From bad9b6cc104fbf4d970966aaf18f3c8fd043221c Mon Sep 17 00:00:00 2001 From: lgv Date: Thu, 6 Nov 2025 16:27:54 +0800 Subject: [PATCH] feat: add ik joint limit --- data/ik_psi_sweep.csv | 2261 +++++------------------- src/utils/srs_ik/ik_limit_analyzer.cpp | 386 ++-- src/utils/srs_ik/ik_limit_analyzer.h | 72 +- src/utils/srs_ik/srs_ik_slover.cpp | 91 +- src/utils/srs_ik/srs_ik_test.cpp | 131 +- 5 files changed, 678 insertions(+), 2263 deletions(-) diff --git a/data/ik_psi_sweep.csv b/data/ik_psi_sweep.csv index 91552484..1bff2cfc 100644 --- a/data/ik_psi_sweep.csv +++ b/data/ik_psi_sweep.csv @@ -1,1853 +1,410 @@ 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 --0.938870002,1.746638882,1.749173206,-0.643843016,1.570796327,2.695496502,0.509617550,1.718352148 --0.937870002,1.746065268,1.748749772,-0.643236152,1.570796327,2.694619692,0.510256601,1.718001577 --0.936870002,1.745491436,1.748326680,-0.642629087,1.570796327,2.693742312,0.510895383,1.717650237 --0.935870002,1.744917387,1.747903931,-0.642021822,1.570796327,2.692864359,0.511533896,1.717298130 --0.934870002,1.744343121,1.747481525,-0.641414356,1.570796327,2.691985834,0.512172140,1.716945253 --0.933870002,1.743768637,1.747059463,-0.640806690,1.570796327,2.691106735,0.512810112,1.716591606 --0.932870002,1.743193936,1.746637744,-0.640198823,1.570796327,2.690227061,0.513447814,1.716237188 --0.931870002,1.742619018,1.746216370,-0.639590756,1.570796327,2.689346811,0.514085243,1.715881999 --0.930870002,1.742043883,1.745795340,-0.638982488,1.570796327,2.688465984,0.514722400,1.715526037 --0.929870002,1.741468530,1.745374655,-0.638374019,1.570796327,2.687584578,0.515359283,1.715169302 --0.928870002,1.740892960,1.744954314,-0.637765350,1.570796327,2.686702593,0.515995893,1.714811793 --0.927870002,1.740317173,1.744534319,-0.637156480,1.570796327,2.685820028,0.516632228,1.714453509 --0.926870002,1.739741169,1.744114669,-0.636547410,1.570796327,2.684936881,0.517268287,1.714094449 --0.925870002,1.739164948,1.743695365,-0.635938139,1.570796327,2.684053152,0.517904071,1.713734613 --0.924870002,1.738588510,1.743276407,-0.635328667,1.570796327,2.683168839,0.518539578,1.713374000 --0.923870002,1.738011854,1.742857795,-0.634718995,1.570796327,2.682283941,0.519174807,1.713012609 --0.922870002,1.737434982,1.742439529,-0.634109122,1.570796327,2.681398457,0.519809759,1.712650439 --0.921870002,1.736857893,1.742021611,-0.633499049,1.570796327,2.680512386,0.520444431,1.712287489 --0.920870002,1.736280586,1.741604039,-0.632888775,1.570796327,2.679625727,0.521078825,1.711923759 --0.919870002,1.735703063,1.741186814,-0.632278300,1.570796327,2.678738479,0.521712938,1.711559248 --0.918870002,1.735125323,1.740769938,-0.631667625,1.570796327,2.677850641,0.522346770,1.711193955 --0.917870002,1.734547366,1.740353409,-0.631056749,1.570796327,2.676962211,0.522980321,1.710827879 --0.916870002,1.733969192,1.739937228,-0.630445672,1.570796327,2.676073189,0.523613590,1.710461020 --0.915870002,1.733390801,1.739521396,-0.629834395,1.570796327,2.675183573,0.524246576,1.710093376 --0.914870002,1.732812193,1.739105912,-0.629222917,1.570796327,2.674293362,0.524879278,1.709724946 --0.913870002,1.732233369,1.738690777,-0.628611238,1.570796327,2.673402556,0.525511696,1.709355731 --0.912870002,1.731654327,1.738275991,-0.627999359,1.570796327,2.672511153,0.526143830,1.708985729 --0.911870002,1.731075069,1.737861555,-0.627387280,1.570796327,2.671619152,0.526775677,1.708614939 --0.910870002,1.730495595,1.737447469,-0.626774999,1.570796327,2.670726552,0.527407239,1.708243361 --0.909870002,1.729915903,1.737033732,-0.626162518,1.570796327,2.669833351,0.528038513,1.707870994 --0.908870002,1.729335995,1.736620346,-0.625549837,1.570796327,2.668939549,0.528669500,1.707497837 --0.907870002,1.728755870,1.736207311,-0.624936954,1.570796327,2.668045145,0.529300198,1.707123888 --0.906870002,1.728175529,1.735794626,-0.624323871,1.570796327,2.667150138,0.529930607,1.706749148 --0.905870002,1.727594971,1.735382292,-0.623710588,1.570796327,2.666254526,0.530560726,1.706373616 --0.904870002,1.727014197,1.734970310,-0.623097104,1.570796327,2.665358308,0.531190555,1.705997290 --0.903870002,1.726433206,1.734558679,-0.622483419,1.570796327,2.664461483,0.531820093,1.705620170 --0.902870002,1.725851999,1.734147400,-0.621869534,1.570796327,2.663564051,0.532449339,1.705242255 --0.901870002,1.725270575,1.733736474,-0.621255448,1.570796327,2.662666009,0.533078292,1.704863545 --0.900870002,1.724688935,1.733325899,-0.620641161,1.570796327,2.661767358,0.533706952,1.704484038 --0.899870002,1.724107079,1.732915678,-0.620026674,1.570796327,2.660868095,0.534335317,1.704103733 --0.898870002,1.723525006,1.732505809,-0.619411986,1.570796327,2.659968220,0.534963388,1.703722631 --0.897870002,1.722942717,1.732096294,-0.618797098,1.570796327,2.659067731,0.535591164,1.703340729 --0.896870002,1.722360211,1.731687132,-0.618182009,1.570796327,2.658166628,0.536218644,1.702958027 --0.895870002,1.721777490,1.731278324,-0.617566720,1.570796327,2.657264909,0.536845826,1.702574525 --0.894870002,1.721194552,1.730869871,-0.616951230,1.570796327,2.656362574,0.537472711,1.702190222 --0.893870002,1.720611398,1.730461771,-0.616335539,1.570796327,2.655459620,0.538099298,1.701805116 --0.892870002,1.720028028,1.730054026,-0.615719648,1.570796327,2.654556048,0.538725586,1.701419207 --0.891870002,1.719444442,1.729646636,-0.615103557,1.570796327,2.653651856,0.539351574,1.701032494 --0.890870002,1.718860640,1.729239601,-0.614487265,1.570796327,2.652747042,0.539977261,1.700644976 --0.889870002,1.718276622,1.728832921,-0.613870772,1.570796327,2.651841606,0.540602648,1.700256653 --0.888870002,1.717692388,1.728426598,-0.613254079,1.570796327,2.650935547,0.541227732,1.699867524 --0.887870002,1.717107937,1.728020630,-0.612637185,1.570796327,2.650028863,0.541852514,1.699477587 --0.886870002,1.716523272,1.727615018,-0.612020091,1.570796327,2.649121554,0.542476993,1.699086842 --0.885870002,1.715938390,1.727209763,-0.611402797,1.570796327,2.648213618,0.543101167,1.698695289 --0.884870002,1.715353292,1.726804864,-0.610785302,1.570796327,2.647305054,0.543725037,1.698302925 --0.883870002,1.714767979,1.726400323,-0.610167606,1.570796327,2.646395861,0.544348601,1.697909752 --0.882870002,1.714182450,1.725996139,-0.609549710,1.570796327,2.645486038,0.544971859,1.697515766 --0.881870002,1.713596705,1.725592312,-0.608931614,1.570796327,2.644575584,0.545594811,1.697120969 --0.880870002,1.713010744,1.725188844,-0.608313317,1.570796327,2.643664498,0.546217454,1.696725359 --0.879870002,1.712424568,1.724785733,-0.607694820,1.570796327,2.642752778,0.546839789,1.696328935 --0.878870002,1.711838177,1.724382981,-0.607076123,1.570796327,2.641840424,0.547461815,1.695931696 --0.877870002,1.711251569,1.723980587,-0.606457225,1.570796327,2.640927434,0.548083531,1.695533642 --0.876870002,1.710664747,1.723578553,-0.605838127,1.570796327,2.640013808,0.548704936,1.695134772 --0.875870002,1.710077709,1.723176877,-0.605218828,1.570796327,2.639099543,0.549326030,1.694735084 --0.874870002,1.709490455,1.722775561,-0.604599329,1.570796327,2.638184640,0.549946812,1.694334578 --0.873870002,1.708902986,1.722374605,-0.603979630,1.570796327,2.637269097,0.550567281,1.693933254 --0.872870002,1.708315302,1.721974009,-0.603359731,1.570796327,2.636352912,0.551187437,1.693531110 --0.871870002,1.707727403,1.721573773,-0.602739631,1.570796327,2.635436085,0.551807278,1.693128146 --0.870870002,1.707139288,1.721173897,-0.602119331,1.570796327,2.634518615,0.552426804,1.692724360 --0.869870002,1.706550958,1.720774383,-0.601498831,1.570796327,2.633600500,0.553046015,1.692319752 --0.868870002,1.705962413,1.720375229,-0.600878131,1.570796327,2.632681740,0.553664909,1.691914322 --0.867870002,1.705373653,1.719976437,-0.600257231,1.570796327,2.631762333,0.554283485,1.691508067 --0.866870002,1.704784678,1.719578006,-0.599636130,1.570796327,2.630842278,0.554901744,1.691100988 --0.865870002,1.704195488,1.719179938,-0.599014829,1.570796327,2.629921574,0.555519684,1.690693084 --0.864870002,1.703606083,1.718782231,-0.598393328,1.570796327,2.629000220,0.556137304,1.690284353 --0.863870002,1.703016463,1.718384887,-0.597771627,1.570796327,2.628078214,0.556754604,1.689874795 --0.862870002,1.702426628,1.717987906,-0.597149726,1.570796327,2.627155557,0.557371583,1.689464409 --0.861870002,1.701836579,1.717591287,-0.596527625,1.570796327,2.626232246,0.557988240,1.689053195 --0.860870002,1.701246314,1.717195032,-0.595905324,1.570796327,2.625308280,0.558604575,1.688641150 --0.859870002,1.700655835,1.716799141,-0.595282823,1.570796327,2.624383659,0.559220586,1.688228276 --0.858870002,1.700065142,1.716403613,-0.594660122,1.570796327,2.623458381,0.559836274,1.687814570 --0.857870002,1.699474233,1.716008449,-0.594037221,1.570796327,2.622532445,0.560451636,1.687400032 --0.856870002,1.698883111,1.715613650,-0.593414120,1.570796327,2.621605851,0.561066673,1.686984661 --0.855870002,1.698291773,1.715219215,-0.592790819,1.570796327,2.620678596,0.561681384,1.686568456 --0.854870002,1.697700221,1.714825145,-0.592167318,1.570796327,2.619750679,0.562295767,1.686151416 --0.853870002,1.697108455,1.714431440,-0.591543617,1.570796327,2.618822101,0.562909823,1.685733541 --0.852870002,1.696516475,1.714038101,-0.590919716,1.570796327,2.617892859,0.563523550,1.685314830 --0.851870002,1.695924280,1.713645127,-0.590295616,1.570796327,2.616962952,0.564136948,1.684895281 --0.850870002,1.695331871,1.713252519,-0.589671316,1.570796327,2.616032380,0.564750016,1.684474895 --0.849870002,1.694739248,1.712860278,-0.589046816,1.570796327,2.615101141,0.565362753,1.684053669 --0.848870002,1.694146410,1.712468403,-0.588422117,1.570796327,2.614169234,0.565975158,1.683631604 --0.847870002,1.693553359,1.712076894,-0.587797217,1.570796327,2.613236658,0.566587230,1.683208699 --0.846870002,1.692960093,1.711685753,-0.587172118,1.570796327,2.612303411,0.567198970,1.682784952 --0.845870002,1.692366614,1.711294979,-0.586546820,1.570796327,2.611369494,0.567810375,1.682360363 --0.844870002,1.691772920,1.710904573,-0.585921321,1.570796327,2.610434904,0.568421446,1.681934930 --0.843870002,1.691179013,1.710514534,-0.585295624,1.570796327,2.609499640,0.569032181,1.681508654 --0.842870002,1.690584892,1.710124864,-0.584669726,1.570796327,2.608563702,0.569642580,1.681081534 --0.841870002,1.689990557,1.709735561,-0.584043629,1.570796327,2.607627088,0.570252642,1.680653567 --0.840870002,1.689396009,1.709346628,-0.583417333,1.570796327,2.606689797,0.570862366,1.680224754 --0.839870002,1.688801247,1.708958064,-0.582790837,1.570796327,2.605751829,0.571471751,1.679795094 --0.838870002,1.688206271,1.708569868,-0.582164142,1.570796327,2.604813181,0.572080797,1.679364586 --0.837870002,1.687611082,1.708182042,-0.581537247,1.570796327,2.603873853,0.572689502,1.678933229 --0.836870002,1.687015679,1.707794586,-0.580910153,1.570796327,2.602933844,0.573297867,1.678501022 --0.835870002,1.686420063,1.707407500,-0.580282860,1.570796327,2.601993152,0.573905890,1.678067964 --0.834870002,1.685824234,1.707020784,-0.579655368,1.570796327,2.601051776,0.574513570,1.677634055 --0.833870002,1.685228191,1.706634439,-0.579027676,1.570796327,2.600109716,0.575120907,1.677199294 --0.832870002,1.684631935,1.706248464,-0.578399785,1.570796327,2.599166971,0.575727900,1.676763679 --0.831870002,1.684035466,1.705862861,-0.577771695,1.570796327,2.598223538,0.576334547,1.676327211 --0.830870002,1.683438784,1.705477629,-0.577143405,1.570796327,2.597279417,0.576940849,1.675889887 --0.829870002,1.682841889,1.705092768,-0.576514917,1.570796327,2.596334607,0.577546805,1.675451708 --0.828870002,1.682244781,1.704708280,-0.575886229,1.570796327,2.595389107,0.578152413,1.675012673 --0.827870002,1.681647459,1.704324163,-0.575257343,1.570796327,2.594442915,0.578757673,1.674572779 --0.826870002,1.681049926,1.703940419,-0.574628257,1.570796327,2.593496031,0.579362585,1.674132028 --0.825870002,1.680452179,1.703557048,-0.573998973,1.570796327,2.592548454,0.579967146,1.673690418 --0.824870002,1.679854220,1.703174050,-0.573369489,1.570796327,2.591600181,0.580571357,1.673247947 --0.823870002,1.679256047,1.702791425,-0.572739807,1.570796327,2.590651213,0.581175217,1.672804616 --0.822870002,1.678657663,1.702409173,-0.572109926,1.570796327,2.589701548,0.581778725,1.672360423 --0.821870002,1.678059066,1.702027295,-0.571479846,1.570796327,2.588751185,0.582381879,1.671915368 --0.820870002,1.677460256,1.701645792,-0.570849567,1.570796327,2.587800123,0.582984680,1.671469450 --0.819870002,1.676861234,1.701264662,-0.570219090,1.570796327,2.586848360,0.583587127,1.671022667 --0.818870002,1.676262000,1.700883907,-0.569588414,1.570796327,2.585895896,0.584189218,1.670575019 --0.817870002,1.675662553,1.700503527,-0.568957539,1.570796327,2.584942729,0.584790953,1.670126506 --0.816870002,1.675062894,1.700123522,-0.568326466,1.570796327,2.583988859,0.585392331,1.669677125 --0.815870002,1.674463023,1.699743893,-0.567695194,1.570796327,2.583034284,0.585993351,1.669226878 --0.814870002,1.673862940,1.699364639,-0.567063724,1.570796327,2.582079003,0.586594013,1.668775761 --0.813870002,1.673262646,1.698985761,-0.566432055,1.570796327,2.581123016,0.587194315,1.668323776 --0.812870002,1.672662139,1.698607260,-0.565800188,1.570796327,2.580166320,0.587794258,1.667870920 --0.811870002,1.672061420,1.698229134,-0.565168122,1.570796327,2.579208915,0.588393839,1.667417194 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@@ -7,23 +7,18 @@ #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); + double a = std::fmod(angle, 2.0 * M_PI); + if (a < -M_PI) a += 2.0 * M_PI; + if (a > M_PI) a -= 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; + if (std::abs(a - M_PI) < EPS) return M_PI; + if (std::abs(a + M_PI) < EPS) return -M_PI; + return a; } - 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 ) + // 由 ψ 求 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; @@ -34,34 +29,52 @@ bool IkLimitAnalyzer::check_tan_solution(double an, double ad, double bn, double } -std::vector IkLimitAnalyzer::calc_tan_solution(double an, double ad, double bn, double bd, double cn, - double cd, double theta) { +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); + // 用 sin/cos(θ) 形成方程： (D sinθ - N cosθ) = 0 + const double s = std::sin(theta); + const double c = std::cos(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); + // 二次式 A t^2 + B t + C = 0, t = tan(ψ/2) + double A = s*(cd - bd) - c*(cn - bn); + double B = 2.0*(s*ad - c*an); + double C = s*(bd + cd) - c*(bn + cn); - double D = bp * bp - 4.0 * ap * cp; - if (D < 0.0) return out; + // 退化线性兜底 + if (std::abs(A) < EPS) { + if (std::abs(B) < EPS) { + // A≈0 且 B≈0：按无解处理。 + if (std::abs(C) < 1e-12) { + // 恒等：任意 ψ 都满足——按需要返回空或[-π,π]，这里返回空让上层判定。 + } + return {}; + } + // 线性：B t + C = 0 + double psi = 2.0 * std::atan2(-C, B); + psi = normalize_angle(psi); + if (check_tan_solution(an, ad, bn, bd, cn, cd, theta, psi)) + return {psi}; + return {}; + } + + // 判别式（带稳健夹零） + double D = B*B - 4.0*A*C; + if (D < -1e-14*(A*A + B*B + C*C)) return {}; // 为负，无解 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); + // t = (-B ± sqrtD)/(2A) → ψ = 2*atan(t) + double psi1 = 2.0 * std::atan2(-(B - sqrtD), 2.0*A); + double psi2 = 2.0 * std::atan2(-(B + sqrtD), 2.0*A); 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); @@ -71,98 +84,6 @@ std::vector IkLimitAnalyzer::calc_tan_solution(double an, double ad, dou } -// 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, @@ -172,12 +93,12 @@ std::vector > IkLimitAnalyzer::calc_tan_limits(double 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 + // 2) 奇异点（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 safe = psi_sing_avid_; double L = normalize_angle(psi_sing - safe); double R = normalize_angle(psi_sing + safe); @@ -186,7 +107,6 @@ std::vector > IkLimitAnalyzer::calc_tan_limits(double 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}}; } } @@ -201,18 +121,22 @@ std::vector > IkLimitAnalyzer::calc_tan_limits(double ptlim.insert(ptlim.end(), pt2.begin(), pt2.end()); - // 去重（避免重复切分点导致抖动） + // 去重 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; }), + [](double a, double b) { return std::abs(a - b) < EPS; }), 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; + 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); + }; + if (!ptlim.empty()) { + // === 采样 + 交替 // 构造边界：[-π, cuts..., π] std::vector bounds; bounds.reserve(ptlim.size() + 2); @@ -220,31 +144,21 @@ std::vector > IkLimitAnalyzer::calc_tan_limits(double 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 + // 左侧偏移采样，判断首段是否“允许” 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); + if (R <= L) continue; + + double probe = (L + R) * 0.5; // 取中点 + + if (angle_in_wrap(theta_of(probe), joint_l, joint_u)) { + allow_pairs.emplace_back(L, R); + } } } 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); - + double tlim = theta_of(0.0); if (angle_in_wrap(tlim, joint_l, joint_u)) { allow_pairs = {{-M_PI, M_PI}}; } else { @@ -252,12 +166,11 @@ std::vector > IkLimitAnalyzer::calc_tan_limits(double } } - // 5) 奇异屏蔽：与允许集求交 + // 5) 去掉奇异点 if (!singular_allow.empty() && !allow_pairs.empty()) { allow_pairs = intersect(allow_pairs, singular_allow); } - - // ++【新增】合并小段，干净输出 + // 合并小段 allow_pairs = union_intervals(allow_pairs); return allow_pairs; } @@ -286,11 +199,9 @@ std::vector > IkLimitAnalyzer::intersect( 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(), @@ -298,7 +209,7 @@ std::vector > IkLimitAnalyzer::intersect( merged.push_back(out[0]); for (size_t k = 1; k < out.size(); ++k) { - if (out[k].first <= merged.back().second + MERGE_EPS) { + if (out[k].first <= merged.back().second + EPS) { merged.back().second = std::max(merged.back().second, out[k].second); } else { merged.push_back(out[k]); @@ -311,9 +222,9 @@ std::vector > IkLimitAnalyzer::bounds_to_pairs(const s 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） + // 要求：bounds 已按升序，且“以允许开始” if (bounds.size() % 2 != 0) { - // 若出现奇偶不配，可按需抛异常或容错 + // 若出现奇偶不配，说明bounds计算错误 return segs; } @@ -327,88 +238,9 @@ std::vector > IkLimitAnalyzer::bounds_to_pairs(const s } -// 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 + // 1) 奇异点判断，这里虽然是奇异点，但是左导数，右导数都是存在的，故没有屏蔽这个点 if (std::abs(a * a + b * b - (c - 1) * (c - 1)) < EPS) { double psi_sing = 2.0 * std::atan2(a, (b - (c - 1))); } @@ -426,21 +258,27 @@ std::vector > IkLimitAnalyzer::calc_cos_limits( ptlim.insert(ptlim.end(), pt2.begin(), pt2.end()); - // 去重（避免重复切分点导致抖动） + // 去重 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; }), + [](double a, double b) { return std::abs(a - b) < EPS; }), ptlim.end()); - std::vector > allow_pairs; // 输出 + std::vector > allow_pairs; + + 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); + }; + + // 3) 排序区间 + std::sort(ptlim.begin(), ptlim.end()); 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); @@ -449,20 +287,12 @@ std::vector > IkLimitAnalyzer::calc_cos_limits( 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 + double probe = (L + R) * 0.5; //取中点 if (angle_in_wrap(theta_of(probe), joint_l, joint_u)) { allow_pairs.emplace_back(L, R); @@ -470,11 +300,7 @@ std::vector > IkLimitAnalyzer::calc_cos_limits( } } 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); - + double tlim = theta_of(0.0); if (angle_in_wrap(tlim, joint_l, joint_u)) { allow_pairs = {{-M_PI, M_PI}}; } else { @@ -482,7 +308,7 @@ std::vector > IkLimitAnalyzer::calc_cos_limits( } } - // 8) 合并小段，干净输出 + // 8) 合并 allow_pairs = union_intervals(allow_pairs); return allow_pairs; @@ -503,7 +329,7 @@ bool IkLimitAnalyzer::check_cos_solution(double a, double b, double c, double th // 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; + return std::abs(ct - v) < EPS; } @@ -539,36 +365,30 @@ std::vector IkLimitAnalyzer::calc_cos_solution(double a, double b, doubl } 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); + L = normalize_angle(L); // [-π, π] + U = normalize_angle(U); // [-π, π] + return (L > U); // 在 [-π, π] 规范下仍成立 } -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> +IkLimitAnalyzer::cal_offset_limits(double joint_l, double joint_u, double offset) { + + + double pL = normalize_angle(joint_l + offset); // [-π, π] + double pU = normalize_angle(joint_u + offset); // [-π, π] + + std::vector> joint_ranges; - std::vector > joint_ranges; if (!wraps(pL, pU)) { // 单段 - joint_ranges.push_back({pL, pU}); + if (pU > pL + EPS) { + 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}); + if (pU > -M_PI + EPS) joint_ranges.push_back({-M_PI, pU}); + if ( M_PI > pL + EPS) joint_ranges.push_back({ pL, M_PI}); } return joint_ranges; } @@ -602,13 +422,13 @@ 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 + if (L <= U) return (x > L - EPS && x < U + EPS); + return (x > L - EPS || x < U + EPS); } 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) { @@ -617,7 +437,7 @@ IkLimitAnalyzer::union_intervals(const std::vector > & 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); + if (v[i].first <= R + EPS) R = std::max(R, v[i].second); else { out.push_back({L, R}); L = v[i].first; diff --git a/src/utils/srs_ik/ik_limit_analyzer.h b/src/utils/srs_ik/ik_limit_analyzer.h index b2c40c7c..2de5a7bc 100644 --- a/src/utils/srs_ik/ik_limit_analyzer.h +++ b/src/utils/srs_ik/ik_limit_analyzer.h @@ -25,21 +25,20 @@ namespace cmvr { calc_tan_limits(double an, double ad, double bn, double bd, double cn, double cd, - double joint_l, double joint_u,double offset); + 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); + 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） + // 两个“允许集”的交集 static std::vector > intersect(const std::vector > &A, const std::vector > &B); - - // 用于测试：打印区间 + //打印区间 static void print_intervals(const std::vector > &intervals) { for (const auto &interval: intervals) { std::cout << "[" << interval.first << ", " << interval.second << "] "; @@ -47,24 +46,13 @@ namespace cmvr { std::cout << std::endl; } + static void set_sing_avid(double value_deg){psi_sing_avid_ = deg2rad(value_deg);} + 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)); - } + inline static double psi_sing_avid_ = deg2rad(5); // tan 型：给定目标 theta，返回所有 ψ ∈ [-π, π] 的解，式（32） @@ -79,7 +67,7 @@ namespace cmvr { calc_cos_solution(double a, double b, double c, double theta); - // 检查解的正确性 ，式（26） + // 检核：tan 型 static bool check_tan_solution(double an, double ad, double bn, double bd, double cn, double cd, @@ -91,32 +79,44 @@ namespace cmvr { 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 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)); + } + + template + static T clamp(T v, T lo, T hi) { + return std::max(lo, std::min(hi, v)); + } + + // 将角度归一化到 [-π, π] 范围内 + static double normalize_angle(double angle); + + // 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); + // 判断环绕：区间 [L,U] 是否跨过 π + static inline bool wraps(double L, double U); + + // 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); }; }; } diff --git a/src/utils/srs_ik/srs_ik_slover.cpp b/src/utils/srs_ik/srs_ik_slover.cpp index 8c64ecc7..4d1c35ef 100644 --- a/src/utils/srs_ik/srs_ik_slover.cpp +++ b/src/utils/srs_ik/srs_ik_slover.cpp @@ -30,13 +30,13 @@ SRSIkSlover::SRSIkSlover() { 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}, + {-0.26, 1.57}, + {-0.78, 0.78}, + {-M_PI, M_PI}, + {0, 2.05}, + {-3.00, 3.0}, + {-2, 2}, + {-0.57, 1.57}, }; } @@ -126,23 +126,6 @@ std::vector SRSIkSlover::inverse_kinematics(const Eigen::MatrixXd &pose, 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_; @@ -160,17 +143,6 @@ std::vector SRSIkSlover::inverse_kinematics(const Eigen::MatrixXd &pose, 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)); @@ -198,11 +170,6 @@ std::vector SRSIkSlover::inverse_kinematics(const Eigen::MatrixXd &pose, 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 << " , "; } @@ -250,16 +217,14 @@ Eigen::Matrix4d SRSIkSlover::calc_dh(double d, double alpha, double a, double th } 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); + double EPS = 1E-9; + double a = std::fmod(angle, 2.0 * M_PI); + if (a < -M_PI) a += 2.0 * M_PI; + if (a > M_PI) a -= 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; + if (std::abs(a - M_PI) < EPS) return M_PI; + if (std::abs(a + M_PI) < EPS) return -M_PI; + return a; } Eigen::Matrix4d SRSIkSlover::calc_total_transform(const std::vector &joint_angles) { @@ -382,26 +347,38 @@ std::vector > SRSIkSlover::calc_arm_angle_limits( 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); + -s * Cs(1, 1), -s * Cs(0, 1), + joints_limits_[0].first, joints_limits_[0].second); - auto limit_2 = ik_limit_analyzer_.calc_cos_limits(-As(2, 1), -Bs(2, 1), -Cs(2, 1), s, -2.5, -2); + auto limit_2 = ik_limit_analyzer_.calc_cos_limits(-As(2, 1), -Bs(2, 1), -Cs(2, 1), s, + joints_limits_[1].first, joints_limits_[1].second); 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); + s * Cs(2, 2), -s * Cs(2, 0), + joints_limits_[2].first, joints_limits_[2].second); 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); + w * Cw(1, 2), w * Cw(0, 2), + joints_limits_[4].first, joints_limits_[4].second,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_6 = ik_limit_analyzer_.calc_cos_limits(Aw(2, 2), Bw(2, 2), Cw(2, 2), w, + joints_limits_[5].first, joints_limits_[5].second,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); + w * Cw(2, 1), -w * Cw(2, 0), + joints_limits_[6].first, joints_limits_[6].second); - ik_limit_analyzer_.print_intervals(limit_6); + auto limits = ik_limit_analyzer_.intersect(limit_1,limit_2); + limits = ik_limit_analyzer_.intersect(limits,limit_3); + limits = ik_limit_analyzer_.intersect(limits,limit_5); + limits = ik_limit_analyzer_.intersect(limits,limit_6); + limits = ik_limit_analyzer_.intersect(limits,limit_7); + + ik_limit_analyzer_.print_intervals(limits); - return limit_6; + return limits; } diff --git a/src/utils/srs_ik/srs_ik_test.cpp b/src/utils/srs_ik/srs_ik_test.cpp index 25e8da24..6cde6d91 100644 --- a/src/utils/srs_ik/srs_ik_test.cpp +++ b/src/utils/srs_ik/srs_ik_test.cpp @@ -44,52 +44,113 @@ bool write_ik_samples_csv(const std::string& filepath, return true; } -TEST(SRS_IK_TEST,SRS_IK_SLOVER_TEST) { +TEST(SRS_IK_TEST, SRS_IK_SLOVER_TEST) { + using std::cout; + using std::endl; - std::cout << std::fixed << std::setprecision(7); + // std::cout << std::fixed << std::setprecision(7); - SRSIkSlover slover; - std::vector samples; - samples.reserve(4096); + 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}; + std::vector joint_angles(7, 0); + joint_angles = { 0.875, 0.22, 0.2644, M_PI / 2, 1.0, 1.99, 1.56 }; - auto pose = slover.calc_total_transform(joint_angles); - std::cout << "Pose: " << pose << std::endl; + // 目标位姿：FK(joint_angles) + const auto target_pose = slover.calc_total_transform(joint_angles); + cout << "Target Pose (FK from seed joints):\n" << target_pose << endl; - // slover.set_elbow_config(SRSIkSlover::INWARD); - // slover.set_wrist_config(SRSIkSlover::INWARD); - // slover.set_shoulder_config(SRSIkSlover::INWARD); + // 系数矩阵 & ψ 扫描区间 + Eigen::MatrixXd s_mat(3, 9), w_mat(3, 9); + slover.cal_coefficient_matrix(target_pose, s_mat, w_mat); + auto limits = slover.calc_arm_angle_limits(s_mat, w_mat); + // 误差统计 + const double kPosTol = 1e-4; // 位置容差（m） + const double kRotTol = 1e-3; // 姿态容差（rad）≈ 0.0573° + double max_pos_err = 0.0, max_rot_err = 0.0; + double sum_pos_err = 0.0, sum_rot_err = 0.0; + size_t total = 0, bad = 0; - 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; - } + // 便捷引用 + const Eigen::Vector3d p_target = target_pose.block<3,1>(0,3); + const Eigen::Matrix3d R_target = target_pose.block<3,3>(0,0); + + auto clamp = [](double x, double lo, double hi) { + return std::max(lo, std::min(hi, x)); + }; + + auto rot_err_rad = [&](const Eigen::Matrix3d& R) -> double { + Eigen::Matrix3d dR = R_target.transpose() * R; + double c = clamp((dR.trace() - 1.0) * 0.5, -1.0, 1.0); + return std::acos(c); // [0, pi] + }; + + // 表头 + cout << "psi(rad), pos_err(m), rot_err(rad), rot_err(deg)\n"; + + // ψ 扫描 + for (const auto& limit : limits) { + const double psi_lo = limit.first; + const double psi_hi = limit.second; + + for (double psi = psi_lo; psi < psi_hi; psi += 0.001) { + // IK 解 + auto q = slover.inverse_kinematics(target_pose, psi); + if (q.size() != 7 || std::any_of(q.begin(), q.end(), + [](double v){ return !std::isfinite(v); })) { + ++bad; + ++total; + cout << psi << ", nan, nan, nan\n"; + continue; + } + + // 用 IK 解做 FK，计算误差 + const auto T_fk = slover.calc_total_transform(q); + const Eigen::Vector3d p_fk = T_fk.block<3,1>(0,3); + const Eigen::Matrix3d R_fk = T_fk.block<3,3>(0,0); + + const double pos_err = (p_fk - p_target).norm(); + const double rot_err = rot_err_rad(R_fk); + const double rot_err_deg = rot_err * 180.0 / M_PI; + + // 打印每个样本的误差（一行，便于看 sweep） + cout << psi << ", " << pos_err << ", " << rot_err << ", " << rot_err_deg << "\n"; + + // 断言（不立即中止） + SCOPED_TRACE(testing::Message() << "psi=" << psi); + EXPECT_LT(pos_err, kPosTol); + EXPECT_LT(rot_err, kRotTol); + + // 统计 + max_pos_err = std::max(max_pos_err, pos_err); + max_rot_err = std::max(max_rot_err, rot_err); + sum_pos_err += pos_err; + sum_rot_err += rot_err; + ++total; + + // 保留你原先的采样输出 + samples.push_back(IkSample{psi, {q[0], q[1], q[2], q[3], q[4], q[5], q[6]}}); } + } - // 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; - // } + // 摘要打印 + cout << "\nSummary:\n" + << " total=" << total + << " bad=" << bad + << " pos_err_max=" << max_pos_err << " m" + << " rot_err_max=" << max_rot_err << " rad (" << max_rot_err * 180.0 / M_PI << " deg)\n" + << " pos_err_mean=" << (total ? (sum_pos_err / total) : 0.0) << " m" + << " rot_err_mean=" << (total ? (sum_rot_err / total) : 0.0) << " rad (" + << (total ? (sum_rot_err / total) * 180.0 / M_PI : 0.0) << " deg)\n"; + // 文件输出（与原逻辑一致） + write_ik_samples_csv("/home/lgv/cmvr/cmvr-es/data/ik_psi_sweep.csv", samples, true, 9); - write_ik_samples_csv("/home/lgv/cmvr/cmvr-es/data/ik_psi_sweep.csv", samples,true, 9); + // 最终强约束（避免全是 EXPECT_* 时忽略失败） + ASSERT_LT(max_pos_err, 10 * kPosTol) << "Max position error too large."; + ASSERT_LT(max_rot_err, 10 * kRotTol) << "Max rotation error too large."; } TEST(SRS_IK_TEST,INTERSECT_TEST) {