfg.getChild("RightArmCan");
r_motors_cfg_ = r_can_cfg.getChildren("Motor");
r_can_client_ = std::make_shared<SocketCanClientRaw>(r_can_cfg);
r_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail> >();
r_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail> >();
r_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail> >();
auto waist_can_cfg = can_cfg.getChild("WaistCan");
waist_motors_cfg_ = waist_can_cfg.getChildren("Motor");
waist_can_client_ = std::make_shared<SocketCanClientRaw>(waist_can_cfg);
waist_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail> >();
waist_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail> >();
waist_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail> >();
upd_timer_ = make_shared<FDTimer>();
upd_timer_->start(chrono::nanoseconds(1000 / upd_freq_ * 1000),
[this] { update_state_(); });
rsm_.store(ROBOT_READY);
} catch (exception &e) {
LOG(ERROR) << "HumanoidRobot init failed, id=" << id_;
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::init() {
// 1 === 初始化公共组件 ===
l_can_client_->init();
r_can_client_->init();
waist_can_client_->init();
auto ret = l_can_sender_->Init(l_can_client_.get(), false);
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to init can sender.";
}
ret = r_can_sender_->Init(r_can_client_.get(), false);
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to init can sender.";
}
ret = waist_can_sender_->Init(waist_can_client_.get(), false);
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to init can sender.";
}
ret = l_can_receiver_->Init(l_can_client_.get(), l_message_manager_.get(), false);
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to init can receiver.";
}
ret = r_can_receiver_->Init(r_can_client_.get(), r_message_manager_.get(), false);
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to init can receiver.";
}
ret = waist_can_receiver_->Init(waist_can_client_.get(), waist_message_manager_.get(), false);
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to init can receiver.";
}
// 2 === 启动通讯 ===
l_can_client_->start();
ret = l_can_sender_->Start();
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to start can sender.";
}
r_can_client_->start();
ret = r_can_sender_->Start();
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to start can sender.";
}
waist_can_client_->start();
ret = waist_can_sender_->Start();
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to start can sender.";
}
ret = l_can_receiver_->Start();
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to start can receiver.";
}
ret = r_can_receiver_->Start();
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to start can receiver.";
}
ret = waist_can_receiver_->Start();
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to start can receiver.";
}
// 3 == 创建协议 ===
auto l_canopen_protocol = std::make_shared<Ti5MotorCanopenProtocol>(l_can_sender_, l_message_manager_);
auto r_canopen_protocol = std::make_shared<Ti5MotorCanopenProtocol>(r_can_sender_, r_message_manager_);
auto waist_canopen_protocol = std::make_shared<Ti5MotorCanopenProtocol>(waist_can_sender_, waist_message_manager_);
// 4 === 创建 MotorManager ===
motor_manager_ = std::make_shared<MotorManager>();
// for (const auto& cfg : r_motors_cfg_) {
// auto motor = std::make_shared<Ti5Motor>(cfg);
// motor->setProtocol(r_canopen_protocol);
// motor->init(); // 耗时操作
// motor_manager_->addMotor(motor);
// }
//
// for (const auto& cfg : l_motors_cfg_) {
// auto motor = std::make_shared<Ti5Motor>(cfg);
// motor->setProtocol(l_canopen_protocol);
// motor->init(); // 耗时操作
// motor_manager_->addMotor(motor);
// }
// 5 === 并行创建电机 ===
auto left_task = std::async(std::launch::async, [&] {
LOG(INFO) << "[Thread " << std::this_thread::get_id() << "] Start initializing LEFT motors...";
for (const auto &cfg: l_motors_cfg_) {
auto motor = std::make_shared<Ti5Motor>(cfg);
motor->setProtocol(l_canopen_protocol);
motor->init();
motor_manager_->addMotor(motor);
}
});
auto right_task = std::async(std::launch::async, [&] {
LOG(INFO) << "[Thread " << std::this_thread::get_id() << "] Start initializing RIGHT motors...";
for (const auto &cfg: r_motors_cfg_) {
auto motor = std::make_shared<Ti5Motor>(cfg);
motor->setProtocol(r_canopen_protocol);
motor->init();
motor_manager_->addMotor(motor);
}
});
auto waist_task = std::async(std::launch::async, [&] {
LOG(INFO) << "[Thread " << std::this_thread::get_id() << "] Start initializing waist motors...";
for (const auto &cfg: waist_motors_cfg_) {
auto motor = std::make_shared<Ti5Motor>(cfg);
motor->setProtocol(waist_canopen_protocol);
motor->init();
motor_manager_->addMotor(motor);
}
});
// 等待两个线程完成
left_task.get();
right_task.get();
waist_task.get();
rsm_.store(ROBOT_ESTOP);
LOG(INFO) << "All motors initialized successfully.";
}
template<int DOF>
void HumanoidRobot<DOF>::torqueOff() {
try {
if (rsm_.load() == ROBOT_RUNNING) {
throw runtime_error("robot is running");
}
if (rsm_.load() != ROBOT_TOROFF) {
for (const auto &pair: motor_manager_->motorsMap()) {
if (pair.second->jointName() != "WAIST_Y" && pair.second->jointName() != "WAIST_P" )
pair.second->torqueOff();
}
rsm_.store(ROBOT_TOROFF);
}
} catch (std::exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
HumanoidRobot<DOF>::~HumanoidRobot() {
// TODO: close can interfaces
upd_timer_->stop();
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std::vector<JointPoint> cmd = {
{"L_SHOULDER_P", 0.0},
{"L_SHOULDER_R", -1.31873},
{"L_SHOULDER_Y", 0.0},
{"L_ELBOW_R", -0.537621},
{"L_WRIST_P", 0.0},
{"L_WRIST_Y", 0.000183204},
{"L_WRIST_R", 0.0225797},
{"R_SHOULDER_P", -0.0201069},
{"R_SHOULDER_R", 1.46698},
{"R_SHOULDER_Y", 1.45894},
{"R_ELBOW_R", 0.159681},
{"R_WRIST_P", 0.0808349},
{"R_WRIST_Y", -0.138279},
{"R_WRIST_R", -0.243169},
{"WAIST_Y", 0},
{"WAIST_P", 0}
};
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// this->moveJ(cmd,0.8);
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this->torqueOff();
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}
template<int DOF>
int HumanoidRobot<DOF>::getDOF() {
return dof_;
}
template<int DOF>
std::vector<std::string> HumanoidRobot<DOF>::getJointNames() {
return joint_names_;
}
template<int DOF>
std::unordered_map<std::string, double> HumanoidRobot<DOF>::getJointQ() const{
std::unordered_map<std::string, double> joint_qs;
for (const auto &pair : motor_manager_->motorsMap()) {
auto motor = pair.second;
joint_qs[motor->jointName()] = motor->getQ();
}
return joint_qs;
}
template<int DOF>
void HumanoidRobot<DOF>::getJointQ(std::unordered_map<std::string, double> &joint_qs) const {
for (auto &pair : joint_qs) {
auto motor = motor_manager_->getMotor(pair.first);
if (motor) {
pair.second = motor->getQ();
} else {
pair.second = 0.0;
}
}
}
template<int DOF>
std::vector<std::string> HumanoidRobot<DOF>::getLinkNames() {
return link_names_;
}
template<int DOF>
void HumanoidRobot<DOF>::getState(RobotState &state) {
try {
lock_guard lock(exec_mtx_);
// TODO: copy m_state_ date into state
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::torqueOn() {
eStop();
}
template<int DOF>
void HumanoidRobot<DOF>::eStop() {
if (rsm_.load() != ROBOT_ESTOP) {
CSP_buffer_->clear();
CSV_buffer_->clear();
CSC_buffer_->clear();
for (const auto &pair: motor_manager_->motorsMap()) {
pair.second->brake();
}
rsm_.store(ROBOT_ESTOP);
}
}
template<int DOF>
void HumanoidRobot<DOF>::moveJ(std::vector<JointPoint> &cmd, double vel, double acc) {
try {
if (rsm_.load() == ROBOT_RUNNING) {
flash_cmd_.store(true);
eStop();
}
if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) {
rsm_.store(ROBOT_RUNNING);
for (const auto &j: cmd) {
auto motor = motor_manager_->getMotor(j.joint_name);
if (motor != nullptr) {
// PPM 模式下 这个实际速度会超30% 左右
motor->setQd(vel);
if (motor->getMode() != msgs::RUN_MODE_PROFILE_POSITION) {
motor->setMode(msgs::RUN_MODE_PROFILE_POSITION);
}
motor->setQ(j.rad);
}
}
//3. wait for completion
bool completion = true;
do {
completion = true;
for (const auto &j: cmd) {
auto motor = motor_manager_->getMotor(j.joint_name);
if (motor != nullptr) {
if (!motor->reachedTargetQ()) {
completion = false;
break;
}
}
}
// 4. while waiting, check flash_cmd_, if it is true, set it false then exit
if (flash_cmd_.load()) {
flash_cmd_.store(false);
return;
}
std::this_thread::sleep_for(std::chrono::milliseconds(2));
} while (!completion);
rsm_.store(ROBOT_ESTOP);
} else {
throw runtime_error("rsm invalid");
}
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::calibrateZeroQ(const std::string &joint_name) {
auto motor = motor_manager_->getMotor(joint_name);
motor->calibrateZeroQ();
}
template<int DOF>
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void HumanoidRobot<DOF>::moveJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d pose, double vel, double acc) {
try {
if (rsm_.load() == ROBOT_RUNNING) {
flash_cmd_.store(true);
eStop();
}
if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) {
rsm_.store(ROBOT_RUNNING);
// update m_state_
Eigen::Vector<double, DOF> q_init;
auto q_map = getJointQ();
q_init << q_map["L_SHOULDER_P"], q_map["L_SHOULDER_R"], q_map["L_SHOULDER_Y"], q_map["L_ELBOW_R"],
q_map["L_WRIST_P"], q_map["L_WRIST_Y"], q_map["L_WRIST_R"],
q_map["R_SHOULDER_P"], q_map["R_SHOULDER_R"], q_map["R_SHOULDER_Y"], q_map["R_ELBOW_R"],
q_map["R_WRIST_P"], q_map["R_WRIST_Y"], q_map["R_WRIST_R"];
LOG(INFO) << "q_init: " << q_init;
m_state_->SetQ(q_init);
m_robot_->ComputeForwardKinematics(m_state_);
Eigen::Matrix4d T_target = Eigen::Matrix4d::Identity();
T_target.block<3,3>(0,0) = eulerZYXToRotationMatrix(pose.euler().rx(), pose.euler().ry(), pose.euler().rz()); // 输入为弧度
T_target(0,3) = pose.position().x();
T_target(1,3) = pose.position().y();
T_target(2,3) = pose.position().z();
cmvr::ctrl::PoseTarget target;
target.T_target = T_target;
target.w_posrot = 0.5;
target.weight = 1.0;
target.link_name = ee_link;
// slove ik
Eigen::Vector<double, DOF> q_cmd;
bool ok = m_cctrl_->compute(m_state_, base_link, {target}, 0.002, ctrl::CartesianController<DOF>::Mode::Position,
q_cmd, 10000, 1e-6);
if (!ok) {
throw runtime_error("solve IK failed");
}
std::vector<JointPoint> joint_points{
{"R_SHOULDER_P", q_cmd[7]}, {"R_SHOULDER_R", q_cmd[8]},
{"R_SHOULDER_Y", q_cmd[9]}, {"R_ELBOW_R", q_cmd[10]},
{"R_WRIST_P", q_cmd[11]}, {"R_WRIST_Y", q_cmd[12]},
{"R_WRIST_R", q_cmd[13]}
};
for (const auto &j: joint_points) {
auto motor = motor_manager_->getMotor(j.joint_name);
if (motor != nullptr) {
// PPM 模式下 这个实际速度会超30% 左右
motor->setQd(vel);
if (motor->getMode() != msgs::RUN_MODE_PROFILE_POSITION) {
motor->setMode(msgs::RUN_MODE_PROFILE_POSITION);
}
motor->setQ(j.rad);
}
}
//3. wait for completion
bool completion = true;
do {
completion = true;
for (const auto &j: joint_points) {
auto motor = motor_manager_->getMotor(j.joint_name);
if (motor != nullptr) {
if (!motor->reachedTargetQ()) {
completion = false;
break;
}
}
}
// 4. while waiting, check flash_cmd_, if it is true, set it false then exit
if (flash_cmd_.load()) {
flash_cmd_.store(false);
return;
}
std::this_thread::sleep_for(std::chrono::milliseconds(2));
} while (!completion);
rsm_.store(ROBOT_READY);
} else {
throw runtime_error("rsm invalid");
}
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::moveJ_IK(const std::string &base_link, const std::vector<cmvr::ctrl::PoseTarget> &targets, double vel,
double acc) {
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try {
if (rsm_.load() == ROBOT_RUNNING) {
flash_cmd_.store(true);
eStop();
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}
if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) {
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rsm_.store(ROBOT_RUNNING);
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// update m_state_
Eigen::Vector<double, DOF> q_init;
auto q_map = getJointQ();
q_init << q_map["L_SHOULDER_P"], q_map["L_SHOULDER_R"], q_map["L_SHOULDER_Y"], q_map["L_ELBOW_R"],
q_map["L_WRIST_P"], q_map["L_WRIST_Y"], q_map["L_WRIST_R"],
q_map["R_SHOULDER_P"], q_map["R_SHOULDER_R"], q_map["R_SHOULDER_Y"], q_map["R_ELBOW_R"],
q_map["R_WRIST_P"], q_map["R_WRIST_Y"], q_map["R_WRIST_R"];
LOG(INFO) << "q_init: " << q_init;
m_state_->SetQ(q_init);
m_robot_->ComputeForwardKinematics(m_state_);
// slove ik
Eigen::Vector<double, DOF> q_cmd;
bool ok = m_cctrl_->compute(m_state_, base_link, targets, 0.002, ctrl::CartesianController<DOF>::Mode::Position,
q_cmd, 10000, 1e-6);
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if (!ok) {
throw runtime_error("solve IK failed");
}
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std::vector<JointPoint> joint_points{
{"R_SHOULDER_P", q_cmd[7]}, {"R_SHOULDER_R", q_cmd[8]},
{"R_SHOULDER_Y", q_cmd[9]}, {"R_ELBOW_R", q_cmd[10]},
{"R_WRIST_P", q_cmd[11]}, {"R_WRIST_Y", q_cmd[12]},
{"R_WRIST_R", q_cmd[13]}
};
// for (const auto &j: joint_points) {
// auto motor = motor_manager_->getMotor(j.joint_name);
// if (motor != nullptr) {
// // PPM 模式下 这个实际速度会超30% 左右
// motor->setQd(vel);
// if (motor->getMode() != msgs::RUN_MODE_PROFILE_POSITION) {
// motor->setMode(msgs::RUN_MODE_PROFILE_POSITION);
// }
// motor->setQ(j.rad);
// }
// }
//
// //3. wait for completion
// bool completion = true;
// do {
// completion = true;
// for (const auto &j: joint_points) {
// auto motor = motor_manager_->getMotor(j.joint_name);
// if (motor != nullptr) {
// if (!motor->reachedTargetQ()) {
// completion = false;
// break;
// }
// }
// }
// // 4. while waiting, check flash_cmd_, if it is true, set it false then exit
// if (flash_cmd_.load()) {
// flash_cmd_.store(false);
// return;
// }
// std::this_thread::sleep_for(std::chrono::milliseconds(2));
// } while (!completion);
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rsm_.store(ROBOT_READY);
} else {
throw runtime_error("rsm invalid");
}
} catch (exception &e) {
throw runtime_error(e.what());
}
}
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// template<int DOF>
// void HumanoidRobot<DOF>::moveL(std::string &base_link, std::vector<cmvr::ctrl::PoseTarget> &targets, double vel, double acc) {
// try {
// if (rsm_.load() == ROBOT_RUNNING) {
// flash_cmd_.store(true);
// eStop();
// return;
// }
// if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) {
// rsm_.store(ROBOT_RUNNING);
//
// // 获取当前关节状态
// Eigen::Vector<double, DOF> q_init;
// auto q_map = getJointQ();
// q_init << q_map["L_SHOULDER_P"], q_map["L_SHOULDER_R"], q_map["L_SHOULDER_Y"], q_map["L_ELBOW_R"],
// q_map["L_WRIST_P"], q_map["L_WRIST_Y"], q_map["L_WRIST_R"],
// q_map["R_SHOULDER_P"], q_map["R_SHOULDER_R"], q_map["R_SHOULDER_Y"], q_map["R_ELBOW_R"],
// q_map["R_WRIST_P"], q_map["R_WRIST_Y"], q_map["R_WRIST_R"];
//
// LOG(INFO) << "q_init: " << q_init;
// m_state_->SetQ(q_init);
// m_robot_->ComputeForwardKinematics(m_state_);
//
// // 获取基座链接索引
// auto base_idx = m_robot_->GetLinkIdx(base_link);
//
//
// // 获取当前末端位姿 - 使用前向运动学计算
// std::vector<Eigen::Matrix4d> current_poses;
// for (const auto& target : targets) {
// auto ee_idx = m_robot_->GetLinkIdx(target.link_name);
//
//
// // 使用正向运动学计算当前位姿
// Eigen::Matrix4d T = m_robot_->GetTransformation(m_state_, base_idx, ee_idx);
// current_poses.push_back(T);
//
// // 打印当前末端执行器的 XYZ 和欧拉角
// if (&target == &targets.front()) {
// Eigen::Vector3d position = T.block<3, 1>(0, 3);
// Eigen::Matrix3d rotation = T.block<3, 3>(0, 0);
// Eigen::Vector3d euler = rotationMatrixToEulerZYX(rotation);
//
// LOG(INFO) << "Starting point (Initial position): "
// << "X: " << position[0] << ", Y: " << position[1] << ", Z: " << position[2];
// LOG(INFO) << "Starting orientation (Euler angles): "
// << "RX: " << euler[0] << ", RY: " << euler[1] << ", RZ: " << euler[2];
// }
// }
//
// // 计算最大距离和插值点数
// double max_distance = 0.0;
// for (size_t i = 0; i < targets.size(); i++) {
// Eigen::Vector3d current_pos = current_poses[i].block<3, 1>(0, 3);
// Eigen::Vector3d target_pos = targets[i].T_target.block<3, 1>(0, 3);
// double distance = (target_pos - current_pos).norm();
// max_distance = std::max(max_distance, distance);
// }
//
// // 基于速度和距离计算插值点数
// double move_time = max_distance / vel;
// int num_points = static_cast<int>(move_time * 100); // 100Hz控制频率
//
// // 存储所有插值点的关节角度
// std::vector<Eigen::Vector<double, DOF>> joint_trajectory;
// joint_trajectory.reserve(num_points + 1);
//
// // 记录上一次成功的关节角度
// Eigen::Vector<double, DOF> last_success_q = q_init;
//
// // 预先计算所有插值点的逆运动学
// for (int i = 0; i <= num_points; i++) {
// if (flash_cmd_.load()) {
// flash_cmd_.store(false);
// rsm_.store(ROBOT_READY);
// return;
// }
//
// double t = static_cast<double>(i) / num_points;
//
// // 创建插值后的目标
// std::vector<cmvr::ctrl::PoseTarget> interpolated_targets = targets;
// for (size_t j = 0; j < targets.size(); j++) {
// // 位置线性插值
// Eigen::Vector3d current_pos = current_poses[j].block<3, 1>(0, 3);
// Eigen::Vector3d target_pos = targets[j].T_target.block<3, 1>(0, 3);
// Eigen::Vector3d interp_pos = current_pos + t * (target_pos - current_pos);
//
// // 旋转球面线性插值
// Eigen::Matrix3d current_rot_matrix = current_poses[j].block<3, 3>(0, 0);
// Eigen::Matrix3d target_rot_matrix = targets[j].T_target.block<3, 3>(0, 0);
// Eigen::Quaterniond current_rot(current_rot_matrix);
// Eigen::Quaterniond target_rot(target_rot_matrix);
// Eigen::Quaterniond interp_rot = current_rot.slerp(t, target_rot);
//
// // 更新目标位姿
// interpolated_targets[j].T_target.setIdentity();
// interpolated_targets[j].T_target.block<3, 3>(0, 0) = interp_rot.toRotationMatrix();
// interpolated_targets[j].T_target.block<3, 1>(0, 3) = interp_pos;
// }
//
// // 求解逆运动学
// Eigen::Vector<double, DOF> q_cmd;
// bool ok = m_cctrl_->compute(m_state_, base_link, interpolated_targets, 0.002,
// ctrl::CartesianController<DOF>::Mode::Position,
// q_cmd, 10000, 1e-6);
//
// if (!ok) {
// LOG(WARNING) << "IK failed at point " << i << ", using last successful configuration";
// q_cmd = last_success_q;
// } else {
// last_success_q = q_cmd;
// }
//
// joint_trajectory.push_back(q_cmd);
//
// // 获取当前末端执行器的位置 (通过正向运动学)
// m_state_->SetQ(q_cmd);
// m_robot_->ComputeForwardKinematics(m_state_);
//
// // 获取当前末端执行器的位姿 (变换矩阵 T)
// auto ee_idx = m_robot_->GetLinkIdx(targets[0].link_name);
// Eigen::Matrix4d T = m_robot_->GetTransformation(m_state_, base_idx, ee_idx);
//
// // 从变换矩阵中提取 XYZ 坐标
// Eigen::Vector3d end_effector_pos = T.block<3, 1>(0, 3);
//
// // 打印 IK 解算出的 XYZ 位置
// if (i % 10 == 0) { // 每10个点打印一次，避免日志过多
// LOG(INFO) << "IK solution at point " << i << " : "
// << "X: " << end_effector_pos[0] << ", Y: " << end_effector_pos[1] << ", Z: " << end_effector_pos[2];
// }
// }
//
// // 计算每个关节的最大角度变化
// Eigen::Vector<double, DOF> max_angle_change = Eigen::Vector<double, DOF>::Zero();
// for (int i = 1; i < joint_trajectory.size(); i++) {
// Eigen::Vector<double, DOF> delta = joint_trajectory[i] - joint_trajectory[i-1];
// for (int j = 0; j < DOF; j++) {
// if (std::abs(delta[j]) > std::abs(max_angle_change[j])) {
// max_angle_change[j] = delta[j];
// }
// }
// }
//
// // 计算每个关节所需的时间比例因子
// Eigen::Vector<double, DOF> time_scale_factors = Eigen::Vector<double, DOF>::Ones();
// for (int j = 0; j < DOF; j++) {
// if (std::abs(max_angle_change[j]) > 1e-6) {
// // 根据关节的最大速度和加速度限制计算时间比例因子
// double max_vel = 1.0; // 假设最大角速度 1 rad/s
// double max_acc = 2.0; // 假设最大角加速度 2 rad/s²
//
// double required_time_vel = std::abs(max_angle_change[j]) / max_vel;
// double required_time_acc = std::sqrt(std::abs(max_angle_change[j]) / max_acc);
//
// double required_time = std::max(required_time_vel, required_time_acc);
// time_scale_factors[j] = required_time / move_time;
// }
// }
//
// // 取最大的时间比例因子作为整体时间缩放因子
// double max_time_scale = time_scale_factors.maxCoeff();
// if (max_time_scale > 1.0) {
// // 需要延长运动时间
// move_time *= max_time_scale;
// num_points = static_cast<int>(move_time * 100);
// LOG(INFO) << "Adjusted move time: " << move_time << " seconds";
// }
//
// // 执行轨迹
// for (int i = 0; i <= num_points; i++) {
// if (flash_cmd_.load()) {
// flash_cmd_.store(false);
// break;
// }
//
// // 计算当前时间点的索引（考虑时间缩放）
// int idx = static_cast<int>(i / max_time_scale);
// if (idx >= joint_trajectory.size()) {
// idx = joint_trajectory.size() - 1;
// }
//
// Eigen::Vector<double, DOF> q_cmd = joint_trajectory[idx];
//
// // 发送关节命令 - 控制所有7个关节
// std::vector<JointPoint> joint_points{
// {"R_SHOULDER_P", q_cmd[7]}, {"R_SHOULDER_R", q_cmd[8]},
// {"R_SHOULDER_Y", q_cmd[9]}, {"R_ELBOW_R", q_cmd[10]},
// {"R_WRIST_P", q_cmd[11]}, {"R_WRIST_Y", q_cmd[12]},
// {"R_WRIST_R", q_cmd[13]}
// };
//
// // 计算每个关节的角度变化
// std::vector<double> angle_changes(joint_points.size(), 0.0);
// if (i > 0) {
// int prev_idx = static_cast<int>((i-1) / max_time_scale);
// if (prev_idx >= joint_trajectory.size()) {
// prev_idx = joint_trajectory.size() - 1;
// }
//
// Eigen::Vector<double, DOF> prev_q = joint_trajectory[prev_idx];
// for (size_t j = 0; j < joint_points.size(); j++) {
// angle_changes[j] = std::abs(q_cmd[7 + j] - prev_q[7 + j]);
// }
// }
//
// // 设置每个关节的速度和位置
// for (size_t j = 0; j < joint_points.size(); j++) {
// auto& joint_point = joint_points[j];
// auto motor = motor_manager_->getMotor(joint_point.joint_name);
// if (motor != nullptr) {
// // 根据关节的角度变化计算实际速度
// double actual_vel = vel;
// if (i > 0) {
// actual_vel = angle_changes[j] / (move_time / num_points);
// }
//
// motor->setQd(actual_vel);
// if (motor->getMode() != msgs::RUN_MODE_PROFILE_POSITION) {
// motor->setMode(msgs::RUN_MODE_PROFILE_POSITION);
// }
// motor->setQ(joint_point.rad);
// }
// }
//
// // 等待一段时间，控制频率
// std::this_thread::sleep_for(std::chrono::milliseconds(10));
// }
//
// // 等待最终位置到达 - 检查所有关节
// bool completion = true;
// do {
// completion = true;
// for (const auto& name : joint_names_) {
// auto motor = motor_manager_->getMotor(name);
// if (motor != nullptr && !motor->reachedTargetQ()) {
// completion = false;
// break;
// }
// }
// if (flash_cmd_.load()) {
// flash_cmd_.store(false);
// return;
// }
// std::this_thread::sleep_for(std::chrono::milliseconds(2));
// } while (!completion);
//
// rsm_.store(ROBOT_READY);
// } else {
// throw std::runtime_error("rsm invalid");
// }
// } catch (std::exception &e) {
// rsm_.store(ROBOT_ESTOP);
// throw std::runtime_error(e.what());
// }
// }
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template<int DOF>
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void HumanoidRobot<DOF>::moveL(std::string &base_link, std::vector<cmvr::ctrl::PoseTarget> &targets, double vel, double acc) {
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try {
if (rsm_.load() == ROBOT_RUNNING) {
flash_cmd_.store(true);
eStop();
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return;
}
if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) {
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rsm_.store(ROBOT_RUNNING);
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// 获取当前关节状态
Eigen::Vector<double, DOF> q_init;
auto q_map = getJointQ();
q_init << q_map["L_SHOULDER_P"], q_map["L_SHOULDER_R"], q_map["L_SHOULDER_Y"], q_map["L_ELBOW_R"],
q_map["L_WRIST_P"], q_map["L_WRIST_Y"], q_map["L_WRIST_R"],
q_map["R_SHOULDER_P"], q_map["R_SHOULDER_R"], q_map["R_SHOULDER_Y"], q_map["R_ELBOW_R"],
q_map["R_WRIST_P"], q_map["R_WRIST_Y"], q_map["R_WRIST_R"];
LOG(INFO) << "q_init: " << q_init;
m_state_->SetQ(q_init);
m_robot_->ComputeForwardKinematics(m_state_);
// 获取基座链接索引
auto base_idx = m_robot_->GetLinkIdx(base_link);
// 获取当前末端位姿 - 使用前向运动学计算
std::vector<Eigen::Matrix4d> current_poses;
for (const auto& target : targets) {
auto ee_idx = m_robot_->GetLinkIdx(target.link_name);
// 使用正向运动学计算当前位姿
Eigen::Matrix4d T = m_robot_->GetTransformation(m_state_, base_idx, ee_idx);
current_poses.push_back(T);
// 打印当前末端执行器的 XYZ 和欧拉角
if (&target == &targets.front()) {
Eigen::Vector3d position = T.block<3, 1>(0, 3);
Eigen::Matrix3d rotation = T.block<3, 3>(0, 0);
Eigen::Vector3d euler = rotationMatrixToEulerZYX(rotation);
LOG(INFO) << "Starting point (Initial position): "
<< "X: " << position[0] << ", Y: " << position[1] << ", Z: " << position[2];
LOG(INFO) << "Starting orientation (Euler angles): "
<< "RX: " << euler[0] << ", RY: " << euler[1] << ", RZ: " << euler[2];
}
}
// 计算最大距离和插值点数
double max_distance = 0.0;
for (size_t i = 0; i < targets.size(); i++) {
Eigen::Vector3d current_pos = current_poses[i].block<3, 1>(0, 3);
Eigen::Vector3d target_pos = targets[i].T_target.block<3, 1>(0, 3);
double distance = (target_pos - current_pos).norm();
max_distance = std::max(max_distance, distance);
}
// 基于速度和距离计算插值点数
double move_time = max_distance / vel;
int num_points = static_cast<int>(move_time * 100); // 100Hz控制频率
// 存储所有插值点的关节角度
std::vector<Eigen::Vector<double, DOF>> joint_trajectory;
joint_trajectory.reserve(num_points + 1);
// 记录上一次成功的关节角度
Eigen::Vector<double, DOF> last_success_q = q_init;
// 预先计算所有插值点的逆运动学
for (int i = 0; i <= num_points; i++) {
if (flash_cmd_.load()) {
flash_cmd_.store(false);
rsm_.store(ROBOT_READY);
return;
}
double t = static_cast<double>(i) / num_points;
// 创建插值后的目标（只做位置插值，旋转保持不变）
std::vector<cmvr::ctrl::PoseTarget> interpolated_targets = targets;
for (size_t j = 0; j < targets.size(); j++) {
// 位置线性插值
Eigen::Vector3d current_pos = current_poses[j].block<3, 1>(0, 3);
Eigen::Vector3d target_pos = targets[j].T_target.block<3, 1>(0, 3);
Eigen::Vector3d interp_pos = current_pos + t * (target_pos - current_pos);
// 保持旋转不变
Eigen::Matrix3d current_rot_matrix = current_poses[j].block<3, 3>(0, 0);
interpolated_targets[j].T_target.setIdentity();
interpolated_targets[j].T_target.block<3, 3>(0, 0) = current_rot_matrix;
interpolated_targets[j].T_target.block<3, 1>(0, 3) = interp_pos;
}
// 求解逆运动学
Eigen::Vector<double, DOF> q_cmd;
bool ok = m_cctrl_->compute(m_state_, base_link, interpolated_targets, 0.002,
ctrl::CartesianController<DOF>::Mode::Position,
q_cmd, 10000, 1e-6);
if (!ok) {
LOG(WARNING) << "IK failed at point " << i << ", using last successful configuration";
q_cmd = last_success_q;
} else {
last_success_q = q_cmd;
}
joint_trajectory.push_back(q_cmd);
// 获取当前末端执行器的位置 (通过正向运动学)
m_state_->SetQ(q_cmd);
m_robot_->ComputeForwardKinematics(m_state_);
// 获取当前末端执行器的位姿 (变换矩阵 T)
auto ee_idx = m_robot_->GetLinkIdx(targets[0].link_name);
Eigen::Matrix4d T = m_robot_->GetTransformation(m_state_, base_idx, ee_idx);
// 从变换矩阵中提取 XYZ 坐标
Eigen::Vector3d end_effector_pos = T.block<3, 1>(0, 3);
// 打印 IK 解算出的 XYZ 位置
if (i % 10 == 0) { // 每10个点打印一次，避免日志过多
LOG(INFO) << "IK solution at point " << i << " : "
<< "X: " << end_effector_pos[0] << ", Y: " << end_effector_pos[1] << ", Z: " << end_effector_pos[2];
}
}
// 执行轨迹
for (int i = 0; i <= num_points; i++) {
if (flash_cmd_.load()) {
flash_cmd_.store(false);
break;
}
// 获取当前时间点的关节角度
Eigen::Vector<double, DOF> q_cmd = joint_trajectory[i];
// 发送关节命令
std::vector<JointPoint> joint_points{
{"R_SHOULDER_P", q_cmd[7]}, {"R_SHOULDER_R", q_cmd[8]},
{"R_SHOULDER_Y", q_cmd[9]}, {"R_ELBOW_R", q_cmd[10]},
{"R_WRIST_P", q_cmd[11]}, {"R_WRIST_Y", q_cmd[12]},
{"R_WRIST_R", q_cmd[13]}
};
// 设置每个关节的速度和位置
for (size_t j = 0; j < joint_points.size(); j++) {
auto& joint_point = joint_points[j];
auto motor = motor_manager_->getMotor(joint_point.joint_name);
if (motor != nullptr) {
motor->setQ(joint_point.rad);
}
}
// 等待一段时间，控制频率
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
// 等待最终位置到达 - 检查所有关节
bool completion = true;
do {
completion = true;
for (const auto& name : joint_names_) {
auto motor = motor_manager_->getMotor(name);
if (motor != nullptr && !motor->reachedTargetQ()) {
completion = false;
break;
}
}
if (flash_cmd_.load()) {
flash_cmd_.store(false);
return;
}
std::this_thread::sleep_for(std::chrono::milliseconds(2));
} while (!completion);
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rsm_.store(ROBOT_READY);
} else {
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throw std::runtime_error("rsm invalid");
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}
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} catch (std::exception &e) {
rsm_.store(ROBOT_ESTOP);
throw std::runtime_error(e.what());
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}
}
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template<int DOF>
void HumanoidRobot<DOF>::speedJ(std::string &joint_name, RobotJointIndexDirection dir, double vel, double acc) {
try {
if (rsm_.load() == ROBOT_RUNNING) {
flash_cmd_.store(true);
eStop();
} else if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY) {
rsm_.store(ROBOT_RUNNING);
// TODO:
// 1. set joint speed and acc
// 2. set joint speed by PROFILE VELOCITY MODE (PVM)
// rsm_.store(ROBOT_READY); -> should not set rsm_ to ready because motor is running
} else {
throw runtime_error("rsm invalid");
}
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::speedL(RobotCartesian cart, RobotJointIndexDirection dir, double vel, double acc) {
try {
if (rsm_.load() == ROBOT_RUNNING) {
flash_cmd_.store(true);
eStop();
} else if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY) {
rsm_.store(ROBOT_RUNNING);
// TODO: ???
// rsm_.store(ROBOT_READY); -> should not set rsm_ to ready because motor is running
} else {
throw runtime_error("rsm invalid");
}
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::followJointTrajectory(std::vector<std::vector<JointPoint> > &traj, double dt) {
try {
if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) {
auto ok = check_joint_traj_(traj, dt);
if (!ok) { throw runtime_error("joint traj invalid"); }
rsm_.store(ROBOT_RUNNING);
// TODO: need to optimize callback loop
for (auto i = 0; i < traj.size(); i++) {
if (flash_cmd_.load()) {
flash_cmd_.store(false);
LOG(INFO) << "followJointTrajectory is canceled";
return;
}
servoJ(traj[i], dt);
this_thread::sleep_for(chrono::milliseconds((int) dt));
}
rsm_.store(ROBOT_ESTOP);
} else {
throw runtime_error("rsm invalid");
}
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::followPoseTrajectory(std::string &base_link,
std::vector<std::vector<cmvr::ctrl::PoseTarget> > &targets, double dt) {
try {
if (rsm_.load() == ROBOT_RUNNING) {
flash_cmd_.store(true);
eStop();
} else if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY) {
rsm_.store(ROBOT_RUNNING);
// TODO:
// 1. set Timer(dt)
// 2. for each timestamp, use Cyclic Synchronous Position (CSP) Mode to set joint position
// 3. if flash_cmd_ is set, set it to false and exit
// 3. join timer
rsm_.store(ROBOT_READY);
} else {
throw runtime_error("rsm invalid");
}
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::servoJ(std::vector<JointPoint> &joints, double dt) {
for (const auto &j: joints) {
auto motor = motor_manager_->getMotor(j.joint_name);
if (motor != nullptr) {
if (motor->getMode() != msgs::RUN_MODE_CYCLIC_SYNC_POSITION) {
motor->setMode(msgs::RUN_MODE_CYCLIC_SYNC_POSITION);
}
motor->setQd(j.vel);
motor->setQ(j.rad);
}
}
rsm_.store(ROBOT_READY);
}
template<int DOF>
void HumanoidRobot<DOF>::servoJ(std::vector<JointPoint> &joints, double vel, double dt) {
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for (const auto &j: joints) {
auto motor = motor_manager_->getMotor(j.joint_name);
if (motor != nullptr) {
if (motor->getMode() != msgs::RUN_MODE_CYCLIC_SYNC_POSITION) {
motor->setMode(msgs::RUN_MODE_CYCLIC_SYNC_POSITION);
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}
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motor->setQd(vel);
motor->setQ(j.rad);
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}
}
}
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template<int DOF>
void HumanoidRobot<DOF>::servoJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d pose, double vel,
double acc) {
try {
// update m_state_
Eigen::Vector<double, DOF> q_init;
auto q_map = getJointQ();
q_init << q_map["L_SHOULDER_P"], q_map["L_SHOULDER_R"], q_map["L_SHOULDER_Y"], q_map["L_ELBOW_R"],
q_map["L_WRIST_P"], q_map["L_WRIST_Y"], q_map["L_WRIST_R"],
q_map["R_SHOULDER_P"], q_map["R_SHOULDER_R"], q_map["R_SHOULDER_Y"], q_map["R_ELBOW_R"],
q_map["R_WRIST_P"], q_map["R_WRIST_Y"], q_map["R_WRIST_R"];
LOG(INFO) << "q_init: " << q_init;
m_state_->SetQ(q_init);
m_robot_->ComputeForwardKinematics(m_state_);
Eigen::Matrix4d T_target = Eigen::Matrix4d::Identity();
T_target.block<3, 3>(0, 0) = eulerZYXToRotationMatrix(pose.euler().rx(), pose.euler().ry(), pose.euler().rz());
// 输入为弧度
T_target(0, 3) = pose.position().x();
T_target(1, 3) = pose.position().y();
T_target(2, 3) = pose.position().z();
cmvr::ctrl::PoseTarget target;
target.T_target = T_target;
target.w_posrot = 0.5;
target.weight = 1.0;
target.link_name = ee_link;
// slove ik
Eigen::Vector<double, DOF> q_cmd;
bool ok = m_cctrl_->compute(m_state_, base_link, {target}, 0.002,
ctrl::CartesianController<DOF>::Mode::Position,
q_cmd, 10000, 1e-6);
if (!ok) {
throw runtime_error("solve IK failed");
}
std::vector<JointPoint> joint_points{
{"R_SHOULDER_P", q_cmd[7]}, {"R_SHOULDER_R", q_cmd[8]},
{"R_SHOULDER_Y", q_cmd[9]}, {"R_ELBOW_R", q_cmd[10]},
{"R_WRIST_P", q_cmd[11]}, {"R_WRIST_Y", q_cmd[12]},
{"R_WRIST_R", q_cmd[13]}
};
servoJ(joint_points, vel, 0.1);
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::servoDeltaJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d delta_pose, double vel, double acc) {
try {
// 1 : 计算当前位姿
auto cur_pose = fk(base_link, ee_link);
// 2 : 计算目标角度 target pos = cur_pose + delta_pose
cmvr::msgs::Pose3d target_pose;
target_pose.mutable_position()->set_x(cur_pose.position().x() + delta_pose.position().x());
target_pose.mutable_position()->set_y(cur_pose.position().y() + delta_pose.position().y());
target_pose.mutable_position()->set_z(cur_pose.position().z() + delta_pose.position().z());
target_pose.mutable_euler()->set_rx(cur_pose.euler().rx() + delta_pose.euler().rx());
target_pose.mutable_euler()->set_ry(cur_pose.euler().ry() + delta_pose.euler().ry());
target_pose.mutable_euler()->set_rz(cur_pose.euler().rz() + delta_pose.euler().rz());
//3 :
servoJ(base_link, ee_link, target_pose, vel, acc);
} catch (exception &e) {
throw runtime_error(e.what());
}
}
feat:add eye hand calibration and pose follow
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template<int DOF>
void HumanoidRobot<DOF>::servoL(std::string &base_link, std::vector<cmvr::ctrl::PoseTarget> &targets, double dt) {
try {
Eigen::Vector<double, DOF> q_cmd;
bool ok = m_cctrl_->compute(m_state_, base_link, targets, 1, ctrl::CartesianController<DOF>::Mode::Position,
q_cmd, 60, 1e-4);
if (!ok) {
LOG(WARNING) << "[HumanoidRobot] (servoL): solve IK failed, id=" << id_;
throw runtime_error("IK failed");
}
std::vector<JointPoint> joints(dof_);
for (size_t i = 0; i < dof_; i++) {
joints[i].joint_name = joint_names_[i];
joints[i].rad = q_cmd[i];
}
servoJ(joints, dt);
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
bool HumanoidRobot<DOF>::check_joint_traj_(std::vector<std::vector<JointPoint> > &traj, double dt) {
// TODO: to be implemented
return true;
}
feat:add move delta J and touch control api
2025-08-28 09:39:59 +08:00
template<int DOF>
void HumanoidRobot<DOF>::moveDeltaJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d delta_pose,
double vel, double acc) {
try {
// 1 : 计算当前位姿
auto cur_pose = fk(base_link, ee_link);
// 2 : 计算目标角度 target pos = cur_pose + delta_pose
cmvr::msgs::Pose3d target_pose;
target_pose.mutable_position()->set_x(cur_pose.position().x() + delta_pose.position().x());
target_pose.mutable_position()->set_y(cur_pose.position().y() + delta_pose.position().y());
target_pose.mutable_position()->set_z(cur_pose.position().z() + delta_pose.position().z());
target_pose.mutable_euler()->set_rx(cur_pose.euler().rx() + delta_pose.euler().rx());
target_pose.mutable_euler()->set_ry(cur_pose.euler().ry() + delta_pose.euler().ry());
target_pose.mutable_euler()->set_rz(cur_pose.euler().rz() + delta_pose.euler().rz());
//3 :
moveJ(base_link, ee_link, target_pose, vel, acc);
} catch (exception &e) {
throw runtime_error(e.what());
}
}
feat:add eye hand calibration and pose follow
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template<int DOF>
void HumanoidRobot<DOF>::update_state_() {
std::lock_guard lock(state_mtx_);
// TODO: set m_state_
// m_state_->SetQ();
// m_state_->SetQdot();
// m_state_->SetQddot();
}
feat:add move delta J and touch control api
2025-08-28 09:39:59 +08:00
template<int DOF>
Eigen::Matrix3d HumanoidRobot<DOF>::eulerZYXToRotationMatrix(double rx, double ry, double rz) {
Eigen::Matrix3d R_x;
R_x << 1, 0, 0,
0, cos(rx), -sin(rx),
0, sin(rx), cos(rx);
Eigen::Matrix3d R_y;
R_y << cos(ry), 0, sin(ry),
0, 1, 0,
-sin(ry), 0, cos(ry);
Eigen::Matrix3d R_z;
R_z << cos(rz), -sin(rz), 0,
sin(rz), cos(rz), 0,
0, 0, 1;
return R_x * R_y * R_z;
}
template<int DOF>
Eigen::Vector3d HumanoidRobot<DOF>::rotationMatrixToEulerZYX(const Eigen::Matrix3d &R) {
double rx, ry, rz;
// 根据 R = R_x * R_y * R_z
// R = | cy*cz -cy*sz sy |
// | sx*sy*cz + cx*sz -sx*sy*sz + cx*cz -sx*cy |
// | -cx*sy*cz + sx*sz cx*sy*sz + sx*cz cx*cy |
// 提取 ry（绕 Y 的角度）
ry = std::asin(R(0,2)); // R(0,2) = sin(ry)
double cy = std::cos(ry);
if (std::abs(cy) > 1e-6) {
// 正常情况
rx = std::atan2(-R(1,2), R(2,2));
rz = std::atan2(-R(0,1), R(0,0));
} else {
// 万向节锁：cy ≈ 0
rx = 0; // 任意选择
if (ry > 0) {
rz = std::atan2(R(1,0), R(1,1));
} else {
rz = std::atan2(-R(1,0), R(1,1));
}
}
return Eigen::Vector3d(rx, ry, rz);
}
template<int DOF>
cmvr::msgs::Pose3d HumanoidRobot<DOF>::fk(const std::string &base_link, const std::string &ee_link) {
cmvr::msgs::Pose3d pose;
try {
// 获取当前关节角度
Eigen::Vector<double, DOF> q;
auto q_map = getJointQ(); // 类似 moveJ 中获取关节角度
q << q_map["L_SHOULDER_P"], q_map["L_SHOULDER_R"], q_map["L_SHOULDER_Y"], q_map["L_ELBOW_R"],
q_map["L_WRIST_P"], q_map["L_WRIST_Y"], q_map["L_WRIST_R"],
q_map["R_SHOULDER_P"], q_map["R_SHOULDER_R"], q_map["R_SHOULDER_Y"], q_map["R_ELBOW_R"],
q_map["R_WRIST_P"], q_map["R_WRIST_Y"], q_map["R_WRIST_R"];
// 更新状态并计算前向运动学
m_state_->SetQ(q);
m_robot_->ComputeForwardKinematics(m_state_);
// 获取基座和末端索引
auto base_idx = m_robot_->GetLinkIdx(base_link);
auto ee_idx = m_robot_->GetLinkIdx(ee_link);
// 获取变换矩阵
Eigen::Matrix4d T = m_robot_->GetTransformation(m_state_, base_idx, ee_idx);
// 填充 Pose3d
pose.mutable_position()->set_x(T(0,3));
pose.mutable_position()->set_y(T(1,3));
pose.mutable_position()->set_z(T(2,3));
// 将旋转矩阵转换为欧拉角
Eigen::Matrix3d R = T.block<3,3>(0,0);
Eigen::Vector3d euler = rotationMatrixToEulerZYX(R); // 你需要实现或已有此工具函数
pose.mutable_euler()->set_rx(euler(0));
pose.mutable_euler()->set_ry(euler(1));
pose.mutable_euler()->set_rz(euler(2));
} catch (const std::exception &e) {
throw std::runtime_error(std::string("FK计算失败: ") + e.what());
}
return pose;
}
feat:add eye hand calibration and pose follow
2025-08-22 16:57:29 +08:00
update moveL
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void printTrajectoryInfo(
const std::vector<Eigen::Matrix4d>& trajectory,
const std::vector<double>& times,
const std::vector<double>& velocities,
double total_distance) {
std::cout << "\n===================================== 轨迹详细信息 =====================================" << std::endl;
std::cout << "总路径长度: " << std::fixed << std::setprecision(6) << total_distance << "m" << std::endl;
std::cout << "总运动时间: " << std::fixed << std::setprecision(3) << times.back() << "s" << std::endl;
std::cout << "轨迹点总数: " << trajectory.size() << " 个" << std::endl;
std::cout << "-----------------------------------------------------------------------------------------" << std::endl;
std::cout << std::setw(4) << "序号" << " | "
<< std::setw(8) << "时间(s)" << " | "
<< std::setw(10) << "x(m)" << " | "
<< std::setw(10) << "y(m)" << " | "
<< std::setw(10) << "z(m)" << " | "
<< std::setw(12) << "速度(m/s)" << " | "
<< std::setw(16) << "到起点距离(m)" << std::endl;
std::cout << "-----------------------------------------------------------------------------------------" << std::endl;
Eigen::Vector3d start_pos(trajectory[0](0,3), trajectory[0](1,3), trajectory[0](2,3));
for (size_t idx = 0; idx < trajectory.size(); ++idx) {
const auto& T = trajectory[idx];
Eigen::Vector3d pos(T(0,3), T(1,3), T(2,3));
double dist_from_start = (pos - start_pos).norm();
std::cout << std::setw(4) << idx << " | "
<< std::fixed << std::setprecision(3) << std::setw(8) << times[idx] << " | "
<< std::fixed << std::setprecision(6) << std::setw(10) << pos.x() << " | "
<< std::fixed << std::setprecision(6) << std::setw(10) << pos.y() << " | "
<< std::fixed << std::setprecision(6) << std::setw(10) << pos.z() << " | "
<< std::fixed << std::setprecision(6) << std::setw(12) << velocities[idx] << " | "
<< std::fixed << std::setprecision(6) << std::setw(16) << dist_from_start << std::endl;
}
std::cout << "=========================================================================================\n" << std::endl;
}
template<int DOF>
void HumanoidRobot<DOF>::moveDeltaL(const std::string &base_link, const std::string &ee_link,
msgs::Pose3d delta_pose, double vel, double acc) {
try {
Eigen::Vector<double, DOF> q_current_for_ik;
auto q_map_current = getJointQ();
q_current_for_ik << q_map_current["L_SHOULDER_P"], q_map_current["L_SHOULDER_R"], q_map_current["L_SHOULDER_Y"], q_map_current["L_ELBOW_R"],
update
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q_map_current["L_WRIST_P"], q_map_current["L_WRIST_Y"], q_map_current["L_WRIST_R"],
q_map_current["R_SHOULDER_P"], q_map_current["R_SHOULDER_R"], q_map_current["R_SHOULDER_Y"], q_map_current["R_ELBOW_R"],
q_map_current["R_WRIST_P"], q_map_current["R_WRIST_Y"], q_map_current["R_WRIST_R"];
update moveL
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LOG(INFO) << "q_current_for_ik: " << q_current_for_ik;
// 1. 计算末端当前位姿（通过FK）
msgs::Pose3d current_pose = fk(base_link, ee_link);
update
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LOG(INFO) << current_pose.mutable_position()->x() << " " << current_pose.mutable_position()->y() << " "
<< current_pose.mutable_position()->z() << " " << current_pose.mutable_euler()->rx() << " "
<< current_pose.mutable_euler()->ry() << " " << current_pose.mutable_euler()->rz();
update moveL
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// 2. 计算目标位姿 = 当前位姿 + 相对偏移（位置/姿态分别叠加）
msgs::Pose3d target_pose;
target_pose.mutable_position()->set_x(current_pose.position().x() + delta_pose.position().x());
target_pose.mutable_position()->set_y(current_pose.position().y() + delta_pose.position().y());
target_pose.mutable_position()->set_z(current_pose.position().z() + delta_pose.position().z());
target_pose.mutable_euler()->set_rx(current_pose.euler().rx() + delta_pose.euler().rx());
target_pose.mutable_euler()->set_ry(current_pose.euler().ry() + delta_pose.euler().ry());
target_pose.mutable_euler()->set_rz(current_pose.euler().rz() + delta_pose.euler().rz());
// 3. 调用moveL执行直线运动到目标位姿
moveL(base_link, ee_link, target_pose, vel, acc);
} catch (const std::exception &e) {
LOG(ERROR) << "moveDeltaL failed: " << e.what();
throw std::runtime_error(std::string("moveDeltaL error: ") + e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::moveL(const std::string &base_link, const std::string &ee_link,
msgs::Pose3d target_pose, double vel, double acc) {
if (vel <= 0 || acc <= 0) {
throw std::runtime_error("moveL: vel and acc must be positive");
}
try {
const double CONTROL_PERIOD = 1.0 / 50.0; // 控制周期保持不变
msgs::Pose3d current_pose = fk(base_link, ee_link);
// 1. 初始化当前和目标位姿矩阵
Eigen::Matrix4d T_current = Eigen::Matrix4d::Identity();
T_current.block<3, 3>(0, 0) = eulerZYXToRotationMatrix(
current_pose.euler().rx(), current_pose.euler().ry(), current_pose.euler().rz()
);
T_current(0, 3) = current_pose.position().x();
T_current(1, 3) = current_pose.position().y();
T_current(2, 3) = current_pose.position().z();
Eigen::Matrix4d T_target = Eigen::Matrix4d::Identity();
T_target.block<3, 3>(0, 0) = eulerZYXToRotationMatrix(
target_pose.euler().rx(), target_pose.euler().ry(), target_pose.euler().rz()
);
T_target(0, 3) = target_pose.position().x();
T_target(1, 3) = target_pose.position().y();
T_target(2, 3) = target_pose.position().z();
update
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// 保存起始姿态，确保整个运动过程中姿态保持不变
Eigen::Matrix3d start_orientation = T_current.block<3, 3>(0, 0);
update moveL
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// 2. 获取当前关节配置并验证目标可达性
Eigen::Vector<double, DOF> q_current;
auto q_map_current = getJointQ();
q_current << q_map_current["L_SHOULDER_P"], q_map_current["L_SHOULDER_R"], q_map_current["L_SHOULDER_Y"], q_map_current["L_ELBOW_R"],
update
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q_map_current["L_WRIST_P"], q_map_current["L_WRIST_Y"], q_map_current["L_WRIST_R"],
q_map_current["R_SHOULDER_P"], q_map_current["R_SHOULDER_R"], q_map_current["R_SHOULDER_Y"], q_map_current["R_ELBOW_R"],
q_map_current["R_WRIST_P"], q_map_current["R_WRIST_Y"], q_map_current["R_WRIST_R"];
update moveL
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LOG(INFO) << "Current joint configuration: " << q_current;
m_state_->SetQ(q_current);
m_robot_->ComputeForwardKinematics(m_state_);
update
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// 验证目标点可达性 - 使用起始姿态，确保姿态不变
update moveL
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cmvr::ctrl::PoseTarget target_ik_check;
target_ik_check.T_target = T_target;
update
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target_ik_check.T_target.block<3, 3>(0, 0) = start_orientation; // 使用起始姿态
update moveL
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target_ik_check.w_posrot = 0.5;
target_ik_check.weight = 1.0;
target_ik_check.link_name = ee_link;
Eigen::Vector<double, DOF> q_cmd_check;
bool ik_solvable = m_cctrl_->compute(m_state_, base_link, {target_ik_check}, 0.002,
ctrl::CartesianController<DOF>::Mode::Position,
update
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q_cmd_check, 10000, 1e-6);
update moveL
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if (!ik_solvable) {
update
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throw std::runtime_error("moveL: Target pose is unreachable with constant orientation");
update moveL
2025-09-09 17:03:52 +08:00
}
update
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// 3. 计算位置差值（保持姿态不变）
update moveL
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Eigen::Vector3d delta_pos = T_target.block<3, 1>(0, 3) - T_current.block<3, 1>(0, 3);
double total_distance = delta_pos.norm();
if (total_distance < 1e-6) {
LOG(INFO) << "moveL: Target is already reached";
return;
}
update
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// 4. 基于S曲线速度规划的时间规划
// 计算总时间和插值点数
double move_time = calculateMoveTime(total_distance, vel, acc);
update moveL
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size_t num_points = std::max(2ul, static_cast<size_t>(ceil(move_time / CONTROL_PERIOD)));
update
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// 生成时间轴和距离比例
std::vector<double> time_points;
std::vector<double> distance_ratios;
generateSTrapezoidalProfile(total_distance, vel, acc, move_time, num_points,
time_points, distance_ratios);
update moveL
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LOG(INFO) << "moveL: Planning trajectory - points=" << num_points
<< ", total distance=" << total_distance << "m, move time=" << move_time << "s";
update
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// 5. 生成轨迹点（位置线性插值，姿态保持不变）
update moveL
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std::vector<Eigen::Matrix4d> cartesian_trajectory;
for (size_t i = 0; i <= num_points; ++i) {
update
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double s = distance_ratios[i]; // 使用S曲线规划的距离比例
update moveL
2025-09-09 17:03:52 +08:00
update
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Eigen::Matrix4d T_interp = Eigen::Matrix4d::Identity();
T_interp.block<3, 3>(0, 0) = start_orientation; // 保持起始姿态不变
update moveL
2025-09-09 17:03:52 +08:00
// 仅位置按比例插值
T_interp(0, 3) = T_current(0, 3) + s * delta_pos.x();
T_interp(1, 3) = T_current(1, 3) + s * delta_pos.y();
T_interp(2, 3) = T_current(2, 3) + s * delta_pos.z();
cartesian_trajectory.push_back(T_interp);
}
update
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// 6. 预先计算所有轨迹点的关节位置
std::vector<Eigen::Vector<double, DOF>> joint_positions;
joint_positions.push_back(q_current); // 起始位置
update moveL
2025-09-09 17:03:52 +08:00
update
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// 预先计算所有关节位置
for (size_t i = 1; i < cartesian_trajectory.size(); ++i) {
update moveL
2025-09-09 17:03:52 +08:00
const auto& T_interp = cartesian_trajectory[i];
// 构造当前目标
cmvr::ctrl::PoseTarget current_target;
current_target.T_target = T_interp;
current_target.link_name = ee_link;
current_target.w_posrot = 0.5;
current_target.weight = 1.0;
update
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// 使用前一点的位置作为初始值求解IK
Eigen::Vector<double, DOF> q_next;
update moveL
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bool ok = m_cctrl_->compute(m_state_, base_link, {current_target}, CONTROL_PERIOD,
ctrl::CartesianController<DOF>::Mode::Position,
update
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q_next, 10000, 1e-6);
update moveL
2025-09-09 17:03:52 +08:00
if (!ok) {
update
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LOG(WARNING) << "Pre-computation IK failed at point " << i << ", using previous point";
q_next = joint_positions.back();
update moveL
2025-09-09 17:03:52 +08:00
}
update
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joint_positions.push_back(q_next);
}
// 7. 计算每个点的关节速度
std::vector<Eigen::Vector<double, DOF>> joint_velocities;
joint_velocities.push_back(Eigen::Vector<double, DOF>::Zero()); // 起始速度为零
for (size_t i = 1; i < joint_positions.size(); ++i) {
double dt = time_points[i] - time_points[i-1];
Eigen::Vector<double, DOF> vel = (joint_positions[i] - joint_positions[i-1]) / dt;
joint_velocities.push_back(vel);
}
// 8. 打印轨迹信息
std::cout << "\n===================================== 轨迹规划信息 =====================================" << std::endl;
std::cout << "轨迹点总数: " << cartesian_trajectory.size() << " 个" << std::endl;
std::cout << "总路径长度: " << std::fixed << std::setprecision(6) << total_distance << "m" << std::endl;
std::cout << "最大速度: " << std::fixed << std::setprecision(6) << vel << "m/s" << std::endl;
std::cout << "加速度: " << std::fixed << std::setprecision(6) << acc << "m/s²" << std::endl;
std::cout << "总时间: " << std::fixed << std::setprecision(6) << move_time << "s" << std::endl;
std::cout << "起点位置: (x=" << T_current(0,3) << ", y=" << T_current(1,3) << ", z=" << T_current(2,3) << ")" << std::endl;
std::cout << "终点位置: (x=" << T_target(0,3) << ", y=" << T_target(1,3) << ", z=" << T_target(2,3) << ")" << std::endl;
std::cout << "保持姿态不变" << std::endl;
std::cout << "-----------------------------------------------------------------------------------------" << std::endl;
// 9. 执行轨迹
auto loop_start_time = std::chrono::high_resolution_clock::now();
for (size_t i = 0; i < cartesian_trajectory.size(); ++i) {
// 获取当前点的关节位置和速度
Eigen::Vector<double, DOF> q_cmd = joint_positions[i];
Eigen::Vector<double, DOF> q_vel = joint_velocities[i];
// 更新状态
m_state_->SetQ(q_cmd);
update moveL
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m_robot_->ComputeForwardKinematics(m_state_);
update
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// 发送关节命令 - 为每个电机单独设置位置和速度
update moveL
2025-09-09 17:03:52 +08:00
std::vector<JointPoint> joint_command;
for (size_t j = 0; j < DOF; ++j) {
JointPoint jp;
jp.joint_name = joint_names_[j];
update
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jp.rad = q_cmd[j];
jp.vel = std::abs(q_vel[j]); // 使用计算出的关节速度
update moveL
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joint_command.push_back(jp);
}
update
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// 计算当前点应该执行的时间
double expected_time = time_points[i];
// servoJ(joint_command, vel, expected_time);
for (const auto &j: joint_command) {
auto motor = motor_manager_->getMotor(j.joint_name);
if (motor != nullptr) {
if (motor->getMode() != msgs::RUN_MODE_CYCLIC_SYNC_POSITION) {
motor->setMode(msgs::RUN_MODE_CYCLIC_SYNC_POSITION);
}
motor->setQd(j.vel);
motor->setQ(j.rad);
}
}
update moveL
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// 检查中断
if (flash_cmd_.load()) {
flash_cmd_.store(false);
LOG(INFO) << "moveL: Interrupted by external command";
return;
}
update
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// 控制时间节奏 - 使用精确的时间规划
auto expected_time_point = loop_start_time + std::chrono::nanoseconds(
static_cast<long long>(expected_time * 1e9)
update moveL
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);
auto now = std::chrono::high_resolution_clock::now();
update
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if (now < expected_time_point) {
std::this_thread::sleep_until(expected_time_point);
} else {
LOG(WARNING) << "moveL: Behind schedule at point " << i
<< " by " << std::chrono::duration_cast<std::chrono::milliseconds>(now - expected_time_point).count() << "ms";
update moveL
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}
}
// 最终状态更新
update
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m_state_->SetQ(joint_positions.back());
update moveL
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m_robot_->ComputeForwardKinematics(m_state_);
rsm_.store(ROBOT_READY);
LOG(INFO) << "moveL: Trajectory completed successfully";
} catch (const std::exception &e) {
LOG(ERROR) << "moveL failed: " << e.what();
rsm_.store(ROBOT_ERROR);
throw std::runtime_error(std::string("moveL error: ") + e.what());
}
}
update
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// 辅助函数：计算运动时间
template<int DOF>
double HumanoidRobot<DOF>::calculateMoveTime(double distance, double vel, double acc) {
// 计算加速和减速所需的时间和距离
double acc_time = vel / acc;
double acc_distance = 0.5 * acc * acc_time * acc_time;
// 如果加速距离超过总距离的一半，需要调整最大速度
if (2 * acc_distance > distance) {
// 三角形速度曲线：加速然后直接减速
double max_reachable_vel = std::sqrt(acc * distance);
return 2 * max_reachable_vel / acc;
} else {
// 梯形速度曲线：加速-匀速-减速
double constant_distance = distance - 2 * acc_distance;
double constant_time = constant_distance / vel;
return 2 * acc_time + constant_time;
}
}
// 辅助函数：生成S曲线轨迹规划
template<int DOF>
void HumanoidRobot<DOF>::generateSTrapezoidalProfile(double total_distance, double max_vel, double max_acc,
double total_time, size_t num_points,
std::vector<double>& time_points,
std::vector<double>& distance_ratios) {
time_points.clear();
distance_ratios.clear();
// 计算加速和减速阶段的时间
double acc_time = max_vel / max_acc;
double acc_distance = 0.5 * max_acc * acc_time * acc_time;
// 确定实际的速度曲线形状
if (2 * acc_distance > total_distance) {
// 三角形速度曲线
double actual_max_vel = std::sqrt(max_acc * total_distance);
acc_time = actual_max_vel / max_acc;
acc_distance = 0.5 * max_acc * acc_time * acc_time;
double dec_time = acc_time;
// 生成时间点和距离比例
for (size_t i = 0; i <= num_points; ++i) {
double t = static_cast<double>(i) / num_points * total_time;
time_points.push_back(t);
if (t <= acc_time) {
// 加速阶段
double s = 0.5 * max_acc * t * t;
distance_ratios.push_back(s / total_distance);
} else {
// 减速阶段
double dec_start_time = total_time - dec_time;
double dec_elapsed = t - dec_start_time;
double s = acc_distance + actual_max_vel * dec_elapsed - 0.5 * max_acc * dec_elapsed * dec_elapsed;
distance_ratios.push_back(s / total_distance);
}
}
} else {
// 梯形速度曲线
double constant_time = (total_distance - 2 * acc_distance) / max_vel;
double dec_time = acc_time;
// 生成时间点和距离比例
for (size_t i = 0; i <= num_points; ++i) {
double t = static_cast<double>(i) / num_points * total_time;
time_points.push_back(t);
if (t <= acc_time) {
// 加速阶段
double s = 0.5 * max_acc * t * t;
distance_ratios.push_back(s / total_distance);
} else if (t <= acc_time + constant_time) {
// 匀速阶段
double s = acc_distance + max_vel * (t - acc_time);
distance_ratios.push_back(s / total_distance);
} else {
// 减速阶段
double dec_start_time = acc_time + constant_time;
double dec_elapsed = t - dec_start_time;
double s = acc_distance + max_vel * constant_time +
max_vel * dec_elapsed - 0.5 * max_acc * dec_elapsed * dec_elapsed;
distance_ratios.push_back(s / total_distance);
}
}
}
}
update moveL
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feat:add eye hand calibration and pose follow
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template class cmvr::device::HumanoidRobot<7>;
template class cmvr::device::HumanoidRobot<14>;
template class cmvr::device::HumanoidRobot<20>;
update
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