pr2_bringup_gazebo_demo: /opt/ros/diamondback/stacks/wg_robots_gazebo/pr2_bringup_gazebo_demo/src/wrist

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00034 /*
00035  * Author: Melonee Wise
00036  */
00037 #include <math.h>
00038 #include <pluginlib/class_list_macros.h>
00039 #include "pr2_mechanism_model/robot.h"
00040 #include "pr2_bringup_gazebo_demo/wrist_transmission.h"
00041 #include "angles/angles.h"
00042 
00043 using namespace pr2_bringup_gazebo_demo;
00044 using namespace pr2_hardware_interface;
00045 
00046 PLUGINLIB_DECLARE_CLASS(pr2_bringup_gazebo_demo, WristTransmissionCal,
00047                         pr2_bringup_gazebo_demo::WristTransmissionCal,
00048                         pr2_mechanism_model::Transmission)
00049 
00050 
00051 bool WristTransmissionCal::initXml(TiXmlElement *elt, pr2_mechanism_model::Robot *robot)
00052 {
00053   const char *name = elt->Attribute("name");
00054   name_ = name ? name : "";
00055 
00056 
00057   TiXmlElement *ael = elt->FirstChildElement("rightActuator");
00058   const char *actuator_name = ael ? ael->Attribute("name") : NULL;
00059   Actuator *a;
00060   if (!actuator_name || (a = robot->getActuator(actuator_name)) == NULL )
00061   {
00062     ROS_WARN("WristTransmissionCal could not find actuator named \"%s\"", actuator_name);
00063     return false;
00064   }
00065   a->command_.enable_ = true;
00066   actuator_names_.push_back(actuator_name);
00067   const char *act_red = ael->Attribute("mechanicalReduction");
00068   if (!act_red)
00069     {
00070       ROS_WARN("WristTransmissionCal's actuator \"%s\" was not given a reduction.", actuator_name);
00071       return false;
00072     }
00073   actuator_reduction_.push_back(atof(act_red));
00074 
00075   ael = elt->FirstChildElement("leftActuator");
00076   actuator_name = ael ? ael->Attribute("name") : NULL;
00077   if (!actuator_name || (a = robot->getActuator(actuator_name)) == NULL )
00078   {
00079     ROS_WARN("WristTransmissionCal could not find actuator named \"%s\"", actuator_name);
00080     return false;
00081   }
00082   a->command_.enable_ = true;
00083   actuator_names_.push_back(actuator_name);
00084   act_red = ael->Attribute("mechanicalReduction");
00085   if (!act_red)
00086     {
00087       ROS_WARN("WristTransmissionCal's actuator \"%s\" was not given a reduction.", actuator_name);
00088       return false;
00089     }
00090   actuator_reduction_.push_back(atof(act_red));
00091 
00092 
00093   TiXmlElement *j = elt->FirstChildElement("flexJoint");
00094   const char *joint_name = j->Attribute("name");
00095   if (!joint_name)
00096   {
00097     ROS_ERROR("WristTransmissionCal did not specify joint name");
00098     return false;
00099   }
00100   const boost::shared_ptr<const urdf::Joint> joint = robot->robot_model_.getJoint(joint_name);
00101 
00102   if (!joint)
00103   {
00104     ROS_ERROR("WristTransmissionCal could not find joint named \"%s\"", joint_name);
00105     return false;
00106   }
00107   joint_names_.push_back(joint_name);
00108   const char *joint_red = j->Attribute("mechanicalReduction");
00109   if (!joint_red)
00110   {
00111     ROS_WARN("WristTransmissionCal's joint \"%s\" was not given a reduction.", joint_name);
00112     return false;
00113   }
00114   joint_reduction_.push_back(atof(joint_red));
00115 
00116   j = elt->FirstChildElement("rollJoint");
00117   joint_name = j->Attribute("name");
00118   if (!joint_name)
00119   {
00120     ROS_ERROR("WristTransmissionCal did not specify joint name");
00121     return false;
00122   }
00123   const boost::shared_ptr<const urdf::Joint> joint2 = robot->robot_model_.getJoint(joint_name);
00124 
00125   if (!joint2)
00126   {
00127     ROS_ERROR("WristTransmissionCal could not find joint named \"%s\"", joint_name);
00128     return false;
00129   }
00130   joint_names_.push_back(joint_name);
00131   joint_red = j->Attribute("mechanicalReduction");
00132   if (!joint_red)
00133   {
00134     ROS_WARN("WristTransmissionCal's joint \"%s\" was not given a reduction.", joint_name);
00135     return false;
00136   }
00137   joint_reduction_.push_back(atof(joint_red));
00138 
00139 
00140   return true;
00141 }
00142 
00143 void WristTransmissionCal::propagatePosition(
00144   std::vector<Actuator*>& as, std::vector<pr2_mechanism_model::JointState*>& js)
00145 {
00146   assert(as.size() == 2);
00147   assert(js.size() == 2);
00148 
00149   js[0]->position_ = (as[0]->state_.position_ / actuator_reduction_[0] - as[1]->state_.position_ / actuator_reduction_[1])/(2*joint_reduction_[0]);
00150   js[0]->velocity_ = (as[0]->state_.velocity_ / actuator_reduction_[0] - as[1]->state_.velocity_ / actuator_reduction_[1])/(2*joint_reduction_[0]);
00151   js[0]->measured_effort_ = joint_reduction_[0]*(as[0]->state_.last_measured_effort_ * actuator_reduction_[0] - as[1]->state_.last_measured_effort_ * actuator_reduction_[1]);
00152 
00153   js[1]->position_ = (-as[0]->state_.position_ / actuator_reduction_[0] - as[1]->state_.position_ / actuator_reduction_[1])/(2*joint_reduction_[1]);
00154   js[1]->velocity_ = (-as[0]->state_.velocity_ / actuator_reduction_[0] - as[1]->state_.velocity_ / actuator_reduction_[1])/(2*joint_reduction_[1]);
00155   js[1]->measured_effort_ = joint_reduction_[1]*(-as[0]->state_.last_measured_effort_ * actuator_reduction_[0] - as[1]->state_.last_measured_effort_ * actuator_reduction_[1]);
00156 }
00157 
00158 void WristTransmissionCal::propagatePositionBackwards(
00159   std::vector<pr2_mechanism_model::JointState*>& js, std::vector<Actuator*>& as)
00160 {
00161   assert(as.size() == 2);
00162   assert(js.size() == 2);
00163 
00164   as[0]->state_.position_ = ((js[0]->position_*joint_reduction_[0] - js[1]->position_*joint_reduction_[1]) * actuator_reduction_[0]);
00165   as[0]->state_.velocity_ = ((js[0]->velocity_*joint_reduction_[0] - js[1]->velocity_*joint_reduction_[1]) * actuator_reduction_[0]);
00166   as[0]->state_.last_measured_effort_ = (js[0]->measured_effort_/joint_reduction_[0] - js[1]->measured_effort_/joint_reduction_[1]) /(2.0*actuator_reduction_[0]);
00167 
00168   as[1]->state_.position_ = ((-js[0]->position_*joint_reduction_[0] - js[1]->position_*joint_reduction_[1]) * actuator_reduction_[1]);
00169   as[1]->state_.velocity_ = ((-js[0]->velocity_*joint_reduction_[0] - js[1]->velocity_*joint_reduction_[1]) * actuator_reduction_[1]);
00170   as[1]->state_.last_measured_effort_ = (-js[0]->measured_effort_/joint_reduction_[0] - js[1]->measured_effort_/joint_reduction_[1]) /(2.0*actuator_reduction_[1]);
00171 
00172   // simulate calibration sensors by filling out actuator states
00173   // this is where to embed the hack which joint connects to which mcb
00174   this->joint_calibration_simulator_[0].simulateJointCalibration(js[0],as[1]);
00175   this->joint_calibration_simulator_[1].simulateJointCalibration(js[1],as[0]);
00176 }
00177 
00178 void WristTransmissionCal::propagateEffort(
00179   std::vector<pr2_mechanism_model::JointState*>& js, std::vector<Actuator*>& as)
00180 {
00181   assert(as.size() == 2);
00182   assert(js.size() == 2);
00183 
00184   as[0]->command_.effort_ = (js[0]->commanded_effort_/joint_reduction_[0] - js[1]->commanded_effort_/joint_reduction_[1]) /(2.0*actuator_reduction_[0]);
00185   as[1]->command_.effort_ = (-js[0]->commanded_effort_/joint_reduction_[0] - js[1]->commanded_effort_/joint_reduction_[1]) /(2.0*actuator_reduction_[1]);
00186 }
00187 
00188 void WristTransmissionCal::propagateEffortBackwards(
00189   std::vector<Actuator*>& as, std::vector<pr2_mechanism_model::JointState*>& js)
00190 {
00191   assert(as.size() == 2);
00192   assert(js.size() == 2);
00193 
00194   js[0]->commanded_effort_ = joint_reduction_[0]*(as[0]->command_.effort_ * actuator_reduction_[0] - as[1]->command_.effort_ * actuator_reduction_[1]);
00195   js[1]->commanded_effort_ = joint_reduction_[1]*(-as[0]->command_.effort_ * actuator_reduction_[0] - as[1]->command_.effort_ * actuator_reduction_[1]);
00196 }
00197 
00198 
00199 void WristTransmissionCal::setReductions(std::vector<double>& ar, std::vector<double>& jr)
00200 {
00201   actuator_reduction_ = ar;
00202   joint_reduction_ = jr;
00203 }
00204
/opt/ros/diamondback/stacks/wg_robots_gazebo/pr2_bringup_gazebo_demo/src/wrist_transmission.cpp
