diff --git a/cmvr-es/common/CMakeLists.txt b/cmvr-es/common/CMakeLists.txt index 86256ff0..0531bb16 100644 --- a/cmvr-es/common/CMakeLists.txt +++ b/cmvr-es/common/CMakeLists.txt @@ -3,6 +3,7 @@ file(GLOB SRC ${CMAKE_CURRENT_SOURCE_DIR}/utils/config_helper/src/config_setting.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/curve/src/s_curve.cpp ) diff --git a/cmvr-es/common/curve/include/s_curve.h b/cmvr-es/common/curve/include/s_curve.h new file mode 100644 index 00000000..666fb437 --- /dev/null +++ b/cmvr-es/common/curve/include/s_curve.h @@ -0,0 +1,302 @@ +// +// Created by lgv on 2026/3/2. +// +/** + * @file s_curve.h + * @brief 标准 7 段式 S 曲线轨迹生成器（用于平滑运动控制） + * + * 实现标准 7 段式 S 曲线速度剖面： + * 1. 加加速度上升段（加速度逐渐增大） + * 2. 匀加速段 + * 3. 加加速度下降段（加速度逐渐降到 0） + * 4. 匀速巡航段 + * 5. 加加速度下降段（减速度逐渐增大） + * 6. 匀减速段 + * 7. 加加速度上升段（减速度逐渐降到 0） + * + * 特性： + * - 支持摇杆等实时增量更新 + * - 支持生成完整轨迹（用于 MoveIt 路径再参数化） + * - 支持配置 max_velocity / max_acceleration / max_jerk + */ + +#pragma once + +#include +#include +#include + + +namespace cmvr +{ + +/** + * @brief 单次点到点运动的 S 曲线剖面参数 + */ +struct SCurveProfile +{ + // 7 个阶段的持续时间 + double t1; // 加加速度上升时间（加速阶段） + double t2; // 匀加速时间 + double t3; // 加加速度下降时间（加速阶段结束） + double t4; // 匀速时间（巡航） + double t5; // 加加速度下降时间（减速阶段） + double t6; // 匀减速时间 + double t7; // 加加速度上升时间（减速阶段结束） + + double total_time; + + // 运动约束 + double j_max; // 最大加加速度 (rad/s³) + double a_max; // 最大加速度 (rad/s²) + double v_max; // 最大速度 (rad/s) + + // 运动参数 + double distance; // 运动总距离 + double direction; // +1 或 -1 + double v_cruise; // 实际达到的巡航速度 + double a_limit; // 实际达到的加速度上限 + + // 初始条件 + double p0; // 初始位置 + double v0; // 初始速度 + double a0; // 初始加速度 + + SCurveProfile() + : t1(0), t2(0), t3(0), t4(0), t5(0), t6(0), t7(0) + , total_time(0) + , j_max(50.0), a_max(10.0), v_max(3.0) + , distance(0), direction(1.0), v_cruise(0), a_limit(0) + , p0(0), v0(0), a0(0) + {} +}; + +/** + * @brief 实时增量 S 曲线控制的状态量 + */ +struct SCurveState +{ + double position; + double velocity; + double acceleration; + double jerk; + + // 目标跟踪 + double target_position; + bool is_moving; + + SCurveState() + : position(0), velocity(0), acceleration(0), jerk(0) + , target_position(0), is_moving(false) + {} +}; + +/** + * @brief S 曲线轨迹生成器 + * + * 提供两种工作模式： + * 1. 实时模式：根据目标变化持续更新位置 + * 2. 轨迹模式：针对给定位移生成完整轨迹 + */ +class SCurve +{ +public: + /** + * @brief 构造函数（带运动约束） + * @param max_velocity 最大速度 (rad/s) + * @param max_acceleration 最大加速度 (rad/s²) + * @param max_jerk 最大加加速度 (rad/s³) + */ + SCurve(double max_velocity = 3.0, + double max_acceleration = 10.0, + double max_jerk = 50.0); + + /** + * @brief 设置运动约束 + */ + void setConstraints(double max_velocity, double max_acceleration, double max_jerk); + + /** + * @brief 获取当前运动约束 + */ + void getConstraints(double& max_velocity, double& max_acceleration, double& max_jerk) const; + + /** + * @brief 使用当前状态初始化生成器 + * @param position 当前位置 + * @param velocity 当前速度（默认 0） + * @param acceleration 当前加速度（默认 0） + */ + void initialize(double position, double velocity = 0.0, double acceleration = 0.0); + + /** + * @brief 重置为初始状态 + */ + void reset(); + + // ==================== 实时模式 ==================== + + /** + * @brief 更新目标位置（实时模式） + * @param target_position 新目标位置 + */ + void setTarget(double target_position); + + /** + * @brief 使用 S 曲线剖面计算下一步位置（实时模式） + * @param dt 时间步长（秒） + * @return 更新后的位置 + * + * 本方法通过以下步骤实现实时 S 曲线控制： + * 1. 根据位置误差计算期望速度 + * 2. 限制加速度变化（加加速度限制） + * 3. 限制加速度 + * 4. 限制速度 + * 5. 积分得到新的位置 + */ + double update(double dt); + + /** + * @brief 获取当前状态 + */ + const SCurveState& getState() const { return state_; } + + /** + * @brief 获取当前位置 + */ + double getPosition() const { return state_.position; } + + /** + * @brief 获取当前速度 + */ + double getVelocity() const { return state_.velocity; } + + /** + * @brief 获取当前加速度 + */ + double getAcceleration() const { return state_.acceleration; } + + /** + * @brief 是否处于运动状态 + */ + bool isMoving() const { return state_.is_moving; } + + // ==================== 轨迹模式 ==================== + + /** + * @brief 计算点到点运动的完整 S 曲线剖面 + * @param start_position 起始位置 + * @param end_position 终止位置 + * @param start_velocity 起始速度（默认 0） + * @param end_velocity 终止速度（默认 0） + * @return 计算得到的剖面参数 + */ + SCurveProfile calculateProfile(double start_position, double end_position, + double start_velocity = 0.0, double end_velocity = 0.0); + + /** + * @brief 给定剖面下，获取时刻 t 的位置 + * @param profile S 曲线剖面 + * @param t 从起点开始的时间 + * @return 时刻 t 的位置 + */ + double getPositionAtTime(const SCurveProfile& profile, double t) const; + + /** + * @brief 给定剖面下，获取时刻 t 的速度 + * @param profile S 曲线剖面 + * @param t 从起点开始的时间 + * @return 时刻 t 的速度 + */ + double getVelocityAtTime(const SCurveProfile& profile, double t) const; + + /** + * @brief 给定剖面下，获取时刻 t 的加速度 + * @param profile S 曲线剖面 + * @param t 从起点开始的时间 + * @return 时刻 t 的加速度 + */ + double getAccelerationAtTime(const SCurveProfile& profile, double t) const; + + /** + * @brief 按固定时间间隔生成轨迹点 + * @param profile S 曲线剖面 + * @param dt 轨迹点时间间隔 + * @param positions 输出：每个时间点的位置 + * @param velocities 输出：每个时间点的速度 + * @param accelerations 输出：每个时间点的加速度 + */ + void generateTrajectory(const SCurveProfile& profile, double dt, + std::vector& positions, + std::vector& velocities, + std::vector& accelerations) const; + +private: + // 运动约束 + double max_velocity_; + double max_acceleration_; + double max_jerk_; + + // 实时状态 + SCurveState state_; + + // 实时模式的位置跟踪增益 + double position_gain_; + + // 小量阈值 + static constexpr double EPSILON = 1e-9; + static constexpr double VELOCITY_THRESHOLD = 1e-6; + static constexpr double POSITION_THRESHOLD = 1e-7; + + /** + * @brief 在最大减速度约束下，计算减速到 0 的时间 + */ + double calculateStoppingTime(double velocity, double acceleration) const; + + /** + * @brief 按 S 曲线减速剖面计算制动距离 + */ + double calculateStoppingDistance(double velocity, double acceleration) const; + + /** + * @brief 计算带加加速度限制的加速度更新 + */ + double computeJerkLimitedAcceleration(double current_acc, double desired_acc, double dt) const; + + /** + * @brief 判断所处的段并计算对应加加速度 + */ + double computeSegmentJerk(const SCurveProfile& profile, double t) const; + + /** + * @brief 计算短距离剖面（可能达不到最大速度） + */ + void calculateShortProfile(SCurveProfile& profile) const; + + /** + * @brief 计算长距离剖面（可达到最大速度） + */ + void calculateLongProfile(SCurveProfile& profile) const; + + /** + * @brief 将数值夹紧到指定范围 + */ + static double clamp(double value, double min_val, double max_val) + { + return std::max(min_val, std::min(max_val, value)); + } + + /** + * @brief 符号函数 + */ + static double sign(double value) + { + if (value > EPSILON) return 1.0; + if (value < -EPSILON) return -1.0; + return 0.0; + } +}; + +} // namespace + + diff --git a/cmvr-es/common/curve/src/s_curve.cpp b/cmvr-es/common/curve/src/s_curve.cpp new file mode 100644 index 00000000..0a89b8be --- /dev/null +++ b/cmvr-es/common/curve/src/s_curve.cpp @@ -0,0 +1,655 @@ +// +// Created by lgv on 2026/3/2. +// + + +/** + * @file s_curve_generator.cpp + * @brief S 曲线轨迹生成器实现 + */ + +#include "common/curve/include/s_curve.h" +#include +#include +#include + +namespace cmvr +{ + +SCurve::SCurve(double max_velocity, double max_acceleration, double max_jerk) + : max_velocity_(max_velocity) + , max_acceleration_(max_acceleration) + , max_jerk_(max_jerk) + , position_gain_(10.0) // 位置跟踪增益 +{ + reset(); +} + +void SCurve::setConstraints(double max_velocity, double max_acceleration, double max_jerk) +{ + max_velocity_ = std::abs(max_velocity); + max_acceleration_ = std::abs(max_acceleration); + max_jerk_ = std::abs(max_jerk); +} + +void SCurve::getConstraints(double& max_velocity, double& max_acceleration, double& max_jerk) const +{ + max_velocity = max_velocity_; + max_acceleration = max_acceleration_; + max_jerk = max_jerk_; +} + +void SCurve::initialize(double position, double velocity, double acceleration) +{ + state_.position = position; + state_.velocity = velocity; + state_.acceleration = acceleration; + state_.jerk = 0.0; + state_.target_position = position; + state_.is_moving = false; +} + +void SCurve::reset() +{ + state_ = SCurveState(); +} + +void SCurve::setTarget(double target_position) +{ + state_.target_position = target_position; +} + +double SCurve::update(double dt) +{ + if (dt <= 0.0 || dt > 0.1) { + return state_.position; + } + + // 计算位置误差 + double position_error = state_.target_position - state_.position; + + // 判断是否已足够接近目标 + if (std::abs(position_error) < POSITION_THRESHOLD && + std::abs(state_.velocity) < VELOCITY_THRESHOLD) { + state_.velocity = 0.0; + state_.acceleration = 0.0; + state_.jerk = 0.0; + state_.is_moving = false; + state_.position = state_.target_position; + return state_.position; + } + + state_.is_moving = true; + + // ==================== S 曲线实时算法 ==================== + // 通过加加速度限制实现实时 S 曲线控制 + + // Step 1：根据位置误差计算期望速度 + // 使用比例控制并施加速度上限 + double desired_velocity = position_gain_ * position_error; + desired_velocity = clamp(desired_velocity, -max_velocity_, max_velocity_); + + // Step 2：根据当前速度估算制动距离（考虑 S 曲线减速剖面） + double stopping_distance = calculateStoppingDistance(state_.velocity, state_.acceleration); + + // Step 3：判断是否需要开始减速 + double direction = sign(position_error); + double velocity_direction = sign(state_.velocity); + + // 如果正在远离目标，或距离不足以刹停，则需要减速 + bool need_decelerate = false; + if (velocity_direction != 0 && velocity_direction != direction) { + // 运动方向错误：必须减速 + need_decelerate = true; + } else if (std::abs(position_error) <= std::abs(stopping_distance) * 1.1) { + // 接近目标：提前开始减速（留 10% 裕量） + need_decelerate = true; + } + + // Step 4：计算期望加速度 + double desired_acceleration; + if (need_decelerate) { + // 减速：加速度方向应与速度相反 + if (std::abs(state_.velocity) < VELOCITY_THRESHOLD) { + desired_acceleration = 0.0; + } else { + desired_acceleration = -sign(state_.velocity) * max_acceleration_; + } + } else { + // 朝目标方向加速 + double velocity_error = desired_velocity - state_.velocity; + desired_acceleration = clamp(velocity_error / dt, -max_acceleration_, max_acceleration_); + } + + // Step 5：施加加加速度限制（S 曲线平滑性的关键） + double new_acceleration = computeJerkLimitedAcceleration( + state_.acceleration, desired_acceleration, dt); + + // Step 6：更新加加速度 + state_.jerk = (new_acceleration - state_.acceleration) / dt; + + // Step 7：更新加速度 + state_.acceleration = new_acceleration; + + // Step 8：在加速度限制下更新速度 + double new_velocity = state_.velocity + state_.acceleration * dt; + new_velocity = clamp(new_velocity, -max_velocity_, max_velocity_); + state_.velocity = new_velocity; + + // Step 9：更新位置 + // 使用梯形积分提高精度 + double avg_velocity = (state_.velocity + new_velocity) * 0.5; + state_.position += avg_velocity * dt; + + // Step 10：非常接近目标且速度很小则直接夹紧到目标 + if (std::abs(state_.target_position - state_.position) < POSITION_THRESHOLD * 10 && + std::abs(state_.velocity) < VELOCITY_THRESHOLD * 10) { + state_.position = state_.target_position; + } + + return state_.position; +} + +double SCurve::calculateStoppingTime(double velocity, double acceleration) const +{ + // 将加速度减到 0 所需时间 + double t_jerk = std::abs(acceleration) / max_jerk_; + + // 加加速度阶段的速度变化量 + double v_change_jerk = 0.5 * std::abs(acceleration) * t_jerk; + + // 加加速度阶段结束后的剩余速度 + double v_remaining = std::abs(velocity) - v_change_jerk; + + if (v_remaining <= 0) { + // 仅靠加加速度阶段即可停止 + return std::sqrt(2.0 * std::abs(velocity) / max_jerk_); + } + + // 需要进入匀减速阶段 + // 匀减速阶段持续时间 + double t_const = v_remaining / max_acceleration_; + + // 最后一个加加速度阶段：将加速度带回到 0 + double t_jerk_final = max_acceleration_ / max_jerk_; + + return t_jerk + t_const + t_jerk_final; +} + +double SCurve::calculateStoppingDistance(double velocity, double acceleration) const +{ + double v = std::abs(velocity); + double a = std::abs(acceleration); + + if (v < VELOCITY_THRESHOLD) { + return 0.0; + } + + // 简化版 S 曲线制动距离估算 + // 完整推导需要考虑 7 个阶段；实时控制中使用近似即可获得平滑减速效果 + + // 将加速度减到 0 的时间（加加速度阶段 1） + double t1 = a / max_jerk_; + double d1 = v * t1 + 0.5 * a * t1 * t1 - (1.0/6.0) * max_jerk_ * t1 * t1 * t1; + double v1 = v + a * t1 - 0.5 * max_jerk_ * t1 * t1; + + if (v1 <= 0) { + // 在第一段加加速度阶段内停止 + return std::abs(d1); + } + + // 匀减速阶段 + double t2 = (v1 - max_acceleration_ * max_acceleration_ / (2.0 * max_jerk_)) / max_acceleration_; + if (t2 < 0) t2 = 0; + double d2 = v1 * t2 - 0.5 * max_acceleration_ * t2 * t2; + double v2 = v1 - max_acceleration_ * t2; + + // 最后一个加加速度阶段 + double t3 = max_acceleration_ / max_jerk_; + double d3 = v2 * t3 - 0.5 * max_acceleration_ * t3 * t3 + (1.0/6.0) * max_jerk_ * t3 * t3 * t3; + + double total_distance = d1 + d2 + d3; + + // 增加安全裕量 + return std::abs(total_distance) * 1.2; +} + +double SCurve::computeJerkLimitedAcceleration(double current_acc, double desired_acc, double dt) const +{ + double acc_change = desired_acc - current_acc; + double max_acc_change = max_jerk_ * dt; + + // 按加加速度上限夹紧加速度变化量 + acc_change = clamp(acc_change, -max_acc_change, max_acc_change); + + double new_acc = current_acc + acc_change; + + // 同时夹紧加速度本身 + new_acc = clamp(new_acc, -max_acceleration_, max_acceleration_); + + return new_acc; +} + +// ==================== 轨迹模式实现 ==================== + +SCurveProfile SCurve::calculateProfile(double start_position, double end_position, + double start_velocity, double end_velocity [[maybe_unused]]) +{ + SCurveProfile profile; + profile.j_max = max_jerk_; + profile.a_max = max_acceleration_; + profile.v_max = max_velocity_; + profile.p0 = start_position; + profile.v0 = start_velocity; + profile.a0 = 0.0; // Assume starting from zero acceleration + + double displacement = end_position - start_position; + profile.distance = std::abs(displacement); + profile.direction = (displacement >= 0) ? 1.0 : -1.0; + + if (profile.distance < EPSILON) { + // 无需运动 + profile.total_time = 0.0; + return profile; + } + + // 达到最大加速度所需时间（加加速度阶段） + double t_j = profile.a_max / profile.j_max; + + // 单个加加速度阶段获得的速度增量 + double v_j = 0.5 * profile.j_max * t_j * t_j; + + // 加速阶段（含两个加加速度段）的位移 + // 假设能够达到最大加速度 + double d_acc = v_j * t_j + profile.a_max * t_j * t_j + v_j; + + // 判断是否能达到最大速度 + double v_acc = 2 * v_j; // Velocity gained during full acceleration phase + + if (v_acc >= profile.v_max) { + // 达不到最大加速度：三角形剖面 + calculateShortProfile(profile); + } else { + // 判断是否能在半程之前达到最大速度 + double d_to_vmax = d_acc + (profile.v_max - v_acc) * (profile.v_max - v_acc) / (2.0 * profile.a_max); + + if (2.0 * d_to_vmax > profile.distance) { + // 达不到最大速度：梯形加速度剖面 + calculateShortProfile(profile); + } else { + // 可达到最大速度：完整 S 曲线 + calculateLongProfile(profile); + } + } + + return profile; +} + +void SCurve::calculateShortProfile(SCurveProfile& profile) const +{ + // 短距离情况下，可能达不到最大速度，甚至达不到最大加速度 + // 使用对称剖面：t1=t3=t5=t7，t2=t6，t4=0 + + double j = profile.j_max; + double a = profile.a_max; + // double v = profile.v_max; // 短剖面不会达到最大速度，因此不使用 + double d = profile.distance; + + // 达到最大加速度所需时间 + double t_j = a / j; + + // 判断是否能达到最大加速度 + // 纯加加速度剖面（t1=t3，无匀加速）的位移 + double d_jerk_only = j * t_j * t_j * t_j / 3.0; + + if (d < 2.0 * d_jerk_only) { + // 极短距离：纯加加速度剖面 + double t1 = std::cbrt(d * 1.5 / j); + profile.t1 = t1; + profile.t2 = 0.0; + profile.t3 = t1; + profile.t4 = 0.0; + profile.t5 = t1; + profile.t6 = 0.0; + profile.t7 = t1; + profile.v_cruise = j * t1 * t1; // 峰值速度 + profile.a_limit = j * t1; // 峰值加速度 + } else { + // 需要匀加速阶段 + // 在位移约束下求解 t1 与 t2 + // d = 2 * (v_j * t_j + 0.5 * a * t_j^2 + a * t_a * t_j + 0.5 * a * t_a^2) + + profile.t1 = t_j; + profile.t3 = t_j; + profile.t5 = t_j; + profile.t7 = t_j; + + // t1 结束时速度 + double v1 = 0.5 * j * t_j * t_j; + + // 4 个加加速度段覆盖的位移 + double d_jerk = 4.0 * (v1 * t_j / 2.0 + j * t_j * t_j * t_j / 6.0); + + // 匀加速/匀减速阶段的剩余位移 + double d_const = d - d_jerk; + + // 求解 t2（匀加速时间） + // 使用一元二次方程 + double A = a; + double B = 2.0 * v1 + a * t_j; + double C = -d_const / 2.0; + + double discriminant = B * B - 4.0 * A * C; + if (discriminant < 0) discriminant = 0; + + double t2 = (-B + std::sqrt(discriminant)) / (2.0 * A); + if (t2 < 0) t2 = 0; + + profile.t2 = t2; + profile.t6 = t2; + profile.t4 = 0.0; // No cruise phase + + profile.v_cruise = v1 + a * (t_j + t2); + profile.a_limit = a; + } + + profile.total_time = profile.t1 + profile.t2 + profile.t3 + profile.t4 + + profile.t5 + profile.t6 + profile.t7; +} + +void SCurve::calculateLongProfile(SCurveProfile& profile) const +{ + // 含巡航段的完整 7 段式 S 曲线 + double j = profile.j_max; + double a = profile.a_max; + double v = profile.v_max; + double d = profile.distance; + + // 加加速度段持续时间 + double t_j = a / j; + + // 加速阶段加加速度段获得的速度增量 + double v_j = 0.5 * j * t_j * t_j; + + // 匀加速达到最大速度所需时间 + double t_a = (v - 2.0 * v_j) / a; + if (t_a < 0) t_a = 0; + + profile.t1 = t_j; + profile.t2 = t_a; + profile.t3 = t_j; + profile.t5 = t_j; + profile.t6 = t_a; + profile.t7 = t_j; + + // 加速阶段（t1+t2+t3）覆盖的位移 + double d_acc = v_j * t_j + 0.5 * a * t_j * t_j + // t1 + (v_j + 0.5 * a * t_j) * t_a + 0.5 * a * t_a * t_a + // t2 + (v_j + a * t_j + a * t_a) * t_j + 0.5 * a * t_j * t_j - j * t_j * t_j * t_j / 6.0; // t3 + + // 减速阶段对称 + double d_dec = d_acc; + + // 巡航段位移 + double d_cruise = d - d_acc - d_dec; + if (d_cruise < 0) d_cruise = 0; + + // 巡航段时间 + profile.t4 = d_cruise / v; + + profile.v_cruise = v; + profile.a_limit = a; + + profile.total_time = profile.t1 + profile.t2 + profile.t3 + profile.t4 + + profile.t5 + profile.t6 + profile.t7; +} + +double SCurve::computeSegmentJerk(const SCurveProfile& profile, double t) const +{ + double j = profile.j_max * profile.direction; + + // 判断所处阶段 + double t_end1 = profile.t1; + double t_end2 = t_end1 + profile.t2; + double t_end3 = t_end2 + profile.t3; + double t_end4 = t_end3 + profile.t4; + double t_end5 = t_end4 + profile.t5; + double t_end6 = t_end5 + profile.t6; + // double t_end7 = t_end6 + profile.t7; // = total_time + + if (t < t_end1) { + return j; // 段 1：正加加速度（加速） + } else if (t < t_end2) { + return 0.0; // 段 2：加加速度为 0（匀加速） + } else if (t < t_end3) { + return -j; // 段 3：负加加速度（减小加速度） + } else if (t < t_end4) { + return 0.0; // 段 4：加加速度为 0（巡航） + } else if (t < t_end5) { + return -j; // 段 5：负加加速度（开始减速） + } else if (t < t_end6) { + return 0.0; // 段 6：加加速度为 0（匀减速） + } else { + return j; // 段 7：正加加速度（减速结束） + } +} + +double SCurve::getPositionAtTime(const SCurveProfile& profile, double t) const +{ + if (t <= 0) return profile.p0; + if (t >= profile.total_time) return profile.p0 + profile.distance * profile.direction; + + double j = profile.j_max * profile.direction; + double p = profile.p0; + double v = profile.v0; + double a = profile.a0; + + // 时间边界 + double t_end1 = profile.t1; + double t_end2 = t_end1 + profile.t2; + double t_end3 = t_end2 + profile.t3; + double t_end4 = t_end3 + profile.t4; + double t_end5 = t_end4 + profile.t5; + double t_end6 = t_end5 + profile.t6; + + // 依次处理各阶段 + auto processSegment = [&](double dt, double jerk) { + p += v * dt + 0.5 * a * dt * dt + (1.0/6.0) * jerk * dt * dt * dt; + v += a * dt + 0.5 * jerk * dt * dt; + a += jerk * dt; + }; + + // 段 1 + if (t <= t_end1) { + processSegment(t, j); + return p; + } + processSegment(profile.t1, j); + + // 段 2 + if (t <= t_end2) { + processSegment(t - t_end1, 0.0); + return p; + } + processSegment(profile.t2, 0.0); + + // 段 3 + if (t <= t_end3) { + processSegment(t - t_end2, -j); + return p; + } + processSegment(profile.t3, -j); + + // 段 4（巡航） + if (t <= t_end4) { + processSegment(t - t_end3, 0.0); + return p; + } + processSegment(profile.t4, 0.0); + + // 段 5 + if (t <= t_end5) { + processSegment(t - t_end4, -j); + return p; + } + processSegment(profile.t5, -j); + + // 段 6 + if (t <= t_end6) { + processSegment(t - t_end5, 0.0); + return p; + } + processSegment(profile.t6, 0.0); + + // 段 7 + processSegment(t - t_end6, j); + return p; +} + +double SCurve::getVelocityAtTime(const SCurveProfile& profile, double t) const +{ + if (t <= 0) return profile.v0; + if (t >= profile.total_time) return 0.0; // 假设末端静止 + + double j = profile.j_max * profile.direction; + double v = profile.v0; + double a = profile.a0; + + // 时间边界 + double t_end1 = profile.t1; + double t_end2 = t_end1 + profile.t2; + double t_end3 = t_end2 + profile.t3; + double t_end4 = t_end3 + profile.t4; + double t_end5 = t_end4 + profile.t5; + double t_end6 = t_end5 + profile.t6; + + auto processSegment = [&](double dt, double jerk) { + v += a * dt + 0.5 * jerk * dt * dt; + a += jerk * dt; + }; + + if (t <= t_end1) { + v += a * t + 0.5 * j * t * t; + return v; + } + processSegment(profile.t1, j); + + if (t <= t_end2) { + v += a * (t - t_end1); + return v; + } + processSegment(profile.t2, 0.0); + + if (t <= t_end3) { + double dt = t - t_end2; + v += a * dt + 0.5 * (-j) * dt * dt; + return v; + } + processSegment(profile.t3, -j); + + if (t <= t_end4) { + v += a * (t - t_end3); + return v; + } + processSegment(profile.t4, 0.0); + + if (t <= t_end5) { + double dt = t - t_end4; + v += a * dt + 0.5 * (-j) * dt * dt; + return v; + } + processSegment(profile.t5, -j); + + if (t <= t_end6) { + v += a * (t - t_end5); + return v; + } + processSegment(profile.t6, 0.0); + + double dt = t - t_end6; + v += a * dt + 0.5 * j * dt * dt; + return v; +} + +double SCurve::getAccelerationAtTime(const SCurveProfile& profile, double t) const +{ + if (t <= 0 || t >= profile.total_time) return 0.0; + + double j = profile.j_max * profile.direction; + double a = profile.a0; + + // 时间边界 + double t_end1 = profile.t1; + double t_end2 = t_end1 + profile.t2; + double t_end3 = t_end2 + profile.t3; + double t_end4 = t_end3 + profile.t4; + double t_end5 = t_end4 + profile.t5; + double t_end6 = t_end5 + profile.t6; + + if (t <= t_end1) { + return a + j * t; + } + a += j * profile.t1; + + if (t <= t_end2) { + return a; + } + + if (t <= t_end3) { + return a + (-j) * (t - t_end2); + } + a += (-j) * profile.t3; + + if (t <= t_end4) { + return a; // Should be ~0 + } + + if (t <= t_end5) { + return a + (-j) * (t - t_end4); + } + a += (-j) * profile.t5; + + if (t <= t_end6) { + return a; + } + + return a + j * (t - t_end6); +} + +void SCurve::generateTrajectory(const SCurveProfile& profile, double dt, + std::vector& positions, + std::vector& velocities, + std::vector& accelerations) const +{ + positions.clear(); + velocities.clear(); + accelerations.clear(); + + if (profile.total_time <= 0 || dt <= 0) { + positions.push_back(profile.p0); + velocities.push_back(profile.v0); + accelerations.push_back(profile.a0); + return; + } + + int num_points = static_cast(std::ceil(profile.total_time / dt)) + 1; + positions.reserve(num_points); + velocities.reserve(num_points); + accelerations.reserve(num_points); + + for (double t = 0; t <= profile.total_time; t += dt) { + positions.push_back(getPositionAtTime(profile, t)); + velocities.push_back(getVelocityAtTime(profile, t)); + accelerations.push_back(getAccelerationAtTime(profile, t)); + } + + // 确保包含最终点 + if (positions.empty() || + std::abs(positions.back() - (profile.p0 + profile.distance * profile.direction)) > EPSILON) { + positions.push_back(profile.p0 + profile.distance * profile.direction); + velocities.push_back(0.0); + accelerations.push_back(0.0); + } +} + +} // namespace el_a3_hardware diff --git a/cmvr-es/controller/include/ibvs_controller.h b/cmvr-es/controller/include/ibvs_controller.h index ca92a5b8..4657707b 100644 --- a/cmvr-es/controller/include/ibvs_controller.h +++ b/cmvr-es/controller/include/ibvs_controller.h @@ -258,6 +258,8 @@ private: private: // 是否初始化成功。 bool initialized_{false}; + // 速度 IK 使用的基座 frame 名称。 + std::string base_frame_name_; // 速度 IK 使用的末端相机 frame 名称。 std::string camera_frame_name_; // 相机对象。 @@ -325,9 +327,9 @@ private: // 是否成功读取到 URDF 关节限位。 bool has_joint_position_limits_{false}; // 本链关节位置下限（rad）。 - std::vector q_lower_limits_; + Eigen::VectorXd q_lower_limits_; // 本链关节位置上限（rad）。 - std::vector q_upper_limits_; + Eigen::VectorXd q_upper_limits_; // 最近一次用于控制的 tag id。 int last_used_tag_id_{-1}; diff --git a/cmvr-es/controller/src/ibvs_controller.cpp b/cmvr-es/controller/src/ibvs_controller.cpp index bc464e6c..4943d0ac 100644 --- a/cmvr-es/controller/src/ibvs_controller.cpp +++ b/cmvr-es/controller/src/ibvs_controller.cpp @@ -77,6 +77,7 @@ bool IbvsController::init(const std::shared_ptr& camera, return false; } + base_frame_name_ = base_link; camera_frame_name_ = camera_link; dls_solver_ = std::make_unique( urdf_path, base_link, flange_link, camera_frame_name_, 100, 1e-6, 1e-6, mu_); @@ -91,8 +92,8 @@ bool IbvsController::init(const std::shared_ptr& camera, dls_solver_->getJointPositionLimits(q_lower_limits_, q_upper_limits_); } else { has_joint_position_limits_ = false; - q_lower_limits_.clear(); - q_upper_limits_.clear(); + q_lower_limits_.resize(0); + q_upper_limits_.resize(0); } last_compute_status_ = initialized_ ? ComputeStatus::OK : ComputeStatus::NOT_READY; return initialized_; @@ -303,9 +304,11 @@ bool IbvsController::computeInternal(const std::vector& joints_angle, twist_ee_pin.head<3>() = R_camera_urdf_ * twist_ee.head<3>(); twist_ee_pin.tail<3>() = R_camera_urdf_ * twist_ee.tail<3>(); + dls_solver_->update_joints_state(joints_angle); std::vector qdot; - const bool ok = dls_solver_->velocityIk( - joints_angle, twist_ee_pin, qdot, camera_frame_name_, mu_, std::numeric_limits::infinity()); + const bool ok = dls_solver_->ik( + base_frame_name_, camera_frame_name_, twist_ee_pin, + qdot, mu_, std::numeric_limits::infinity()); if (!ok || qdot.size() != joints_angle.size()) { last_compute_status_ = ComputeStatus::IK_FAILED; return false; @@ -362,7 +365,8 @@ bool IbvsController::compute(const std::vector& joints_angle, void IbvsController::clampJointCommandInPlace(std::vector& q) const { if (!has_joint_position_limits_) return; - if (q.size() != q_lower_limits_.size() || q.size() != q_upper_limits_.size()) return; + if (q.size() != static_cast(q_lower_limits_.size()) || + q.size() != static_cast(q_upper_limits_.size())) return; for (size_t i = 0; i < q.size(); ++i) { const double lo = q_lower_limits_[i]; diff --git a/cmvr-es/ik_solver/CMakeLists.txt b/cmvr-es/ik_solver/CMakeLists.txt index 368b4050..8aceeb72 100644 --- a/cmvr-es/ik_solver/CMakeLists.txt +++ b/cmvr-es/ik_solver/CMakeLists.txt @@ -1,6 +1,9 @@ add_library(ik_solver SHARED + ${CMAKE_CURRENT_SOURCE_DIR}/src/ik_solver.cpp ${CMAKE_CURRENT_SOURCE_DIR}/src/ik_solver_creator.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/src/urdf_parser.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/src/pinocchio_ik_base.cpp ${CMAKE_CURRENT_SOURCE_DIR}/src/pinocchio_dls_ik_solver.cpp ${CMAKE_CURRENT_SOURCE_DIR}/src/pinocchio_qp_ik_solver.cpp ${CMAKE_CURRENT_SOURCE_DIR}/src/bias_srs_ik_slover.cpp @@ -62,5 +65,3 @@ target_link_libraries(ik_test glog cmvr_es::proto ) - -install(TARGETS srs_ik_test RUNTIME DESTINATION bin) diff --git a/cmvr-es/ik_solver/include/ik_solver.h b/cmvr-es/ik_solver/include/ik_solver.h index 21f0908e..27cd5e4a 100644 --- a/cmvr-es/ik_solver/include/ik_solver.h +++ b/cmvr-es/ik_solver/include/ik_solver.h @@ -6,12 +6,33 @@ #include #include "ik_solver.h" #include +#include +#include #include namespace cmvr { + class UrdfParser; + class IKSolver { public: - IKSolver()=default; + /** + * @brief 构造时按 URDF 路径初始化链路缓存。 + * @param urdf_path URDF 文件路径。 + * @param base_frame_name 链路基座 frame 名称。 + * @param tip_frame_name 链路末端 frame 名称。 + */ + IKSolver(const std::string& urdf_path, + const std::string& base_frame_name, + const std::string& tip_frame_name); + /** + * @brief 构造时按外部解析器初始化链路缓存。 + * @param parser 已加载模型的 URDF 解析器。 + * @param base_frame_name 链路基座 frame 名称。 + * @param tip_frame_name 链路末端 frame 名称。 + */ + IKSolver(std::shared_ptr parser, + const std::string& base_frame_name, + const std::string& tip_frame_name); virtual ~IKSolver()=default; virtual bool init() { @@ -43,30 +64,79 @@ namespace cmvr { cur_joints_angle_ = std::move(cur_joints_angle); } + /** + * @brief 获取当前缓存链路的关节位置限位。 + * @param lower 输出下限，单位 rad。 + * @param upper 输出上限，单位 rad。 + * @return 成功返回 true，失败返回 false。 + */ + bool getJointPositionLimits(Eigen::VectorXd& lower, + Eigen::VectorXd& upper) const; + + /** + * @brief 获取当前缓存链路的关节速度限位。 + * @param limits 输出速度上限（绝对值），单位 rad/s。 + * @return 成功返回 true，失败返回 false。 + */ + bool getJointVelocityLimits(Eigen::VectorXd& limits) const; + + /** + * @brief 获取当前缓存链路的关节名称（base->tip 顺序）。 + * @param names 输出关节名称列表。 + * @return 成功返回 true，失败返回 false。 + */ + bool getChainJointNames(std::vector& names) const; + protected: - //机械臂urdf中末端工具坐标系相对于MDH中末端法兰的变换矩阵 - Eigen::Matrix4d T_tool_flange_{}; + /** + * @brief 使用 URDF 路径初始化链路信息缓存（关节限位/关节名）。 + * @param urdf_path URDF 文件路径。 + * @param base_frame_name 链路基座 frame 名称。 + * @param tip_frame_name 链路末端 frame 名称。 + * @return 成功返回 true，失败返回 false。 + */ + bool initUrdfChain(const std::string& urdf_path, + const std::string& base_frame_name, + const std::string& tip_frame_name); - // 机械臂MDH基座相对于机器人urdf基座的变换矩阵 - Eigen::Matrix4d T_arm_robot_{}; - - // 机械臂urdf 中法兰姿态相对于 MDH 中法兰姿态的变换矩阵 - Eigen::Matrix4d T_flange_urdf_mdh_{}; + /** + * @brief 使用外部 UrdfParser 初始化链路信息缓存（关节限位/关节名）。 + * @param parser 已加载模型的 URDF 解析器。 + * @param base_frame_name 链路基座 frame 名称。 + * @param tip_frame_name 链路末端 frame 名称。 + * @return 成功返回 true，失败返回 false。 + */ + bool initUrdfChain(const std::shared_ptr& parser, + const std::string& base_frame_name, + const std::string& tip_frame_name); // 上次调用ik 时计算的结果 std::vector cur_joints_angle_{}; - // 设置 机械臂末端工具坐标系相对于末端法兰的变换矩阵 - void setTcpTransform(const Eigen::Matrix4d& T_tool_flange) { - T_tool_flange_ = T_tool_flange; - } + // URDF 解析器（用于统一管理链路限位/关节名）。 + std::shared_ptr urdf_parser_{}; + // 当前缓存链路的基座 frame 名称。 + std::string chain_base_frame_name_{}; + // 当前缓存链路的末端 frame 名称。 + std::string chain_tip_frame_name_{}; - void setArmBaseTransform(const Eigen::Matrix4d& T_arm_robot) { - T_arm_robot_ = T_arm_robot; - } + // 当前缓存链路关节位置下限（rad）。 + Eigen::VectorXd joint_pos_lower_limits_{}; + + // 当前缓存链路关节位置上限（rad）。 + Eigen::VectorXd joint_pos_upper_limits_{}; + + // 当前缓存链路关节速度上限（rad/s, 绝对值）。 + Eigen::VectorXd joint_vel_limits_{}; + + // 当前缓存链路关节名称（base->tip 顺序）。 + std::vector chain_joint_names_{}; + + // 链路缓存是否有效。 + bool urdf_chain_cached_{false}; }; } diff --git a/cmvr-es/ik_solver/include/lawba_ik_solver.h b/cmvr-es/ik_solver/include/lawba_ik_solver.h index d1ee6c92..6fa3431a 100644 --- a/cmvr-es/ik_solver/include/lawba_ik_solver.h +++ b/cmvr-es/ik_solver/include/lawba_ik_solver.h @@ -42,6 +42,15 @@ public: } private: + // 机械臂 URDF 中末端工具坐标系相对于 MDH 中末端法兰的变换矩阵。 + Eigen::Matrix4d T_tool_flange_{Eigen::Matrix4d::Identity()}; + + // 机械臂 MDH 基座相对于机器人 URDF 基座的变换矩阵。 + Eigen::Matrix4d T_arm_robot_{Eigen::Matrix4d::Identity()}; + + // 机械臂 URDF 中法兰姿态相对于 MDH 中法兰姿态的变换矩阵。 + Eigen::Matrix4d T_flange_urdf_mdh_{Eigen::Matrix4d::Identity()}; + std::shared_ptr bias_srs_ik_solver_{nullptr}; std::shared_ptr joints_limit_analyzer_{nullptr}; std::shared_ptr opt_psi_selector_{nullptr}; diff --git a/cmvr-es/ik_solver/include/pinocchio_dls_ik_solver.h b/cmvr-es/ik_solver/include/pinocchio_dls_ik_solver.h index 19d3d133..a93ffea8 100644 --- a/cmvr-es/ik_solver/include/pinocchio_dls_ik_solver.h +++ b/cmvr-es/ik_solver/include/pinocchio_dls_ik_solver.h @@ -1,11 +1,7 @@ // Created by lgv on 11/28/25. #pragma once -#include "ik_solver/include/ik_solver.h" - -#include -#include -#include +#include "ik_solver/include/pinocchio_ik_base.h" #include #include @@ -15,8 +11,31 @@ namespace cmvr { -class PinocchioDlsIKSolver : public IKSolver { +/** + * @brief 基于 Pinocchio 的 DLS 逆运动学求解器。 + * + * 提供以下能力： + * - 位姿 IK（`ik`） + * - 正运动学 FK（`fk`） + * - 末端 twist 到关节速度的微分 IK（`ik` 重载） + * - 直线 MoveL（S 曲线标量规划 + 局部系微分 IK） + * + * 求解链路由 URDF 中 `base_frame_name -> flange_frame_name` 自动提取， + * 并支持可选 TCP frame。 + */ +class PinocchioDlsIKSolver : public PinocchioIKBase { public: + /** + * @brief 构造 `PinocchioDlsIKSolver`。 + * @param urdf_path URDF 文件路径。 + * @param base_frame_name 机械臂基座 frame 名称。 + * @param flange_frame_name 机械臂法兰 frame 名称。 + * @param tcp_frame_name TCP frame 名称；为空表示不使用 TCP。 + * @param max_iters IK 最大迭代次数。 + * @param pos_eps 平移收敛阈值（m）。 + * @param rot_eps 旋转收敛阈值（rad）。 + * @param damping DLS 阻尼系数，建议默认值大于 `1e-6` 以提升稳定性。 + */ PinocchioDlsIKSolver(const std::string &urdf_path, const std::string &base_frame_name, const std::string &flange_frame_name, @@ -28,26 +47,57 @@ public: ~PinocchioDlsIKSolver() override = default; + /** + * @brief 初始化求解器（加载 URDF、提取链路、缓存限位与基座位姿）。 + * @return 成功返回 `true`，失败返回 `false`。 + */ bool init() override; - // target_pose: base 坐标系下的目标位姿 + /** + * @brief 位姿 IK 求解。 + * @param target_pose base 坐标系下目标位姿。 + * @param joints_angle 输出关节角（链空间）。 + * @param is_tcp 为 `true` 时以 TCP 为末端，否则以 flange 为末端。 + * @return 成功返回 `true`，失败返回 `false`。 + */ bool ik(const Eigen::Matrix4d &target_pose, std::vector &joints_angle, bool is_tcp = true) override; - // cur_pose: base 坐标系下当前位姿 - bool fk(const std::vector &joints_angle, - Eigen::Matrix4d &cur_pose, - bool is_tcp = true) override; - - // 指定 base_link 与 ee_link，返回 ee 在 base 下的位姿。 - bool fk(const std::string& base_link, + /** + * @brief 位姿 IK 求解（显式指定 base_link 与 ee_link）。 + * + * 约束：`base_link` 与 `ee_link` 必须位于初始化单一链（base->tip） + * 对应分支内，且 `base_link` 需是 `ee_link` 的祖先（或同一 link）。 + * + * @param base_link 基座 frame 名称（目标位姿参考系）。 + * @param ee_link 末端 frame 名称。 + * @param target_pose `ee_link` 在 `base_link` 下的目标位姿。 + * @param joints_angle 输出关节角（链空间）。 + * @return 成功返回 `true`，失败返回 `false`。 + */ + bool ik(const std::string& base_link, const std::string& ee_link, - const std::vector& joints_angle, - Eigen::Matrix4d& cur_pose); + const Eigen::Matrix4d& target_pose, + std::vector& joints_angle); - // MoveL：S 曲线（限 jerk）速度规划 + 微分IK（LOCAL）生成 q(t) - // target_pose_base: base 下目标位姿（只用平移；姿态保持起点姿态） + /** + * @brief 生成 MoveL 关节轨迹（局部系微分 IK + S 曲线标量规划）。 + * + * 该接口仅跟踪平移直线，姿态保持起点姿态。 + * + * @param target_pose_base base 坐标系下目标位姿（平移有效，姿态仅用于接口一致性）。 + * @param q_start 起始关节角（链空间）。 + * @param q_traj 输出关节轨迹序列。 + * @param t_traj 输出时间戳序列（秒）。 + * @param dt 控制周期（秒）。 + * @param v_tcp_max TCP 线速度上限（m/s）。 + * @param a_tcp_max TCP 线加速度上限（m/s^2）。 + * @param j_tcp_max TCP 线加加速度上限（m/s^3）。 + * @param qd_max 关节速度上限（rad/s），长度应等于 `chain_dof_`。 + * @param is_tcp 为 `true` 时以 TCP 为末端，否则以 flange 为末端。 + * @return 成功返回 `true`，失败返回 `false`。 + */ bool moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_base, const std::vector& q_start, std::vector>& q_traj, @@ -60,23 +110,24 @@ public: bool is_tcp = true); /** - * @brief 用 DLS 微分逆解将末端局部坐标系（如相机系）twist 映射为本链关节速度。 + * @brief 用 DLS 微分逆解将末端局部坐标系 twist 映射为关节速度。 * - * @param cur_angle 当前关节角，支持 size==chain_dof_ 或 size==model_.nq。 - * @param ee_velocity 末端期望速度 [vx vy vz wx wy wz]^T，单位 m/s 与 rad/s，坐标系为 ee_frame_name 局部系。 - * @param joints_vel 输出的关节速度，size=chain_v_dof_，单位 rad/s。 + * 当前关节状态取自内部 `cur_joints_angle_`（调用前需先 `update_joints_state`）。 + * + * @param base_link 基坐标系 frame 名称。 * @param ee_link 末端 frame 名称。 + * @param target_vel 末端期望速度 [vx vy vz wx wy wz]^T，单位 m/s 与 rad/s，坐标系为 `ee_link` 局部系。 + * @param joints_vel 输出的关节速度，size=chain_v_dof_，单位 rad/s。 * @param damping DLS 阻尼系数，<=0 时使用成员 damping_。 * @param qdot_abs_max 关节速度绝对值限幅；同时会叠加 URDF velocityLimit。 - * @return true 计算成功；false 输入非法或 frame 不存在等失败。 - * @note 函数内部会将 ee 局部 twist 转到 base 坐标系，并在 base 坐标系中完成 DLS 求解。 + * @return 成功返回 `true`，失败返回 `false`。 */ - bool velocityIk(const std::vector& cur_angle, - const Eigen::Matrix& ee_velocity, - std::vector& joints_vel, - const std::string& ee_link, - double damping = -1.0, - double qdot_abs_max = std::numeric_limits::infinity()); + bool ik(const std::string& base_link, + const std::string& ee_link, + const Eigen::Matrix& target_vel, + std::vector& joints_vel, + double damping = -1.0, + double qdot_abs_max = std::numeric_limits::infinity()); /** * @brief 配置关节限位避障 null-space 项。 @@ -92,64 +143,103 @@ public: double max_push = 0.25); /** - * @brief 读取本链关节位置限位（来自 URDF）。 - * @param lower 输出下限，size=chain_dof_。 - * @param upper 输出上限，size=chain_dof_。 - * @return 成功返回 `true`。 + * @brief 设置 IK 最大迭代次数。 + * @param iters 最大迭代次数。 */ - bool getJointPositionLimits(std::vector& lower, - std::vector& upper) const; - void setMaxIters(int iters) { max_iters_ = iters; } + /** + * @brief 设置 DLS 阻尼系数。 + * @param d 阻尼系数。 + */ void setDamping(double d) { damping_ = d; } + /** + * @brief 设置 IK 收敛阈值。 + * @param pos_eps 平移阈值（m）。 + * @param rot_eps 旋转阈值（rad）。 + */ void setEps(double pos_eps, double rot_eps) { pos_eps_ = pos_eps; rot_eps_ = rot_eps; } - using IKSolver::setTcpTransform; - using IKSolver::setArmBaseTransform; - private: - static pinocchio::SE3 matrix4ToSE3(const Eigen::Matrix4d &T); - static Eigen::Matrix4d se3ToMatrix4(const pinocchio::SE3 &M); + /** + * @brief 计算阻尼伪逆。 + * @param J 输入雅可比矩阵。 + * @param lambda 阻尼系数。 + * @return 阻尼伪逆矩阵。 + */ Eigen::MatrixXd dampedPseudoInverse(const Eigen::MatrixXd &J, double lambda); + /** + * @brief 将链关节向量组装为 full-model `q`。 + * @param q_chain 输入链关节向量。 + * @param q_full 输出 full-model 关节向量。 + * @param context 调用上下文（用于日志）。 + * @return 组装成功返回 `true`。 + */ + bool buildFullQFromChain(const Eigen::VectorXd& q_chain, + Eigen::VectorXd& q_full, + const char* context) const; + /** + * @brief 从 full Jacobian 中提取当前链对应列。 + * @param J_full full-model Jacobian。 + * @return 链空间 Jacobian。 + */ + Eigen::MatrixXd extractChainJacobian(const Eigen::Matrix& J_full) const; + /** + * @brief 获取 base 在 world 下位姿（固定基座时优先使用缓存）。 + * @return base 在 world 下的位姿。 + */ + const pinocchio::SE3& getBasePoseWorld() const; + /** + * @brief 计算关节限位避障的二级速度项（未投影）。 + * @param q_chain 当前链关节位置。 + * @return 二级目标速度向量。 + */ + Eigen::VectorXd computeJointLimitAvoidanceVelocity(const Eigen::VectorXd& q_chain) const; + /** + * @brief 将二级目标速度投影到任务零空间。 + * @param J_pinv 任务雅可比伪逆。 + * @param J 任务雅可比。 + * @param secondary 二级目标速度。 + * @return 零空间投影结果 `N * secondary`，其中 `N = I - J_pinv * J`。 + */ + Eigen::VectorXd projectToNullspace(const Eigen::MatrixXd& J_pinv, + const Eigen::MatrixXd& J, + const Eigen::VectorXd& secondary) const; + private: - std::string urdf_path_; - std::string base_frame_name_; - std::string flange_frame_name_; - std::string tcp_frame_name_; - - pinocchio::Model model_; - std::unique_ptr data_; - - pinocchio::FrameIndex base_frame_id_{(pinocchio::FrameIndex)(-1)}; - pinocchio::FrameIndex flange_frame_id_{(pinocchio::FrameIndex)(-1)}; - pinocchio::FrameIndex tcp_frame_id_{(pinocchio::FrameIndex)(-1)}; - bool has_tcp_{false}; - - // chain range in q and v + /** @brief 当前链在 full-model `q` 中的起始索引。 */ int chain_q_start_{0}; + /** @brief 当前链关节位置自由度数量。 */ int chain_dof_{0}; + /** @brief 当前链在 full-model `v` 中的起始索引。 */ int chain_v_start_{0}; + /** @brief 当前链关节速度自由度数量。 */ int chain_v_dof_{0}; - Eigen::VectorXd q_lower_chain_; - Eigen::VectorXd q_upper_chain_; - - // null-space 关节限位避障参数 + /** @brief 是否启用 null-space 关节限位避障。 */ bool limit_avoidance_enabled_{false}; + /** @brief 限位避障增益。 */ double limit_avoidance_gain_{0.2}; + /** @brief 限位触发边界比例（占关节行程比例）。 */ double limit_avoidance_margin_ratio_{0.15}; + /** @brief 每关节最大推回速度（rad/s），<=0 表示不额外限幅。 */ double limit_avoidance_max_push_{0.25}; - // base pose cache (PELVIS_S fixed) + /** @brief 是否启用基座位姿缓存。 */ bool base_pose_cached_{false}; + /** @brief 缓存的 base 在 world 下位姿。 */ pinocchio::SE3 oM_base_cached_; + /** @brief 求解器是否已完成初始化。 */ bool initialized_{false}; + /** @brief IK 最大迭代次数。 */ int max_iters_; + /** @brief IK 平移收敛阈值（m）。 */ double pos_eps_; + /** @brief IK 旋转收敛阈值（rad）。 */ double rot_eps_; + /** @brief DLS 阻尼系数。 */ double damping_; }; diff --git a/cmvr-es/ik_solver/include/pinocchio_ik_base.h b/cmvr-es/ik_solver/include/pinocchio_ik_base.h new file mode 100644 index 00000000..c783f783 --- /dev/null +++ b/cmvr-es/ik_solver/include/pinocchio_ik_base.h @@ -0,0 +1,142 @@ +// Created by Codex on 2026/3/3. +#pragma once + +#include "ik_solver/include/ik_solver.h" +#include "ik_solver/include/urdf_parser.h" + +#include +#include +#include + +#include + +#include +#include + +namespace cmvr { + +/** + * @brief Pinocchio 系 IK 求解器公共基类。 + * + * 该类负责管理： + * - Pinocchio 模型/数据 + * - base/flange/tcp frame 索引 + * - 4x4 与 SE3 的互转 + * - FK + frame placement 更新 + * + * 业务算法（DLS/QP）仍由子类实现。 + */ +class PinocchioIKBase : public IKSolver { +public: + /** + * @brief 按 URDF 路径构造。 + */ + PinocchioIKBase(const std::string& urdf_path, + const std::string& base_frame_name, + const std::string& flange_frame_name, + const std::string& tcp_frame_name = std::string()); + + /** + * @brief 按外部 URDF 解析器构造。 + */ + PinocchioIKBase(std::shared_ptr parser, + const std::string& base_frame_name, + const std::string& flange_frame_name, + const std::string& tcp_frame_name = std::string()); + + ~PinocchioIKBase() override = default; + + /** + * @brief 正运动学（默认 base->(tcp/flange)）。 + * @param joints_angle 输入关节角，支持链长度或全模型长度。 + * @param cur_pose 输出位姿（base 坐标系）。 + * @param is_tcp 为 `true` 时输出 TCP 位姿，否则输出 flange 位姿。 + * @return 成功返回 `true`，失败返回 `false`。 + */ + bool fk(const std::vector& joints_angle, + Eigen::Matrix4d& cur_pose, + bool is_tcp = true) override; + + /** + * @brief 正运动学（自定义 base_link 与 ee_link）。 + * @param base_link 基座 frame 名称。 + * @param ee_link 末端 frame 名称。 + * @param joints_angle 输入关节角，支持链长度或全模型长度。 + * @param cur_pose 输出位姿（`base_link` 坐标系）。 + * @return 成功返回 `true`，失败返回 `false`。 + */ + bool fk(const std::string& base_link, + const std::string& ee_link, + const std::vector& joints_angle, + Eigen::Matrix4d& cur_pose); + +protected: + /** + * @brief 从父类缓存的 URDF 链信息初始化 Pinocchio 运行时对象与 frame 索引。 + * + * 调用前要求： + * - `urdf_parser_` 已有效并 loaded + * - `chain_base_frame_name_` 与 `chain_tip_frame_name_` 已设置 + * + * @param chain_info_out 可选输出链信息（用于子类读取 q/v 区间）。 + * @param error 可选错误信息输出。 + * @return 成功返回 true，失败返回 false。 + */ + bool initPinocchioFromUrdfChain(UrdfParser::ChainInfo* chain_info_out = nullptr, + std::string* error = nullptr); + + /** + * @brief 将输入关节向量组装为 full-model `q`（支持链长度或全模型长度）。 + * @param joints 输入关节向量。 + * @param q_full 输出 full-model 关节向量。 + * @param context 调用上下文（用于日志）。 + * @return 组装成功返回 `true`。 + */ + bool buildFullQFromInput(const std::vector& joints, + Eigen::VectorXd& q_full, + const char* context) const; + + /** + * @brief 在当前 `model_` 上更新 FK 与 frame placement。 + */ + void updateKinematics(const Eigen::VectorXd& q_full); + + /** + * @brief `Eigen::Matrix4d` 转 `pinocchio::SE3`。 + */ + static pinocchio::SE3 matrix4ToSE3(const Eigen::Matrix4d& T); + + /** + * @brief `pinocchio::SE3` 转 `Eigen::Matrix4d`。 + */ + static Eigen::Matrix4d se3ToMatrix4(const pinocchio::SE3& M); + +protected: + /** @brief TCP frame 名称（可为空）。 */ + std::string tcp_frame_name_; + + /** @brief Pinocchio 模型。 */ + pinocchio::Model model_; + /** @brief Pinocchio 运行时数据。 */ + std::unique_ptr data_; + + /** @brief base frame 在 `model_.frames` 中的索引。 */ + pinocchio::FrameIndex base_frame_id_{(pinocchio::FrameIndex)(-1)}; + /** @brief flange frame 在 `model_.frames` 中的索引。 */ + pinocchio::FrameIndex flange_frame_id_{(pinocchio::FrameIndex)(-1)}; + /** @brief tcp frame 在 `model_.frames` 中的索引。 */ + pinocchio::FrameIndex tcp_frame_id_{(pinocchio::FrameIndex)(-1)}; + /** @brief 是否存在有效 TCP frame。 */ + bool has_tcp_{false}; + + /** @brief 当前链在 full-model `q` 中的起始索引。 */ + int chain_q_start_{0}; + /** @brief 当前链关节位置自由度数量。 */ + int chain_q_dof_{0}; + /** @brief 当前链在 full-model `v` 中的起始索引。 */ + int chain_v_start_{0}; + /** @brief 当前链关节速度自由度数量。 */ + int chain_v_dof_{0}; +}; + +} // namespace cmvr diff --git a/cmvr-es/ik_solver/include/pinocchio_qp_ik_solver.h b/cmvr-es/ik_solver/include/pinocchio_qp_ik_solver.h index 368c1d97..e783c0c4 100644 --- a/cmvr-es/ik_solver/include/pinocchio_qp_ik_solver.h +++ b/cmvr-es/ik_solver/include/pinocchio_qp_ik_solver.h @@ -7,13 +7,9 @@ #pragma once -#include "ik_solver/include/ik_solver.h" +#include "ik_solver/include/pinocchio_ik_base.h" #include "common/utils/math/qp_solver.h" -#include -#include -#include - #include #include #include @@ -23,7 +19,7 @@ namespace cmvr { -class PinocchioQpIKSolver : public IKSolver { +class PinocchioQpIKSolver : public PinocchioIKBase { public: /// urdf_path : URDF 路径（可以是单臂，也可以是双臂整机） /// base_frame_name : 作为 IK 基坐标系的 frame 名（例：PELVIS_S） @@ -61,39 +57,16 @@ public: std::vector &joints_angle, bool is_tcp = true) override; - /// joints_angle : 当前子链关节角（长度 = 子链 DOF） - /// cur_pose : URDF base 下当前 TCP / 法兰位姿 - bool fk(const std::vector &joints_angle, - Eigen::Matrix4d &cur_pose, - bool is_tcp = true) override; - /// 如你有更严格的速度 / 加速度限位，可以覆盖默认值 void setVelocityLimits(const Eigen::VectorXd &qd_max); void setAccelerationLimits(const Eigen::VectorXd &qdd_max); using IKSolver::update_joints_state; - using IKSolver::setTcpTransform; - using IKSolver::setArmBaseTransform; - -private: - static pinocchio::SE3 matrix4ToSE3(const Eigen::Matrix4d &T); - static Eigen::Matrix4d se3ToMatrix4(const pinocchio::SE3 &M); - - /// 根据 base_frame_name_ 和 flange_frame_name_ 构建 base→flange 子链 - /// 并建立： - /// active_joints_ : 子链上的 joint index - /// active_q_idx_ : 对应在 q_full_ 里的索引 - /// active_v_idx_ : 对应在 v 里的索引（做雅可比抽列用） - /// q_min/q_max/... : 子链限位 - bool buildActiveChain(); private: // 配置 config::PinocchioQpIKConfig config_; std::string urdf_path_; - std::string base_frame_name_; - std::string flange_frame_name_; - std::string tcp_frame_name_; double lambda_; double w_posrot_; @@ -101,34 +74,11 @@ private: double tol_; double qp_time_limit_; - // Pinocchio 模型 - pinocchio::Model model_; - std::unique_ptr data_; - - int full_dof_{0}; // 整机 nq - int dof_{0}; // 子链 DOF（只在这条链上做 IK） - - pinocchio::FrameIndex base_frame_id_{(pinocchio::FrameIndex)(-1)}; - pinocchio::FrameIndex flange_frame_id_{(pinocchio::FrameIndex)(-1)}; - pinocchio::FrameIndex tcp_frame_id_{(pinocchio::FrameIndex)(-1)}; - bool has_tcp_{false}; - - // base→flange 子链（只支持每个关节 nq=1,nv=1 的情况） - std::vector active_joints_; - std::vector active_q_idx_; // 子链每个关节在 q_full_ (nq) 中的索引 - std::vector active_v_idx_; // 子链每个关节在 v (nv) 中的索引 - - // 子链上的限位 - Eigen::VectorXd q_min_global_; - Eigen::VectorXd q_max_global_; - Eigen::VectorXd qd_max_global_; + // 子链上的加速度限位（位置/速度限位复用父类 IKSolver 缓存） Eigen::VectorXd qdd_max_global_; bool initialized_{false}; - // 整机 q（长度 = full_dof_），用于 Pinocchio 正解 / 雅可比 - Eigen::VectorXd q_full_; - // QP 求解器（OsqpEigen 封装） QPSolver solver_; }; diff --git a/cmvr-es/ik_solver/include/urdf_parser.h b/cmvr-es/ik_solver/include/urdf_parser.h new file mode 100644 index 00000000..dea8ff81 --- /dev/null +++ b/cmvr-es/ik_solver/include/urdf_parser.h @@ -0,0 +1,102 @@ +// Created by Codex on 2026/3/2. +#pragma once + +#include +#include + +#include + +#include + +namespace cmvr { + +/** + * @brief 基于 Pinocchio 的 URDF 解析工具类。 + * + * 主要职责： + * - 加载 URDF 到 Pinocchio 模型 + * - 提取 base->tip 链路信息 + * - 输出链路 q/v 索引范围、关节顺序、位置/速度限位 + */ +class UrdfParser { +public: + /** + * @brief 链路上的单个关节信息。 + */ + struct JointSegment { + /** 关节在 Pinocchio 模型中的 JointIndex。 */ + pinocchio::JointIndex joint_id{0}; + /** 关节名称（URDF/model 名称）。 */ + std::string name; + /** 该关节在 model.q 中的起始下标。 */ + int q_index{0}; + /** 该关节配置维度（q 维度）。 */ + int nq{0}; + /** 该关节在 model.v 中的起始下标。 */ + int v_index{0}; + /** 该关节速度维度（v 维度）。 */ + int nv{0}; + }; + + /** + * @brief base->tip 链路的聚合信息。 + */ + struct ChainInfo { + /** 基坐标系 frame id。 */ + pinocchio::FrameIndex base_frame_id{(pinocchio::FrameIndex)(-1)}; + /** 末端坐标系 frame id。 */ + pinocchio::FrameIndex tip_frame_id{(pinocchio::FrameIndex)(-1)}; + /** 链路在 model.q 中的起始下标。 */ + int q_start{0}; + /** 链路 q 维度总数。 */ + int q_dof{0}; + /** 链路在 model.v 中的起始下标。 */ + int v_start{0}; + /** 链路 v 维度总数。 */ + int v_dof{0}; + /** 链路关节位置下限（q 段）。 */ + Eigen::VectorXd q_lower; + /** 链路关节位置上限（q 段）。 */ + Eigen::VectorXd q_upper; + /** 链路关节速度上限（v 段）。 */ + Eigen::VectorXd v_limit; + /** 按 base->tip 顺序排列的关节信息。 */ + std::vector joints; + }; + + /** + * @brief 加载 URDF 模型。 + * @param urdf_path URDF 文件路径。 + * @param error 可选错误信息输出。 + * @return 成功返回 true，失败返回 false。 + */ + bool loadModel(const std::string& urdf_path, std::string* error = nullptr); + + /** + * @brief 提取 base->tip 链路信息。 + * + * 实现方式：从 tip 的父关节向上回溯到 base 的父关节， + * 再反转为 base->tip 顺序。 + * + * @param base_frame_name 基坐标系 frame 名称。 + * @param tip_frame_name 末端 frame 名称。 + * @param out 输出链路信息。 + * @param error 可选错误信息输出。 + * @return 成功返回 true，失败返回 false。 + */ + bool extractChain(const std::string& base_frame_name, + const std::string& tip_frame_name, + ChainInfo& out, + std::string* error = nullptr) const; + + /** @brief 获取已加载的 Pinocchio 模型。 */ + const pinocchio::Model& model() const { return model_; } + /** @brief 当前是否已成功加载模型。 */ + bool loaded() const { return loaded_; } + +private: + pinocchio::Model model_; + bool loaded_{false}; +}; + +} // namespace cmvr diff --git a/cmvr-es/ik_solver/src/ik_solver.cpp b/cmvr-es/ik_solver/src/ik_solver.cpp new file mode 100644 index 00000000..5d3ec41b --- /dev/null +++ b/cmvr-es/ik_solver/src/ik_solver.cpp @@ -0,0 +1,103 @@ +// +// Created by Codex on 2026/3/2. +// + +#include "ik_solver/include/ik_solver.h" +#include "ik_solver/include/urdf_parser.h" + +#include + +namespace cmvr { + +IKSolver::IKSolver(const std::string& urdf_path, + const std::string& base_frame_name, + const std::string& tip_frame_name) { + if (!urdf_path.empty() && !base_frame_name.empty() && !tip_frame_name.empty()) { + initUrdfChain(urdf_path, base_frame_name, tip_frame_name); + } +} + +IKSolver::IKSolver(std::shared_ptr parser, + const std::string& base_frame_name, + const std::string& tip_frame_name) { + if (parser && !base_frame_name.empty() && !tip_frame_name.empty()) { + initUrdfChain(parser, base_frame_name, tip_frame_name); + } +} + +bool IKSolver::initUrdfChain(const std::string& urdf_path, + const std::string& base_frame_name, + const std::string& tip_frame_name) { + auto parser = std::make_shared(); + std::string err; + if (!parser->loadModel(urdf_path, &err)) { + std::cerr << "[IKSolver] Failed to load URDF: " << err << "\n"; + return false; + } + return initUrdfChain(parser, base_frame_name, tip_frame_name); +} + +bool IKSolver::initUrdfChain(const std::shared_ptr& parser, + const std::string& base_frame_name, + const std::string& tip_frame_name) { + if (!parser) { + std::cerr << "[IKSolver] initUrdfChain failed: parser is null\n"; + return false; + } + if (!parser->loaded()) { + std::cerr << "[IKSolver] initUrdfChain failed: parser model not loaded\n"; + return false; + } + + UrdfParser::ChainInfo chain_info; + std::string err; + if (!parser->extractChain(base_frame_name, tip_frame_name, chain_info, &err)) { + std::cerr << "[IKSolver] Failed to extract chain: " << err << "\n"; + return false; + } + + urdf_parser_ = parser; + chain_base_frame_name_ = base_frame_name; + chain_tip_frame_name_ = tip_frame_name; + + chain_joint_names_.clear(); + + joint_pos_lower_limits_ = chain_info.q_lower; + joint_pos_upper_limits_ = chain_info.q_upper; + joint_vel_limits_ = chain_info.v_limit; + chain_joint_names_.reserve(chain_info.joints.size()); + for (const auto& joint : chain_info.joints) { + chain_joint_names_.push_back(joint.name); + } + + urdf_chain_cached_ = true; + return true; +} + +bool IKSolver::getJointPositionLimits(Eigen::VectorXd& lower, + Eigen::VectorXd& upper) const { + if (!urdf_chain_cached_ || joint_pos_lower_limits_.size() == 0 || joint_pos_upper_limits_.size() == 0) { + return false; + } + lower = joint_pos_lower_limits_; + upper = joint_pos_upper_limits_; + return true; +} + +bool IKSolver::getJointVelocityLimits(Eigen::VectorXd& limits) const { + if (!urdf_chain_cached_ || joint_vel_limits_.size() == 0) { + return false; + } + limits = joint_vel_limits_; + return true; +} + +bool IKSolver::getChainJointNames(std::vector& names) const { + if (!urdf_chain_cached_ || chain_joint_names_.empty()) { + return false; + } + names = chain_joint_names_; + return true; +} + +} // namespace cmvr diff --git a/cmvr-es/ik_solver/src/ik_test.cpp b/cmvr-es/ik_solver/src/ik_test.cpp index 1d578710..85eb5b57 100644 --- a/cmvr-es/ik_solver/src/ik_test.cpp +++ b/cmvr-es/ik_solver/src/ik_test.cpp @@ -185,13 +185,13 @@ void benchmarkIkSolversRandomJoints(DualArmViewer &viewer) {-0.26, 1.57}, }}; - constexpr int N_SAMPLES = 100; // 样本数：1000 组随机关节角 + constexpr int N_SAMPLES = 10; // 样本数：1000 组随机关节角 // ========== 2. 创建三个求解器实例 ========== // 数值优化类 QP IK PinocchioQpIKSolver qp_solver( - "/home/lgv/cmvr/cmvr-es/config/robot_description/hc_description/dual_arm.urdf", + "/home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm.urdf", "PELVIS_S", "R_WRIST_R_S", // 法兰 frame "R_FINGER_TIP_FIXED" // TCP frame @@ -199,7 +199,7 @@ void benchmarkIkSolversRandomJoints(DualArmViewer &viewer) // 基于广义逆雅可比矩阵的数值增量 IK PinocchioDlsIKSolver pinv_solver( - "/home/lgv/cmvr/cmvr-es/config/robot_description/hc_description/dual_arm.urdf", + "/home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm.urdf", "PELVIS_S", "R_WRIST_R_S", // 法兰 frame "R_FINGER_TIP_FIXED" // TCP frame @@ -211,8 +211,8 @@ void benchmarkIkSolversRandomJoints(DualArmViewer &viewer) // 统一容器，方便 for 循环 std::vector solvers = { &psi_solver, - // &pinv_solver, - // &qp_solver + &pinv_solver, + &qp_solver }; @@ -395,13 +395,13 @@ void benchmarkIkSolversRandomJoints() }}; - constexpr int N_SAMPLES = 10000; // 样本数：1000 组随机关节角 + constexpr int N_SAMPLES = 100; // 样本数：1000 组随机关节角 // ========== 2. 创建三个求解器实例 ========== // 数值优化类 QP IK PinocchioQpIKSolver qp_solver( - "/home/lgv/cmvr/cmvr-es/config/robot_description/hc_description/dual_arm.urdf", + "/home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm.urdf", "PELVIS_S", "R_WRIST_R_S", // 法兰 frame "R_FINGER_TIP_FIXED" // TCP frame @@ -409,7 +409,7 @@ void benchmarkIkSolversRandomJoints() // 基于广义逆雅可比矩阵的数值增量 IK PinocchioDlsIKSolver pinv_solver( - "/home/lgv/cmvr/cmvr-es/config/robot_description/hc_description/dual_arm.urdf", + "/home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm.urdf", "PELVIS_S", "R_WRIST_R_S", // 法兰 frame "R_FINGER_TIP_FIXED" // TCP frame @@ -420,8 +420,8 @@ void benchmarkIkSolversRandomJoints() // 统一容器，方便 for 循环 std::vector solvers = { - &psi_solver, - // &pinv_solver, + // &psi_solver, + &pinv_solver, // &qp_solver }; diff --git a/cmvr-es/ik_solver/src/lawba_ik_solver.cpp b/cmvr-es/ik_solver/src/lawba_ik_solver.cpp index 7eb3a87a..31d9d8cb 100644 --- a/cmvr-es/ik_solver/src/lawba_ik_solver.cpp +++ b/cmvr-es/ik_solver/src/lawba_ik_solver.cpp @@ -7,7 +7,7 @@ using namespace cmvr; -LawbaIKSolver::LawbaIKSolver() : IKSolver() { +LawbaIKSolver::LawbaIKSolver() : IKSolver("", "", "") { bias_srs_ik_solver_ = std::make_shared(); joints_limit_analyzer_ = std::make_shared(); opt_psi_selector_ = std::make_shared(); @@ -33,8 +33,8 @@ bool LawbaIKSolver::init() { 1, 0, 0, 0, 0, 0, 0, 1; - setTcpTransform(T_tool_flange); - setArmBaseTransform(T_arm_robot); + T_tool_flange_ = T_tool_flange; + T_arm_robot_ = T_arm_robot; // 臂角更新参数 opt_psi_selector_->set_update_params(0.6, 5.0, -1, 1e-4); diff --git a/cmvr-es/ik_solver/src/pinocchio_dls_ik_solver.cpp b/cmvr-es/ik_solver/src/pinocchio_dls_ik_solver.cpp index 96d1fcb8..589d1f75 100644 --- a/cmvr-es/ik_solver/src/pinocchio_dls_ik_solver.cpp +++ b/cmvr-es/ik_solver/src/pinocchio_dls_ik_solver.cpp @@ -1,13 +1,15 @@ // Created by lgv on 11/28/25. #include "ik_solver/include/pinocchio_dls_ik_solver.h" +#include "ik_solver/include/urdf_parser.h" -#include #include #include #include #include +#include + #include #include #include @@ -43,112 +45,106 @@ PinocchioDlsIKSolver::PinocchioDlsIKSolver(const std::string &urdf_path, double pos_eps, double rot_eps, double damping) - : urdf_path_(urdf_path) - , base_frame_name_(base_frame_name) - , flange_frame_name_(flange_frame_name) - , tcp_frame_name_(tcp_frame_name) + : PinocchioIKBase(urdf_path, base_frame_name, flange_frame_name, tcp_frame_name) , max_iters_(max_iters) , pos_eps_(pos_eps) , rot_eps_(rot_eps) , damping_(damping) { - T_tool_flange_.setIdentity(); - T_arm_robot_.setIdentity(); } -pinocchio::SE3 PinocchioDlsIKSolver::matrix4ToSE3(const Eigen::Matrix4d &T) { - pinocchio::SE3 M; - M.rotation() = T.block<3,3>(0,0); - M.translation() = T.block<3,1>(0,3); - return M; +bool PinocchioDlsIKSolver::buildFullQFromChain(const Eigen::VectorXd& q_chain, + Eigen::VectorXd& q_full, + const char* context) const { + if (q_chain.size() != chain_dof_) { + if (context != nullptr) { + std::cerr << "[PinocchioDlsIKSolver] " << context << " chain q size mismatch\n"; + } + return false; + } + q_full = pinocchio::neutral(model_); + q_full.segment(chain_q_start_, chain_dof_) = q_chain; + return true; } -Eigen::Matrix4d PinocchioDlsIKSolver::se3ToMatrix4(const pinocchio::SE3 &M) { - Eigen::Matrix4d T = Eigen::Matrix4d::Identity(); - T.block<3,3>(0,0) = M.rotation(); - T.block<3,1>(0,3) = M.translation(); - return T; +Eigen::MatrixXd PinocchioDlsIKSolver::extractChainJacobian( + const Eigen::Matrix& J_full) const { + return J_full.middleCols(chain_v_start_, chain_v_dof_); +} + +const pinocchio::SE3& PinocchioDlsIKSolver::getBasePoseWorld() const { + return base_pose_cached_ ? oM_base_cached_ : data_->oMf[base_frame_id_]; +} + +Eigen::VectorXd PinocchioDlsIKSolver::computeJointLimitAvoidanceVelocity( + const Eigen::VectorXd& q_chain) const { + if (!limit_avoidance_enabled_ || + limit_avoidance_gain_ <= 0.0 || + chain_v_dof_ != chain_dof_ || + q_chain.size() != chain_dof_ || + joint_pos_lower_limits_.size() != chain_dof_ || + joint_pos_upper_limits_.size() != chain_dof_) { + return Eigen::VectorXd::Zero(chain_v_dof_); + } + + Eigen::VectorXd qdot_avoid = Eigen::VectorXd::Zero(chain_v_dof_); + for (int i = 0; i < chain_dof_; ++i) { + const double lo = joint_pos_lower_limits_[i]; + const double hi = joint_pos_upper_limits_[i]; + if (!std::isfinite(lo) || !std::isfinite(hi) || hi <= lo) { + continue; + } + + const double span = hi - lo; + const double margin = std::max(1e-4, limit_avoidance_margin_ratio_ * span); + double push = 0.0; + + if (q_chain[i] < lo + margin) { + const double s = (lo + margin - q_chain[i]) / margin; // 0..1+ + push += limit_avoidance_gain_ * s * s; + } else if (q_chain[i] > hi - margin) { + const double s = (q_chain[i] - (hi - margin)) / margin; // 0..1+ + push -= limit_avoidance_gain_ * s * s; + } + + if (limit_avoidance_max_push_ > 0.0) { + push = clampd(push, -limit_avoidance_max_push_, limit_avoidance_max_push_); + } + qdot_avoid[i] = push; + } + + return qdot_avoid; +} + +Eigen::VectorXd PinocchioDlsIKSolver::projectToNullspace(const Eigen::MatrixXd& J_pinv, + const Eigen::MatrixXd& J, + const Eigen::VectorXd& secondary) const { + if (secondary.size() != J.cols()) { + return Eigen::VectorXd::Zero(J.cols()); + } + const Eigen::MatrixXd N = + Eigen::MatrixXd::Identity(J.cols(), J.cols()) - J_pinv * J; + return N * secondary; } bool PinocchioDlsIKSolver::init() { - try { - pinocchio::urdf::buildModel(urdf_path_, model_); - } catch (const std::exception &e) { - std::cerr << "[PinocchioDlsIKSolver] Failed to load URDF: " << e.what() << "\n"; + UrdfParser::ChainInfo chain_info; + std::string err; + if (!initPinocchioFromUrdfChain(&chain_info, &err)) { + std::cerr << "[PinocchioDlsIKSolver] Failed to init pinocchio base: " << err << "\n"; return false; } - data_ = std::make_unique(model_); + chain_q_start_ = chain_info.q_start; + chain_dof_ = chain_info.q_dof; + chain_v_start_ = chain_info.v_start; + chain_v_dof_ = chain_info.v_dof; - if (!model_.existFrame(flange_frame_name_)) { - std::cerr << "[PinocchioDlsIKSolver] flange frame not found: " << flange_frame_name_ << "\n"; - return false; - } - if (!model_.existFrame(base_frame_name_)) { - std::cerr << "[PinocchioDlsIKSolver] base frame not found: " << base_frame_name_ << "\n"; - return false; - } - - flange_frame_id_ = model_.getFrameId(flange_frame_name_); - base_frame_id_ = model_.getFrameId(base_frame_name_); - - // chain joints base->flange - std::vector chain_joints; - { - const auto &base_frame = model_.frames[base_frame_id_]; - const auto &flange_frame = model_.frames[flange_frame_id_]; - - pinocchio::JointIndex base_joint = base_frame.parent; - pinocchio::JointIndex flange_joint = flange_frame.parent; - - pinocchio::JointIndex j = flange_joint; - while (j != 0 && j != base_joint) { - chain_joints.push_back(j); - j = model_.parents[j]; - } - if (j == 0 && base_joint != 0) { - std::cerr << "[PinocchioDlsIKSolver] base is not ancestor of flange\n"; - return false; - } - if (base_joint != 0) chain_joints.push_back(base_joint); - if (chain_joints.empty()) { - std::cerr << "[PinocchioDlsIKSolver] empty chain\n"; - return false; - } - std::reverse(chain_joints.begin(), chain_joints.end()); - - chain_q_start_ = model_.idx_qs[chain_joints.front()]; - int last_q = model_.idx_qs[chain_joints.back()] + model_.nqs[chain_joints.back()] - 1; - chain_dof_ = last_q - chain_q_start_ + 1; - - chain_v_start_ = model_.idx_vs[chain_joints.front()]; - int last_v = model_.idx_vs[chain_joints.back()] + model_.nvs[chain_joints.back()] - 1; - chain_v_dof_ = last_v - chain_v_start_ + 1; - } - - // limits - q_lower_chain_ = model_.lowerPositionLimit.segment(chain_q_start_, chain_dof_); - q_upper_chain_ = model_.upperPositionLimit.segment(chain_q_start_, chain_dof_); - - // tcp frame - has_tcp_ = false; - if (!tcp_frame_name_.empty() && model_.existFrame(tcp_frame_name_)) { - tcp_frame_id_ = model_.getFrameId(tcp_frame_name_); - has_tcp_ = true; - - Eigen::VectorXd q0 = pinocchio::neutral(model_); - pinocchio::forwardKinematics(model_, *data_, q0); - pinocchio::updateFramePlacements(model_, *data_); - - const pinocchio::SE3 &oM_flange = data_->oMf[flange_frame_id_]; - const pinocchio::SE3 &oM_tcp = data_->oMf[tcp_frame_id_]; - T_tool_flange_ = se3ToMatrix4(oM_flange.inverse() * oM_tcp); - } + // limits already cached in IKSolver base class. // cache base pose (PELVIS_S fixed) { Eigen::VectorXd q0 = pinocchio::neutral(model_); - pinocchio::forwardKinematics(model_, *data_, q0); - pinocchio::updateFramePlacements(model_, *data_); + updateKinematics(q0); oM_base_cached_ = data_->oMf[base_frame_id_]; base_pose_cached_ = true; } @@ -157,15 +153,15 @@ bool PinocchioDlsIKSolver::init() { cur_joints_angle_.assign(chain_dof_, 0.0); initialized_ = true; - std::cout << "[PinocchioDlsIKSolver] Chain '" << base_frame_name_ << "' -> '" << flange_frame_name_ + std::cout << "[PinocchioDlsIKSolver] Chain '" << chain_base_frame_name_ << "' -> '" << chain_tip_frame_name_ << "': q_start=" << chain_q_start_ << " q_dof=" << chain_dof_ << ", v_start=" << chain_v_start_ << " v_dof=" << chain_v_dof_ << ", nq=" << model_.nq << " nv=" << model_.nv << "\n"; std::cout << "[PinocchioDlsIKSolver] Chain joint position limits (rad):\n"; - for (const auto j : chain_joints) { - const int q_idx = model_.idx_qs[j]; - const int nq = model_.nqs[j]; - const std::string& jname = model_.names[j]; + for (const auto& seg : chain_info.joints) { + const int q_idx = seg.q_index; + const int nq = seg.nq; + const std::string& jname = seg.name; if (nq <= 0) continue; for (int k = 0; k < nq; ++k) { @@ -173,10 +169,10 @@ bool PinocchioDlsIKSolver::init() { if (qi < 0 || qi >= chain_dof_) continue; if (nq == 1) { std::cout << " - " << jname - << ": [" << q_lower_chain_[qi] << ", " << q_upper_chain_[qi] << "]\n"; + << ": [" << joint_pos_lower_limits_[qi] << ", " << joint_pos_upper_limits_[qi] << "]\n"; } else { std::cout << " - " << jname << "[" << k << "]" - << ": [" << q_lower_chain_[qi] << ", " << q_upper_chain_[qi] << "]\n"; + << ": [" << joint_pos_lower_limits_[qi] << ", " << joint_pos_upper_limits_[qi] << "]\n"; } } } @@ -188,27 +184,72 @@ bool PinocchioDlsIKSolver::ik(const Eigen::Matrix4d &target_pose_base, std::vector &joints_angle, bool is_tcp) { + const std::string& ee_link = (is_tcp && has_tcp_) ? tcp_frame_name_ : chain_tip_frame_name_; + return ik(chain_base_frame_name_, ee_link, target_pose_base, joints_angle); +} + +bool PinocchioDlsIKSolver::ik(const std::string& base_link, + const std::string& ee_link, + const Eigen::Matrix4d& target_pose, + std::vector& joints_angle) { if (!initialized_) return false; if ((int)cur_joints_angle_.size() != chain_dof_) return false; + if (!model_.existFrame(base_link)) { + std::cerr << "[PinocchioDlsIKSolver] base frame not found: " << base_link << "\n"; + return false; + } + if (!model_.existFrame(ee_link)) { + std::cerr << "[PinocchioDlsIKSolver] ee frame not found: " << ee_link << "\n"; + return false; + } + const pinocchio::FrameIndex base_frame_id = model_.getFrameId(base_link); + const pinocchio::FrameIndex ee_frame_id = model_.getFrameId(ee_link); - pinocchio::FrameIndex target_frame_id = - (is_tcp && has_tcp_) ? tcp_frame_id_ : flange_frame_id_; + const pinocchio::JointIndex chain_base_joint = model_.frames[base_frame_id_].parent; + const pinocchio::JointIndex base_joint = model_.frames[base_frame_id].parent; + const pinocchio::JointIndex flange_joint = model_.frames[flange_frame_id_].parent; + const pinocchio::JointIndex ee_joint = model_.frames[ee_frame_id].parent; - const pinocchio::SE3 base_M_target = matrix4ToSE3(target_pose_base); - const pinocchio::SE3 &oM_base = base_pose_cached_ ? oM_base_cached_ : data_->oMf[base_frame_id_]; - const pinocchio::SE3 oM_target = oM_base * base_M_target; + auto jointOnParentPath = [this](pinocchio::JointIndex from, + pinocchio::JointIndex target) { + if (target == 0) return true; + pinocchio::JointIndex j = from; + while (j != 0) { + if (j == target) return true; + j = model_.parents[j]; + } + return false; + }; + + auto jointOnConfiguredBranch = [&](pinocchio::JointIndex j) { + return jointOnParentPath(flange_joint, j) && jointOnParentPath(j, chain_base_joint); + }; + + const bool base_on_branch = jointOnConfiguredBranch(base_joint); + const bool ee_on_branch = jointOnConfiguredBranch(ee_joint); + const bool base_is_ancestor_of_ee = + jointOnParentPath(ee_joint, base_joint); + if (!base_on_branch || !ee_on_branch || !base_is_ancestor_of_ee) { + std::cerr << "[PinocchioDlsIKSolver] base/ee must be on configured single chain and base must be ancestor of ee\n"; + return false; + } + + const pinocchio::SE3 base_M_target = matrix4ToSE3(target_pose); Eigen::VectorXd q_chain = Eigen::Map(cur_joints_angle_.data(), chain_dof_); bool success = false; for (int iter = 0; iter < max_iters_; ++iter) { - Eigen::VectorXd q_full = pinocchio::neutral(model_); - q_full.segment(chain_q_start_, chain_dof_) = q_chain; + Eigen::VectorXd q_full; + if (!buildFullQFromChain(q_chain, q_full, "ik(base,ee)")) { + return false; + } + updateKinematics(q_full); - pinocchio::forwardKinematics(model_, *data_, q_full); - pinocchio::updateFramePlacements(model_, *data_); - - const pinocchio::SE3 &oM_cur = data_->oMf[target_frame_id]; + const pinocchio::SE3& oM_base = + (base_frame_id == base_frame_id_) ? getBasePoseWorld() : data_->oMf[base_frame_id]; + const pinocchio::SE3 oM_target = oM_base * base_M_target; + const pinocchio::SE3 &oM_cur = data_->oMf[ee_frame_id]; pinocchio::SE3 dM = oM_cur.inverse() * oM_target; Eigen::Matrix err = pinocchio::log6(dM).toVector(); @@ -219,19 +260,19 @@ bool PinocchioDlsIKSolver::ik(const Eigen::Matrix4d &target_pose_base, Eigen::Matrix J_full(6, model_.nv); pinocchio::computeFrameJacobian(model_, *data_, q_full, - target_frame_id, + ee_frame_id, pinocchio::ReferenceFrame::LOCAL, J_full); - Eigen::MatrixXd J = J_full.middleCols(chain_v_start_, chain_v_dof_); + Eigen::MatrixXd J = extractChainJacobian(J_full); Eigen::MatrixXd J_pinv = dampedPseudoInverse(J, damping_); Eigen::VectorXd dq = J_pinv * err; q_chain += dq; - q_chain = q_chain.cwiseMax(q_lower_chain_).cwiseMin(q_upper_chain_); + q_chain = q_chain.cwiseMax(joint_pos_lower_limits_).cwiseMin(joint_pos_upper_limits_); } if (!success) { - std::cerr << "[PinocchioDlsIKSolver] IK did not converge\n"; + std::cerr << "[PinocchioDlsIKSolver] IK solve failed\n"; return false; } @@ -240,55 +281,6 @@ bool PinocchioDlsIKSolver::ik(const Eigen::Matrix4d &target_pose_base, return true; } -bool PinocchioDlsIKSolver::fk(const std::vector &joints_angle, - Eigen::Matrix4d &cur_pose_base, - bool is_tcp) -{ - const std::string &ee_link = (is_tcp && has_tcp_) ? tcp_frame_name_ : flange_frame_name_; - return fk(base_frame_name_, ee_link, joints_angle, cur_pose_base); -} - -bool PinocchioDlsIKSolver::fk(const std::string& base_link, - const std::string& ee_link, - const std::vector& joints_angle, - Eigen::Matrix4d& cur_pose) -{ - if (!initialized_) return false; - if (!model_.existFrame(base_link)) { - std::cerr << "[PinocchioDlsIKSolver] base frame not found: " << base_link << "\n"; - return false; - } - if (!model_.existFrame(ee_link)) { - std::cerr << "[PinocchioDlsIKSolver] ee frame not found: " << ee_link << "\n"; - return false; - } - - const int size = (int)joints_angle.size(); - if (size != chain_dof_ && size != model_.nq) { - std::cerr << "[PinocchioDlsIKSolver] fk(base,ee) joints size mismatch\n"; - return false; - } - - Eigen::VectorXd q_full = pinocchio::neutral(model_); - if (size == model_.nq) { - q_full = Eigen::Map(joints_angle.data(), model_.nq); - } else { - Eigen::Map q_chain(joints_angle.data(), chain_dof_); - q_full.segment(chain_q_start_, chain_dof_) = q_chain; - } - - pinocchio::forwardKinematics(model_, *data_, q_full); - pinocchio::updateFramePlacements(model_, *data_); - - const pinocchio::FrameIndex base_id = model_.getFrameId(base_link); - const pinocchio::FrameIndex ee_id = model_.getFrameId(ee_link); - const pinocchio::SE3 &oM_base = data_->oMf[base_id]; - const pinocchio::SE3 &oM_ee = data_->oMf[ee_id]; - pinocchio::SE3 base_M_ee = oM_base.inverse() * oM_ee; - cur_pose = se3ToMatrix4(base_M_ee); - return true; -} - void PinocchioDlsIKSolver::setJointLimitAvoidance(bool enable, double gain, double margin_ratio, @@ -299,15 +291,19 @@ void PinocchioDlsIKSolver::setJointLimitAvoidance(bool enable, limit_avoidance_max_push_ = max_push; } -bool PinocchioDlsIKSolver::velocityIk(const std::vector& cur_angle, - const Eigen::Matrix& ee_velocity, - std::vector& joints_vel, - const std::string& ee_link, - double damping, - double qdot_abs_max) +bool PinocchioDlsIKSolver::ik(const std::string& base_link, + const std::string& ee_link, + const Eigen::Matrix& target_vel, + std::vector& joints_vel, + double damping, + double qdot_abs_max) { // 1) 基本状态与输入合法性检查。 if (!initialized_) return false; + if (!model_.existFrame(base_link)) { + std::cerr << "[PinocchioDlsIKSolver] base frame not found: " << base_link << "\n"; + return false; + } if (ee_link.empty()) { std::cerr << "[PinocchioDlsIKSolver] ee_frame_name is empty\n"; return false; @@ -317,40 +313,64 @@ bool PinocchioDlsIKSolver::velocityIk(const std::vector& cur_angle, return false; } - const int size = (int)cur_angle.size(); - if (size != chain_dof_ && size != model_.nq) { - std::cerr << "[PinocchioDlsIKSolver] velocityIk joints size mismatch\n"; - return false; - } if (chain_v_dof_ <= 0) { std::cerr << "[PinocchioDlsIKSolver] invalid chain_v_dof\n"; return false; } - // 2) 组装整机 q（Pinocchio 统一在 full model 上做 FK/Jacobian）。 - Eigen::VectorXd q_full = pinocchio::neutral(model_); - if (size == model_.nq) { - q_full = Eigen::Map(cur_angle.data(), model_.nq); - } else { - Eigen::Map q_chain(cur_angle.data(), chain_dof_); - q_full.segment(chain_q_start_, chain_dof_) = q_chain; + if (static_cast(cur_joints_angle_.size()) != chain_dof_) { + std::cerr << "[PinocchioDlsIKSolver] ik(velocity) current joint state not initialized\n"; + return false; + } + + const pinocchio::FrameIndex base_id = model_.getFrameId(base_link); + const pinocchio::FrameIndex ee_id = model_.getFrameId(ee_link); + + const pinocchio::JointIndex chain_base_joint = model_.frames[base_frame_id_].parent; + const pinocchio::JointIndex base_joint = model_.frames[base_id].parent; + const pinocchio::JointIndex flange_joint = model_.frames[flange_frame_id_].parent; + const pinocchio::JointIndex ee_joint = model_.frames[ee_id].parent; + + auto jointOnParentPath = [this](pinocchio::JointIndex from, + pinocchio::JointIndex target) { + if (target == 0) return true; + pinocchio::JointIndex j = from; + while (j != 0) { + if (j == target) return true; + j = model_.parents[j]; + } + return false; + }; + auto jointOnConfiguredBranch = [&](pinocchio::JointIndex j) { + return jointOnParentPath(flange_joint, j) && jointOnParentPath(j, chain_base_joint); + }; + const bool base_on_branch = jointOnConfiguredBranch(base_joint); + const bool ee_on_branch = jointOnConfiguredBranch(ee_joint); + const bool base_is_ancestor_of_ee = jointOnParentPath(ee_joint, base_joint); + if (!base_on_branch || !ee_on_branch || !base_is_ancestor_of_ee) { + std::cerr << "[PinocchioDlsIKSolver] base/ee must be on configured single chain and base must be ancestor of ee\n"; + return false; + } + + // 2) 组装整机 q（内部当前状态）。 + Eigen::VectorXd q_full; + if (!buildFullQFromInput(cur_joints_angle_, q_full, "ik(velocity)")) { + return false; } // 3) 在当前关节角下更新位姿。 - pinocchio::forwardKinematics(model_, *data_, q_full); - pinocchio::updateFramePlacements(model_, *data_); + updateKinematics(q_full); - const pinocchio::FrameIndex ee_id = model_.getFrameId(ee_link); - - const pinocchio::SE3 &oM_base = base_pose_cached_ ? oM_base_cached_ : data_->oMf[base_frame_id_]; + const pinocchio::SE3 &oM_base = + (base_id == base_frame_id_) ? getBasePoseWorld() : data_->oMf[base_id]; const pinocchio::SE3 &oM_ee = data_->oMf[ee_id]; // 4) ee 局部系 twist -> base 系 twist。 const pinocchio::SE3 base_M_ee = oM_base.inverse() * oM_ee; const Eigen::Matrix3d R_be = base_M_ee.rotation(); // ee -> base Eigen::Matrix twist_base; - twist_base.head<3>() = R_be * ee_velocity.head<3>(); - twist_base.tail<3>() = R_be * ee_velocity.tail<3>(); + twist_base.head<3>() = R_be * target_vel.head<3>(); + twist_base.tail<3>() = R_be * target_vel.tail<3>(); // 5) 计算 Jacobian，并从 world 表达转到 base 表达。 Eigen::Matrix J_world(6, model_.nv); @@ -358,7 +378,7 @@ bool PinocchioDlsIKSolver::velocityIk(const std::vector& cur_angle, ee_id, pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED, J_world); - Eigen::MatrixXd J = J_world.middleCols(chain_v_start_, chain_v_dof_); + Eigen::MatrixXd J = extractChainJacobian(J_world); const Eigen::Matrix3d R_bo = oM_base.rotation().transpose(); // world -> base J.topRows(3) = R_bo * J.topRows(3); J.bottomRows(3) = R_bo * J.bottomRows(3); @@ -367,61 +387,29 @@ bool PinocchioDlsIKSolver::velocityIk(const std::vector& cur_angle, const double lambda = (damping > 0.0) ? damping : damping_; Eigen::Matrix A = J * J.transpose(); A.diagonal().array() += (lambda * lambda); - Eigen::VectorXd qdot = J.transpose() * A.ldlt().solve(twist_base); + Eigen::LDLT> ldlt(A); + if (ldlt.info() != Eigen::Success) { + std::cerr << "[PinocchioDlsIKSolver] ik(velocity) LDLT failed\n"; + return false; + } + Eigen::VectorXd qdot = J.transpose() * ldlt.solve(twist_base); // 6.1) null-space 关节限位避障：在主任务零空间叠加“离限位推回”速度。 - if (limit_avoidance_enabled_ && - limit_avoidance_gain_ > 0.0 && - chain_v_dof_ == chain_dof_ && - q_lower_chain_.size() == chain_dof_ && - q_upper_chain_.size() == chain_dof_) { - const Eigen::VectorXd q_chain = q_full.segment(chain_q_start_, chain_dof_); - Eigen::VectorXd qdot_avoid = Eigen::VectorXd::Zero(chain_v_dof_); - - for (int i = 0; i < chain_dof_; ++i) { - const double lo = q_lower_chain_[i]; - const double hi = q_upper_chain_[i]; - if (!std::isfinite(lo) || !std::isfinite(hi) || hi <= lo) { - continue; - } - - const double span = hi - lo; - const double margin = std::max(1e-4, limit_avoidance_margin_ratio_ * span); - double push = 0.0; - - if (q_chain[i] < lo + margin) { - const double s = (lo + margin - q_chain[i]) / margin; // 0..1+ - push += limit_avoidance_gain_ * s * s; - } else if (q_chain[i] > hi - margin) { - const double s = (q_chain[i] - (hi - margin)) / margin; // 0..1+ - push -= limit_avoidance_gain_ * s * s; - } - - if (limit_avoidance_max_push_ > 0.0) { - push = clampd(push, -limit_avoidance_max_push_, limit_avoidance_max_push_); - } - qdot_avoid[i] = push; - } - - if (qdot_avoid.squaredNorm() > 1e-16) { - const Eigen::Matrix A_inv = - A.ldlt().solve(Eigen::Matrix::Identity()); - const Eigen::MatrixXd J_pinv = J.transpose() * A_inv; // n x 6 - const Eigen::MatrixXd N = - Eigen::MatrixXd::Identity(chain_v_dof_, chain_v_dof_) - J_pinv * J; - qdot += N * qdot_avoid; - } + const Eigen::VectorXd q_chain = q_full.segment(chain_q_start_, chain_dof_); + const Eigen::VectorXd qdot_avoid = computeJointLimitAvoidanceVelocity(q_chain); + if (qdot_avoid.size() == chain_v_dof_ && qdot_avoid.squaredNorm() > 1e-16) { + const Eigen::Matrix A_inv = + ldlt.solve(Eigen::Matrix::Identity()); + const Eigen::MatrixXd J_pinv = J.transpose() * A_inv; // n x 6 + qdot += projectToNullspace(J_pinv, J, qdot_avoid); } // 7) 关节速度限幅：取调用者限幅与 URDF velocityLimit 的更严格值。 joints_vel.resize(chain_v_dof_); for (int i = 0; i < chain_v_dof_; ++i) { double vel_limit = qdot_abs_max; - if (model_.velocityLimit.size() == model_.nv) { - const int v_idx = chain_v_start_ + i; - if (v_idx >= 0 && v_idx < model_.nv) { - vel_limit = std::min(vel_limit, std::abs(model_.velocityLimit[v_idx])); - } + if (joint_vel_limits_.size() == chain_v_dof_) { + vel_limit = std::min(vel_limit, std::abs(joint_vel_limits_[i])); } double qi = qdot[i]; @@ -434,26 +422,6 @@ bool PinocchioDlsIKSolver::velocityIk(const std::vector& cur_angle, return true; } -bool PinocchioDlsIKSolver::getJointPositionLimits(std::vector& lower, - std::vector& upper) const { - if (!initialized_ || chain_dof_ <= 0) { - return false; - } - if (q_lower_chain_.size() != chain_dof_ || q_upper_chain_.size() != chain_dof_) { - return false; - } - - lower.assign(q_lower_chain_.data(), q_lower_chain_.data() + q_lower_chain_.size()); - upper.assign(q_upper_chain_.data(), q_upper_chain_.data() + q_upper_chain_.size()); - return true; -} - -#include -#include -#include -#include -#include - // ===== 小工具 ===== static inline double clamp01(double x) { return std::max(0.0, std::min(1.0, x)); } @@ -766,13 +734,13 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ T_des_base.block<3,1>(0,3) = p_des_base; // build q_full - Eigen::VectorXd q_full = pinocchio::neutral(model_); - q_full.segment(chain_q_start_, chain_dof_) = q_chain; + Eigen::VectorXd q_full; + if (!buildFullQFromChain(q_chain, q_full, "moveL_SCurveLocal")) { + return false; + } + updateKinematics(q_full); - pinocchio::forwardKinematics(model_, *data_, q_full); - pinocchio::updateFramePlacements(model_, *data_); - - const pinocchio::SE3 oM_base = data_->oMf[base_frame_id_]; // world<-base + const pinocchio::SE3& oM_base = getBasePoseWorld(); // world<-base const Eigen::Matrix3d R_ob = oM_base.rotation(); const pinocchio::SE3 &oM_cur = data_->oMf[ee_id]; @@ -798,7 +766,7 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ J_full); // !!! use v_start/v_dof (more correct) - Eigen::MatrixXd J = J_full.middleCols(chain_v_start_, chain_v_dof_); + Eigen::MatrixXd J = extractChainJacobian(J_full); Eigen::MatrixXd J_pinv = dampedPseudoInverse(J, damping_); // C) singular monitor @@ -831,9 +799,7 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ // nullspace posture const Eigen::VectorXd dq_posture = -k_posture * (q_chain - q_ref); - const Eigen::MatrixXd I = Eigen::MatrixXd::Identity(chain_dof_, chain_dof_); - const Eigen::MatrixXd N = I - J_pinv * J; // DLS approx projector - const Eigen::VectorXd dq_raw = dq_task + N * dq_posture; + const Eigen::VectorXd dq_raw = dq_task + projectToNullspace(J_pinv, J, dq_posture); // ---------------- gamma_speed (joint speed) ---------------- double gamma_speed = 1.0; @@ -850,11 +816,11 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ if (std::abs(dqi) < eps_dq) continue; if (dqi > 0.0) { - const double margin = q_upper_chain_[i] - q_chain[i]; + const double margin = joint_pos_upper_limits_[i] - q_chain[i]; const double g = margin / (dqi * step_real); gamma_lim = std::min(gamma_lim, g); } else { // dqi < 0 - const double margin = q_chain[i] - q_lower_chain_[i]; + const double margin = q_chain[i] - joint_pos_lower_limits_[i]; const double g = margin / ((-dqi) * step_real); gamma_lim = std::min(gamma_lim, g); } @@ -879,7 +845,7 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ q_chain += (gamma_tot * dq_raw) * step_real; // (理论上 gamma_lim 已保证不越界，这里只是数值保险) - q_chain = q_chain.cwiseMax(q_lower_chain_).cwiseMin(q_upper_chain_); + q_chain = q_chain.cwiseMax(joint_pos_lower_limits_).cwiseMin(joint_pos_upper_limits_); // ---- advance profile time (time scaling) ---- // IMPORTANT: tau advances by gamma_tot*dt_real => if slowed by limits, profile slows too @@ -893,8 +859,8 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ bool near_limit = false; int near_cnt = 0; for (int i = 0; i < chain_dof_; ++i) { - const bool nl = (q_upper_chain_[i] - q_chain[i] < 1e-8) || - (q_chain[i] - q_lower_chain_[i] < 1e-8); + const bool nl = (joint_pos_upper_limits_[i] - q_chain[i] < 1e-8) || + (q_chain[i] - joint_pos_lower_limits_[i] < 1e-8); if (nl) { near_limit = true; near_cnt++; } } diff --git a/cmvr-es/ik_solver/src/pinocchio_ik_base.cpp b/cmvr-es/ik_solver/src/pinocchio_ik_base.cpp new file mode 100644 index 00000000..4b2fc805 --- /dev/null +++ b/cmvr-es/ik_solver/src/pinocchio_ik_base.cpp @@ -0,0 +1,154 @@ +// Created by Codex on 2026/3/3. + +#include "ik_solver/include/pinocchio_ik_base.h" + +#include +#include + +#include + +namespace cmvr { + +PinocchioIKBase::PinocchioIKBase(const std::string& urdf_path, + const std::string& base_frame_name, + const std::string& flange_frame_name, + const std::string& tcp_frame_name) + : IKSolver(urdf_path, base_frame_name, flange_frame_name) + , tcp_frame_name_(tcp_frame_name) { +} + +PinocchioIKBase::PinocchioIKBase(std::shared_ptr parser, + const std::string& base_frame_name, + const std::string& flange_frame_name, + const std::string& tcp_frame_name) + : IKSolver(parser, base_frame_name, flange_frame_name) + , tcp_frame_name_(tcp_frame_name) { +} + +bool PinocchioIKBase::initPinocchioFromUrdfChain(UrdfParser::ChainInfo* chain_info_out, + std::string* error) { + if (!urdf_parser_ || !urdf_parser_->loaded()) { + if (error) *error = "urdf parser not initialized"; + return false; + } + if (chain_base_frame_name_.empty() || chain_tip_frame_name_.empty()) { + if (error) *error = "chain base/tip frame name is empty"; + return false; + } + if (!urdf_chain_cached_) { + if (!initUrdfChain(urdf_parser_, chain_base_frame_name_, chain_tip_frame_name_)) { + if (error) *error = "initUrdfChain failed"; + return false; + } + } + + model_ = urdf_parser_->model(); + data_ = std::make_unique(model_); + + UrdfParser::ChainInfo chain_info; + std::string chain_err; + if (!urdf_parser_->extractChain(chain_base_frame_name_, chain_tip_frame_name_, chain_info, &chain_err)) { + if (error) *error = chain_err; + return false; + } + + base_frame_id_ = chain_info.base_frame_id; + flange_frame_id_ = chain_info.tip_frame_id; + chain_q_start_ = chain_info.q_start; + chain_q_dof_ = chain_info.q_dof; + chain_v_start_ = chain_info.v_start; + chain_v_dof_ = chain_info.v_dof; + + has_tcp_ = false; + tcp_frame_id_ = (pinocchio::FrameIndex)(-1); + if (!tcp_frame_name_.empty() && model_.existFrame(tcp_frame_name_)) { + tcp_frame_id_ = model_.getFrameId(tcp_frame_name_); + has_tcp_ = true; + } + + if (chain_info_out != nullptr) { + *chain_info_out = chain_info; + } + return true; +} + +bool PinocchioIKBase::buildFullQFromInput(const std::vector& joints, + Eigen::VectorXd& q_full, + const char* context) const { + const int size = static_cast(joints.size()); + if (size != chain_q_dof_ && size != model_.nq) { + if (context != nullptr) { + std::cerr << "[PinocchioIKBase] " << context << " joints size mismatch\n"; + } + return false; + } + + q_full = pinocchio::neutral(model_); + if (size == model_.nq) { + q_full = Eigen::Map(joints.data(), model_.nq); + } else { + Eigen::Map q_chain(joints.data(), chain_q_dof_); + q_full.segment(chain_q_start_, chain_q_dof_) = q_chain; + } + return true; +} + +void PinocchioIKBase::updateKinematics(const Eigen::VectorXd& q_full) { + pinocchio::forwardKinematics(model_, *data_, q_full); + pinocchio::updateFramePlacements(model_, *data_); +} + +bool PinocchioIKBase::fk(const std::vector& joints_angle, + Eigen::Matrix4d& cur_pose, + bool is_tcp) { + const std::string& ee_link = (is_tcp && has_tcp_) ? tcp_frame_name_ : chain_tip_frame_name_; + return fk(chain_base_frame_name_, ee_link, joints_angle, cur_pose); +} + +bool PinocchioIKBase::fk(const std::string& base_link, + const std::string& ee_link, + const std::vector& joints_angle, + Eigen::Matrix4d& cur_pose) { + if (!data_) { + std::cerr << "[PinocchioIKBase] fk called before pinocchio init\n"; + return false; + } + if (!model_.existFrame(base_link)) { + std::cerr << "[PinocchioIKBase] base frame not found: " << base_link << "\n"; + return false; + } + if (!model_.existFrame(ee_link)) { + std::cerr << "[PinocchioIKBase] ee frame not found: " << ee_link << "\n"; + return false; + } + + Eigen::VectorXd q_full; + if (!buildFullQFromInput(joints_angle, q_full, "fk")) { + return false; + } + updateKinematics(q_full); + + const pinocchio::FrameIndex base_id = model_.getFrameId(base_link); + const pinocchio::FrameIndex ee_id = model_.getFrameId(ee_link); + const pinocchio::SE3& oM_base = data_->oMf[base_id]; + const pinocchio::SE3& oM_ee = data_->oMf[ee_id]; + const pinocchio::SE3 base_M_ee = oM_base.inverse() * oM_ee; + cur_pose = se3ToMatrix4(base_M_ee); + return true; +} + +pinocchio::SE3 PinocchioIKBase::matrix4ToSE3(const Eigen::Matrix4d& T) { + pinocchio::SE3 M; + M.rotation() = T.block<3,3>(0,0); + M.translation() = T.block<3,1>(0,3); + return M; +} + +Eigen::Matrix4d PinocchioIKBase::se3ToMatrix4(const pinocchio::SE3& M) { + Eigen::Matrix4d T = Eigen::Matrix4d::Identity(); + T.block<3,3>(0,0) = M.rotation(); + T.block<3,1>(0,3) = M.translation(); + return T; +} + +} // namespace cmvr diff --git a/cmvr-es/ik_solver/src/pinocchio_qp_ik_solver.cpp b/cmvr-es/ik_solver/src/pinocchio_qp_ik_solver.cpp index 0213fd87..5d8eb866 100644 --- a/cmvr-es/ik_solver/src/pinocchio_qp_ik_solver.cpp +++ b/cmvr-es/ik_solver/src/pinocchio_qp_ik_solver.cpp @@ -4,7 +4,6 @@ #include "ik_solver/include/pinocchio_qp_ik_solver.h" -#include #include #include #include @@ -29,286 +28,151 @@ namespace cmvr { int max_iters, double tol, double qp_time_limit) - : urdf_path_(urdf_path) - , base_frame_name_(base_frame_name) - , flange_frame_name_(flange_frame_name) - , tcp_frame_name_(tcp_frame_name) + : PinocchioIKBase(urdf_path, base_frame_name, flange_frame_name, tcp_frame_name) + , urdf_path_(urdf_path) , lambda_(lambda) , w_posrot_(w_posrot) , max_iters_(max_iters) , tol_(tol) , qp_time_limit_(qp_time_limit) , solver_() { - // 不再在 IK/FK 里使用 T_tool_flange_ / T_arm_robot_ 做额外变换，统一 URDF base - T_tool_flange_.setIdentity(); - T_arm_robot_.setIdentity(); } - PinocchioQpIKSolver::PinocchioQpIKSolver():solver_(){ + PinocchioQpIKSolver::PinocchioQpIKSolver() + : PinocchioIKBase("", "", "", "") + , solver_() { config::PinocchioQpIKConfig config; if (ConfigHelper::getPinocchioQpIkSolverConfig(config)) { urdf_path_ = config.urdf_path(); - base_frame_name_ = config.base_frame_name(); - flange_frame_name_ = config.flange_frame_name(); + chain_base_frame_name_ = config.base_frame_name(); + chain_tip_frame_name_ = config.flange_frame_name(); tcp_frame_name_ = config.tcp_frame_name(); lambda_ = config.lambda(); w_posrot_ = config.w_posrot(); max_iters_ = config.max_iters(); tol_ = config.tol(); qp_time_limit_ = config.qp_time_limit(); + if (!urdf_path_.empty() && + !chain_base_frame_name_.empty() && + !chain_tip_frame_name_.empty()) { + initUrdfChain(urdf_path_, chain_base_frame_name_, chain_tip_frame_name_); + } } - // 不再在 IK/FK 里使用 T_tool_flange_ / T_arm_robot_ 做额外变换，统一 URDF base - T_tool_flange_.setIdentity(); - T_arm_robot_.setIdentity(); } - PinocchioQpIKSolver::PinocchioQpIKSolver(const config::PinocchioQpIKConfig& config):config_(config),solver_() + PinocchioQpIKSolver::PinocchioQpIKSolver(const config::PinocchioQpIKConfig& config) + : PinocchioIKBase(config.urdf_path(), + config.base_frame_name(), + config.flange_frame_name(), + config.tcp_frame_name()) + , config_(config) + , solver_() { urdf_path_ = config.urdf_path(); - base_frame_name_ = config.base_frame_name(); - flange_frame_name_ = config.flange_frame_name(); - tcp_frame_name_ = config.tcp_frame_name(); lambda_ = config.lambda(); w_posrot_ = config.w_posrot(); max_iters_ = config.max_iters(); tol_ = config.tol(); qp_time_limit_ = config.qp_time_limit(); - - T_tool_flange_.setIdentity(); - T_arm_robot_.setIdentity(); - } - - pinocchio::SE3 PinocchioQpIKSolver::matrix4ToSE3(const Matrix4d &T) { - pinocchio::SE3 M; - M.rotation() = T.block<3, 3>(0, 0); - M.translation() = T.block<3, 1>(0, 3); - return M; - } - - Matrix4d PinocchioQpIKSolver::se3ToMatrix4(const pinocchio::SE3 &M) { - Matrix4d T = Matrix4d::Identity(); - T.block<3, 3>(0, 0) = M.rotation(); - T.block<3, 1>(0, 3) = M.translation(); - return T; } bool PinocchioQpIKSolver::init() { - try { - pinocchio::urdf::buildModel(urdf_path_, model_); - } catch (const std::exception &e) { - std::cerr << "[PinocchioQpIKSolver] Failed to load URDF: " - << e.what() << std::endl; - return false; - } - - data_ = std::make_unique(model_); - full_dof_ = static_cast(model_.nq); - - // 1) base frame - if (!model_.existFrame(base_frame_name_)) { - std::cerr << "[PinocchioQpIKSolver] Base frame '" << base_frame_name_ - << "' not found. Available frames:" << std::endl; - for (std::size_t i = 0; i < model_.frames.size(); ++i) { - std::cerr << " [" << i << "] " << model_.frames[i].name << std::endl; + if (!urdf_chain_cached_) { + if (urdf_path_.empty() || + chain_base_frame_name_.empty() || + chain_tip_frame_name_.empty()) { + std::cerr << "[PinocchioQpIKSolver] missing urdf/base/flange config before init().\n"; + return false; } - return false; - } - base_frame_id_ = model_.getFrameId(base_frame_name_); - if (base_frame_id_ >= model_.frames.size()) { - std::cerr << "[PinocchioQpIKSolver] Base frame id out of range: " - << base_frame_id_ << std::endl; - return false; - } - - // 2) flange frame - if (!model_.existFrame(flange_frame_name_)) { - std::cerr << "[PinocchioQpIKSolver] Flange frame '" << flange_frame_name_ - << "' not found. Available frames:" << std::endl; - for (std::size_t i = 0; i < model_.frames.size(); ++i) { - std::cerr << " [" << i << "] " << model_.frames[i].name << std::endl; - } - return false; - } - flange_frame_id_ = model_.getFrameId(flange_frame_name_); - if (flange_frame_id_ >= model_.frames.size()) { - std::cerr << "[PinocchioQpIKSolver] Flange frame id out of range: " - << flange_frame_id_ << std::endl; - return false; - } - - // 3) TCP frame - has_tcp_ = false; - if (!tcp_frame_name_.empty()) { - if (!model_.existFrame(tcp_frame_name_)) { - std::cerr << "[PinocchioQpIKSolver] TCP frame '" << tcp_frame_name_ - << "' not found, fallback to flange only." << std::endl; - } else { - tcp_frame_id_ = model_.getFrameId(tcp_frame_name_); - if (tcp_frame_id_ >= model_.frames.size()) { - std::cerr << "[PinocchioQpIKSolver] TCP frame id out of range: " - << tcp_frame_id_ << std::endl; - } else { - has_tcp_ = true; - - // 中立位姿算一次 法兰->TCP 固定变换，存到 T_tool_flange_ - Eigen::VectorXd q0 = pinocchio::neutral(model_); - pinocchio::forwardKinematics(model_, *data_, q0); - pinocchio::updateFramePlacements(model_, *data_); - - const pinocchio::SE3 &oM_flange = data_->oMf[flange_frame_id_]; - const pinocchio::SE3 &oM_tcp = data_->oMf[tcp_frame_id_]; - - pinocchio::SE3 flange_M_tcp = oM_flange.inverse() * oM_tcp; - T_tool_flange_ = se3ToMatrix4(flange_M_tcp); - } + if (!initUrdfChain(urdf_path_, chain_base_frame_name_, chain_tip_frame_name_)) { + std::cerr << "[PinocchioQpIKSolver] Failed to cache URDF chain metadata in IKSolver.\n"; + return false; } } - // 4) 构建 base→flange 子链并提取限位 - if (!buildActiveChain()) { + UrdfParser::ChainInfo chain_info; + std::string err; + if (!initPinocchioFromUrdfChain(&chain_info, &err)) { + std::cerr << "[PinocchioQpIKSolver] Failed to init pinocchio base: " << err << std::endl; return false; } - // 5) 初始化整机 q_full_，用中立位姿 - q_full_ = pinocchio::neutral(model_); + if (chain_q_dof_ <= 0 || chain_v_dof_ <= 0) { + std::cerr << "[PinocchioQpIKSolver] Invalid chain dof: q=" << chain_q_dof_ + << " v=" << chain_v_dof_ << std::endl; + return false; + } + if (chain_q_dof_ != chain_v_dof_) { + std::cerr << "[PinocchioQpIKSolver] requires q_dof == v_dof, got q=" + << chain_q_dof_ << " v=" << chain_v_dof_ << std::endl; + return false; + } - // 6) 子链当前关节角（外部 update_joints_state 也会覆盖） + // 当前实现仅支持 nq=1,nv=1 且链索引在 q/v 上连续的关节序列。 + int expected_q = chain_q_start_; + int expected_v = chain_v_start_; + for (const auto& seg : chain_info.joints) { + if (seg.nq != 1 || seg.nv != 1) { + std::cerr << "[PinocchioQpIKSolver] only supports nq=1,nv=1 joints. joint=" + << seg.name << " nq=" << seg.nq << " nv=" << seg.nv << std::endl; + return false; + } + if (seg.q_index != expected_q || seg.v_index != expected_v) { + std::cerr << "[PinocchioQpIKSolver] chain q/v index must be contiguous. joint=" + << seg.name << " q_index=" << seg.q_index << " expect_q=" << expected_q + << " v_index=" << seg.v_index << " expect_v=" << expected_v << std::endl; + return false; + } + expected_q += seg.nq; + expected_v += seg.nv; + } + + if (joint_pos_lower_limits_.size() != chain_q_dof_ || + joint_pos_upper_limits_.size() != chain_q_dof_) { + std::cerr << "[PinocchioQpIKSolver] position limits size mismatch with q_dof." << std::endl; + return false; + } + + const double big = 1e6; + if (joint_vel_limits_.size() != chain_v_dof_) { + joint_vel_limits_.resize(chain_v_dof_); + joint_vel_limits_.setConstant(big); + } + qdd_max_global_.resize(chain_q_dof_); + qdd_max_global_.setConstant(big); + + // 子链当前关节角（外部 update_joints_state 也会覆盖） if (cur_joints_angle_.empty()) { - cur_joints_angle_.assign(dof_, 0.0); + cur_joints_angle_.assign(chain_q_dof_, 0.0); } initialized_ = true; - std::cout << "[PinocchioQpIKSolver] Init OK. full nq = " << full_dof_ - << ", active dof = " << dof_ - << ", base frame = " << base_frame_name_ - << ", flange frame = " << flange_frame_name_ + std::cout << "[PinocchioQpIKSolver] Init OK. full nq = " << model_.nq + << ", active dof = " << chain_q_dof_ + << ", q_start=" << chain_q_start_ << ", v_start=" << chain_v_start_ + << ", base frame = " << chain_base_frame_name_ + << ", flange frame = " << chain_tip_frame_name_ << ", tcp frame = " << (has_tcp_ ? tcp_frame_name_ : "") << std::endl; return true; } - bool PinocchioQpIKSolver::buildActiveChain() { - active_joints_.clear(); - active_q_idx_.clear(); - active_v_idx_.clear(); - dof_ = 0; - - const auto &base_frame = model_.frames[base_frame_id_]; - const auto &flange_frame = model_.frames[flange_frame_id_]; - - pinocchio::JointIndex base_joint = base_frame.parent; // 作为“子链起点”的 joint（不一定被包含） - pinocchio::JointIndex flange_joint = flange_frame.parent; // 子链末端 joint - - if (flange_joint == 0) { - std::cerr << "[PinocchioQpIKSolver] flange_frame parent joint is 0, " - << "cannot build chain." << std::endl; - return false; - } - - // 从 flange_joint 一路往上爬，直到： - // 1）遇到 base_joint（如果 base_joint != 0），则停止 - // 2）爬到 root(0) 且 base_joint==0，也停止 - // 3）爬到 root(0) 且 base_joint!=0，说明 base 不在祖先链上，报错 - std::vector chain; // flange → base（反向） - pinocchio::JointIndex j = flange_joint; - while (true) { - if (j == base_joint) { - if (j != 0) { - chain.push_back(j); // base_joint != 0 时，把它也算进去 - } - break; - } - if (j == 0) { - if (base_joint == 0) { - // base_joint 是 root，已经到头了，root 不加入链条 - break; - } else { - std::cerr << "[PinocchioQpIKSolver] base joint is not an ancestor of flange joint." - << " (flange_joint=" << flange_joint - << ", base_joint=" << base_joint << ")" << std::endl; - return false; - } - } - - chain.push_back(j); - j = model_.parents[j]; - } - - if (chain.empty()) { - std::cerr << "[PinocchioQpIKSolver] Active chain is empty (base==flange?)." << std::endl; - return false; - } - - // 现在 chain 是 flange→base，反转得到 base→flange - std::reverse(chain.begin(), chain.end()); - - full_dof_ = static_cast(model_.nq); - - // 建立子链 DOF 映射（这里假定每个 joint nq=1,nv=1，对典型 6/7 自由度机械臂成立） - for (auto joint: chain) { - // 如果你是 Pinocchio 3，可以在这里检查 nqs/nvs： - // int nq_j = model_.nqs[joint]; - // int nv_j = model_.nvs[joint]; - // if (nq_j != 1 || nv_j != 1) { ... } - - int q_idx = model_.idx_qs[joint]; - int v_idx = model_.idx_vs[joint]; - - active_joints_.push_back(joint); - active_q_idx_.push_back(q_idx); - active_v_idx_.push_back(v_idx); - ++dof_; - } - - // 从全局 limit 里抽取子链 limit - q_min_global_.resize(dof_); - q_max_global_.resize(dof_); - for (int i = 0; i < dof_; ++i) { - q_min_global_(i) = model_.lowerPositionLimit(active_q_idx_[i]); - q_max_global_(i) = model_.upperPositionLimit(active_q_idx_[i]); - } - - // 速度限位：优先用 URDF 的 velocityLimit（nv 维），否则给大值 - double big = 1e6; - qd_max_global_.resize(dof_); - if (model_.velocityLimit.size() == model_.nv) { - for (int i = 0; i < dof_; ++i) { - qd_max_global_(i) = model_.velocityLimit(active_v_idx_[i]); - } - } else { - qd_max_global_.setConstant(big); - } - - - // 加速度限位：URDF 没有，先给大值；如果你有更精细的，用 setAccelerationLimits 覆盖 - qdd_max_global_.resize(dof_); - qdd_max_global_.setConstant(big); - - std::cout << "[PinocchioQpIKSolver] Active chain joints: "; - for (auto joint: active_joints_) { - std::cout << joint << " "; - } - std::cout << "(dof = " << dof_ << ")" << std::endl; - - return true; - } - void PinocchioQpIKSolver::setVelocityLimits(const Eigen::VectorXd &qd_max) { - if (qd_max.size() == dof_) { - qd_max_global_ = qd_max; + if (qd_max.size() == chain_v_dof_) { + joint_vel_limits_ = qd_max; } else { std::cerr << "[PinocchioQpIKSolver] setVelocityLimits size mismatch. got " - << qd_max.size() << ", expect " << dof_ << std::endl; + << qd_max.size() << ", expect " << chain_v_dof_ << std::endl; } } void PinocchioQpIKSolver::setAccelerationLimits(const Eigen::VectorXd &qdd_max) { - if (qdd_max.size() == dof_) { + if (qdd_max.size() == chain_q_dof_) { qdd_max_global_ = qdd_max; } else { std::cerr << "[PinocchioQpIKSolver] setAccelerationLimits size mismatch. got " - << qdd_max.size() << ", expect " << dof_ << std::endl; + << qdd_max.size() << ", expect " << chain_q_dof_ << std::endl; } } @@ -319,9 +183,9 @@ namespace cmvr { std::cerr << "[PinocchioQpIKSolver] IK called before init()." << std::endl; return false; } - if (cur_joints_angle_.size() != static_cast(dof_)) { + if (cur_joints_angle_.size() != static_cast(chain_q_dof_)) { std::cerr << "[PinocchioQpIKSolver] cur_joints_angle_ size mismatch: " - << cur_joints_angle_.size() << " vs dof = " << dof_ << std::endl; + << cur_joints_angle_.size() << " vs dof = " << chain_q_dof_ << std::endl; return false; } @@ -346,30 +210,27 @@ namespace cmvr { Eigen::VectorXd q_local = Eigen::Map( cur_joints_angle_.data(), cur_joints_angle_.size()); - // 把 q_local 写入 q_full_ 的对应索引 - if (q_full_.size() != full_dof_) { - q_full_ = pinocchio::neutral(model_); - } - for (int i = 0; i < dof_; ++i) { - q_full_(active_q_idx_[i]) = q_local(i); + Eigen::VectorXd q_full; + if (!buildFullQFromInput(cur_joints_angle_, q_full, "ik(qp)")) { + return false; } + q_full.segment(chain_q_start_, chain_q_dof_) = q_local; // 初始化 QP（变量 = 子链 DOF，约束 = 子链 DOF，因为只做 box 约束） - solver_.Setup(dof_, dof_, qp_time_limit_); + solver_.Setup(chain_q_dof_, chain_q_dof_, qp_time_limit_); solver_.ResetIsFirst(); MatrixXd A_cost; VectorXd b_cost; - const VectorXd &q_min = q_min_global_; - const VectorXd &q_max = q_max_global_; - const VectorXd &qd_max = qd_max_global_; + const VectorXd &q_min = joint_pos_lower_limits_; + const VectorXd &q_max = joint_pos_upper_limits_; + const VectorXd &qd_max = joint_vel_limits_; const VectorXd &qdd_max = qdd_max_global_; for (int iter = 0; iter < max_iters_; ++iter) { - // 1) 用 q_full_ 做正解 + frame pose + J_full - pinocchio::forwardKinematics(model_, *data_, q_full_); - pinocchio::updateFramePlacements(model_, *data_); + // 1) 用 q_full 做正解 + frame pose + J_full + updateKinematics(q_full); const pinocchio::SE3 &oM_curr = data_->oMf[target_frame_id]; @@ -391,34 +252,31 @@ namespace cmvr { // 6×nv Jacobian（LOCAL） Eigen::Matrix J_full(6, model_.nv); - pinocchio::computeFrameJacobian(model_, *data_, q_full_, + pinocchio::computeFrameJacobian(model_, *data_, q_full, target_frame_id, pinocchio::ReferenceFrame::LOCAL, J_full); - // 抽取子链对应列 => 6×dof_ 雅可比 - MatrixXd J(6, dof_); - for (int i = 0; i < dof_; ++i) { - J.col(i) = J_full.col(active_v_idx_[i]); - } + // 抽取子链对应列 => 6×chain_q_dof_ 雅可比 + MatrixXd J = J_full.middleCols(chain_v_start_, chain_v_dof_); // 2) 构造代价：|| A_cost * dq - b_cost ||^2 constexpr std::size_t n_eq = 6; - A_cost.resize(n_eq + dof_, dof_); - b_cost.resize(n_eq + dof_); + A_cost.resize(n_eq + chain_q_dof_, chain_q_dof_); + b_cost.resize(n_eq + chain_q_dof_); // 任务部分 - A_cost.block(0, 0, 6, dof_) = J; + A_cost.block(0, 0, 6, chain_q_dof_) = J; b_cost.segment(0, 6) = dx; // 阻尼项 - A_cost.bottomRows(dof_) = std::sqrt(lambda_) * - MatrixXd::Identity(dof_, dof_); - b_cost.tail(dof_).setZero(); + A_cost.bottomRows(chain_q_dof_) = std::sqrt(lambda_) * + MatrixXd::Identity(chain_q_dof_, chain_q_dof_); + b_cost.tail(chain_q_dof_).setZero(); // 3) box 约束：lb <= dq_local <= ub - VectorXd lb(dof_), ub(dof_); - for (int i = 0; i < dof_; ++i) { + VectorXd lb(chain_q_dof_), ub(chain_q_dof_); + for (int i = 0; i < chain_q_dof_; ++i) { double pos_lb = q_min(i) - q_local(i); double pos_ub = q_max(i) - q_local(i); @@ -437,7 +295,7 @@ namespace cmvr { // 4) 调用 QP solver solver_.SetCostFunction(A_cost, b_cost); - solver_.SetConstraintsFunction(MatrixXd::Identity(dof_, dof_), lb, ub); + solver_.SetConstraintsFunction(MatrixXd::Identity(chain_q_dof_, chain_q_dof_), lb, ub); VectorXd dq_local; try { @@ -451,12 +309,12 @@ namespace cmvr { return false; } - // 5) 更新 q_local & 写回 q_full_ + // 5) 更新 q_local 并写回 q_full q_local += dq_local; - for (int i = 0; i < dof_; ++i) { + for (int i = 0; i < chain_q_dof_; ++i) { q_local(i) = std::clamp(q_local(i), q_min(i), q_max(i)); - q_full_(active_q_idx_[i]) = q_local(i); } + q_full.segment(chain_q_start_, chain_q_dof_) = q_local; // 6) 收敛检查 double err_norm = b_cost.head(n_eq).norm(); @@ -479,48 +337,4 @@ namespace cmvr { } - bool PinocchioQpIKSolver::fk(const std::vector &joints_angle, - Matrix4d &cur_pose, - bool is_tcp) { - if (!initialized_) { - std::cerr << "[PinocchioQpIKSolver] FK called before init()." << std::endl; - return false; - } - if (static_cast(joints_angle.size()) != dof_) { - std::cerr << "[PinocchioQpIKSolver] FK joints size mismatch. got " - << joints_angle.size() << ", expect " << dof_ << std::endl; - return false; - } - - pinocchio::FrameIndex target_frame_id; - if (is_tcp && has_tcp_) { - target_frame_id = tcp_frame_id_; - } else { - target_frame_id = flange_frame_id_; - } - - Eigen::VectorXd q_local = Eigen::Map( - joints_angle.data(), joints_angle.size()); - - if (q_full_.size() != full_dof_) { - q_full_ = pinocchio::neutral(model_); - } - for (int i = 0; i < dof_; ++i) { - q_full_(active_q_idx_[i]) = q_local(i); - } - - pinocchio::forwardKinematics(model_, *data_, q_full_); - pinocchio::updateFramePlacements(model_, *data_); - - // 0T_base, 0T_target - const pinocchio::SE3 &oM_base = data_->oMf[base_frame_id_]; - const pinocchio::SE3 &oM_target = data_->oMf[target_frame_id]; - - // baseTtarget = (0Tbase)^-1 * (0Ttarget) - pinocchio::SE3 base_M_target = oM_base.inverse() * oM_target; - - // 返回的是：相对于 base_frame_name_ 的位姿 - cur_pose = se3ToMatrix4(base_M_target); - return true; - } } // namespace cmvr diff --git a/cmvr-es/ik_solver/src/srs_ik_test.cpp b/cmvr-es/ik_solver/src/srs_ik_test.cpp index ab9daed6..9359db10 100644 --- a/cmvr-es/ik_solver/src/srs_ik_test.cpp +++ b/cmvr-es/ik_solver/src/srs_ik_test.cpp @@ -1106,16 +1106,16 @@ TEST(SRS_IK_TEST, MOVEL_S_CURVE_LOCAL_RUN_MUJOCO) { // 目标位姿：base X 方向走 0.25m，姿态保持起点 Eigen::Matrix4d Tg = T0; - Tg(0,3) += 0.13; - Tg(2,3) += 0.3; + Tg(0,3) += 0.1; + // Tg(2,3) += 0.3; Eigen::Vector3d dp_check = Tg.block<3,1>(0,3) - T0.block<3,1>(0,3); std::cerr << "dp(base)=" << dp_check.transpose() << "\n"; // 轨迹生成参数（生成 dt 不必极小，1ms~2ms 足够；真正平滑靠 S 曲线 + MuJoCo 伺服滤波） const double dt_gen = 0.002; - const double v_tcp = 0.13; + const double v_tcp = 1.0; const double a_tcp = 10.0; - const double j_tcp = 10.00; + const double j_tcp = 100.00; std::vector qd_max(7, 3.0); std::vector> q_traj; diff --git a/cmvr-es/ik_solver/src/urdf_parser.cpp b/cmvr-es/ik_solver/src/urdf_parser.cpp new file mode 100644 index 00000000..bc87c104 --- /dev/null +++ b/cmvr-es/ik_solver/src/urdf_parser.cpp @@ -0,0 +1,120 @@ +// Created by Codex on 2026/3/2. + +#include "ik_solver/include/urdf_parser.h" + +#include + +#include + +namespace cmvr { + +bool UrdfParser::loadModel(const std::string& urdf_path, std::string* error) { + try { + // 使用 Pinocchio 官方 URDF 解析入口构建模型。 + pinocchio::urdf::buildModel(urdf_path, model_); + loaded_ = true; + return true; + } catch (const std::exception& e) { + loaded_ = false; + if (error) { + *error = e.what(); + } + return false; + } +} + +bool UrdfParser::extractChain(const std::string& base_frame_name, + const std::string& tip_frame_name, + ChainInfo& out, + std::string* error) const { + // 1) 基础合法性检查。 + if (!loaded_) { + if (error) { + *error = "model not loaded"; + } + return false; + } + if (!model_.existFrame(base_frame_name)) { + if (error) { + *error = "base frame not found: " + base_frame_name; + } + return false; + } + if (!model_.existFrame(tip_frame_name)) { + if (error) { + *error = "tip frame not found: " + tip_frame_name; + } + return false; + } + + out = ChainInfo{}; + out.base_frame_id = model_.getFrameId(base_frame_name); + out.tip_frame_id = model_.getFrameId(tip_frame_name); + + const auto& base_frame = model_.frames[out.base_frame_id]; + const auto& tip_frame = model_.frames[out.tip_frame_id]; + const pinocchio::JointIndex base_joint = base_frame.parent; + const pinocchio::JointIndex tip_joint = tip_frame.parent; + + // 2) 从 tip 向上回溯到 base，再反转得到 base->tip 关节序列。 + std::vector chain_joints; + pinocchio::JointIndex j = tip_joint; + while (j != 0 && j != base_joint) { + chain_joints.push_back(j); + j = model_.parents[j]; + } + if (j == 0 && base_joint != 0) { + if (error) { + *error = "base is not ancestor of tip"; + } + return false; + } + if (base_joint != 0) { + chain_joints.push_back(base_joint); + } + if (chain_joints.empty()) { + if (error) { + *error = "empty chain"; + } + return false; + } + std::reverse(chain_joints.begin(), chain_joints.end()); + + // 3) 计算链路在 q/v 中的连续区间。 + out.q_start = model_.idx_qs[chain_joints.front()]; + const int last_q = model_.idx_qs[chain_joints.back()] + model_.nqs[chain_joints.back()] - 1; + out.q_dof = last_q - out.q_start + 1; + + out.v_start = model_.idx_vs[chain_joints.front()]; + const int last_v = model_.idx_vs[chain_joints.back()] + model_.nvs[chain_joints.back()] - 1; + out.v_dof = last_v - out.v_start + 1; + + if (out.q_dof <= 0 || out.v_dof <= 0) { + if (error) { + *error = "invalid chain dof"; + } + return false; + } + + // 4) 读取链路对应的位置/速度限位。 + out.q_lower = model_.lowerPositionLimit.segment(out.q_start, out.q_dof); + out.q_upper = model_.upperPositionLimit.segment(out.q_start, out.q_dof); + out.v_limit = model_.velocityLimit.segment(out.v_start, out.v_dof); + + // 5) 输出关节明细（名称、q/v 下标与维度）。 + out.joints.clear(); + out.joints.reserve(chain_joints.size()); + for (const auto joint_id : chain_joints) { + JointSegment seg; + seg.joint_id = joint_id; + seg.name = model_.names[joint_id]; + seg.q_index = model_.idx_qs[joint_id]; + seg.nq = model_.nqs[joint_id]; + seg.v_index = model_.idx_vs[joint_id]; + seg.nv = model_.nvs[joint_id]; + out.joints.push_back(seg); + } + return true; +} + +} // namespace cmvr diff --git a/data/ik_movel_scurve.csv b/data/ik_movel_scurve.csv index 6b84c64b..9e5a053e 100644 --- a/data/ik_movel_scurve.csv +++ b/data/ik_movel_scurve.csv @@ -1,1375 +1,169 @@ t,q1,q2,q3,q4,q5,q6,q7 0,0.25,1,1.5707963267949,1.5707963267949,-1.5707963267949,0,0 0.002,0.25,1,1.5707963267949,1.5707963267949,-1.5707963267949,0,0 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