From 5afd63eabe12390605457de41a4f4922515e5157 Mon Sep 17 00:00:00 2001 From: lgv Date: Wed, 5 Nov 2025 17:41:17 +0800 Subject: [PATCH] feat:add ik closed-from solution --- CMakeLists.txt | 1 + data/ik_psi_sweep.csv | 1853 +++++++++++++++ data/plot_data.py | 59 + src/utils/CMakeLists.txt | 47 + src/utils/srs_ik/ik_limit_analyzer.cpp | 629 +++++ src/utils/srs_ik/ik_limit_analyzer.h | 125 + src/utils/srs_ik/srs_ik_slover.cpp | 407 ++++ src/utils/srs_ik/srs_ik_slover.h | 89 + src/utils/srs_ik/srs_ik_test.cpp | 132 ++ .../manif/0.0.5/include/manif/Bundle.h | 17 + third_party/manif/0.0.5/include/manif/Rn.h | 17 + third_party/manif/0.0.5/include/manif/SE2.h | 16 + third_party/manif/0.0.5/include/manif/SE3.h | 15 + .../manif/0.0.5/include/manif/SE_2_3.h | 16 + third_party/manif/0.0.5/include/manif/SGal3.h | 16 + third_party/manif/0.0.5/include/manif/SO2.h | 17 + third_party/manif/0.0.5/include/manif/SO3.h | 16 + .../0.0.5/include/manif/algorithms/average.h | 274 +++ .../0.0.5/include/manif/algorithms/bezier.h | 91 + .../include/manif/algorithms/decasteljau.h | 118 + .../include/manif/algorithms/interpolation.h | 325 +++ .../0.0.5/include/manif/autodiff/autodiff.h | 54 + .../0.0.5/include/manif/autodiff/constants.h | 42 + .../manif/autodiff/local_parameterization.h | 37 + .../manif/0.0.5/include/manif/ceres/ceres.h | 81 + .../0.0.5/include/manif/ceres/ceres_utils.h | 90 + .../0.0.5/include/manif/ceres/constants.h | 26 + .../0.0.5/include/manif/ceres/constraint.h | 147 ++ .../manif/ceres/local_parametrization.h | 46 + .../0.0.5/include/manif/ceres/manifold.h | 61 + .../0.0.5/include/manif/ceres/objective.h | 96 + .../manif/0.0.5/include/manif/constants.h | 68 + .../manif/0.0.5/include/manif/functions.h | 230 ++ .../include/manif/gtest/gtest_eigen_utils.h | 298 +++ .../include/manif/gtest/gtest_manif_utils.h | 133 ++ .../include/manif/impl/assignment_assert.h | 24 + .../manif/0.0.5/include/manif/impl/bracket.h | 35 + .../0.0.5/include/manif/impl/bundle/Bundle.h | 208 ++ .../include/manif/impl/bundle/BundleTangent.h | 191 ++ .../manif/impl/bundle/BundleTangent_base.h | 439 ++++ .../manif/impl/bundle/BundleTangent_map.h | 99 + .../include/manif/impl/bundle/Bundle_base.h | 442 ++++ .../include/manif/impl/bundle/Bundle_map.h | 97 + .../manif/impl/bundle/Bundle_properties.h | 33 + .../manif/0.0.5/include/manif/impl/cast.h | 35 + .../manif/0.0.5/include/manif/impl/eigen.h | 254 ++ .../0.0.5/include/manif/impl/generator.h | 47 + .../0.0.5/include/manif/impl/lie_group_base.h | 735 ++++++ .../manif/0.0.5/include/manif/impl/macro.h | 329 +++ .../manif/0.0.5/include/manif/impl/random.h | 39 + .../manif/0.0.5/include/manif/impl/rn/Rn.h | 141 ++ .../0.0.5/include/manif/impl/rn/RnTangent.h | 130 ++ .../include/manif/impl/rn/RnTangent_base.h | 226 ++ .../include/manif/impl/rn/RnTangent_map.h | 85 + .../0.0.5/include/manif/impl/rn/Rn_base.h | 224 ++ .../0.0.5/include/manif/impl/rn/Rn_map.h | 87 + .../include/manif/impl/rn/Rn_properties.h | 33 + .../manif/0.0.5/include/manif/impl/se2/SE2.h | 226 ++ .../0.0.5/include/manif/impl/se2/SE2Tangent.h | 125 + .../include/manif/impl/se2/SE2Tangent_base.h | 495 ++++ .../include/manif/impl/se2/SE2Tangent_map.h | 89 + .../0.0.5/include/manif/impl/se2/SE2_base.h | 441 ++++ .../0.0.5/include/manif/impl/se2/SE2_map.h | 103 + .../include/manif/impl/se2/SE2_properties.h | 33 + .../manif/0.0.5/include/manif/impl/se3/SE3.h | 217 ++ .../0.0.5/include/manif/impl/se3/SE3Tangent.h | 113 + .../include/manif/impl/se3/SE3Tangent_base.h | 473 ++++ .../include/manif/impl/se3/SE3Tangent_map.h | 89 + .../0.0.5/include/manif/impl/se3/SE3_base.h | 481 ++++ .../0.0.5/include/manif/impl/se3/SE3_map.h | 91 + .../include/manif/impl/se3/SE3_properties.h | 33 + .../0.0.5/include/manif/impl/se_2_3/SE_2_3.h | 230 ++ .../include/manif/impl/se_2_3/SE_2_3Tangent.h | 112 + .../manif/impl/se_2_3/SE_2_3Tangent_base.h | 495 ++++ .../manif/impl/se_2_3/SE_2_3Tangent_map.h | 89 + .../include/manif/impl/se_2_3/SE_2_3_base.h | 491 ++++ .../include/manif/impl/se_2_3/SE_2_3_map.h | 89 + .../manif/impl/se_2_3/SE_2_3_properties.h | 33 + .../0.0.5/include/manif/impl/sgal3/SGal3.h | 254 ++ .../include/manif/impl/sgal3/SGal3Tangent.h | 106 + .../manif/impl/sgal3/SGal3Tangent_base.h | 635 +++++ .../manif/impl/sgal3/SGal3Tangent_map.h | 85 + .../include/manif/impl/sgal3/SGal3_base.h | 484 ++++ .../include/manif/impl/sgal3/SGal3_map.h | 84 + .../manif/impl/sgal3/SGal3_properties.h | 31 + .../manif/0.0.5/include/manif/impl/so2/SO2.h | 152 ++ .../0.0.5/include/manif/impl/so2/SO2Tangent.h | 122 + .../include/manif/impl/so2/SO2Tangent_base.h | 240 ++ .../include/manif/impl/so2/SO2Tangent_map.h | 85 + .../0.0.5/include/manif/impl/so2/SO2_base.h | 355 +++ .../0.0.5/include/manif/impl/so2/SO2_map.h | 91 + .../include/manif/impl/so2/SO2_properties.h | 33 + .../manif/0.0.5/include/manif/impl/so3/SO3.h | 183 ++ .../0.0.5/include/manif/impl/so3/SO3Tangent.h | 112 + .../include/manif/impl/so3/SO3Tangent_base.h | 342 +++ .../include/manif/impl/so3/SO3Tangent_map.h | 89 + .../0.0.5/include/manif/impl/so3/SO3_base.h | 440 ++++ .../0.0.5/include/manif/impl/so3/SO3_map.h | 95 + .../include/manif/impl/so3/SO3_properties.h | 33 + .../0.0.5/include/manif/impl/tangent_base.h | 978 ++++++++ .../manif/0.0.5/include/manif/impl/traits.h | 181 ++ .../manif/0.0.5/include/manif/impl/utils.h | 57 + .../manif/0.0.5/include/manif/impl/vee.h | 37 + third_party/manif/0.0.5/include/manif/manif.h | 21 + .../manif/0.0.5/include/tl/optional.hpp | 2063 +++++++++++++++++ .../0.0.5/share/manif/cmake/manifConfig.cmake | 44 + .../manif/cmake/manifConfigVersion.cmake | 48 + .../share/manif/cmake/manifTargets.cmake | 99 + 108 files changed, 21749 insertions(+) create mode 100644 data/ik_psi_sweep.csv create mode 100644 data/plot_data.py create mode 100644 src/utils/srs_ik/ik_limit_analyzer.cpp create mode 100644 src/utils/srs_ik/ik_limit_analyzer.h create mode 100644 src/utils/srs_ik/srs_ik_slover.cpp create mode 100644 src/utils/srs_ik/srs_ik_slover.h create mode 100644 src/utils/srs_ik/srs_ik_test.cpp create mode 100644 third_party/manif/0.0.5/include/manif/Bundle.h create mode 100644 third_party/manif/0.0.5/include/manif/Rn.h create mode 100644 third_party/manif/0.0.5/include/manif/SE2.h create mode 100644 third_party/manif/0.0.5/include/manif/SE3.h create mode 100644 third_party/manif/0.0.5/include/manif/SE_2_3.h create mode 100644 third_party/manif/0.0.5/include/manif/SGal3.h create mode 100644 third_party/manif/0.0.5/include/manif/SO2.h create mode 100644 third_party/manif/0.0.5/include/manif/SO3.h create mode 100644 third_party/manif/0.0.5/include/manif/algorithms/average.h create mode 100644 third_party/manif/0.0.5/include/manif/algorithms/bezier.h create mode 100644 third_party/manif/0.0.5/include/manif/algorithms/decasteljau.h create mode 100644 third_party/manif/0.0.5/include/manif/algorithms/interpolation.h create mode 100644 third_party/manif/0.0.5/include/manif/autodiff/autodiff.h create mode 100644 third_party/manif/0.0.5/include/manif/autodiff/constants.h create mode 100644 third_party/manif/0.0.5/include/manif/autodiff/local_parameterization.h create mode 100644 third_party/manif/0.0.5/include/manif/ceres/ceres.h create mode 100644 third_party/manif/0.0.5/include/manif/ceres/ceres_utils.h create mode 100644 third_party/manif/0.0.5/include/manif/ceres/constants.h create mode 100644 third_party/manif/0.0.5/include/manif/ceres/constraint.h create mode 100644 third_party/manif/0.0.5/include/manif/ceres/local_parametrization.h create mode 100644 third_party/manif/0.0.5/include/manif/ceres/manifold.h create mode 100644 third_party/manif/0.0.5/include/manif/ceres/objective.h create mode 100644 third_party/manif/0.0.5/include/manif/constants.h create mode 100644 third_party/manif/0.0.5/include/manif/functions.h create mode 100644 third_party/manif/0.0.5/include/manif/gtest/gtest_eigen_utils.h create mode 100644 third_party/manif/0.0.5/include/manif/gtest/gtest_manif_utils.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/assignment_assert.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/bracket.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/bundle/Bundle.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/bundle/BundleTangent.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/bundle/BundleTangent_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/bundle/BundleTangent_map.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/bundle/Bundle_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/bundle/Bundle_map.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/bundle/Bundle_properties.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/cast.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/eigen.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/generator.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/lie_group_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/macro.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/random.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/rn/Rn.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/rn/RnTangent.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/rn/RnTangent_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/rn/RnTangent_map.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/rn/Rn_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/rn/Rn_map.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/rn/Rn_properties.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se2/SE2.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se2/SE2Tangent.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se2/SE2Tangent_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se2/SE2Tangent_map.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se2/SE2_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se2/SE2_map.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se2/SE2_properties.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se3/SE3.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se3/SE3Tangent.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se3/SE3Tangent_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se3/SE3Tangent_map.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se3/SE3_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se3/SE3_map.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se3/SE3_properties.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se_2_3/SE_2_3.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se_2_3/SE_2_3Tangent.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se_2_3/SE_2_3Tangent_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se_2_3/SE_2_3Tangent_map.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se_2_3/SE_2_3_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se_2_3/SE_2_3_map.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/se_2_3/SE_2_3_properties.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/sgal3/SGal3.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/sgal3/SGal3Tangent.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/sgal3/SGal3Tangent_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/sgal3/SGal3Tangent_map.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/sgal3/SGal3_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/sgal3/SGal3_map.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/sgal3/SGal3_properties.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/so2/SO2.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/so2/SO2Tangent.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/so2/SO2Tangent_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/so2/SO2Tangent_map.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/so2/SO2_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/so2/SO2_map.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/so2/SO2_properties.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/so3/SO3.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/so3/SO3Tangent.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/so3/SO3Tangent_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/so3/SO3Tangent_map.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/so3/SO3_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/so3/SO3_map.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/so3/SO3_properties.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/tangent_base.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/traits.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/utils.h create mode 100644 third_party/manif/0.0.5/include/manif/impl/vee.h create mode 100644 third_party/manif/0.0.5/include/manif/manif.h create mode 100644 third_party/manif/0.0.5/include/tl/optional.hpp create mode 100644 third_party/manif/0.0.5/share/manif/cmake/manifConfig.cmake create mode 100644 third_party/manif/0.0.5/share/manif/cmake/manifConfigVersion.cmake create mode 100644 third_party/manif/0.0.5/share/manif/cmake/manifTargets.cmake diff --git a/CMakeLists.txt b/CMakeLists.txt index 01021bbf..38656800 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -64,6 +64,7 @@ include_directories( ${PROTO_BINARY_DIR} ${PROJECT_SOURCE_DIR}/include ${PROJECT_SOURCE_DIR}/src/devices + ${PROJECT_SOURCE_DIR}/src/utils ${PROJECT_SOURCE_DIR}/third_party ) diff --git a/data/ik_psi_sweep.csv b/data/ik_psi_sweep.csv new file mode 100644 index 00000000..91552484 --- /dev/null +++ b/data/ik_psi_sweep.csv @@ -0,0 +1,1853 @@ +psi,q1,q2,q3,q4,q5,q6,q7 +-0.953870002,1.755217003,1.755565672,-0.652921923,1.570796327,2.708580919,0.500000000,1.723519129 +-0.952870002,1.754646651,1.755137128,-0.652318065,1.570796327,2.707712538,0.500643001,1.723179979 +-0.951870002,1.754076081,1.754708924,-0.651714007,1.570796327,2.706843602,0.501285743,1.722840073 +-0.950870002,1.753505294,1.754281058,-0.651109749,1.570796327,2.705974111,0.501928226,1.722499411 +-0.949870002,1.752934289,1.753853531,-0.650505290,1.570796327,2.705104064,0.502570449,1.722157990 +-0.948870002,1.752363067,1.753426344,-0.649900631,1.570796327,2.704233459,0.503212411,1.721815812 +-0.947870002,1.751791627,1.752999497,-0.649295771,1.570796327,2.703362295,0.503854112,1.721472874 +-0.946870002,1.751219970,1.752572990,-0.648690712,1.570796327,2.702490572,0.504495551,1.721129177 +-0.945870002,1.750648095,1.752146823,-0.648085451,1.570796327,2.701618287,0.505136727,1.720784719 +-0.944870002,1.750076003,1.751720997,-0.647479990,1.570796327,2.700745441,0.505777639,1.720439499 +-0.943870002,1.749503693,1.751295511,-0.646874329,1.570796327,2.699872032,0.506418288,1.720093517 +-0.942870002,1.748931166,1.750870367,-0.646268468,1.570796327,2.698998059,0.507058672,1.719746773 +-0.941870002,1.748358421,1.750445564,-0.645662405,1.570796327,2.698123520,0.507698791,1.719399264 +-0.940870002,1.747785459,1.750021103,-0.645056143,1.570796327,2.697248415,0.508338644,1.719050991 +-0.939870002,1.747212279,1.749596983,-0.644449680,1.570796327,2.696372743,0.508978231,1.718701953 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['q1','q2','q3','q4','q5','q6','q7'] +fig, axes = plt.subplots(len(joints), 1, figsize=(10, 2.6*len(joints)), sharex=True) +x = df['psi'].to_numpy() + +for ax, col in zip(axes, joints): + y = df[col].to_numpy() + + # 过滤 NaN + mask = ~np.isnan(x) & ~np.isnan(y) + xv, yv = x[mask], y[mask] + if len(xv) == 0: + ax.set_title(f'{col}: no data') + continue + + # 散点图（不画连线） + ax.scatter(xv, yv, s=10, alpha=0.8) # s 调整点大小 + + # 极值与对应 psi + i_min = int(np.argmin(yv)) + i_max = int(np.argmax(yv)) + y_min, psi_min = float(yv[i_min]), float(xv[i_min]) + y_max, psi_max = float(yv[i_max]), float(xv[i_max]) + + # 水平红虚线（值） + ax.axhline(y_min, color='red', linestyle='--', linewidth=1) + ax.axhline(y_max, color='red', linestyle='--', linewidth=1) + # 垂直红虚线（psi） + ax.axvline(psi_min, color='red', linestyle='--', linewidth=1, alpha=0.7) + ax.axvline(psi_max, color='red', linestyle='--', linewidth=1, alpha=0.7) + + # 极值点标记 + ax.plot(psi_min, y_min, 'ro', markersize=4) + ax.plot(psi_max, y_max, 'ro', markersize=4) + + # 标注：值 + psi + ax.annotate(f"min={y_min:.4f}\nψ={psi_min:.4f}", + xy=(psi_min, y_min), xytext=(8, -10), + textcoords='offset points', color='red', + ha='left', va='top', fontsize=9, + bbox=dict(boxstyle="round,pad=0.2", fc="white", ec="none")) + ax.annotate(f"max={y_max:.4f}\nψ={psi_max:.4f}", + xy=(psi_max, y_max), xytext=(8, 10), + textcoords='offset points', color='red', + ha='left', va='bottom', fontsize=9, + bbox=dict(boxstyle="round,pad=0.2", fc="white", ec="none")) + + ax.set_ylabel(f"{col} (rad)") + ax.grid(True, alpha=0.35) + +axes[-1].set_xlabel('psi (rad)') +fig.suptitle('IK joints vs arm-angle psi', y=0.995) +plt.tight_layout() +plt.show() diff --git a/src/utils/CMakeLists.txt b/src/utils/CMakeLists.txt index 85a60678..0d15ac51 100644 --- a/src/utils/CMakeLists.txt +++ b/src/utils/CMakeLists.txt @@ -20,6 +20,8 @@ add_library(utils STATIC math/se3.cpp math/so3.cpp controller/cartesian_controller.cpp + srs_ik/srs_ik_slover.cpp + srs_ik/ik_limit_analyzer.cpp ) target_include_directories(utils PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) @@ -32,3 +34,48 @@ target_link_libraries(utils PRIVATE ) add_library(cmvr_es::utils ALIAS utils) + + +# -------------------------------------------------------- +# Unit test +# -------------------------------------------------------- +find_package(glog REQUIRED) +find_package(PkgConfig REQUIRED) +find_package(fcl REQUIRED) +find_package(OpenCV REQUIRED) + +include_directories( + ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/include +) + +include_directories( + ${CMAKE_SOURCE_DIR}/third_party/manif/0.0.5/include +) + + +link_directories( + ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/lib +) + + + + +add_executable(srs_ik_test + ${CMAKE_CURRENT_SOURCE_DIR}/srs_ik/srs_ik_test.cpp +) + + +target_link_libraries(srs_ik_test + PRIVATE + gtest + gtest_main + pthread + glog::glog + proto-objects + ccd + fcl + ${OpenCV_LIBS} + Eigen3::Eigen + OsqpEigen::OsqpEigen + cmvr_es::utils +) diff --git a/src/utils/srs_ik/ik_limit_analyzer.cpp b/src/utils/srs_ik/ik_limit_analyzer.cpp new file mode 100644 index 00000000..281e3e1c --- /dev/null +++ b/src/utils/srs_ik/ik_limit_analyzer.cpp @@ -0,0 +1,629 @@ +// +// Created by lgv on 2025/11/3. +// + +#include "ik_limit_analyzer.h" +#include +#include + +using namespace cmvr::utils; + +double IkLimitAnalyzer::normalize_angle(double angle) { + // 将角度转换为 [0, 2π) 范围 + double a = std::fmod(angle + M_PI, 2.0 * M_PI); + + // 如果 a 为负数，则添加 2π，使其位于 [0, 2π) 范围 + if (a < 0.0) { + a += 2.0 * M_PI; + } + + // 将角度范围调整到 [-π, π] 范围 + return a - M_PI; +} + +bool IkLimitAnalyzer::check_tan_solution(double an, double ad, double bn, double bd, double cn, double cd, + double theta_target, double psi) { + // 由 ψ 复原 θ：θ = atan2( N, D ) + // N = an*sinψ + bn*cosψ + cn + // D = ad*sinψ + bd*cosψ + cd + double N = an * std::sin(psi) + bn * std::cos(psi) + cn; + double D = ad * std::sin(psi) + bd * std::cos(psi) + cd; + double theta = std::atan2(N, D); + double err = normalize_angle(theta - theta_target); + return std::abs(err) < 1e-6; +} + + +std::vector IkLimitAnalyzer::calc_tan_solution(double an, double ad, double bn, double bd, double cn, + double cd, double theta) { + std::vector out; + + // v = tan(theta) + double v = std::tan(theta); + + // 二次式：ap * t^2 + bp * t + cp = 0， 其中 t = tan(ψ/2) + double ap = v * (cd - bd) + (bn - cn); + double bp = v * (2.0 * ad) - (2.0 * an); + double cp = v * (bd + cd) - (bn + cn); + + double D = bp * bp - 4.0 * ap * cp; + if (D < 0.0) return out; + D = std::max(0.0, D); + double sqrtD = std::sqrt(D); + + // ψ = 2 * atan2( -(bp ± sqrtD), 2*ap ) + double psi1 = 2.0 * std::atan2(-(bp - sqrtD), 2.0 * ap); + double psi2 = 2.0 * std::atan2(-(bp + sqrtD), 2.0 * ap); + + psi1 = normalize_angle(psi1); + psi2 = normalize_angle(psi2); + + + if (check_tan_solution(an, ad, bn, bd, cn, cd, theta, psi1)) + out.push_back(psi1); + + if (check_tan_solution(an, ad, bn, bd, cn, cd, theta, psi2) && + std::abs(psi2 - psi1) > EPS) + out.push_back(psi2); + + std::sort(out.begin(), out.end()); + return out; +} + + +// std::vector > IkLimitAnalyzer::calc_tan_limits(double an, double ad, double bn, double bd, +// double cn, double cd, double joint_l, +// double joint_u) { +// // joint_l = normalize_angle(joint_l); +// // joint_u = normalize_angle(joint_u); +// +// +// // 1) 微分系数（保持与 MATLAB 一致） +// double at = bd * cn - bn * cd; +// double bt = an * cd - ad * cn; +// double ct = an * bd - ad * bn; +// +// // 2) 奇异屏蔽带（式 31）：at^2 + bt^2 - ct^2 = 0 +// double dt = at * at + bt * bt - ct * ct; +// std::vector > singular_allow; // 允许区间列表 +// if (std::abs(at * at + bt * bt - ct * ct) < 1e-6) { +// double psi_sing = normalize_angle(2.0 * std::atan2(at, (bt - ct))); +// double safe = deg2rad(7.0); +// +// double L = normalize_angle(psi_sing - safe); +// double R = normalize_angle(psi_sing + safe); +// +// // 允许集 = [-π, L] ∪ [R, π] +// if (L <= R) { +// singular_allow = {{-M_PI, L}, {R, M_PI}}; +// } else { +// // 屏蔽带跨越 -π/π +// singular_allow = {{-M_PI, R}, {L, M_PI}}; +// } +// } +// +// // 3) 将上下限 ±jl 映射为 psi（tan 型） +// std::vector pt1 = calc_tan_solution(an, ad, bn, bd, cn, cd, joint_u); +// std::vector pt2 = calc_tan_solution(an, ad, bn, bd, cn, cd, joint_l); +// +// std::vector ptlim; +// ptlim.reserve(pt1.size() + pt2.size()); +// ptlim.insert(ptlim.end(), pt1.begin(), pt1.end()); +// ptlim.insert(ptlim.end(), pt2.begin(), pt2.end()); +// +// std::vector > allow_pairs; // 最终允许区间 +// +// if (!ptlim.empty()) { +// // 3.1 排序边界 +// std::sort(ptlim.begin(), ptlim.end()); +// +// // 3.2 分类：区间结束边界(=1) / 区间开始边界(=0) +// std::vector lim_class(ptlim.size(), 0); +// for (size_t i = 0; i < ptlim.size(); ++i) { +// double psi = ptlim[i]; +// +// // tlim = atan2(N, D) +// double N = an * std::sin(psi) + bn * std::cos(psi) + cn; +// double D = ad * std::sin(psi) + bd * std::cos(psi) + cd; +// double tlim = std::atan2(N, D); +// +// // dθ/dψ 符号 +// double dlim = at * std::sin(psi) + bt * std::cos(psi) + ct; +// +// lim_class[i] = (sign(tlim) == sign(dlim)) ? 1 : 0; +// } +// +// // 3.3 若首个是“进入禁止”，拼接 [-π, ... , π] 让边界从“允许”开始 +// std::vector bounds = ptlim; +// if (!lim_class.empty() && lim_class.front() == 1) { +// bounds.insert(bounds.begin(), -M_PI); +// bounds.push_back(M_PI); +// } +// +// // 3.4 边界数组 → pair 列表 +// allow_pairs = bounds_to_pairs(bounds); +// } else { +// // 4) 没有任何 ψ 命中关节限：全允许或全禁止 +// double psi = 0.0; +// double N = an * std::sin(psi) + bn * std::cos(psi) + cn; +// double D = ad * std::sin(psi) + bd * std::cos(psi) + cd; +// double tlim = std::atan2(N, D); +// +// if (tlim > joint_l && tlim < joint_u) { +// allow_pairs = {{-M_PI, M_PI}}; // 全允许 +// } else { +// allow_pairs.clear(); // 全禁止 +// } +// } +// +// // 5) 若有奇异屏蔽带：做交集 +// if (!singular_allow.empty() && !allow_pairs.empty()) { +// allow_pairs = intersect(allow_pairs, singular_allow); +// } +// return allow_pairs; +// } + + +std::vector > IkLimitAnalyzer::calc_tan_limits(double an, double ad, double bn, double bd, + double cn, double cd, double joint_l, + double joint_u) { + // 1) 微分系数 + double at = bd * cn - bn * cd; + double bt = an * cd - ad * cn; + double ct = an * bd - ad * bn; + + // 2) 奇异屏蔽带（式 31）：at^2 + bt^2 - ct^2 = 0 + double dt = at * at + bt * bt - ct * ct; + std::vector > singular_allow; // 允许区间列表 + if (std::abs(at * at + bt * bt - ct * ct) < 1e-6) { + double psi_sing = normalize_angle(2.0 * std::atan2(at, (bt - ct))); + double safe = deg2rad(7.0); + + double L = normalize_angle(psi_sing - safe); + double R = normalize_angle(psi_sing + safe); + + // 允许集 = [-π, L] ∪ [R, π] + if (L <= R) { + singular_allow = {{-M_PI, L}, {R, M_PI}}; + } else { + // 屏蔽带跨越 -π/π + singular_allow = {{-M_PI, R}, {L, M_PI}}; + } + } + + // 3) 将上下限 ±jl 映射为 psi（tan 型） + std::vector pt1 = calc_tan_solution(an, ad, bn, bd, cn, cd, joint_u); + std::vector pt2 = calc_tan_solution(an, ad, bn, bd, cn, cd, joint_l); + + std::vector ptlim; + ptlim.reserve(pt1.size() + pt2.size()); + ptlim.insert(ptlim.end(), pt1.begin(), pt1.end()); + ptlim.insert(ptlim.end(), pt2.begin(), pt2.end()); + + + // 去重（避免重复切分点导致抖动） + std::sort(ptlim.begin(), ptlim.end()); + ptlim.erase(std::unique(ptlim.begin(), ptlim.end(), + [](double a, double b) { return std::abs(a - b) < 1e-12; }), + ptlim.end()); + + std::vector > allow_pairs; // 最终允许区间 + + if (!ptlim.empty()) { + // === 采样 + 交替（不再用同号判据/首段拼 [-π,π]） === + const double EPSP = 1e-9; + + // 构造边界：[-π, cuts..., π] + std::vector bounds; + bounds.reserve(ptlim.size() + 2); + bounds.push_back(-M_PI); + bounds.insert(bounds.end(), ptlim.begin(), ptlim.end()); + bounds.push_back(M_PI); + + // 左侧微偏移采样，判断首段是否“允许” + auto theta_of = [&](double psi) { + double N = an * std::sin(psi) + bn * std::cos(psi) + cn; + double D = ad * std::sin(psi) + bd * std::cos(psi) + cd; + return std::atan2(N, D); + }; + double probe = bounds.front() + EPSP; // -π+ε + bool allow_here = angle_in_wrap(theta_of(probe), joint_l, joint_u); + + // 扫描生成段 + for (size_t i = 0; i + 1 < bounds.size(); ++i) { + double L = bounds[i]; + double R = bounds[i + 1]; + if (allow_here && R > L) allow_pairs.emplace_back(L, R); + allow_here = !allow_here; // 每越过一个边界，翻转一次，前提是θ(ψ) 连续变换 + // 也可以通过 L + EPSP 来判断该区间是否允许 + // allow_here = angle_in_wrap(theta_of(L + EPSP), joint_l, joint_u); + } + } else { + // 4) 无交点：整圈全允许或全禁止（用环形比较） + double psi = 0.0; + double N = an * std::sin(psi) + bn * std::cos(psi) + cn; + double D = ad * std::sin(psi) + bd * std::cos(psi) + cd; + double tlim = std::atan2(N, D); + + if (angle_in_wrap(tlim, joint_l, joint_u)) { + allow_pairs = {{-M_PI, M_PI}}; + } else { + allow_pairs.clear(); + } + } + + // 5) 奇异屏蔽：与允许集求交 + if (!singular_allow.empty() && !allow_pairs.empty()) { + allow_pairs = intersect(allow_pairs, singular_allow); + } + + // ++【新增】合并小段，干净输出 + allow_pairs = union_intervals(allow_pairs); + return allow_pairs; +} + + +std::vector > IkLimitAnalyzer::intersect( + const std::vector > &A, const std::vector > &B) { + if (A.empty() || B.empty()) return {}; + + // 先复制并排序（按起点） + auto SA = A, SB = B; + std::sort(SA.begin(), SA.end(), + [](auto &x, auto &y) { return x.first < y.first; }); + std::sort(SB.begin(), SB.end(), + [](auto &x, auto &y) { return x.first < y.first; }); + + // 双指针求交 + std::vector > out; + size_t i = 0, j = 0; + while (i < SA.size() && j < SB.size()) { + double L = std::max(SA[i].first, SB[j].first); + double R = std::min(SA[i].second, SB[j].second); + if (R > L) out.emplace_back(L, R); + + // 谁先结束谁前进 + if (SA[i].second < SB[j].second) ++i; + else ++j; + } + + // 合并可能相邻/重叠的小段 + if (out.empty()) return out; + + constexpr double MERGE_EPS = 1e-12; + std::vector > merged; + merged.reserve(out.size()); + std::sort(out.begin(), out.end(), + [](auto &x, auto &y) { return x.first < y.first; }); + + merged.push_back(out[0]); + for (size_t k = 1; k < out.size(); ++k) { + if (out[k].first <= merged.back().second + MERGE_EPS) { + merged.back().second = std::max(merged.back().second, out[k].second); + } else { + merged.push_back(out[k]); + } + } + return merged; +} + +std::vector > IkLimitAnalyzer::bounds_to_pairs(const std::vector &bounds) { + std::vector > segs; + if (bounds.empty()) return segs; + + // 要求：bounds 已按升序，且“以允许开始”（在 TanJointLimits 里保证了） + if (bounds.size() % 2 != 0) { + // 若出现奇偶不配，可按需抛异常或容错 + return segs; + } + + segs.reserve(bounds.size() / 2); + for (size_t i = 0; i < bounds.size(); i += 2) { + double L = bounds[i]; + double R = bounds[i + 1]; + if (R > L) segs.emplace_back(L, R); + } + return segs; +} + + +// std::vector > +// IkLimitAnalyzer::calc_cos_limits(double a, double b, double c, int conf, double joint_l, double joint_u) { +// // 对于 cos 型来说，奇异点处导数存在，但是左导数 != 右导数 +// // 论文 Analytical Inverse Kinematic Computation for 7-DOF Redundant +// // Manipulators With Joint Limits and Its Application to Redundancy Resolution +// // 式 39 ，40 来求奇异点 +// if (std::abs(a * a + b * b - (c - 1) * (c - 1)) < EPS) { +// double psi_sing = 2.0 * std::atan2(a, (b - (c - 1))); +// } +// if (std::abs(a * a + b * b - (c + 1) * (c + 1)) < EPS) { +// double psi_sing = 2.0 * std::atan2(a, (b - (c + 1))); +// } +// +// // 1) 将关节上下限 映射到 ψ（cos 型） +// std::vector pt1 = calc_cos_solution(a, b, c, joint_l); +// std::vector pt2 = calc_cos_solution(a, b, c, joint_u); +// +// std::vector ptlim; +// ptlim.reserve(pt1.size() + pt2.size()); +// ptlim.insert(ptlim.end(), pt1.begin(), pt1.end()); +// ptlim.insert(ptlim.end(), pt2.begin(), pt2.end()); +// +// std::vector > allow_pairs; // 输出 +// +// if (!ptlim.empty()) { +// // 2) 排序 +// std::sort(ptlim.begin(), ptlim.end()); +// +// // 3) 分类：enter_avoid(=1) / enter_allow(=0) +// std::vector lim_class(ptlim.size(), 0); +// for (size_t i = 0; i < ptlim.size(); ++i) { +// double psi = ptlim[i]; +// +// // θ(ψ) = conf * acos( a sinψ + b cosψ + c ) +// double ct = a * std::sin(psi) + b * std::cos(psi) + c; +// ct = clamp(ct, -1.0, 1.0); +// double tlim = static_cast(conf) * std::acos(ct); +// +// // dθ/dψ = (-1/sinθ)*(a cosψ - b sinψ)，sinθ = sqrt(1-ct^2) +// double st = std::sqrt(std::max(0.0, 1.0 - ct * ct)); +// +// double core = (a * std::cos(psi) - b * std::sin(psi)); +// double dlim = static_cast(conf) * (-1.0 / st) * core; +// +// // 当 psi = 0 时，处于奇异点，st = 0 其左右导数值可以参考论文 +// // Analytical Inverse Kinematic Computation for 7-DOF Redundant +// // Manipulators With Joint Limits and Its Application to Redundancy Resolution +// // 式 42 ，43，45，46 +// +// lim_class[i] = (sign(tlim) == sign(dlim)) ? 1 : 0; +// } +// +// // 4) 若首个是“进入禁止”，拼上 [-π, π] 让边界以“允许”开头 +// std::vector bounds = ptlim; +// if (!lim_class.empty() && lim_class.front() == 1) { +// bounds.insert(bounds.begin(), -M_PI); +// bounds.push_back(M_PI); +// } +// +// // 5) 边界 → pair 列表 +// allow_pairs = bounds_to_pairs(bounds); +// } else { +// // 6) 无命中边界：全允许或全禁止（检查 ψ=0） +// double psi = 0.0; +// double ct0 = a * std::sin(psi) + b * std::cos(psi) + c; +// ct0 = clamp(ct0, -1.0, 1.0); +// double tlim0 = static_cast(conf) * std::acos(ct0); +// +// if (tlim0 > joint_l && tlim0 < joint_u) { +// allow_pairs = {{-M_PI, M_PI}}; // 全允许 +// } else { +// allow_pairs.clear(); // 全禁止 +// } +// } +// +// return allow_pairs; +// } + + +std::vector > IkLimitAnalyzer::calc_cos_limits( + double a, double b, double c, int conf, double joint_l, double joint_u) { + // 1) 奇异点判断 + if (std::abs(a * a + b * b - (c - 1) * (c - 1)) < EPS) { + double psi_sing = 2.0 * std::atan2(a, (b - (c - 1))); + } + if (std::abs(a * a + b * b - (c + 1) * (c + 1)) < EPS) { + double psi_sing = 2.0 * std::atan2(a, (b - (c + 1))); + } + + // 2) 将关节上下限映射到 ψ（cos 型） + std::vector pt1 = calc_cos_solution(a, b, c, joint_l); + std::vector pt2 = calc_cos_solution(a, b, c, joint_u); + + std::vector ptlim; + ptlim.reserve(pt1.size() + pt2.size()); + ptlim.insert(ptlim.end(), pt1.begin(), pt1.end()); + ptlim.insert(ptlim.end(), pt2.begin(), pt2.end()); + + + // 去重（避免重复切分点导致抖动） + std::sort(ptlim.begin(), ptlim.end()); + ptlim.erase(std::unique(ptlim.begin(), ptlim.end(), + [](double a, double b) { return std::abs(a - b) < 1e-12; }), + ptlim.end()); + + std::vector > allow_pairs; // 输出 + + if (!ptlim.empty()) { + // 3) 排序区间 + std::sort(ptlim.begin(), ptlim.end()); + + // 4) 采样 + 交替 + const double EPSP = 1e-9; // 偏移量 + + // 构造边界数组：[-π, cuts..., π] + std::vector bounds; + bounds.reserve(ptlim.size() + 2); + bounds.push_back(-M_PI); + bounds.insert(bounds.end(), ptlim.begin(), ptlim.end()); + bounds.push_back(M_PI); + + // 5) 采样左侧点，判断是否允许 + auto theta_of = [&](double psi) { + double ct = a * std::sin(psi) + b * std::cos(psi) + c; + ct = clamp(ct, -1.0, 1.0); // 保证 ct 的范围在 [-1, 1] 之间 + return static_cast(conf) * std::acos(ct); + }; + + + for (size_t i = 0; i + 1 < bounds.size(); ++i) { + double L = bounds[i]; + double R = bounds[i + 1]; + if (R <= L) continue; + + double probe = L + EPSP; // 左侧微偏移 + if (probe > R) probe = (L + R) * 0.5; // 极窄段兜底：取中点 + + if (angle_in_wrap(theta_of(probe), joint_l, joint_u)) { + allow_pairs.emplace_back(L, R); + } + } + } else { + // 6) 无交点的情况：全允许或全禁止 + double psi = 0.0; + double ct = a * std::sin(psi) + b * std::cos(psi) + c; + ct = clamp(ct, -1.0, 1.0); + double tlim = static_cast(conf) * std::acos(ct); + + if (angle_in_wrap(tlim, joint_l, joint_u)) { + allow_pairs = {{-M_PI, M_PI}}; + } else { + allow_pairs.clear(); + } + } + + // 8) 合并小段，干净输出 + allow_pairs = union_intervals(allow_pairs); + + return allow_pairs; +} + + +bool IkLimitAnalyzer::check_cos_solution(double a, double b, double c, double theta_target, double psi) { + // // 由 ψ 复原 θ：θ = acos( a sinψ + b cosψ + c ) + // double ct = a * std::sin(psi) + b * std::cos(psi) + c; + // ct = clamp(ct, -1.0, 1.0); + // double theta = std::acos(ct); + // return std::abs(theta - theta_target) < 1e-6; + + // ct = a sinψ + b cosψ + c 应等于 cos(theta_target) + double ct = a * std::sin(psi) + b * std::cos(psi) + c; + ct = clamp(ct, -1.0, 1.0); + + // 目标的 cos 值（对 conf 正负都成立） + double v = std::cos(theta_target); + + return std::abs(ct - v) < 1e-6; +} + + +std::vector IkLimitAnalyzer::calc_cos_solution(double a, double b, double c, double theta) { + std::vector out; + + // v = cos(theta) + double v = std::cos(theta); + + // 二次式：as * t^2 + bs * t + cs = 0， 其中 t = tan(ψ/2) + double as = v + b - c; + double bs = -2.0 * a; + double cs = v - b - c; + + double D = bs * bs - 4.0 * as * cs; + if (D < 0.0) return out; + D = std::max(0.0, D); + double sqrtD = std::sqrt(D); + + double psi1 = 2.0 * std::atan2(-(bs - sqrtD), 2.0 * as); + double psi2 = 2.0 * std::atan2(-(bs + sqrtD), 2.0 * as); + + psi1 = normalize_angle(psi1); + psi2 = normalize_angle(psi2); + + if (check_cos_solution(a, b, c, theta, psi1)) out.push_back(psi1); + if (check_cos_solution(a, b, c, theta, psi2) && + std::abs(psi2 - psi1) > EPS) + out.push_back(psi2); + + std::sort(out.begin(), out.end()); + return out; +} + +bool IkLimitAnalyzer::wraps(double L, double U) { + // 先都规约到 (-π, π] + auto norm = [](double x) { + while (x <= -M_PI) x += 2 * M_PI; + while (x > M_PI) x -= 2 * M_PI; + return x; + }; + L = norm(L); + U = norm(U); + return (L > U); +} + + +std::vector > IkLimitAnalyzer::cal_offset_limits( + double joint_l, double joint_u, double offset) { + auto norm = [](double x) { + while (x <= -M_PI) x += 2 * M_PI; + while (x > M_PI) x -= 2 * M_PI; + return x; + }; + double pL = norm(joint_l + offset); + double pU = norm(joint_u + offset); + + std::vector > joint_ranges; + if (!wraps(pL, pU)) { + // 单段 + joint_ranges.push_back({pL, pU}); + } else { + // 跨 ±π，拆成两段 [-π, pU] ∪ [pL, π] + joint_ranges.push_back({-M_PI, pU}); + joint_ranges.push_back({pL, M_PI}); + } + return joint_ranges; +} + +std::vector > IkLimitAnalyzer::calc_tan_limits( + double an, double ad, double bn, double bd, double cn, double cd, double joint_l, double joint_u, double offset) { + auto joint_ranges = cal_offset_limits(joint_l, joint_u, offset); + std::vector > out{}; + for (auto [L, U]: joint_ranges) { + auto part = calc_tan_limits(an, ad, bn, bd, cn, cd, L, U); + out.insert(out.end(), part.begin(), part.end()); + } + out = union_intervals(out); + return out; +} + +std::vector > IkLimitAnalyzer::calc_cos_limits( + double a, double b, double c, int conf, double joint_l, double joint_u, double offset) { + auto joint_ranges = cal_offset_limits(joint_l, joint_u, offset); + std::vector > out{}; + for (auto [L, U]: joint_ranges) { + auto part = calc_cos_limits(a, b, c, conf, L, U); + out.insert(out.end(), part.begin(), part.end()); + } + out = union_intervals(out); + return out; +} + + +bool IkLimitAnalyzer::angle_in_wrap(double x, double L, double U) { + x = normalize_angle(x); + L = normalize_angle(L); + U = normalize_angle(U); + if (L <= U) return (x >= L && x <= U); + return (x >= L || x <= U); // 跨界 +} + +std::vector > +IkLimitAnalyzer::union_intervals(const std::vector > &in) { + const double MERGE_EPS = 1e-12; + if (in.empty()) return {}; + std::vector > v = in; + std::sort(v.begin(), v.end(), [](auto &a, auto &b) { + return (a.first < b.first) || (a.first == b.first && a.second < b.second); + }); + std::vector > out; + double L = v[0].first, R = v[0].second; + for (size_t i = 1; i < v.size(); ++i) { + if (v[i].first <= R + MERGE_EPS) R = std::max(R, v[i].second); + else { + out.push_back({L, R}); + L = v[i].first; + R = v[i].second; + } + } + out.push_back({L, R}); + return out; +} diff --git a/src/utils/srs_ik/ik_limit_analyzer.h b/src/utils/srs_ik/ik_limit_analyzer.h new file mode 100644 index 00000000..b2c40c7c --- /dev/null +++ b/src/utils/srs_ik/ik_limit_analyzer.h @@ -0,0 +1,125 @@ +// +// Created by lgv on 2025/11/3. +// + +#ifndef CMVR_ES_IK_LIMIT_ANALYZER_H +#define CMVR_ES_IK_LIMIT_ANALYZER_H +#include +#include +#include +#include + +namespace cmvr { + namespace utils { + class IkLimitAnalyzer { + public: + // Tan 型关节：给定 (an,ad,bn,bd,cn,cd) 与关节极限 + // 返回 psi 的允许区间边界： [L1,R1,L2,R2,...] + static std::vector > + calc_tan_limits(double an, double ad, + double bn, double bd, + double cn, double cd, + double joint_l, double joint_u); + + static std::vector > + calc_tan_limits(double an, double ad, + double bn, double bd, + double cn, double cd, + double joint_l, double joint_u,double offset); + + static std::vector > + calc_cos_limits(double a, double b, double c, int conf, double joint_l, double joint_u); + + static std::vector > + calc_cos_limits(double a, double b, double c, int conf, double joint_l, double joint_u,double offset); + + // 两个“允许集”的交集（输入与输出都是“边界数组”，并且都以允许开始） + static std::vector > + intersect(const std::vector > &A, + const std::vector > &B); + + + // 用于测试：打印区间 + static void print_intervals(const std::vector > &intervals) { + for (const auto &interval: intervals) { + std::cout << "[" << interval.first << ", " << interval.second << "] "; + } + std::cout << std::endl; + } + + private: + static constexpr double EPS = 1e-9; + + // 将角度归一化到 [-π, π] 范围内 + static double normalize_angle(double angle); + + static double deg2rad(double deg) { return deg * M_PI / 180.0; } + static double rad2deg(double rad) { return rad * 180.0 / M_PI; } + + template + static constexpr int sign(T x, T eps) { + return (x > eps) - (x < -eps); + } + + template + static constexpr int sign(T x) { + return sign(x, T(0)); + } + + + // tan 型：给定目标 theta，返回所有 ψ ∈ [-π, π] 的解，式（32） + static std::vector + calc_tan_solution(double an, double ad, + double bn, double bd, + double cn, double cd, + double theta); + + // cos 型：给定目标 theta，返回所有 ψ ∈ [-π, π] 的解 + static std::vector + calc_cos_solution(double a, double b, double c, double theta); + + + // 检查解的正确性 ，式（26） + static bool check_tan_solution(double an, double ad, + double bn, double bd, + double cn, double cd, + double theta_target, + double psi); + + // 检核：cos 型 + static bool check_cos_solution(double a, double b, double c, + double theta_target, + double psi); + + + template + static T clamp(T v, T lo, T hi) { + return std::max(lo, std::min(hi, v)); + } + + + static std::vector > + bounds_to_pairs(const std::vector &bounds); + + + // 判断环绕：区间 [L,U] 是否跨过 π + static inline bool wraps(double L, double U); + + + // 根据DH 参数中的 关节角 θi (rad) 的偏移来计算实际的限位区间 + static inline std::vector > + cal_offset_limits(double joint_l, double joint_u, double offset); + + + // 新增：环形包含（ [L,U]） + static bool angle_in_wrap(double x, double L, double U); + + // 新增：线性并集（输入输出都在 [-π,π] 且 L<=U；跨界已在上游拆分） + static std::vector> + union_intervals(const std::vector>& in); + }; + }; +} + + +#endif //CMVR_ES_IK_LIMIT_ANALYZER_H diff --git a/src/utils/srs_ik/srs_ik_slover.cpp b/src/utils/srs_ik/srs_ik_slover.cpp new file mode 100644 index 00000000..8c64ecc7 --- /dev/null +++ b/src/utils/srs_ik/srs_ik_slover.cpp @@ -0,0 +1,407 @@ +// +// Created by lgv on 2025/11/3. +// + +#include "srs_ik_slover.h" + +#include + +using namespace cmvr::utils; +using namespace Eigen; + +SRSIkSlover::SRSIkSlover() { + link_lengths_ = Eigen::VectorXd(4); + link_lengths_ << 0.0945 + 0.0765, 0.1475 + 0.1025, 0.0965 + 0.1525, 3.222; + + // DH 参数 [d_i, alpha_i, a_i(=0), theta_offset_i] + dh_params_ = Eigen::MatrixXd(7, 4); + double half_pi = M_PI / 2; + dh_params_ << link_lengths_[0], -half_pi, 0.0, 0.0, + 0.0, half_pi, 0.0, 0.0, + link_lengths_[1], -half_pi, 0.0, 0.0, + 0.0, half_pi, 0.0, 0.0, + link_lengths_[2], -half_pi, 0.0, half_pi, + 0.0, half_pi, 0.0, half_pi, + link_lengths_[3], 0.0, 0.0, 0.0; + + d_bs_ = link_lengths_[0]; + d_se_ = link_lengths_[1]; + d_ew_ = link_lengths_[2]; + d_wt_ = link_lengths_[3]; + + joints_limits_ = { + {-half_pi, half_pi}, + {-half_pi, half_pi}, + {-half_pi, half_pi}, + {-half_pi, half_pi}, + {-half_pi, half_pi}, + {-half_pi, half_pi}, + {-half_pi, half_pi}, + }; +} + +Eigen::Matrix3d SRSIkSlover::reference_plane(const Eigen::Vector3d &S, const Eigen::Vector3d &W) { + double d_sw = (W - S).norm(); + Eigen::Vector3d v_sw = (W - S).normalized(); + + // 1： 计算E_r 的值 + double x = (d_sw * d_sw + d_se_ * d_se_ - d_ew_ * d_ew_) / (2 * d_sw); + double r = sqrt(std::max(d_se_ * d_se_ - x * x, 0.0)); + Eigen::Vector3d F = S + x * v_sw; + + Vector3d FE; + if (v_sw.head<2>().cwiseAbs().maxCoeff() <= 1e-6) { + FE = Vector3d(-1.0, 0.0, 0.0); + } else { + FE(0) = -v_sw(0) * v_sw(2) / (v_sw(0) * v_sw(0) + v_sw(1) * v_sw(1)); + FE(1) = -v_sw(1) * v_sw(2) / (v_sw(0) * v_sw(0) + v_sw(1) * v_sw(1)); + FE(2) = 1.0; + } + + // 根据 elbow_config 调整 E 的位置 + Vector3d E = F + elbow_config_ * r * FE.normalized(); + + Vector3d v_es = (S - E).normalized(); + Vector3d v_ew = (W - E).normalized(); + + + Vector3d R30_y = v_es; + Vector3d R30_z = v_ew.cross(v_es); + + + if (elbow_config_ == INWARD) + R30_z = -R30_z; + + auto nz = R30_z.norm(); + if (nz > 1e-12) { + R30_z /= nz; // 或者：R30_z.normalize(); + } else { + // 退化保护：给个正交补方向 + R30_z = Vector3d(-0.0, 1.0, 0.0); + } + + + Vector3d R30_x = R30_y.cross(R30_z); + + + Matrix3d R30; + R30.col(0) = R30_x; + R30.col(1) = R30_y; + R30.col(2) = R30_z; + + return R30; +} + +std::vector SRSIkSlover::inverse_kinematics(const Eigen::MatrixXd &pose, double psi) { + try { + // Eigen::VectorXd joints(7); + std::vector joints(7, 0); + + // 目标位置 + Eigen::Vector3d P_target = pose.block<3, 1>(0, 3); + + // 肩部 S 位置 ，相对于基坐标系 + Eigen::Vector3d S(0.0, 0.0, d_bs_); + + // P67 ： tcp 相对于 {6} 坐标系（腕心 W）的位置 + Eigen::Vector3d P67(0.0, 0.0, d_wt_); + + // 腕心 W 位置 ，相对于基坐标系 + Eigen::Vector3d W = P_target - pose.block<3, 3>(0, 0) * P67; + + + double d_sw = (W - S).norm(); + if ((std::abs(d_se_ + d_ew_) < (d_sw - 1e-6) || (d_sw + 1e-6) < std::abs(d_se_ - d_ew_))) { + throw std::runtime_error("Pose outside reachable workspace, IK solve failed"); + } + + // 计算肘部角度 关节3 + double cos_elbow = (d_se_ * d_se_ + d_ew_ * d_ew_ - d_sw * d_sw) / (2 * d_se_ * d_ew_); + cos_elbow = std::clamp(double(cos_elbow), -1.0, 1.0); + joints[3] = elbow_config_ * (M_PI - std::acos(cos_elbow)); + + // 计算臂平面E处相对于 基坐标系 的旋转矩阵 + Eigen::Matrix3d R30 = reference_plane(S, W); + Eigen::Matrix3d R_axis = calc_rotation_matrix((W - S).normalized(), psi); + Eigen::Matrix3d R3 = R_axis * R30; + + + // // 求系数矩阵 + // Eigen::Vector3d normalized_axis = (W - S).normalized(); + // double ux = normalized_axis[0], uy = normalized_axis[1], uz = normalized_axis[2]; + // Eigen::Matrix3d u_hat; + // u_hat << 0, -uz, uy, + // uz, 0, -ux, + // -uy, ux, 0; + // + // Eigen::MatrixXd A_s = u_hat * R30; + // Eigen::MatrixXd B_s = -u_hat * u_hat * R30; + // Eigen::MatrixXd C_s = (Eigen::MatrixXd::Identity(3, 3) + u_hat * u_hat) * R30; + // + // Eigen::Matrix3d R3_1 = A_s *sin(psi) + B_s * cos(psi) + C_s; + // + // // std::cout <<" R3_1 "<< R3_1.transpose() * R3 << std::endl; + + + // 计算肩部角度 (关节0, 1, 2) + joints[0] = std::atan2(-R3(1, 1) * shoulder_config_, -R3(0, 1) * shoulder_config_); + joints[1] = std::acos(std::clamp(double(-R3(2, 1)), -0.9999999999, 0.999999999)) * shoulder_config_; + joints[2] = std::atan2(R3(2, 2) * shoulder_config_, -R3(2, 0) * shoulder_config_); + + // 计算 R04 + Eigen::Matrix3d R04 = Eigen::Matrix3d::Identity(); + for (int i = 0; i < 4; ++i) { + // 从 DH 参数中获取参数 + Eigen::Vector4d dh = dh_params_.row(i); + R04 = R04 * calc_dh(dh[0], dh[1], dh[2], dh[3] + joints[i]).block<3, 3>(0, 0); + } + + + Eigen::Matrix3d R47 = R04.transpose() * pose.block<3, 3>(0, 0); + + + // // + // // 计算变换矩阵 + // Eigen::MatrixXd T34 = calc_dh(dh_params_(3,0),dh_params_(3,1),dh_params_(3,2),dh_params_(3,3)+joints[3]); + // Eigen::MatrixXd R34 = T34.block(0, 0, 3, 3); + // Eigen::MatrixXd A_w = R34.transpose() * A_s.transpose() * pose.block(0, 0, 3, 3); + // Eigen::MatrixXd B_w = R34.transpose() * B_s.transpose() * pose.block(0, 0, 3, 3); + // Eigen::MatrixXd C_w = R34.transpose() * C_s.transpose() * pose.block(0, 0, 3, 3); + // + // Eigen::Matrix3d R47_2 = A_w *sin(psi) + B_w * cos(psi) + C_w; + // + // std::cout <<" R47_2 "<< R47.transpose() * R47_2 << std::endl; + // 提取腕部欧拉角 + double phi_z = std::atan2(R47(1, 2), R47(0, 2)); + double theta_y = std::atan2(std::sqrt(R47(2, 0) * R47(2, 0) + R47(2, 1) * R47(2, 1)), R47(2, 2)); + double psi_z = std::atan2(R47(2, 1), -R47(2, 0)); + + // 处理奇异情况 + if (std::sin(theta_y) < 1e-12) { + phi_z = std::atan2(R47(1, 0), R47(0, 0)); + psi_z = 0.0; + } + if (std::sin(M_PI - theta_y) < 1e-12) { + phi_z = std::atan2(-R47(1, 0), -R47(0, 0)); + psi_z = 0.0; + } + + // 腕部分支调整 + if (wrist_config_ == INWARD) { + phi_z += M_PI; + theta_y = -theta_y; + psi_z += M_PI; + } + + // 调整角度 + joints[4] = normalize_angle(phi_z - M_PI / 2); + joints[5] = normalize_angle(theta_y - M_PI / 2); + joints[6] = normalize_angle(psi_z); + + // // 调整角度 + // joints[4] = (phi_z ); + // joints[5] = (theta_y); + // joints[6] = (psi_z); + + for (double q1: joints) { + std::cout << q1 << " , "; + } + std::cout << std::endl; + + + return joints; + } catch (const std::exception &e) { + throw std::runtime_error(e.what()); + } +} + +Eigen::Matrix3d SRSIkSlover::calc_rotation_matrix(const Eigen::Vector3d &rotation_axis, double rotation_angle) { + // 归一化旋转轴 + Eigen::Vector3d normalized_axis = rotation_axis.normalized(); + + // 构造反对称矩阵 + double ux = normalized_axis[0], uy = normalized_axis[1], uz = normalized_axis[2]; + Eigen::Matrix3d u_hat; + u_hat << 0, -uz, uy, + uz, 0, -ux, + -uy, ux, 0; + + // 计算旋转矩阵 + Eigen::Matrix3d rotation_matrix = Eigen::Matrix3d::Identity() + std::sin(rotation_angle) * u_hat + ( + 1 - std::cos(rotation_angle)) * (u_hat * u_hat); + + return rotation_matrix; +} + +Eigen::Matrix4d SRSIkSlover::calc_dh(double d, double alpha, double a, double theta) { + double ca = std::cos(alpha); + double sa = std::sin(alpha); + double ct = std::cos(theta); + double st = std::sin(theta); + + // 构建 DH 变换矩阵 + Eigen::Matrix4d T; + T << ct, -st * ca, st * sa, a * ct, + st, ct * ca, -ct * sa, a * st, + 0.0, sa, ca, d, + 0.0, 0.0, 0.0, 1.0; + + return T; +} + +double SRSIkSlover::normalize_angle(const double angle) { + // 将角度转换为 [0, 2π) 范围 + double a = std::fmod(angle + M_PI, 2.0 * M_PI); + + // 如果 a 为负数，则添加 2π，使其位于 [0, 2π) 范围 + if (a < 0.0) { + a += 2.0 * M_PI; + } + + // 将角度范围调整到 [-π, π] 范围 + return a - M_PI; +} + +Eigen::Matrix4d SRSIkSlover::calc_total_transform(const std::vector &joint_angles) { + Eigen::Matrix4d T_total = Eigen::Matrix4d::Identity(); // 初始化为单位矩阵 + + // 遍历每一组 DH 参数 + for (size_t i = 0; i < dh_params_.rows(); ++i) { + // 获取当前关节的 DH 参数 + double d = dh_params_(i, 0); + double alpha = dh_params_(i, 1); + double a = dh_params_(i, 2); + double theta0 = dh_params_(i, 3); + + // 当前关节的实际旋转角度 theta + double theta = theta0 + joint_angles[i]; + + // 计算当前关节的变换矩阵 + Eigen::Matrix4d T = calc_dh(d, alpha, a, theta); + + // 更新总变换矩阵 + T_total = T_total * T; + } + + return T_total; +} + +bool SRSIkSlover::cal_coefficient_matrix(const Eigen::MatrixXd &pose, Eigen::MatrixXd &s_mat, Eigen::MatrixXd &w_mat) { + if (s_mat.rows() != 3 || s_mat.cols() != 9) s_mat.setZero(3, 9); + if (w_mat.rows() != 3 || w_mat.cols() != 9) w_mat.setZero(3, 9); + + try { + // Eigen::VectorXd joints(7); + std::vector joints(7, 0); + + // 目标位置 + Eigen::Vector3d P_target = pose.block<3, 1>(0, 3); + + // 肩部 S 位置 ，相对于基坐标系 + Eigen::Vector3d S(0.0, 0.0, d_bs_); + + // P67 ： tcp 相对于 {6} 坐标系（腕心 W）的位置 + Eigen::Vector3d P67(0.0, 0.0, d_wt_); + + // 腕心 W 位置 ，相对于基坐标系 + Eigen::Vector3d W = P_target - pose.block<3, 3>(0, 0) * P67; + + + double d_sw = (W - S).norm(); + if ((std::abs(d_se_ + d_ew_) < d_sw) || (d_sw < std::abs(d_se_ - d_ew_))) { + throw std::runtime_error("Pose outside reachable workspace, IK solve failed"); + } + + // 计算肘部角度 关节3 + double cos_elbow = (d_se_ * d_se_ + d_ew_ * d_ew_ - d_sw * d_sw) / (2 * d_se_ * d_ew_); + cos_elbow = std::clamp(cos_elbow, -1.0, 1.0); + joints[3] = elbow_config_ * (M_PI - std::acos(cos_elbow)); + + + // 计算臂平面E处相对于 基坐标系 的旋转矩阵 + Eigen::Matrix3d R30 = reference_plane(S, W); + Eigen::Vector3d normalized_axis = (W - S).normalized(); + + // 构造反对称矩阵 + double ux = normalized_axis[0], uy = normalized_axis[1], uz = normalized_axis[2]; + Eigen::Matrix3d u_hat; + u_hat << 0, -uz, uy, + uz, 0, -ux, + -uy, ux, 0; + + // 计算旋转矩阵 R03 + Eigen::MatrixXd A_s = u_hat * R30; + Eigen::MatrixXd B_s = -u_hat * u_hat * R30; + Eigen::MatrixXd C_s = (Eigen::MatrixXd::Identity(3, 3) + u_hat * u_hat) * R30; + + + // 计算变换矩阵 + Eigen::MatrixXd T34 = calc_dh(dh_params_(3, 0), dh_params_(3, 1), dh_params_(3, 2), + dh_params_(3, 3) + joints[3]); + Eigen::MatrixXd R34 = T34.block(0, 0, 3, 3); + Eigen::MatrixXd A_w = R34.transpose() * A_s.transpose() * pose.block(0, 0, 3, 3); + Eigen::MatrixXd B_w = R34.transpose() * B_s.transpose() * pose.block(0, 0, 3, 3); + Eigen::MatrixXd C_w = R34.transpose() * C_s.transpose() * pose.block(0, 0, 3, 3); + + s_mat.block<3, 3>(0, 0) = A_s; + s_mat.block<3, 3>(0, 3) = B_s; + s_mat.block<3, 3>(0, 6) = C_s; + + w_mat.block<3, 3>(0, 0) = A_w; + w_mat.block<3, 3>(0, 3) = B_w; + w_mat.block<3, 3>(0, 6) = C_w; + + return true; + } catch (const std::exception &e) { + throw std::runtime_error(e.what()); + return false; + } +} + + +std::vector > SRSIkSlover::calc_arm_angle_limits( + const Eigen::MatrixXd &s_mat, const Eigen::MatrixXd &w_mat) { + // 期望 s_mat / w_mat 都是 3x9： [A | B | C] + if (s_mat.rows() != 3 || s_mat.cols() != 9 || + w_mat.rows() != 3 || w_mat.cols() != 9) { + // 尺寸不对，直接返回空 + return {}; + } + + + const Eigen::Matrix3d As = s_mat.block<3, 3>(0, 0); + const Eigen::Matrix3d Bs = s_mat.block<3, 3>(0, 3); + const Eigen::Matrix3d Cs = s_mat.block<3, 3>(0, 6); + + const Eigen::Matrix3d Aw = w_mat.block<3, 3>(0, 0); + const Eigen::Matrix3d Bw = w_mat.block<3, 3>(0, 3); + const Eigen::Matrix3d Cw = w_mat.block<3, 3>(0, 6); + + auto s = static_cast(shoulder_config_); + auto e = static_cast(elbow_config_); + auto w = static_cast(wrist_config_); + + auto limit_1 = ik_limit_analyzer_.calc_tan_limits(-s * As(1, 1), -s * As(0, 1), -s * Bs(1, 1), -s * Bs(0, 1), + -s * Cs(1, 1), -s * Cs(0, 1), 0.5, M_PI / 2.0); + + auto limit_2 = ik_limit_analyzer_.calc_cos_limits(-As(2, 1), -Bs(2, 1), -Cs(2, 1), s, -2.5, -2); + + auto limit_3 = ik_limit_analyzer_.calc_tan_limits(s * As(2, 2), + -s * As(2, 0), s * Bs(2, 2), -s * Bs(2, 0), + s * Cs(2, 2), -s * Cs(2, 0), -3.14 / 2.0, 3.14 / 3.0); + + auto limit_5 = ik_limit_analyzer_.calc_tan_limits(w * Aw(1, 2), + w * Aw(0, 2), w * Bw(1, 2), w * Bw(0, 2), + w * Cw(1, 2), w * Cw(0, 2), -0.2, 1.8,M_PI / 2.0); + + auto limit_6 = ik_limit_analyzer_.calc_cos_limits(Aw(2, 2), Bw(2, 2), Cw(2, 2), w, 0.5, 2.0,M_PI / 2.0); + auto limit_7 = ik_limit_analyzer_.calc_tan_limits(w * Aw(2, 1), + -w * Aw(2, 0), w * Bw(2, 1), -w * Bw(2, 0), + w * Cw(2, 1), -w * Cw(2, 0), -3.0, -2.0); + + + ik_limit_analyzer_.print_intervals(limit_6); + + + return limit_6; +} diff --git a/src/utils/srs_ik/srs_ik_slover.h b/src/utils/srs_ik/srs_ik_slover.h new file mode 100644 index 00000000..ca671027 --- /dev/null +++ b/src/utils/srs_ik/srs_ik_slover.h @@ -0,0 +1,89 @@ +// +// Created by lgv on 2025/11/3. +// + +#ifndef CMVR_ES_SRS_IK_SLOVER_H +#define CMVR_ES_SRS_IK_SLOVER_H + + +#include +#include "srs_ik/ik_limit_analyzer.h" +namespace cmvr { +namespace utils { + + class SRSIkSlover { + public: + enum ConfigDirection { + OUTWARD = 1, // 向外 + INWARD = -1 // 向内 + }; + + public: + SRSIkSlover(); + ~SRSIkSlover(){}; + + std::vector inverse_kinematics(const Eigen::MatrixXd& pose, double psi); + + Eigen::Matrix4d calc_total_transform(const std::vector& joint_angles); + + bool cal_coefficient_matrix(const Eigen::MatrixXd& pose,Eigen::MatrixXd& s_mat , Eigen::MatrixXd& w_mat); + std::vector> calc_arm_angle_limits(const Eigen::MatrixXd& s_mat ,const Eigen::MatrixXd& w_mat); + + void set_shoulder_config(ConfigDirection value) { + shoulder_config_ = value; + } + + void set_elbow_config(ConfigDirection value) { + elbow_config_ = value; + } + + void set_wrist_config(ConfigDirection value) { + wrist_config_ = value; + } + + + + private: + + + ConfigDirection shoulder_config_{OUTWARD}; + ConfigDirection elbow_config_{OUTWARD}; + ConfigDirection wrist_config_{OUTWARD}; + // DH参数 + Eigen::VectorXd link_lengths_; + Eigen::MatrixXd dh_params_; + + double d_bs_, d_se_, d_ew_, d_wt_; + + // 关节物理限位 + // first : min second : max + std::vector> joints_limits_{}; + + IkLimitAnalyzer ik_limit_analyzer_; + + + + + + // 计算参考平面相对于基坐标系的旋转矩阵 + Eigen::Matrix3d reference_plane(const Eigen::Vector3d& S, const Eigen::Vector3d& W); + + // 罗德里格斯公式 + Eigen::Matrix3d calc_rotation_matrix(const Eigen::Vector3d& rotation_axis, double rotation_angle); + + + // 使用 DH 参数计算变换矩阵 + Eigen::Matrix4d calc_dh(double d, double alpha, double a, double theta); + + // 将角度归一化到 [-π, π] 范围内 + double normalize_angle(const double angle); + + + + + }; +} +} + + +#endif //CMVR_ES_SRS_IK_SLOVER_H \ No newline at end of file diff --git a/src/utils/srs_ik/srs_ik_test.cpp b/src/utils/srs_ik/srs_ik_test.cpp new file mode 100644 index 00000000..25e8da24 --- /dev/null +++ b/src/utils/srs_ik/srs_ik_test.cpp @@ -0,0 +1,132 @@ +// +// Created by lgv on 2025/11/3. +// + + +#include "gtest/gtest.h" +#include "manif/SE3.h" +#include "srs_ik/srs_ik_slover.h" +#include "srs_ik/ik_limit_analyzer.h" +#include +#include +#include + +using namespace manif; +using namespace cmvr::utils; + +struct IkSample { + double psi; + std::array q; // q1..q7 +}; + + + +bool write_ik_samples_csv(const std::string& filepath, + const std::vector& samples, + bool write_header, + int precision) +{ + std::ofstream ofs(filepath, std::ios::out | std::ios::trunc); + if (!ofs.is_open()) return false; + + // 固定小数点（避免本地化成逗号） + ofs.imbue(std::locale::classic()); + ofs << std::fixed << std::setprecision(precision); + + if (write_header) { + ofs << "psi,q1,q2,q3,q4,q5,q6,q7\n"; + } + for (const auto& s : samples) { + ofs << s.psi; + for (int i = 0; i < 7; ++i) ofs << ',' << s.q[i]; + ofs << '\n'; + } + return true; +} + +TEST(SRS_IK_TEST,SRS_IK_SLOVER_TEST) { + + std::cout << std::fixed << std::setprecision(7); + + SRSIkSlover slover; + std::vector samples; + samples.reserve(4096); + + std::vector joint_angles(7,0); + joint_angles[3] = 0.111; + joint_angles = { 0.875, M_PI / 2, 0.2644, M_PI / 2, 1, M_PI/ 4, M_PI/ 5}; + + auto pose = slover.calc_total_transform(joint_angles); + std::cout << "Pose: " << pose << std::endl; + + // slover.set_elbow_config(SRSIkSlover::INWARD); + // slover.set_wrist_config(SRSIkSlover::INWARD); + // slover.set_shoulder_config(SRSIkSlover::INWARD); + + + Eigen::MatrixXd s_mat(3, 9), w_mat(3, 9); + slover.cal_coefficient_matrix(pose, s_mat, w_mat); + auto limits = slover.calc_arm_angle_limits(s_mat,w_mat); + for (const auto & limit: limits) { + for (double psi = limit.first; psi < limit.second; psi+=0.001 ) { + auto q = slover.inverse_kinematics(pose,psi); + samples.push_back(IkSample{psi, {q[0],q[1],q[2],q[3],q[4],q[5],q[6]}}); + pose = slover.calc_total_transform(q); + // std::cout << "Pose: " << pose << std::endl; + } + } + + // Eigen::VectorXd nsparams = Eigen::VectorXd::LinSpaced(1000, -3.1415926, 3.1415926); + // for (auto psi: nsparams) { + // auto q = slover.inverse_kinematics(pose,psi); + // samples.push_back(IkSample{psi, {q[0],q[1],q[2],q[3],q[4],q[5],q[6]}}); + // for (double q1: q) { + // std::cout << q1 << " , " ; + // } + // std::cout << std::endl; + // pose = slover.calc_total_transform(q); + // // std::cout << "Pose: " << pose << std::endl; + // } + + + write_ik_samples_csv("/home/lgv/cmvr/cmvr-es/data/ik_psi_sweep.csv", samples,true, 9); +} + +TEST(SRS_IK_TEST,INTERSECT_TEST) { + // 测试 1: 有交集的区间 + std::vector> A = {{-3.0, -1.0}, {1.0, 4.0}}; + std::vector> B = {{-2.0, 0.5}, {2.5, 5.0}}; + + std::cout << "Test 1: Intersecting intervals" << std::endl; + auto result1 = IkLimitAnalyzer::intersect(A, B); + IkLimitAnalyzer::print_intervals(result1); + // 预期输出: [-2.0, -1.0] [2.5, 4.0] + + // 测试 2: 相邻但不重叠的区间 + std::vector> C = {{-3.0, -1.0}, {2.0, 4.0}}; + std::vector> D = {{-1.0, 0.0}, {1.0, 3.0}}; + + std::cout << "Test 2: Adjacent intervals" << std::endl; + auto result2 = IkLimitAnalyzer::intersect(C, D); + IkLimitAnalyzer::print_intervals(result2); + // 预期输出: [2.0, 3.0] + + // 测试 3: 无交集的区间 + std::vector> E = {{-5.0, -3.0}, {2.0, 4.0}}; + std::vector> F = {{5.0, 6.0}, {7.0, 8.0}}; + + std::cout << "Test 3: Non-intersecting intervals" << std::endl; + auto result3 = IkLimitAnalyzer::intersect(E, F); + IkLimitAnalyzer::print_intervals(result3); + // 预期输出: (无输出) + + // 测试 4: 一个空的区间集 + std::vector> G = {}; + std::vector> H = {{1.0, 2.0}, {3.0, 4.0}}; + + std::cout << "Test 4: Empty intervals" << std::endl; + auto result4 = IkLimitAnalyzer::intersect(G, H); + IkLimitAnalyzer::print_intervals(result4); + // 预期输出: (无输出) + +} \ No newline at end of file diff --git a/third_party/manif/0.0.5/include/manif/Bundle.h b/third_party/manif/0.0.5/include/manif/Bundle.h new file mode 100644 index 00000000..8cf7873c --- /dev/null +++ b/third_party/manif/0.0.5/include/manif/Bundle.h @@ -0,0 +1,17 @@ +#ifndef _MANIF_BUNDLE_H_ +#define _MANIF_BUNDLE_H_ + +#include "manif/impl/macro.h" +#include "manif/impl/utils.h" +#include "manif/impl/lie_group_base.h" +#include "manif/impl/tangent_base.h" + +#include "manif/impl/bundle/Bundle_properties.h" +#include "manif/impl/bundle/Bundle_base.h" +#include "manif/impl/bundle/Bundle_map.h" +#include "manif/impl/bundle/Bundle.h" +#include "manif/impl/bundle/BundleTangent_base.h" +#include "manif/impl/bundle/BundleTangent.h" +#include "manif/impl/bundle/BundleTangent_map.h" + +#endif // _MANIF_BUNDLE_H_ diff --git a/third_party/manif/0.0.5/include/manif/Rn.h b/third_party/manif/0.0.5/include/manif/Rn.h new file mode 100644 index 00000000..1affac10 --- /dev/null +++ b/third_party/manif/0.0.5/include/manif/Rn.h @@ -0,0 +1,17 @@ +#ifndef _MANIF_RN_H_ +#define _MANIF_RN_H_ + +#include "manif/impl/macro.h" +#include "manif/impl/utils.h" +#include "manif/impl/lie_group_base.h" +#include "manif/impl/tangent_base.h" + +#include "manif/impl/rn/Rn_properties.h" +#include "manif/impl/rn/Rn_base.h" +#include "manif/impl/rn/RnTangent_base.h" +#include "manif/impl/rn/Rn.h" +#include "manif/impl/rn/RnTangent.h" +#include "manif/impl/rn/Rn_map.h" +#include "manif/impl/rn/RnTangent_map.h" + +#endif // _MANIF_RN_H_ diff --git a/third_party/manif/0.0.5/include/manif/SE2.h b/third_party/manif/0.0.5/include/manif/SE2.h new file mode 100644 index 00000000..c0195140 --- /dev/null +++ b/third_party/manif/0.0.5/include/manif/SE2.h @@ -0,0 +1,16 @@ +#ifndef _MANIF_SE2_H_ +#define _MANIF_SE2_H_ + +#include "manif/impl/macro.h" +#include "manif/impl/lie_group_base.h" +#include "manif/impl/tangent_base.h" + +#include "manif/impl/se2/SE2_properties.h" +#include "manif/impl/se2/SE2_base.h" +#include "manif/impl/se2/SE2Tangent_base.h" +#include "manif/impl/se2/SE2.h" +#include "manif/impl/se2/SE2Tangent.h" +#include "manif/impl/se2/SE2_map.h" +#include "manif/impl/se2/SE2Tangent_map.h" + +#endif /* _MANIF_SE2_H_ */ diff --git a/third_party/manif/0.0.5/include/manif/SE3.h b/third_party/manif/0.0.5/include/manif/SE3.h new file mode 100644 index 00000000..1be5c754 --- /dev/null +++ b/third_party/manif/0.0.5/include/manif/SE3.h @@ -0,0 +1,15 @@ +#ifndef _MANIF_SE3_H_ +#define _MANIF_SE3_H_ + +#include "manif/impl/macro.h" +#include "manif/impl/lie_group_base.h" +#include "manif/impl/tangent_base.h" + +#include "manif/impl/se3/SE3_properties.h" +#include "manif/impl/se3/SE3_base.h" +#include "manif/impl/se3/SE3Tangent_base.h" +#include "manif/impl/se3/SE3.h" +#include "manif/impl/se3/SE3Tangent.h" +#include "manif/impl/se3/SE3_map.h" +#include "manif/impl/se3/SE3Tangent_map.h" +#endif /* _MANIF_SE3_H_ */ diff --git a/third_party/manif/0.0.5/include/manif/SE_2_3.h b/third_party/manif/0.0.5/include/manif/SE_2_3.h new file mode 100644 index 00000000..8cdf7d35 --- /dev/null +++ b/third_party/manif/0.0.5/include/manif/SE_2_3.h @@ -0,0 +1,16 @@ +#ifndef _MANIF_SE_2_3_H_ +#define _MANIF_SE_2_3_H_ + +#include "manif/impl/macro.h" +#include "manif/impl/lie_group_base.h" +#include "manif/impl/tangent_base.h" + +#include "manif/impl/se_2_3/SE_2_3_properties.h" +#include "manif/impl/se_2_3/SE_2_3_base.h" +#include "manif/impl/se_2_3/SE_2_3Tangent_base.h" +#include "manif/impl/se_2_3/SE_2_3.h" +#include "manif/impl/se_2_3/SE_2_3Tangent.h" +#include "manif/impl/se_2_3/SE_2_3_map.h" +#include "manif/impl/se_2_3/SE_2_3Tangent_map.h" + +#endif /* _MANIF_SE_2_3_H_ */ diff --git a/third_party/manif/0.0.5/include/manif/SGal3.h b/third_party/manif/0.0.5/include/manif/SGal3.h new file mode 100644 index 00000000..895e29ea --- /dev/null +++ b/third_party/manif/0.0.5/include/manif/SGal3.h @@ -0,0 +1,16 @@ +#ifndef _MANIF_SGAL3_H_ +#define _MANIF_SGAL3_H_ + +#include "manif/impl/macro.h" +#include "manif/impl/lie_group_base.h" +#include "manif/impl/tangent_base.h" + +#include "manif/impl/sgal3/SGal3_properties.h" +#include "manif/impl/sgal3/SGal3_base.h" +#include "manif/impl/sgal3/SGal3Tangent_base.h" +#include "manif/impl/sgal3/SGal3.h" +#include "manif/impl/sgal3/SGal3Tangent.h" +#include "manif/impl/sgal3/SGal3_map.h" +#include "manif/impl/sgal3/SGal3Tangent_map.h" + +#endif // _MANIF_SGAL3_H_ diff --git a/third_party/manif/0.0.5/include/manif/SO2.h b/third_party/manif/0.0.5/include/manif/SO2.h new file mode 100644 index 00000000..0091a0a1 --- /dev/null +++ b/third_party/manif/0.0.5/include/manif/SO2.h @@ -0,0 +1,17 @@ +#ifndef _MANIF_SO2_H_ +#define _MANIF_SO2_H_ + +#include "manif/impl/macro.h" +#include "manif/impl/utils.h" +#include "manif/impl/lie_group_base.h" +#include "manif/impl/tangent_base.h" + +#include "manif/impl/so2/SO2_properties.h" +#include "manif/impl/so2/SO2_base.h" +#include "manif/impl/so2/SO2Tangent_base.h" +#include "manif/impl/so2/SO2.h" +#include "manif/impl/so2/SO2Tangent.h" +#include "manif/impl/so2/SO2_map.h" +#include "manif/impl/so2/SO2Tangent_map.h" + +#endif /* _MANIF_SO2_H_ */ diff --git a/third_party/manif/0.0.5/include/manif/SO3.h b/third_party/manif/0.0.5/include/manif/SO3.h new file mode 100644 index 00000000..6e2100fb --- /dev/null +++ b/third_party/manif/0.0.5/include/manif/SO3.h @@ -0,0 +1,16 @@ +#ifndef _MANIF_SO3_H_ +#define _MANIF_SO3_H_ + +#include "manif/impl/macro.h" +#include "manif/impl/lie_group_base.h" +#include "manif/impl/tangent_base.h" + +#include "manif/impl/so3/SO3_properties.h" +#include "manif/impl/so3/SO3_base.h" +#include "manif/impl/so3/SO3Tangent_base.h" +#include "manif/impl/so3/SO3.h" +#include "manif/impl/so3/SO3Tangent.h" +#include "manif/impl/so3/SO3_map.h" +#include "manif/impl/so3/SO3Tangent_map.h" + +#endif /* _MANIF_SO3_H_ */ diff --git a/third_party/manif/0.0.5/include/manif/algorithms/average.h b/third_party/manif/0.0.5/include/manif/algorithms/average.h new file mode 100644 index 00000000..acb40d05 --- /dev/null +++ b/third_party/manif/0.0.5/include/manif/algorithms/average.h @@ -0,0 +1,274 @@ +#ifndef _MANIF_MANIF_AVERAGE_H_ +#define _MANIF_MANIF_AVERAGE_H_ + +#include "manif/impl/lie_group_base.h" +//#include "manif/interpolation.h" +#include +namespace manif { + +//template