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 37938ec6..4467dce7 100644 --- a/cmvr-es/ik_solver/src/pinocchio_dls_ik_solver.cpp +++ b/cmvr-es/ik_solver/src/pinocchio_dls_ik_solver.cpp @@ -254,8 +254,20 @@ bool PinocchioDlsIKSolver::fk(const std::vector &joints_angle, 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)); } + // ============================================================================ -// S-curve profile +// S-curve profile (7 segments), with EXACT per-segment integration sampling +// - compute(): your original +// - jerk_at(): your original +// - sample(tau): new; returns s, sd, sdd exactly under the piecewise-constant jerk // ============================================================================ namespace { @@ -277,7 +289,6 @@ struct SCurveProfile1D { static double cbrt_pos(double x) { return std::cbrt(std::max(0.0, x)); } - // 半程（加速段）距离：s_half = a*(t_j^2 + 1.5 t_j t_a + 0.5 t_a^2) static double half_dist_a_reached(double a, double t_j, double t_a) { return a * (t_j*t_j + 1.5*t_j*t_a + 0.5*t_a*t_a); } @@ -296,12 +307,12 @@ struct SCurveProfile1D { if (v_max <= 1e-12 || a_max <= 1e-12 || j_max <= 1e-12) return; const double j = j_max; - const double t_j_a = a_max / j; // 达到 a_max 需要的 jerk 时间 + const double t_j_a = a_max / j; - // Case X：v_max 很低，达不到 a_max（纯 jerk 三角加速到 v_max） + // Case X：达不到 a_max if (v_max < a_max * t_j_a) { - const double t_j_v = std::sqrt(v_max / j); // v = j t_j^2 - const double s_half_v = j * std::pow(t_j_v, 3); // s_half = j t_j^3 + const double t_j_v = std::sqrt(v_max / j); + const double s_half_v = j * std::pow(t_j_v, 3); const double s_min = 2.0 * s_half_v; if (L > s_min + 1e-12) { @@ -314,7 +325,6 @@ struct SCurveProfile1D { valid = true; return; } else { - // 距离太短，达不到 v_max：纯 jerk-only t_a = 0.0; t_v = 0.0; t_j = cbrt_pos(L / (2.0*j)); @@ -327,12 +337,11 @@ struct SCurveProfile1D { } // Case Y：能达到 a_max - const double t_a_v = v_max / a_max - t_j_a; // >=0 + const double t_a_v = v_max / a_max - t_j_a; const double s_half_v = half_dist_a_reached(a_max, t_j_a, t_a_v); const double s_min = 2.0 * s_half_v; if (L > s_min + 1e-12) { - // 有匀速 t_j = t_j_a; t_a = t_a_v; t_v = (L - s_min) / v_max; @@ -342,13 +351,11 @@ struct SCurveProfile1D { valid = true; return; } else { - // 无匀速：解 t_a 使得 2*s_half == L const double tj = t_j_a; const double D = tj*tj + 4.0 * (L / a_max); double t_a_sol = (-3.0*tj + std::sqrt(std::max(0.0, D))) * 0.5; if (t_a_sol < 0.0) { - // 距离短到连 a_max 都达不到 -> jerk-only t_a = 0.0; t_v = 0.0; t_j = cbrt_pos(L / (2.0*j)); @@ -397,25 +404,68 @@ struct SCurveProfile1D { if (t < d7) return +j; return 0.0; } + + // ===== 新增：解析采样（按段常 jerk 精确积分）===== + void sample(double tau, double& s, double& sd, double& sdd, double& j_out) const { + if (!valid) { s=sd=sdd=j_out=0.0; return; } + + tau = std::min(std::max(0.0, tau), T); + + auto advance = [&](double dt, double jerk, + double& s, double& v, double& a) { + // constant jerk exact integration + s += 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; + }; + + // segments + const double segT[7] = {t_j, t_a, t_j, t_v, t_j, t_a, t_j}; + const double segJ[7] = {+j_max, 0.0, -j_max, 0.0, -j_max, 0.0, +j_max}; + + double s_acc = 0.0; + double v_acc = 0.0; + double a_acc = 0.0; + + double rem = tau; + int k_last = 0; + for (int k = 0; k < 7; ++k) { + const double dt = std::min(rem, segT[k]); + if (dt > 0.0) { + advance(dt, segJ[k], s_acc, v_acc, a_acc); + k_last = k; + } + rem -= dt; + if (rem <= 1e-15) { k_last = k; break; } + } + + s = std::min(std::max(0.0, s_acc), L); + sd = v_acc; + sdd = a_acc; + + // current jerk + j_out = jerk_at(tau); + + // force perfect stop at end + if (tau >= T - 1e-12) { sd = 0.0; sdd = 0.0; j_out = 0.0; } + if (tau <= 1e-12) { /* sd already ~0 */ } + } }; +static inline double smoothstep01(double x) { + x = clamp01(x); + return x*x*(3.0 - 2.0*x); +} + } // namespace -#include -#include -#include -#include -#include - -// 小工具 -static inline double clamp01(double x) { return std::max(0.0, std::min(1.0, x)); } - // ============================================================================ // MoveL with tau time-scaling (anti-wobble + correct stop): -// - tau: profile time (S-curve runs to the end => sd->0) -// - t : real time (your control period) -// - gamma_tot scales BOTH dq and tau-step -// - gamma_lim prevents hitting joint limits (avoid clamp chattering) +// - tau: profile time (S-curve runs fully => sd->0) +// - t : real time (control dt) +// - gamma_tot scales BOTH dq and tau-step (time scaling) +// - gamma_lim keeps q_next inside limits (avoid clamp chattering) +// - posture/feedback fades out near end (avoid nullspace leakage stop wiggle) // - add final hold sample => diff-speed == 0 // ============================================================================ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_base, @@ -438,7 +488,7 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ const pinocchio::FrameIndex ee_id = (is_tcp && has_tcp_) ? tcp_frame_id_ : flange_frame_id_; - // 起点 FK（base下），姿态固定为起点姿态 + // start FK (base) Eigen::Matrix4d T0_base; if (!fk(q_start, T0_base, is_tcp)) return false; @@ -448,16 +498,12 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ const Eigen::Vector3d pg = target_pose_base.block<3,1>(0,3); const Eigen::Vector3d dp = pg - p0; const double L = dp.norm(); - if (L < 1e-9) { - q_traj = {q_start}; - t_traj = {0.0}; - return true; - } + if (L < 1e-9) { q_traj = {q_start}; t_traj = {0.0}; return true; } const Eigen::Vector3d dir_base = dp / L; std::cerr << "dp(base)= " << dp.transpose() << "\n"; - // S-curve profile (along s) + // profile SCurveProfile1D prof; prof.compute(L, v_tcp_max, a_tcp_max, j_tcp_max); if (!prof.valid) { @@ -466,53 +512,59 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ } // ---------------- tuning ---------------- - // 横向只纠偏垂直误差，避免沿线方向“抢速度” - const double Kp_perp = 1.0; // 1/s - const double Kp_rot = 1.0; // 1/s - const double k_posture = 1.0; // 1/s (nullspace posture) - const double eps_dq = 1e-9; + const double Kp_perp0 = 1.0; // 1/s + const double Kp_rot0 = 1.0; // 1/s + const double k_posture0 = 1.0; // 1/s + const double eps_dq = 1e-9; - // 关节速度上限 + // speed limits Eigen::VectorXd qd_lim(chain_dof_); for (int i = 0; i < chain_dof_; ++i) qd_lim[i] = std::max(1e-6, std::abs(qd_max[i])); // posture reference Eigen::VectorXd q_ref = Eigen::Map(q_start.data(), chain_dof_); - // states + // state Eigen::VectorXd q_chain = Eigen::Map(q_start.data(), chain_dof_); double t = 0.0; // real time double tau = 0.0; // profile time - // profile states at tau - double s = 0.0; // along-line distance - double sd = 0.0; // ds/dtau - double sdd = 0.0; // d2s/dtau2 - - // output buffers + // output q_traj.clear(); t_traj.clear(); q_traj.reserve((size_t)(prof.T / dt_real) + 10); t_traj.reserve((size_t)(prof.T / dt_real) + 10); - q_traj.push_back(q_start); t_traj.push_back(0.0); - // logs (A/B/C) + // logs A/B/C const double log_period = 0.05; double next_log_t = 0.0; - - const double limit_eps = 1e-8; const double sigma_min_th = 1e-4; const double cond_th = 1e4; + // gamma smoothing (optional but helps remove kinks) + double gamma_prev = 1.0; + const double gamma_tau = 0.03; // 30ms low-pass + + // stuck detection int stuck_cnt = 0; while (tau < prof.T - 1e-12) { - const double step_real = std::min(dt_real, 0.01); // 你也可以删掉 0.01，这里只是防极端大dt + const double step_real = dt_real; - // desired pose at current profile state (tau) + // ===== sample profile at tau (exact) ===== + double s=0.0, sd=0.0, sdd=0.0, j_now=0.0; + prof.sample(tau, s, sd, sdd, j_now); + + // ===== end-fade (avoid nullspace leakage at stop) ===== + const double w_end = smoothstep01(sd / std::max(1e-6, 0.15 * prof.v_peak)); + const double Kp_perp = Kp_perp0 * w_end; + const double Kp_rot = Kp_rot0 * w_end; + const double k_posture = k_posture0 * w_end; + + // desired pose in base const Eigen::Vector3d p_des_base = p0 + dir_base * s; Eigen::Matrix4d T_des_base = Eigen::Matrix4d::Identity(); @@ -551,8 +603,8 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ pinocchio::ReferenceFrame::LOCAL, J_full); - // 取本链列（这里用 q_start_，nv==nq 且 1DOF 关节时OK） - Eigen::MatrixXd J = J_full.middleCols(chain_q_start_, chain_dof_); + // !!! use v_start/v_dof (more correct) + Eigen::MatrixXd J = J_full.middleCols(chain_v_start_, chain_v_dof_); Eigen::MatrixXd J_pinv = dampedPseudoInverse(J, damping_); // C) singular monitor @@ -583,10 +635,10 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ // task dq const Eigen::VectorXd dq_task = J_pinv * xi; - // nullspace posture (reduce redundancy wobble) + // 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; + const Eigen::MatrixXd N = I - J_pinv * J; // DLS approx projector const Eigen::VectorXd dq_raw = dq_task + N * dq_posture; // ---------------- gamma_speed (joint speed) ---------------- @@ -597,8 +649,7 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ } gamma_speed = clamp01(gamma_speed); - // ---------------- gamma_lim (joint position limits) ---------------- - // ensure q_next = q + gamma*dq_raw*dt_real stays within [lower, upper] + // ---------------- gamma_lim (keep q_next within limits) ---------------- double gamma_lim = 1.0; for (int i = 0; i < chain_dof_; ++i) { const double dqi = dq_raw[i]; @@ -609,45 +660,36 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ const double g = margin / (dqi * step_real); gamma_lim = std::min(gamma_lim, g); } else { // dqi < 0 - const double margin = q_lower_chain_[i] - q_chain[i]; // <=0 - const double g = margin / (dqi * step_real); // (-)/(-) => + + const double margin = q_chain[i] - q_lower_chain_[i]; + const double g = margin / ((-dqi) * step_real); gamma_lim = std::min(gamma_lim, g); } } gamma_lim = clamp01(gamma_lim); // total gamma - const double gamma_tot = std::min(gamma_speed, gamma_lim); + double gamma_target = std::min(gamma_speed, gamma_lim); - if (gamma_tot < 1e-6) { - stuck_cnt++; - } else { - stuck_cnt = 0; - } - if (stuck_cnt > 20) { // 连续一段时间动不了 - std::cerr << "[moveL_SCurveLocal] stuck by limits/speed: gamma_tot too small\n"; + // optional gamma smoothing to remove kinks + const double alpha = step_real / (gamma_tau + step_real); + const double gamma_tot = gamma_prev + alpha * (gamma_target - gamma_prev); + gamma_prev = gamma_tot; + + if (gamma_tot < 1e-6) stuck_cnt++; else stuck_cnt = 0; + if (stuck_cnt > 50) { + std::cerr << "[moveL_SCurveLocal] stuck: gamma_tot too small (limits/speed)\n"; return false; } - // apply dq in real time - const Eigen::VectorXd dq = gamma_tot * dq_raw; - q_chain += dq * step_real; + // apply dq (real time) + 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_); - // ---------------- advance profile time tau (time scaling) ---------------- - const double step_prof = gamma_tot * step_real; // <-- 关键：profile 慢放 - const double j = prof.jerk_at(tau); - - // integrate s(tau) with jerk-limited profile - s = s + sd*step_prof + 0.5*sdd*step_prof*step_prof + (1.0/6.0)*j*step_prof*step_prof*step_prof; - sd = sd + sdd*step_prof + 0.5*j*step_prof*step_prof; - sdd = sdd + j*step_prof; - - // clamp physically - s = std::min(std::max(0.0, s), L); - sd = std::max(0.0, sd); - - tau += step_prof; + // ---- advance profile time (time scaling) ---- + // IMPORTANT: tau advances by gamma_tot*dt_real => if slowed by limits, profile slows too + tau = std::min(prof.T, tau + gamma_tot * step_real); t += step_real; // log A/B/C @@ -657,8 +699,8 @@ 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 = (std::abs(q_chain[i] - q_lower_chain_[i]) < limit_eps) || - (std::abs(q_chain[i] - q_upper_chain_[i]) < limit_eps); + const bool nl = (q_upper_chain_[i] - q_chain[i] < 1e-8) || + (q_chain[i] - q_lower_chain_[i] < 1e-8); if (nl) { near_limit = true; near_cnt++; } } @@ -675,6 +717,7 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ << " |e_perp|=" << e_perp.norm() << " sigma_min=" << sigma_min << " cond=" << cond + << " w_end=" << w_end << "\n"; if (sigma_min < sigma_min_th || cond > cond_th) { @@ -689,19 +732,17 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ } } - // save sample (real time) + // save std::vector q_out(chain_dof_); Eigen::Map(q_out.data(), chain_dof_) = q_chain; q_traj.push_back(std::move(q_out)); t_traj.push_back(t); } - // ---- force end conditions (profile complete => sd should be ~0) ---- - // 给差分速度一个“严格为0”的结尾：再加一个 hold 点 + // ---- ensure end stop for finite difference velocity ---- if (!q_traj.empty() && !t_traj.empty()) { - const double hold_dt = dt_real; - t_traj.push_back(t_traj.back() + hold_dt); - q_traj.push_back(q_traj.back()); // same q => p doesn't change => v=0 by diff + t_traj.push_back(t_traj.back() + dt_real); + q_traj.push_back(q_traj.back()); // hold => diff-speed becomes 0 } return !q_traj.empty(); diff --git a/cmvr-es/ik_solver/src/srs_ik_test.cpp b/cmvr-es/ik_solver/src/srs_ik_test.cpp index 866a8552..672f47a6 100644 --- a/cmvr-es/ik_solver/src/srs_ik_test.cpp +++ b/cmvr-es/ik_solver/src/srs_ik_test.cpp @@ -1106,13 +1106,14 @@ 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; 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 = 0.33; + const double v_tcp = 0.13; const double a_tcp = 10.0; const double j_tcp = 10.00; std::vector qd_max(7, 3.0); diff --git a/data/ik_movel_scurve.csv b/data/ik_movel_scurve.csv index 8e905f39..6b84c64b 100644 --- a/data/ik_movel_scurve.csv +++ b/data/ik_movel_scurve.csv @@ -1,640 +1,1375 @@ 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,-1.5707963267949,7.81764306459599e-21,-4.2819706588909e-20 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