robot.cpp

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//######################################################################
//
// GraspIt!
// Copyright (C) 2002-2009  Columbia University in the City of New York.
// All rights reserved.
//
// GraspIt! is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// GraspIt! is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
//
// Author(s):  Andrew T. Miller and Matei T. Ciocarlie
//
// $Id: robot.cpp,v 1.89 2010/07/09 02:33:44 cmatei Exp $
//
//######################################################################

#include <iomanip>
#include <QFile>
#include <QTextStream>

//needed just for the image of the Flock of Birds sensor and the approach direction
#include "SoArrow.h"
#include <Inventor/nodes/SoCube.h>

#include "bBox.h"
#include "mytools.h"
#include "matvecIO.h"
#include "robot.h"
#include "joint.h"
#include "dynJoint.h"
#include "world.h"
#include "grasp.h"
#include "graspitGUI.h"
#include "ivmgr.h"
#include "dynamics.h"
#include "gloveInterface.h"
#include "eigenGrasp.h"
#include "matrix.h"
#include "tinyxml.h"

#ifdef USE_DMALLOC
#include "dmalloc.h"
#endif

//#define GRASPITDBG
#include "debug.h"

#define PROF_ENABLED
#include "profiling.h"

PROF_DECLARE(MOVE_DOF);

const double Robot::AUTO_GRASP_TIME_STEP = 0.01;

Robot::~Robot()
{
        for (int i=0;i<numChains;i++) {
                if (chainVec[i]) delete chainVec[i];
        }
        for (int i=0;i<numDOF;i++) {
                if (dofVec[i]) delete dofVec[i];
        }
        if (base) myWorld->destroyElement(base);  
        if (mountPiece) myWorld->destroyElement(mountPiece);
        if (parent) parent->detachRobot(this);
        if (mGloveInterface) delete mGloveInterface;
        if (mEigenGrasps) delete mEigenGrasps;

        std::cout << "Deleted robot: " << name() <<std::endl;
}

int
Robot::loadFromXml(const TiXmlElement* root,QString rootPath)
{
        QString robotName = root->Attribute("type");
        if(robotName.isNull()){
                QTWARNING("Robot Name undefined");
                return FAILURE;
        }
        const TiXmlElement* element = findXmlElement(root,"palm");
        QString valueStr;
        QString ivdir = rootPath + "iv/";
        // read and load the base; automatically placed at origin
        DBGA("Creating base...\n");  
        if(element){
                valueStr = element->GetText();  
                valueStr = valueStr.stripWhiteSpace();
                base = new Link(this,-1,-1,myWorld,(QString(name())+"Base").latin1());
                if (!base  || base->load(ivdir+valueStr)==FAILURE) {
                        if (base) delete base; 
                        base = NULL;
                        DBGA("Failed to load base");
                        return FAILURE;
                }
                base->addToIvc();

                //init my IVRoot and add the base
                IVRoot = new SoSeparator;
                IVRoot->addChild(base->getIVRoot());
        }
        else{
                QTWARNING("Base not found");
                return FAILURE;
        }
        std::list<const TiXmlElement*> elementList = findAllXmlElements(root, "dof");
        numDOF = countXmlElements(root, "dof");
        if (numDOF < 1) {
                DBGA("Wrong number of DOFs specified: " << numDOF);
                return FAILURE;
        }
        DBGA("Setting up " << numDOF << " degrees of freedom...");
        dofVec.resize(numDOF, NULL);

        //read each dof information
        std::list<const TiXmlElement*>::iterator p = elementList.begin();
        int f=0;
        while(p!=elementList.end()){
                valueStr = (*p)->Attribute("type");
                if(valueStr.isNull()){
                        QTWARNING("DOF Type not found");
                        return FAILURE;
                }
                QString dofType = valueStr.stripWhiteSpace();
                if(dofType == "r")
                        dofVec[f] = new RigidDOF();
                else if(dofType == "b")
                        dofVec[f] = new BreakAwayDOF();
                else if(dofType == "c")
                        dofVec[f] = new CompliantDOF();
                else {
                        DBGA("Unknown DOF Type requested: " << dofType.toStdString() << " for DOF " << f);
                        return FAILURE;
                }
                dofVec[f]->dofNum = f;
                if (!dofVec[f]->readParametersFromXml(*p)) {
                        DBGA("Failed to read DOF " << f );
                        return FAILURE;
                }
                p++;
                f++;
        }

        //read number of chains and allocate them
        numChains = countXmlElements(root,"chain");
        if (numChains < 1) {
                DBGA("Wrong number of chains"); 
                return FAILURE;
        }
        DBGA("Creating " << numChains << " kinematic chains (fingers)...");
        chainVec.resize(numChains, NULL);

        //ask each chain to read itself from the file
        numJoints = 0;
        f = 0;
        elementList = findAllXmlElements(root, "chain");
        p = elementList.begin();
        while(p!=elementList.end()){
                fprintf(stderr, "Chain %d: ",f);
                chainVec[f] = new KinematicChain(this,f, numJoints);
                if (chainVec[f]->initChainFromXml((*p),ivdir)==FAILURE) {
                        DBGA("Failed to read chain " << f);
                        return FAILURE;
                }
                numJoints += chainVec[f]->getNumJoints();
                p++;    
                f++;
        }

        //set up DOFs before setting up EigenGrasps
        std::list<Joint *>jointList;
        for (int d=0; d<numDOF; d++) {
                jointList.clear();
                for (int f=0; f<numChains; f++) {
                        for (int j=0; j<chainVec[f]->getNumJoints(); j++) {
                                if (chainVec[f]->getJoint(j)->getDOFNum() == d) {
                                        jointList.push_back(chainVec[f]->getJoint(j));
                                }
                        }
                }
                dofVec[d]->initDOF(this,jointList);
        }

        //reset the dynamics: fix the base and set desired dof's to current values
        getBase()->fix();
        for (int i=0; i<getNumDOF(); i++) {
                getDOF(i)->setDesiredPos( getDOF(i)->getVal() );
        }

        //optional information

        //load approach direction
        approachTran = transf::IDENTITY;
        element = findXmlElement(root,"approachDirection");
        if(element){
                const TiXmlElement* tmp = findXmlElement(element,"referenceLocation");
                if(!tmp){
                        DBGA("Failed to read approach direction");      
                        return FAILURE;
                }
                valueStr = tmp->GetText();
                valueStr = valueStr.simplifyWhiteSpace().stripWhiteSpace();
                QStringList l = QStringList::split(' ', valueStr);
                if(l.count()!=3){
                        DBGA("Invalid approach direction input");
                        return FAILURE;
                }
                bool ok1, ok2, ok3;
                float locX, locY, locZ;
                locX = l[0].toFloat(&ok1);
                locY = l[1].toFloat(&ok2);
                locZ = l[2].toFloat(&ok3);
                if(!ok1 || !ok2 || !ok3){
                        DBGA("Invalid approach direction input");
                        return FAILURE;
                }
                vec3 aPt = vec3(locX, locY, locZ);

                tmp = findXmlElement(element,"direction");
                if(!tmp){
                        DBGA("Failed to read approach direction");      
                        return FAILURE;
                }
                valueStr = tmp->GetText();
                valueStr = valueStr.simplifyWhiteSpace().stripWhiteSpace();
                l = QStringList::split(' ', valueStr);
                if(l.count()!=3){
                        DBGA("Invalid approach direction input");
                        return FAILURE;
                }
                locX = l[0].toFloat(&ok1);
                locY = l[1].toFloat(&ok2);
                locZ = l[2].toFloat(&ok3);
                if(!ok1 || !ok2 || !ok3){
                        DBGA("Invalid approach direction input");
                        return FAILURE;
                }
                vec3 zdir = vec3(locX, locY, locZ);
                zdir = normalise(zdir);

                vec3 xdir;
                if ( fabs(zdir % vec3(1,0,0)) > 0.9 ) xdir = vec3(0,1,0);
                else xdir = vec3(1,0,0);
                vec3 ydir = zdir * xdir;
                xdir = ydir * zdir;

                mat3 r(xdir, ydir, zdir);
                approachTran.set(r, aPt);
        }
        addApproachGeometry();

        //load EigenGrasps
        mEigenGrasps = new EigenGraspInterface(this);
        bool eigenLoaded = false;
        element = findXmlElement(root,"eigenGrasps");
        if(element) {
                valueStr = element->GetText();
                valueStr = valueStr.stripWhiteSpace();
                QString eigenFile = rootPath + valueStr;
                if (loadEigenData(eigenFile)==SUCCESS) {
                        DBGA("Using eigengrasps from file: " << valueStr.latin1());
                        eigenLoaded = true;
                }
        }
        if (!eigenLoaded) {
                mEigenGrasps->setTrivial();
                DBGA("Using identity eigengrasps");
        }

        //load pre-defined, "virtual" contact locations
        element = findXmlElement(root,"virtualContacts");
        if(element){
                valueStr = element->GetText();
                valueStr = valueStr.stripWhiteSpace();
                QString contactFile = rootPath + valueStr;
                if (loadContactData(contactFile)==SUCCESS) {
                        DBGA("Loaded virtual contacts from file " << valueStr.latin1());
                        showVirtualContacts(true);
                } else {
                        DBGA("Failed to load virtual contacts from file " << valueStr.latin1());
                }
        }

        //load CyberGlove information
        mUseCyberGlove = false;
        element = findXmlElement(root,"cyberGlove");
        if(element){
                valueStr = element->GetText();
                valueStr = valueStr.stripWhiteSpace();
                mGloveInterface = new GloveInterface(this);
                QString calibFile = rootPath + valueStr;
                if (!mGloveInterface->loadCalibration(calibFile.latin1())) {
                        DBGA("Failed to load glove calibration file " << calibFile.latin1());
                        delete mGloveInterface; mGloveInterface = NULL;
                        mUseCyberGlove = false;
                } else {
                        DBGA("Cyberglove calibration loaded from " << calibFile.latin1());
                        mUseCyberGlove = true;
                }
        }

        //load flock of birds information
        element = findXmlElement(root,"flockOfBirds");
        if(element){
                QString birdNumber = element->Attribute("number");
                if(birdNumber.isNull()){
                        DBGA("There was a problem reading the Flock of Birds data in the configuration file");
                        return FAILURE;
                }
                birdNumber = birdNumber.stripWhiteSpace();
                mBirdNumber = birdNumber.toInt();
                transf sensorTrans;
                const TiXmlElement* tmp = findXmlElement(element,"transform");
                if(!getTransform(tmp, sensorTrans)){
                        DBGA("There was a problem reading the Flock of Birds data in the configuration file");
                        return FAILURE;
                }               
                mFlockTran.identity();
                mFlockTran.setMount(sensorTrans);
                mUsesFlock = true;
                DBGA("Robot using Flock of Birds sensor " << mBirdNumber);
        }
        if (mUsesFlock) {
                addFlockSensorGeometry();
        }
        return SUCCESS;
}

int
Robot::loadEigenData(QString filename)
{
        if ( !mEigenGrasps->readFromFile(filename.latin1()) ) {
                DBGA("Unable to load eigenGrasp file " << filename.latin1());
                return FAILURE;
        }
        QString name = filename.section('/',-1,-1);
        name = name.section('.',0,0);
        mEigenGrasps->setName(name);
        return SUCCESS;
}

int 
Robot::loadContactData(QString filename)
{
  FILE *fp = fopen(filename.latin1(), "r");
  if (!fp) {
    DBGA("Could not open contact file " << filename.latin1());
    return FAILURE;
  }
  
  char robotName[500];
  ; //yes, I know, can seg fault...
  if(fscanf(fp,"%s",robotName) <= 0)
    {
      DBGA("Robot::loadContactData - failed to read robot name");
      return 0;
    }
  
  int numContacts;
  if( fscanf(fp,"%d",&numContacts) <= 0){
    DBGA("Robot::loadContactData - failed to read number of contacts");
    return -1;
  }

  for (int i=0; i<numContacts; i++) {
    VirtualContact* newContact = new VirtualContact();
    newContact->readFromFile(fp);    
    int f = newContact->getFingerNum();
    int l = newContact->getLinkNum();
    if ( f >= 0) {
      if ( f>=getNumChains() || l>=getChain(f)->getNumLinks()) {
        DBGA("Virtual contact error, chain " << f << " link " << l << " does not exist");
        delete newContact;
        continue;
      }
      newContact->setBody( getChain(f)->getLink(l) );
      getChain(f)->getLink(l)->addVirtualContact( newContact );
    }
    else {
      newContact->setBody( getBase() );
      getBase()->addVirtualContact(newContact);
    }
    newContact->computeWrenches(false,false);
  }
  fclose(fp);
  return SUCCESS;
}

void
Robot::cloneFrom(Robot *original)
{
        myName = original->getName() + QString(" clone");

        //new robots have contact indicators disabled by default
        if (base) delete base;
        base = new Link(this,-1,-1,myWorld,(QString(name())+"Base").latin1());
        base->cloneFrom( original->getBase() );
        //base->initDynamics();
        IVRoot = new SoSeparator;
        IVRoot->addChild(base->getIVRoot());

        numDOF = original->getNumDOF();
        dofVec.resize(numDOF, NULL);
        for (int f=0; f<numDOF; f++) {
                switch(original->getDOF(f)->getType()) {
                        case DOF::RIGID:
                                dofVec[f] = new RigidDOF( (RigidDOF*)(original->getDOF(f)) );
                                break;
                        case DOF::BREAKAWAY:
                                dofVec[f] = new BreakAwayDOF( (BreakAwayDOF*)(original->getDOF(f)) );
                                break;
                        case DOF::COMPLIANT:
                                dofVec[f] = new CompliantDOF( (CompliantDOF*)(original->getDOF(f)) );
                                break;
                        default:
                                DBGA("ERROR: Unknown DOF type in original!");
                                assert(0);
                }
        }

        numChains = original->getNumChains();
        chainVec.resize(numChains, NULL);
        numJoints = 0;
        for (int f=0; f<numChains; f++) {
                chainVec[f] = new KinematicChain(this,f,numJoints);
                chainVec[f]->cloneFrom( original->getChain(f) );
                numJoints += chainVec[f]->getNumJoints();
        }
        assert (numJoints == original->getNumJoints() );

        std::list<Joint *>jointList;
        for (int d=0; d<numDOF; d++) {
                jointList.clear();
                for (int f=0; f<numChains; f++) {
                        for (int j=0; j<chainVec[f]->getNumJoints(); j++) {
                                if (chainVec[f]->getJoint(j)->getDOFNum() == d) {
                                        jointList.push_back(chainVec[f]->getJoint(j));
                                }
                        }
                }
                dofVec[d]->initDOF(this,jointList);
        }

        base->setTran(transf::IDENTITY);
        //careful: clones robots have never been tested with the dynamics engine
        getBase()->fix();
        for (int i=0; i<getNumDOF(); i++) {
                getDOF(i)->setDesiredPos( getDOF(i)->getVal() );
        }

        setRenderGeometry( original->getRenderGeometry() );

        //check if original has an approach tran
        approachTran = original->getApproachTran();
        addApproachGeometry();

        //clone eigengrasp interface
        mEigenGrasps = new EigenGraspInterface(original->getEigenGrasps());

        //no glove interface
        mGloveInterface = NULL;
        this->mUseCyberGlove = false;
}

void
Robot::setTransparency(float t)
{
        base->setTransparency(t);
        for (int i=0; i<getNumChains(); i++) {
                for (int l=0; l<getChain(i)->getNumLinks(); l++) {
                        getChain(i)->getLink(l)->setTransparency(t);
                }
        }
}

void
Robot::setName(QString newName)
{
        WorldElement::setName(newName);
        for (int c=0; c<getNumChains(); c++) {
                for (int l=0; l<getChain(c)->getNumLinks(); l++){
                        getChain(c)->getLink(l)->setName( newName + QString("_chain%1_link%2").arg(c).arg(l) );
                }
        }
        if (base) base->setName(newName + QString("_base"));
}

void
Robot::addApproachGeometry()
{       
        IVApproachRoot = new SoSeparator();
        
        SoTransform *t1 = new SoTransform();
        approachTran.toSoTransform(t1);
        IVApproachRoot->addChild(t1);

        SoArrow *arrow = new SoArrow;
        arrow->height = 14;
        arrow->cylRadius = (float)1.25;
        arrow->coneRadius = (float)2.6;
        arrow->coneHeight = (float)5.5;
        SoTransform *arrowTran = new SoTransform();
        arrowTran->rotation.setValue(SbVec3f(1,0,0),(float)(M_PI/2.0));
        IVApproachRoot->addChild(arrowTran);
        IVApproachRoot->addChild(arrow);

        getBase()->getIVRoot()->addChild(IVApproachRoot);       
}

void
Robot::addFlockSensorGeometry()
{
        IVFlockRoot = new SoSeparator();
        SoTransform *t = new SoTransform();
        mFlockTran.getMount().toSoTransform( t );
        IVFlockRoot->addChild(t);
        SoCube *cube = new SoCube();
        cube->width = 30;
        cube->height = 20;
        cube->depth = 4;
        IVFlockRoot->addChild(cube);
        SoCube *smallCube = new SoCube();
        smallCube->width = 10;
        smallCube->height = 20;
        smallCube->depth = 6;
        SoTransform *t2 = new SoTransform();
        t2->translation.setValue(10,0,-5);
        IVFlockRoot->addChild(t2);
        IVFlockRoot->addChild(smallCube);
        getBase()->getIVRoot()->addChild(IVFlockRoot);
}

int
Robot::useIdentityEigenData()
{
        if (!mEigenGrasps->setTrivial()) {
                QTWARNING("Error setting Identity EigenGrasps");
                return FAILURE;
        }
        return SUCCESS;
}

void Robot::setGlove(CyberGlove *glove)
{
        if (!mGloveInterface) {
                mUseCyberGlove = false;
                return;
        }
        mGloveInterface->setGlove(glove);
}

void
Robot::processCyberGlove()
{
        int i;
        double *desiredVals = new double[getNumDOF()];
        for (i=0; i<getNumDOF(); i++) {
                if ( mGloveInterface->isDOFControlled(i) ) {
                        desiredVals[i] = mGloveInterface->getDOFValue(i);
                        if ( desiredVals[i] < getDOF(i)->getMin() ) desiredVals[i] = getDOF(i)->getMin();
                        if ( desiredVals[i] > getDOF(i)->getMax() ) desiredVals[i] = getDOF(i)->getMax();
                }
                else {
                        desiredVals[i] = getDOF(i)->getVal();
                }
        }
        moveDOFToContacts(desiredVals, NULL, false);
        emitConfigChange();
        delete [] desiredVals;
}

Link *
Robot::importMountPiece(QString filename)
{
        QString mountName = QString(name())+"_mount";
        mountPiece = new Link(this,-1,-1,myWorld,mountName.latin1());
        if (mountPiece->load(filename)==FAILURE){
                delete mountPiece; mountPiece = NULL; return NULL;
        }
        mountPiece->addToIvc();
        IVRoot->addChild(mountPiece->getIVRoot());
        mountPiece->setTran(base->getTran());
        base->setDynJoint(new FixedDynJoint(mountPiece,base));
        return mountPiece;
}

void 
Robot::getBodyList(std::vector<Body*> *bodies)
{
        if (base) bodies->push_back(base);
        if (mountPiece) bodies->push_back(mountPiece);
        for (int c=0; c<numChains; c++) {
                for (int l=0; l<chainVec[c]->getNumLinks(); l++) {
                        bodies->push_back(chainVec[c]->getLink(l));
                }
        }
        for (int c=0; c<numChains; c++) {
                for (int i=0; i<chainVec[c]->getNumAttachedRobots(); i++) {
                        chainVec[c]->getAttachedRobot(i)->getBodyList(bodies);
                }
        }
}

void
Robot::getAllLinks(std::vector<DynamicBody *> &allLinkVec)
{
        int c,l,i;
        if (base) allLinkVec.push_back(base);
        if (mountPiece) allLinkVec.push_back(mountPiece);

        for (c=0;c<numChains;c++)
                for (l=0;l<chainVec[c]->getNumLinks();l++)
                        allLinkVec.push_back(chainVec[c]->getLink(l));
        for (c=0;c<numChains;c++)
                for (i=0;i<chainVec[c]->getNumAttachedRobots();i++)
                        chainVec[c]->getAttachedRobot(i)->getAllLinks(allLinkVec);
}

void
Robot::getAllAttachedRobots(std::vector<Robot *> &robotVec)
{
        robotVec.push_back(this);
        for (int c=0;c<numChains;c++) {
                for (int i=0;i<chainVec[c]->getNumAttachedRobots();i++) {
                        chainVec[c]->getAttachedRobot(i)->getAllAttachedRobots(robotVec);
                }
        }
}


void
Robot::attachRobot(Robot *r,int chainNum,const transf &offsetTr)
{
  r->parent = this;
  r->parentChainNum = chainNum;
  r->tranToParentEnd = offsetTr.inverse();
  chainVec[chainNum]->attachRobot(r,offsetTr);

  Link *lastLink = chainVec[chainNum]->getLink(chainVec[chainNum]->getNumLinks()-1);
  myWorld->toggleCollisions(false, lastLink, r->getBase());
  if (r->getMountPiece()) {
          myWorld->toggleCollisions(false, lastLink, r->getMountPiece());
  }
}


void
Robot::detachRobot(Robot *r)
{
        DBGA("Detaching Robot " << r->getName().latin1() << " from " << getName().latin1());
        r->parent = NULL;
        chainVec[r->parentChainNum]->detachRobot(r);
}


void
Robot::fwdKinematics(double* dofVals,std::vector<transf>& trVec,int chainNum)
{
        double *jointVals = new double[numJoints];
        getJointValues(jointVals);
        for (int d=0; d<numDOF; d++) {
                dofVec[d]->accumulateMove(dofVals[d], jointVals, NULL);
        }
        chainVec[chainNum]->fwdKinematics(jointVals,trVec);
        delete [] jointVals;
}

int
Robot::invKinematics(const transf& targetPos, double* dofVals, int chainNum)
{
        //upperBound constrains the change of the joint values in radian
        //epsilon is the upper bound for a joint delta value in radian to check the convergence
        double factor = 0, epsilon = 0.0001, upperBound = 0.2;
        const int safeGuardUpperBound = 200;
        Matrix deltaPR(6,1); // the difference of the position and the orientation
        deltaPR.setAllElements(1.0);
        Matrix deltaDOF(numDOF, 1); // the delta of dof value in this robot
        std::vector<double> currentDOFVals(numDOF);

        for(int i = 0; i < numDOF; ++i){
                //get the dof vals for inverse kinematics computation
                currentDOFVals[i] = dofVec[i]->getVal();
                //get the dof vals, for later comparison and decision
                dofVals[i] = dofVec[i]->getVal();
        }

        std::vector<transf> fwdK;
        fwdK.resize(chainVec[chainNum]->getNumLinks(), transf::IDENTITY);
        transf currentPos;

        // forwardKinematics only calculates the forward kinematics with respect to the base
        // of the robot, did not consider the transformation from world origin to the base
        
        fwdKinematics(&currentDOFVals[0], fwdK, chainNum);
        currentPos = fwdK[chainVec[chainNum]->getNumLinks() - 1];

        DBGP("from: " << currentPos.translation().x() << " " <<
                currentPos.translation().y() << " " <<
                currentPos.translation().z() << " " <<
                currentPos.rotation().w << " " <<
                currentPos.rotation().x << " " <<
                currentPos.rotation().y << " " <<
                currentPos.rotation().z);

        DBGP("to: " << targetPos.translation().x() << " " <<
                targetPos.translation().y() << " " <<
                targetPos.translation().z() << " " <<
                targetPos.rotation().w << " " <<
                targetPos.rotation().x << " " <<
                targetPos.rotation().y << " " <<
                targetPos.rotation().z);

        int safeguard = 0;
        while(++safeguard < safeGuardUpperBound){
                /* forwardKinematics calculates the forward kinematics with respect to the world
                */
                fwdKinematics(&currentDOFVals[0], fwdK, chainNum);
                currentPos = fwdK[chainVec[chainNum]->getNumLinks() - 1];
                //compute the deltaPR, the difference of the position and orientation
                vec3 dtLocation, dtOrientation;
                dtLocation = targetPos.translation() - currentPos.translation();

                vec3 v1, v2;
                mat3 m1, m2;
                currentPos.rotation().ToRotationMatrix(m1);
                targetPos.rotation().ToRotationMatrix(m2);

                v1 = vec3(m1.element(0,0), m1.element(0,1), m1.element(0,2));
                v2 = vec3(m2.element(0,0), m2.element(0,1), m2.element(0,2));
                dtOrientation = v1 * v2;
                v1 = vec3(m1.element(1,0), m1.element(1,1), m1.element(1,2));
                v2 = vec3(m2.element(1,0), m2.element(1,1), m2.element(1,2));
                dtOrientation += v1 * v2;
                v1 = vec3(m1.element(2,0), m1.element(2,1), m1.element(2,2));
                v2 = vec3(m2.element(2,0), m2.element(2,1), m2.element(2,2));
                dtOrientation += v1 * v2;
                dtOrientation *= 0.5;

                deltaPR.elem(0,0) = dtLocation[0];
                deltaPR.elem(1,0) = dtLocation[1];
                deltaPR.elem(2,0) = dtLocation[2];
                deltaPR.elem(3,0) = dtOrientation[0];
                deltaPR.elem(4,0) = dtOrientation[1];
                deltaPR.elem(5,0) = dtOrientation[2];

                Matrix m = chainVec[chainNum]->actuatedJacobian(chainVec[chainNum]->linkJacobian(true));
                Matrix jointJacobian = m.getSubMatrix(m.rows() - 6, 0, 6, chainVec[chainNum]->getNumJoints());
                Matrix jointToDOFJacobian = getJacobianJointToDOF(chainNum);
                Matrix DOFJacobian = Matrix(jointJacobian.rows(), jointToDOFJacobian.cols());
                matrixMultiply(jointJacobian, jointToDOFJacobian, DOFJacobian);

/*              for(int i = 0; i < DOFJacobian.rows(); ++i){
                        for(int j = 0; j < DOFJacobian.cols(); ++j){
                                DBGA(DOFJacobian.elem(i,j) << " ");
                        }
                        std::cout << std::endl;
                }

                for(int i = 0; i < deltaPR.rows(); ++i){
                        for(int j = 0; j < deltaPR.cols(); ++j){
                                DBGA(deltaPR.elem(i,j) << " ");
                        }
                        DBGA("");
                }
*/
                //underDeterminedSolveMPInv(DOFJacobian, deltaPR, deltaDOF);
                underDeterminedSolveQR(DOFJacobian, deltaPR, deltaDOF);
/*              std::cout << "results: \n";
                for(int i = 0; i < deltaDOF.rows(); ++i){
                        for(int j = 0; j < deltaDOF.cols(); ++j){
                                std::cout << deltaDOF.elem(i,j) << " ";
                        }
                        std::cout << std::endl;
                }
*/
                //apply the change to the robot and continue
                for(int i = 0; i < numDOF; ++i){
                        //modify the dof's
                        currentDOFVals[i] += deltaDOF.elem(i,0);
                        //rounded the dof's within 360 degree
                        currentDOFVals[i] -= (int)(currentDOFVals[i]/(2*M_PI)) * 2 * M_PI;
                }

                //check the maximum of the joint change
                factor = -1.0;
                for(int i = 0; i < deltaDOF.cols(); ++i){
                        factor = factor > fabs(deltaDOF.elem(i,0)) ? factor : fabs(deltaDOF.elem(i,0));
                }

                //check the convergence
                if(factor < epsilon){
                        for(int k = 0; k < numDOF; ++k){
                                //std::cout << "from: " << dofVals[k] << " to: " << currentJointVals[k];
                                //check if the joint value jumps to another one which is too far away of the previous one
                                if(fabs(dofVals[k] - currentDOFVals[k]) > upperBound){
                                        std::cout << "exceeds the upper bound at DOF: " << k << " , jumping to another pose\n";
                                        return FAILURE;
                                }
                                dofVals[k] = currentDOFVals[k];
                        }
                        break;
                }
        }
        //check that all the joints are within the legal range
        for(int i = 0; i < numChains; ++i){
                for(int j = 0; j < chainVec[i]->getNumJoints(); ++j){
                        double jnt = dofVals[chainVec[i]->getJoint(j)->getDOFNum()] *
                                chainVec[i]->getJoint(j)->getCouplingRatio();
                        if(jnt > chainVec[i]->getJoint(j)->getMax() ||
                                jnt < chainVec[i]->getJoint(j)->getMin()){
                                        std::cout << "inverse kinematics in invalid joint value: " << i << "th chain, " << j << "th joint\n";
                                        return FAILURE;
                                }
                }
        }

        if(safeguard >= safeGuardUpperBound){
                std::cout << "safeguard hit\n";
                return FAILURE;
        }
        /*
        chainVec[chainNum]->fwdKinematics(&currentJointVals[0], fwdK);
        currentPos = fwdK[chainVec[chainNum]->getNumLinks() - 1];
        std::cout << "in: " << currentPos.translation().x() << " " <<
        currentPos.translation().y() << " " <<
        currentPos.translation().z() << " " <<
        currentPos.rotation().w << " " <<
        currentPos.rotation().x << " " <<
        currentPos.rotation().y << " " <<
        currentPos.rotation().z << " " << "\n";
        */
        return SUCCESS;
}

bool
Robot::simpleContactsPreventMotion(const transf& motion) const
{
        transf linkMotion;
        transf baseToLink;

        for (int i=0;i<numChains;i++) {
                for (int j=0; j<chainVec[i]->getNumLinks();j++) {
                        if (chainVec[i]->getLink(j)->getNumContacts()) {
                                baseToLink = chainVec[i]->getLink(j)->getTran() * base->getTran().inverse();
                                linkMotion = baseToLink * motion * baseToLink.inverse();
                                if (chainVec[i]->getLink(j)->externalContactsPreventMotion(linkMotion))
                                        return true;
                        }
                }
                // recursively check the motion for any robots attached to this chain
                for (int j=0;j<chainVec[i]->getNumAttachedRobots();j++) {
                        baseToLink = chainVec[i]->getAttachedRobot(j)->getBase()->getTran() * base->getTran().inverse();
                        linkMotion = baseToLink * motion * baseToLink.inverse();
                        if (chainVec[i]->getAttachedRobot(j)->simpleContactsPreventMotion(linkMotion))
                                return true;
                }
        }
        return false;
}


bool
Robot::contactsPreventMotion(const transf& motion) const
{
        int l;
        transf linkMotion;

        // check if we can move the base link
        if (base->externalContactsPreventMotion(motion)) return true;
        if (mountPiece && mountPiece->contactsPreventMotion(motion)) return true;

        // check if we can move all the kinematic chains and the robots connected to them
        if (simpleContactsPreventMotion(motion)) return true;

        // if this robot is connected to another before it, try to do inv kinematics
        // and check if contacts on any of those links will prevent this motion
        if (parent) {
                transf newTran = tranToParentEnd*motion*base->getTran();// * parent->getBase()->getTran().inverse();
                KinematicChain *chain = parent->getChain(parentChainNum);
                std::vector<transf> parentTrVec(chain->getNumLinks());    
                double *dofVals = new double[parent->getNumDOF()];

                if (parent->invKinematics(newTran,dofVals,parentChainNum)==FAILURE){
                        delete [] dofVals;
                        return true;
                }

                parent->fwdKinematics(dofVals,parentTrVec,parentChainNum);
                delete [] dofVals;

                for (l=0;l<chain->getNumLinks();l++) {      
                        if (chain->getLink(l)->getNumContacts()) {
                                linkMotion = parentTrVec[l] * chain->getLink(l)->getTran().inverse();
                                if (chain->getLink(l)->contactsPreventMotion(linkMotion)) {
                                        return true;
                                }
                        }
                } 
        }
        return false;
}

void
Robot::breakContacts()
{
        for (int f=0; f<getNumChains(); f++) {
                for (int l=0; l<getChain(f)->getNumLinks(); l++) {
                        getChain(f)->getLink(l)->breakContacts();
                }
        }
        base->breakContacts();
        if (mountPiece) mountPiece->breakContacts();
}


void
Robot::setRenderGeometry(bool s)
{
        mRenderGeometry = s;
        if (parent) parent->setRenderGeometry(s);
        for (int c=0; c<numChains; c++) {
                for (int j=0; j<chainVec[c]->getNumAttachedRobots(); j++) {
                        chainVec[c]->getAttachedRobot(j)->setRenderGeometry(s);
                }
        }
        for (int f=0; f<getNumChains(); f++) {
                for (int l=0; l<getChain(f)->getNumLinks(); l++) {
                        getChain(f)->getLink(l)->setRenderGeometry(s);
                }
        }
        base->setRenderGeometry(s);
        if (mountPiece) mountPiece->setRenderGeometry(s);
}

int
Robot::setTran(const transf& tr)
{
  if (parent) {
    double *dofVals = new double[parent->getNumDOF()];
    transf parentBaseToEnd = tranToParentEnd*tr;
        if (parent->invKinematics(parentBaseToEnd,dofVals,parentChainNum)==FAILURE) {
          delete [] dofVals;
      return FAILURE;
    }
    parent->forceDOFVals(dofVals);
        delete [] dofVals;
  } else {
    simpleSetTran(tr);  
  }
  return SUCCESS;
}

int
Robot::getNumLinks() const
{
        int links=0;
        for (int k=0; k<getNumChains(); k++) {
                links += chainVec[k]->getNumLinks();
        }
        links++; //palm
        if (mountPiece) links++;
        return links;
}

int
Robot::getNumContacts(Body *body)
{
        int c = getBase()->getNumContacts(body);
        for (int f=0; f<getNumChains(); f++) {
                c += getChain(f)->getNumContacts(body);
        }
        return c;
}

std::list<Contact*> 
Robot::getContacts(Body* body)
{
        std::list<Contact*> contacts;
        std::list<Contact*> chainContacts = getBase()->getContacts(body);
        contacts.insert(contacts.end(),chainContacts.begin(), chainContacts.end());
        for (int f=0; f<getNumChains(); f++) {
                chainContacts = getChain(f)->getContacts(body);
                contacts.insert(contacts.end(),chainContacts.begin(), chainContacts.end());
        }
        return contacts;
}

int
Robot::getNumVirtualContacts()
{
        int c = getBase()->getNumVirtualContacts();
        for (int f=0; f<getNumChains(); f++) {
                for (int l=0; l<getChain(f)->getNumLinks(); l++) {
                        c += getChain(f)->getLink(l)->getNumVirtualContacts();
                }
        }
        return c;
}

void
Robot::showVirtualContacts(bool on)
{
        int s; bool b;
        if (on) s = 1;
        else s = 2;
        b = getBase()->frictionConesShown();
        getBase()->showFrictionCones(b, s);
        for (int f=0; f<getNumChains(); f++) {
                for (int l=0; l<getChain(f)->getNumLinks(); l++) {
                        b = getChain(f)->getLink(l)->frictionConesShown();
                        getChain(f)->getLink(l)->showFrictionCones( b, s );
                }
        }
}

//----------------------------------save and load state-------------------------

void 
Robot::saveState()
{
        savedTran = getTran();
        savedDOF.clear();
        QTextStream stream(&savedDOF,QIODevice::ReadWrite);
        writeDOFVals(stream);
        savedState = true;
}

void
Robot::restoreState()
{
        if (!savedState) {
                DBGA("Warning: hand state not saved!");
                if (savedDOF.size()==0) {
                        DBGA("Saved DOF data absent; can not restore");
                        return;
                }
        }
        savedState = false;
        setTran( savedTran );
        QTextStream stream(&savedDOF,QIODevice::ReadOnly);
        readDOFVals(stream);
}

QTextStream&
Robot::readDOFVals(QTextStream &is)
{
        for (int d=0; d<numDOF; d++) {
                if (!dofVec[d]->readFromStream(is)) {
                        DBGA("Failed to read DOF " << d << " from stream");
                        return is;
                }
        }

        // This is a somewhat contorted way of doing things, but this is the only mechanism available
        // for actually moving the DOFs 
        double *jointVals = new double[numJoints];
        for (int d=0; d<numDOF; d++) {
                dofVec[d]->getJointValues(jointVals);
        }
        setJointValuesAndUpdate(jointVals);
        delete [] jointVals;
        return is;
}

QTextStream&
Robot::writeDOFVals(QTextStream &os)
{
        for (int d=0; d<numDOF; d++) {
                dofVec[d]->writeToStream(os);
                os << " ";
        }
        return os;
}

//---------------------------------- STATIC MOVEMENT FUNCTIONS--------

void Robot::setJointValues(const double* jointVals)
{
        for (int c=0; c<numChains; c++) {
                chainVec[c]->setJointValues(jointVals);
        }
}

void Robot::setJointValuesAndUpdate(const double* jointVals)
{
        for (int c=0; c<numChains; c++) {
                chainVec[c]->setJointValues(jointVals);
                chainVec[c]->updateLinkPoses();
        }
}


int
Robot::interpolateJoints(double *initialVals, double *finalVals, 
                                                 CollisionReport *colReport, double *interpolationTime)
{
        double *currentVals = new double[ getNumJoints() ];
        double minDist,t = 0.0,deltat = 1.0;
        while (deltat > 1.0e-20 && t >= 0) {

                DBGP("DOF joint interpolation cycle")
                        deltat *= 0.5;
                for (int j=0; j<getNumJoints(); j++) {
                        currentVals[j] = t*finalVals[j] + (1.0-t)*initialVals[j];
                }
                setJointValuesAndUpdate(currentVals);

                minDist = 1.0e10;
                for (int i=0; i<(int)colReport->size(); i++) {
                        minDist = MIN(minDist,myWorld->getDist( (*colReport)[i].first, (*colReport)[i].second));
                        if ( minDist <= 0 ) {
                                t -= deltat;
                                break;
                        }
                }
                if (minDist > 0) {
                        if (minDist < 0.5 * Contact::THRESHOLD) break;
                        t += deltat;
                }
        }

        int retVal;
        if (deltat < 1.0e-20 || t < 0) {
#ifdef GRASPITDBG
                std::cerr << "t: " << t << "  d: " << deltat << std::endl;
                std::cerr << "I am " << getName().latin1() << std::endl;
                for (int i=0; i<(int)colReport->size(); i++) {
                        std::cerr << (*colReport)[i].first->getName().latin1()<<" -- " 
                                << (*colReport)[i].second->getName().latin1() << std::endl;
                }
                std::cerr << "min dist: " << minDist << std::endl << std::endl;
#endif
                DBGA("Robot joint interpolation error");
                retVal = 0;
        } else {
                DBGP("Interpolation to t=" << t << " (deltat=" << deltat << ")");
                retVal = 1;
        }
        delete [] currentVals;
        *interpolationTime = t;
        return retVal;
}

void Robot::stopJointsFromLink(Link *link, double *desiredJointVals, int *stoppedJoints)
{
        if (link->getChainNum()<0) return; //it's the base
        KinematicChain *chain = chainVec[link->getChainNum()];
        for (int j=chain->getLastJoint( link->getLinkNum() ); j>=0; j--) {
                int jnum = chain->getJoint(j)->getNum();
                if (desiredJointVals[jnum] > chain->getJoint(j)->getVal()) {
                        //stopped in the positive direction
                        stoppedJoints[jnum] |= 1;
                } else if (desiredJointVals[jnum] < chain->getJoint(j)->getVal()){
                        //stopped in the negative direction
                        stoppedJoints[jnum] |= 2;
                }
        }
}

bool
Robot::getJointValuesFromDOF(const double *desiredDofVals, double *actualDofVals, 
                                                         double *jointVals, int *stoppedJoints)
{
        bool done,moving;
        std::vector<transf> newLinkTran;
        DBGP("Getting joint movement from DOFs");
        do {
                moving = false; done = true;
                getJointValues(jointVals);
                //compute the aggregate move for all DOF's
                for (int d=0;d<numDOF;d++){
                        //this check is now done by each DOF independently
                        //if ( fabs(dofVals[d] - dofVec[d]->getVal()) < 1.0e-5) continue;
                        if (dofVec[d]->accumulateMove(desiredDofVals[d], jointVals,stoppedJoints)) {
                                moving = true;
                                actualDofVals[d] = desiredDofVals[d];
                                DBGP("DOF " << d << " is moving");
                        } else {
                                actualDofVals[d] = dofVec[d]->getVal();
                        }
                }
                if (!moving) {
                        DBGP("No DOF movement; done.");
                        break;
                }
                //see if motion is allowed by existing contacts
                for (int c = 0; c < getNumChains(); c++) {
                        KinematicChain *chain = getChain(c);
                        newLinkTran.resize(chain->getNumLinks(), transf::IDENTITY);
                        chain->infinitesimalMotion(jointVals, newLinkTran);
                        for (int l=0; l<chain->getNumLinks(); l++){
                                Link *link = chain->getLink(l);
                                transf motion = newLinkTran[l];
                                if ( link->contactsPreventMotion(motion) ) {
                                        DBGP("Chain " << link->getChainNum() << " link " << link->getLinkNum() << " is blocked.");
                                        //we stop all joints that are in the same chain before the stopped link
                                        stopJointsFromLink(link, jointVals, stoppedJoints);
                                        done = false;
                                        //once proximal links in a chain have been stopped, let's process distal links again
                                        //before making a decision on them, as their movement will be different
                                        break;
                                }
                        }
                }
                if (done) {
                        DBGP("All movement OK; done.");
                }
        } while (!done);
        return moving;
}

bool
Robot::jumpDOFToContact(double *desiredVals, int *stoppedJoints, int *numCols)
{
        CollisionReport colReport, lateContacts;

        //get new joint values and see which dof's are moving
        double *newDofVals = new double[ getNumDOF() ];
        double *initialDofVals = new double [ getNumDOF() ];
        getDOFVals(initialDofVals);

        double *newJointVals = new double[ getNumJoints() ];
        double *initialJointVals = new double[ getNumJoints() ];
        getJointValues(initialJointVals);

        if (!getJointValuesFromDOF(desiredVals, newDofVals, newJointVals, stoppedJoints)) {
                DBGP("No movement of DOFs; forceDOFTo returning false");
                if (numCols) *numCols = 0;
                delete [] initialJointVals;     delete [] newJointVals;
                delete [] initialDofVals; delete [] newDofVals;
                return false;
        }

        //compute list of links that have actually moved
        //question: should the dof's compute this?
        std::vector<Body*> interestList;
        for (int c=0; c<numChains; c++) {
                for (int l=0; l<chainVec[c]->getNumLinks(); l++) {
                        int j = chainVec[c]->getLastJoint(l);
                        if ( !stoppedJoints[ chainVec[c]->getJoint(j)->getNum() ] ) {
                                interestList.push_back( chainVec[c]->getLink(l) );
                        }
                }
        }

        setJointValuesAndUpdate(newJointVals);
        bool interpolationError = false;
        double interpolationTime;
        while (1) {
                myWorld->getCollisionReport(&colReport, &interestList);
                //if we are free of collision, we are done
                if (colReport.empty()) break;
                //if not, we need to interpolate
                //goal is to interpolate to current joint values
                getJointValues(newJointVals);
                if (!interpolateJoints(initialJointVals, newJointVals, &colReport, &interpolationTime)) {
                        DBGA("Interpolation failed!");
                        interpolationError = true;
                        break;
                }
                //save the list of contacting bodies
                lateContacts.clear();
                for (int i=0;i<(int)colReport.size();i++) {
                        lateContacts.push_back( colReport[i] );
                        DBGP("Contact: " << colReport[i].first->getName().latin1() << "--" << 
                                colReport[i].second->getName().latin1());
                }
                for (int d=0; d<numDOF; d++) {
                        DBGP("Dof " << d << "initial " << initialDofVals[d] << " new " << newDofVals[d]);
                        newDofVals[d] =     newDofVals[d] * interpolationTime + 
                                initialDofVals[d] * ( 1.0 - interpolationTime);
                        DBGP("Interpolated: " << newDofVals[d]);
                }
        }

        if (!interpolationError) {
                DBGP("ForceDOFTo done");
                myWorld->findContacts(lateContacts);
                for (int i=0; i<(int)lateContacts.size(); i++) {
                        if (lateContacts[i].first->getOwner()==this) {
                                stopJointsFromLink( (Link*)lateContacts[i].first, newJointVals, stoppedJoints);
                        }
                        if (lateContacts[i].second->getOwner()==this) {
                                stopJointsFromLink( (Link*)lateContacts[i].second, newJointVals, stoppedJoints);
                        }
                }
                updateDofVals(newDofVals);
                if (numCols) *numCols = (int)lateContacts.size();
        }

        delete [] initialDofVals; delete [] newDofVals;
        delete [] initialJointVals; delete [] newJointVals;

        if (!interpolationError) return true;
        else return false;
}


bool 
Robot::moveDOFToContacts(double *desiredVals, double *desiredSteps, bool stopAtContact, bool renderIt)
{
        //      PROF_RESET_ALL;
        //      PROF_START_TIMER(MOVE_DOF);
        PROF_TIMER_FUNC(MOVE_DOF);

        int i,d;
        CollisionReport result;

        double *stepSize= new double[numDOF];
        double *currVals = new double[numDOF];
        double *newVals = new double[numDOF];

        for (i=0;i<numDOF;i++) {
                if (!desiredSteps || desiredSteps[i] == WorldElement::ONE_STEP ) {
                        stepSize[i] = desiredVals[i] - dofVec[i]->getVal();
                } else if (desiredSteps[i]!=0.0) {
                        //make sure the steps are pointing in the right direction
                        double factor = 1.0;
                        if (desiredVals[i] < dofVec[i]->getVal()) factor = -1.0;
                        stepSize[i] = factor * fabs(desiredSteps[i]);
                } else {
                        stepSize[i] = 0.0;
                        desiredVals[i] = dofVec[i]->getVal();
                }
                DBGP("from " << dofVec[i]->getVal() << " to " << desiredVals[i] << " in " << stepSize[i] << " steps");
        }

        //this vector will keep tracked of the joints that have been stopped
        //at previous time steps due to contacts.
        int *stoppedJoints = new int[numJoints];
        for (int j=0; j<numJoints; j++) {
                stoppedJoints[j] = 0;
        }

        //loop until termination conditions are met
        int numCols,itercount = 0;
        bool moved = false;
        do {
                itercount++;
                DBGP("Move to contact cycle");
                getDOFVals(currVals);
                for (d=0;d<numDOF;d++) {
                        newVals[d] = currVals[d] + stepSize[d];
                        DBGP("  Current value (a): " << currVals[d] << "; new value: " << newVals[d] << 
                             "; step size: " << stepSize[d]);
                        if (stepSize[d] > 0 && newVals[d] > desiredVals[d])
                                newVals[d] = desiredVals[d];
                        else if (stepSize[d] < 0 && newVals[d] < desiredVals[d])
                                newVals[d] = desiredVals[d];
                        DBGP("  Current value (b): " << currVals[d] << "; new value: " << newVals[d]);
                }
                //perform one more step. jumpDOFToContact will inform us if no more
                //movement is done (or possible) and we can exit.
                if (!jumpDOFToContact(newVals, stoppedJoints, &numCols)){
                        DBGP("ForceDOFTo reports no movement is possible");
                        break;
                }
                moved = true;
                bool stopRequest = false;
                //inform whoever is listening a step has been performed
                emit moveDOFStepTaken(numCols, stopRequest);
                if (stopRequest) {
                        DBGP("Receiver of movement signal requests early exit");
                        break;
                }
                //check if we stop at first contact
                if (stopAtContact && numCols != 0) {
                        DBGP("Stopping at first contact");
                        break;
                }
                if (itercount > 500) {
                        DBGA("MoveDOF failsafe hit");
                        break;
                }
                if (renderIt && (itercount%25==0) && graspItGUI && graspItGUI->getIVmgr()->getWorld()==myWorld) {
                        graspItGUI->getIVmgr()->getViewer()->render();
                }
        } while (1);

        //      PROF_STOP_TIMER(MOVE_DOF);
        //      PROF_PRINT_ALL;

        delete [] currVals;
        delete [] newVals;
        delete [] stepSize;
        delete [] stoppedJoints;
        return moved;
}

bool
Robot::checkDOFPath(double *desiredVals, double desiredStep)
{
        int d;
        bool done, success = true;

        double *stepSize= new double[numDOF];
        double *currVals = new double[numDOF];
        double *newVals = new double[numDOF];

        for (d=0;d<numDOF;d++) {
                if (desiredStep == WorldElement::ONE_STEP )
                        stepSize[d] = desiredVals[d] - dofVec[d]->getVal();
                else if ( desiredVals[d] >= dofVec[d]->getVal() )
                        stepSize[d] = desiredStep;
                else stepSize[d] = - desiredStep;
        }

        do {
                DBGP("Move to contact cycle")
                        getDOFVals(currVals);
                for (d=0;d<numDOF;d++) {
                        newVals[d] = currVals[d] + stepSize[d];
                        if (stepSize[d] > 0 && newVals[d] > desiredVals[d])
                                newVals[d] = desiredVals[d];
                        else if (stepSize[d] < 0 && newVals[d] < desiredVals[d])
                                newVals[d] = desiredVals[d];
                }

                forceDOFVals(newVals);

                if ( !myWorld->noCollision() ) {
                        success = false;
                        break;
                }

                done = true;
                for (d=0;d<numDOF;d++) {
                        if (newVals[d] != desiredVals[d]) done = false;
                }

        } while (!done);

        delete [] currVals;
        delete [] newVals;
        delete [] stepSize;
        return success;
}

//-----------------------------static joint torques computations------------------------

Matrix 
Robot::staticJointTorques(bool useDynamicDofForce)
{
        std::vector<double> jointTorques(getNumJoints(), 0.0);
        for (int d=0; d<numDOF; d++) {
                double dofForce = -1;
                if (useDynamicDofForce) {
                        dofForce = dofVec[d]->getForce();
                }
                dofVec[d]->computeStaticJointTorques(&jointTorques[0], dofForce);
        }
        return Matrix(&jointTorques[0], getNumJoints(), 1, true);
}

//---------------------- miscellaneous functions ---------------------------

double
Robot::getApproachDistance(Body *object, double maxDist)
{
        position p0 = position(0,0,0) * getApproachTran() * getTran();
        position p = p0;
        vec3 app = vec3(0,0,1) * getApproachTran() * getTran();
        bool done = false;
        double totalDist = 0;
        vec3 direction;
        int loops = 0;
        while (!done) {
                loops++;
                //compute shortest distance between current point and object;
                direction = myWorld->pointDistanceToBody(p, object);

                //current closest point on the object
                position pc = p; pc+=direction;
                //and its direction rel. to approach direction
                if ( normalise(pc-p0) % app > 0.86 ) {
                        done = true;
                }
                //advance along approach direction
                double d = direction.len();
                totalDist += d;
                p += d * app;
                if (totalDist > maxDist) done = true;
                if (loops > 10) {
                        done = true;
                        totalDist = maxDist+1;
                        DBGA("Force exit from gettAppDist");
                }
        }
        //if (totalDist > maxDist) {DBGA("Object far away in " << loops << " loop(s)");}
        //else {DBGA("Object at " << totalDist << " in " << loops << " loop(s)");}
        return totalDist;
}

bool
Robot::snapChainToContacts(int chainNum, CollisionReport colReport)
{
        bool persistent = true;

        KinematicChain *chain = getChain(chainNum);
        chain->filterCollisionReport(colReport);
        if (colReport.empty()) {
                DBGP("Snap to chain "<<chainNum<<" done from the start - no collisions");
                return true;
        }

        std::vector<double> openVals(numDOF);
        std::vector<double> closedVals(numDOF);
        std::vector<double> openJointVals(numJoints);
        std::vector<double> closedJointVals(numJoints);
        CollisionReport openColReport;

        getDOFVals(&closedVals[0]);
        getDOFVals(&openVals[0]);
        getJointValues(&closedJointVals[0]);

        double SNAP = 0.1;
        while (1) {
                bool limitHit = true;
                int l = chain->getNumLinks() - 1;
                for (int j=chain->getLastJoint(l); j>=0; j--) {
                        int d = chain->getJoint(j)->getDOFNum();
                        double current = dofVec[d]->getVal();
                        double target;
                        if (dofVec[d]->getDefaultVelocity() < 0) {
                                target = current + SNAP;
                                if ( target > dofVec[d]->getMax() ) target = dofVec[d]->getMax();
                                else limitHit = false;
                        } else if (dofVec[d]->getDefaultVelocity() > 0) {
                                target = current - SNAP;
                                if ( target < dofVec[d]->getMin()) target = dofVec[d]->getMin();
                                else limitHit = false;
                        } else target = current;
                        openVals[d] = target;
                }

                forceDOFVals(&openVals[0]);
                myWorld->getCollisionReport(&openColReport);
                chainVec[chainNum]->filterCollisionReport(openColReport);
                if ( !openColReport.empty() ) {
                        if (persistent && !limitHit) {
                                //try again
                                forceDOFVals(&closedVals[0]);
                                SNAP += 0.1;
                        }
                        else break;
                } else {
                        break;
                }
        }
        if (!openColReport.empty()) {
                DBGP("Snap to chain "<<chainNum<<" done - open position in collision");
                forceDOFVals(&closedVals[0]);
                return false;
        }

        DBGP("Open values valid");
        getJointValues(&openJointVals[0]);
        double time;
        if (!interpolateJoints(&openJointVals[0], &closedJointVals[0], &colReport, &time)) {
                DBGP("Snap to chain "<<chainNum<<" interpolation failed");
                forceDOFVals(&closedVals[0]);
                return false;
        } else {
                //set dof vals according to interpolation time
                for (int d=0; d<numDOF; d++) {
                        closedVals[d] = closedVals[d] * time +  openVals[d] * ( 1.0 - time);
                }
                updateDofVals(&closedVals[0]);
        }
        DBGP("Snap to chain "<<chainNum<<" success");
        myWorld->findContacts(colReport);
        return true;
}


//-----------------------DYNAMICS-------------------------------

void
Robot::setDesiredDOFVals(double *dofVals)
{
        int i,j,d,numSteps;
        double timeNeeded;
        double t;
        double coeffs[5];    
        double tpow,q1,q0,qd0,qd1;
        double *traj;

        for (d=0;d<numDOF;d++) {
                if (dofVec[d]->getDefaultVelocity() == 0.0) continue;

                DBGP("DOF "<<d<<" trajectory");
                dofVec[d]->setDesiredPos(dofVals[d]);
                if (dofVec[d]->getVal() != dofVals[d]) {

                        q0 = dofVec[d]->getVal();
                        q1 = dofVals[d];
                        qd0 = 0.0;//dofVec[d]->getActualVelocity();
                        qd1 = 0.0;

                        timeNeeded = fabs(dofVals[d]-dofVec[d]->getVal()) / fabs( dofVec[d]->getDesiredVelocity() );

                        //make this a whole number of timesteps
                        numSteps = (int)ceil(timeNeeded/myWorld->getTimeStep());
                        timeNeeded = numSteps*myWorld->getTimeStep();

                        DBGP("numSteps: "<< numSteps << " time needed: " << timeNeeded);
                        traj = new double[numSteps];

                        for (i=0;i<numSteps;i++) {
                                t = (double)i/(double)(numSteps-1);
                                coeffs[4] = 6.0*(q1 - q0) - 3.0*(qd1+qd0)*timeNeeded;
                                coeffs[3] = -15.0*(q1 - q0) + (8.0*qd0 + 7.0*qd1)*timeNeeded;
                                coeffs[2] = 10.0*(q1 - q0) - (6.0*qd0 + 4.0*qd1)*timeNeeded;
                                coeffs[1] = 0.0;
                                coeffs[0] = qd0*timeNeeded; 
                                traj[i] = q0;

                                tpow = 1.0;
                                for (j=0;j<5;j++) {
                                        tpow *= t;
                                        traj[i] += tpow*coeffs[j];
                                }
                                DBGP(i << " " << t << " " << traj[i]);
                        }
                        dofVec[d]->setTrajectory(traj,numSteps);
                        delete [] traj;
                }
        }
}

void
Robot::setChainEndTrajectory(std::vector<transf>& traj,int chainNum)
{
        int i,j,numPts = traj.size();
        double *dofVals = new double[numDOF];
        bool *dofInChain = new bool[numDOF];

        if (numPts < 1 || chainNum < 0 || chainNum > numChains-1) return;
        for (j=0;j<numDOF;j++)
                dofInChain[j] = false;

        for (j=0;j<chainVec[chainNum]->getNumJoints();j++)
                dofInChain[chainVec[chainNum]->getJoint(j)->getDOFNum()] = true;

        invKinematics(traj[0],dofVals,chainNum);
        for (j=0;j<numDOF;j++)
                if (dofInChain[j]) dofVec[j]->setTrajectory(&dofVals[j],1);

        for (i=1;i<numPts;i++) {
                invKinematics(traj[i],dofVals,chainNum);
                for (j=0;j<numDOF;j++)
                        if (dofInChain[j]) dofVec[j]->addToTrajectory(&dofVals[j],1);
        }
        delete [] dofVals;
        delete [] dofInChain;
}


void
Robot::generateCartesianTrajectory(const transf &startTr, const transf &endTr,
                                                                   std::vector<transf> &traj,
                                                                   double startVel, double endVel,
                                                                   double timeNeeded)
{
        int i,j,numSteps;
        double t,tpow,dist,angle,coeffs[5];    
        vec3 newPos,axis;
        Quaternion newRot;

        (endTr.rotation() * startTr.rotation().inverse()).ToAngleAxis(angle,axis);

        if (timeNeeded <= 0.0) {
                if (defaultTranslVel == 0.0 || defaultRotVel == 0.0) return;
                timeNeeded =
                        MAX((endTr.translation() - startTr.translation()).len()/defaultTranslVel,
                        fabs(angle)/defaultRotVel);
        }

        //make this a whole number of timesteps
        numSteps = (int)ceil(timeNeeded/myWorld->getTimeStep());
        timeNeeded = numSteps*myWorld->getTimeStep();
        DBGP("Desired Tran Traj numSteps " << numSteps);  

        if (numSteps) {
                traj.clear();
                traj.reserve(numSteps);
        }

        for (i=0;i<numSteps;i++) {
                t = (double)i/(double)(numSteps-1);

                coeffs[4] = 6.0 - 3.0*(startVel+endVel)*timeNeeded;
                coeffs[3] = -15.0 + (8.0*startVel + 7.0*endVel)*timeNeeded;
                coeffs[2] = 10.0 - (6.0*startVel + 4.0*endVel)*timeNeeded;
                coeffs[1] = 0.0;
                coeffs[0] = startVel*timeNeeded; 

                dist = 0.0;    
                tpow = 1.0;
                for (j=0;j<5;j++) {
                        tpow *= t;
                        dist += tpow*coeffs[j];
                }
                newRot = Quaternion::Slerp(dist,startTr.rotation(),endTr.rotation());
                newPos = (1.0-dist)*startTr.translation() + dist*endTr.translation();
                traj.push_back(transf(newRot,newPos));
        }
}

void
Robot::updateJointValuesFromDynamics()
{
        double *jointVals = new double[ getNumJoints() ];
        //accumulate joint values as decided by the dynamics
        for (int f=0;f<numChains;f++) {
                for (int l=0;l<chainVec[f]->getNumLinks();l++) {
                        if (chainVec[f]->getLink(l)->getDynJoint())
                                chainVec[f]->getLink(l)->getDynJoint()->updateValues();
                }
                for (int j=0; j<chainVec[f]->getNumJoints(); j++) {
                        jointVals[ chainVec[f]->getJoint(j)->getNum() ] = chainVec[f]->getJoint(j)->getDynamicsVal();
                }
        }
        //set the joint themselves
        setJointValues(jointVals);

        //we no longer set the DOFs according to what the dynamic joints look like
        //we just do it once when the dynamics are turned off
        //however, the PD controller still needs to do it and relies on jont vals having
        //been set here
        delete [] jointVals;
}

void
Robot::applyJointPassiveInternalWrenches()
{
        for (int c=0; c<numChains; c++) {
                for (int j=0; j<getChain(c)->getNumJoints(); j++) {
                        getChain(c)->getJoint(j)->applyPassiveInternalWrenches();
                }
        }
}

void 
Robot::buildDOFLimitConstraints(std::map<Body*,int> &islandIndices, int numBodies, 
                                                                double* H, double *g, int &hcn)
{
        for (int d=0; d<numDOF; d++) {
                dofVec[d]->buildDynamicLimitConstraints(islandIndices, numBodies, H, g, hcn);
        }
}

void
Robot::buildDOFCouplingConstraints(std::map<Body*,int> &islandIndices, int numBodies, 
                                                                   double* Nu, double *eps, int &ncn)
{       
        for(int d=0; d<numDOF; d++) {
                dofVec[d]->buildDynamicCouplingConstraints(islandIndices, numBodies, Nu, eps, ncn);
        }
        return;
}

void
Robot::DOFController(double timeStep)
{
        DBGP(" in Robot controller");
        if (myWorld->getWorldTime() > dofUpdateTime) {
                DBGP("Updating setpoints");
                for (int d=0;d<numDOF;d++) {
                        dofVec[d]->updateSetPoint();
                }
                dofUpdateTime += myWorld->getTimeStep();
        }
        for (int d=0;d<numDOF;d++) {
                dofVec[d]->callController(timeStep);
        }
}


bool 
Robot::dynamicAutograspComplete()
{
        for (int c=0; c<numChains; c++) {
                Link *l = chainVec[c]->getLink( chainVec[c]->getNumLinks()-1 );
                //if the last link has a contact, the autograsp *might* have ended
                if (l->getNumContacts()) continue;
                int jNum = chainVec[c]->getLastJoint(chainVec[c]->getNumLinks()-1);
                Joint *j = chainVec[c]->getJoint(jNum);
                double limit;
                //which joint limit are we going towards
                if (dofVec[j->getDOFNum()]->getDefaultVelocity() > 0) {
                        if (j->getCouplingRatio() > 0) {
                                limit = j->getMax();
                        } else {
                                limit = j->getMin();
                        }
                } else if (dofVec[j->getDOFNum()]->getDefaultVelocity() < 0) {
                        if (j->getCouplingRatio() < 0) {
                                limit = j->getMax();
                        } else {
                                limit = j->getMin();
                        }
                } else {
                        assert(0);
                }
                //if this joint has hit its limit, it is possible that the autograsp is done
                if (fabs(j->getDynamicsVal() - limit) < 3.0e-2) continue;
                //if none or the above are true, the autograsp definitely is still going
                DBGP("Autograsp going on chain " << c << " joint " << jNum << ": val " 
                        << j->getDynamicsVal() << "; limit " << limit);
                return false;
        }
        return true;            
}

bool
Robot::contactSlip()
{
        double linearThreshold = 100.0;
        double angularThreshold = 2.0;
        for (int c=0; c<numChains; c++) {
                for (int l=0; l<getChain(c)->getNumLinks(); l++) {
                        Link *link = getChain(c)->getLink(l);
                        if (!link->getNumContacts()) continue;
                        const double *v = link->getVelocity();
                        double magn = 0.0;
                        for (int i=0; i<3; i++) {
                                magn += v[i] * v[i];
                        }
                        if (magn > linearThreshold * linearThreshold) {
                                DBGA("Chain " << c << " link " << l << " moving with linear vel. magnitude " << magn);
                                return true;
                        }
                        magn = 0.0;
                        for (int i=3; i<6; i++) {
                                magn += v[i] * v[i];
                        }
                        if (magn > angularThreshold * angularThreshold) {
                                DBGA("Chain " << c << " link " << l << " moving with angular vel. magnitude " << magn);
                                return true;
                        }
                }
        }
        return false;
}

//                           Hand Methods

Hand::Hand(World *w,const char *name) : Robot(w,name)
{
        grasp = new Grasp(this);
}

Hand::~Hand()
{
        std::cout << "Deleting Hand: " << std::endl;
        delete grasp;
}

void
Hand::cloneFrom(Hand *original)
{
        Robot::cloneFrom(original);
        grasp->setObjectNoUpdate( original->getGrasp()->getObject() );
        grasp->setGravity( original->getGrasp()->isGravitySet() );
}

bool
Hand::autoGrasp(bool renderIt, double speedFactor, bool stopAtContact)
{
        int i;
        double *desiredVals = new double[numDOF];

        if (myWorld->dynamicsAreOn()) {
                for (i=0;i<numDOF;i++) {
                        if (speedFactor * dofVec[i]->getDefaultVelocity() > 0)
                                desiredVals[i] = dofVec[i]->getMax();
                        else if (speedFactor * dofVec[i]->getDefaultVelocity() < 0)
                                desiredVals[i] = dofVec[i]->getMin();           
                        else desiredVals[i] = dofVec[i]->getVal();
                        DBGP("Desired val "<<i<<" "<<desiredVals[i]);
                        //for now
                        dofVec[i]->setDesiredVelocity(speedFactor * dofVec[i]->getDefaultVelocity());
                }
                setDesiredDOFVals(desiredVals);
                delete [] desiredVals;
                return true;
        }

        double *stepSize= new double[numDOF];
        for (i=0;i<numDOF;i++) {
                if (speedFactor * dofVec[i]->getDefaultVelocity() >= 0) desiredVals[i] = dofVec[i]->getMax();
                else desiredVals[i] = dofVec[i]->getMin();
                stepSize[i] = dofVec[i]->getDefaultVelocity()*speedFactor*AUTO_GRASP_TIME_STEP;
        }

        bool moved = moveDOFToContacts(desiredVals, stepSize, stopAtContact, renderIt);
        delete [] desiredVals;
        delete [] stepSize;
        return moved;
}

/*
This is a shortcut (read "hack") that opens the hand (in the opposite direction 
of autoGrasp), in increments of speedFactor * each DOF range. Does it until no 
collision is detected. It does it in chunks, never does interpolation, if it can 
not find a collision-free pose it just returns false.
*/
bool
Hand::quickOpen(double speedFactor)
{
        double *desiredVals = new double[numDOF];
        getDOFVals(desiredVals);
        double *desiredSteps = new double[numDOF];
        for (int i=0; i<numDOF; i++) {
                double d = -1 * dofVec[i]->getDefaultVelocity();
                if ( d > 0 ) {
                        desiredSteps[i] = d * speedFactor * (dofVec[i]->getMax() - desiredVals[i]);
                } else if ( d < 0 ) {
                        desiredSteps[i] = d * speedFactor * (desiredVals[i] - dofVec[i]->getMin() );
                } else {
                        desiredSteps[i] = 0;
                }
        }
        bool done = false, success = false;
        int loops = 0;
        while (!done) {
                loops++;
                //we move out at least once
                done = true;
                for (int i=0; i<numDOF; i++) {
                        desiredVals[i] += desiredSteps[i];

                        if ( desiredVals[i] > dofVec[i]->getMax() ) {desiredVals[i] = dofVec[i]->getMax();}
                        else if ( desiredVals[i] < dofVec[i]->getMin() ){ desiredVals[i] = dofVec[i]->getMin();}
                        else if (desiredSteps[i] != 0) {done = false;} //we can do at least another loop
                        //DBGA("DOF " << i << " to " << desiredVals[i]);
                }
                forceDOFVals(desiredVals);
                if ( myWorld->noCollision() ) {
                        done = true;
                        success = true;
                }               
        }
        if (loops > 20) DBGA("Open finger loops: " << loops << " Hand: " << myName.latin1());
        delete [] desiredVals;
        delete [] desiredSteps;
        return success;
}

bool
Hand::approachToContact(double moveDist, bool oneStep)
{
        transf newTran = translate_transf(vec3(0,0,moveDist) * getApproachTran()) * getTran();
        bool result;
        if (oneStep) {
                result = moveTo(newTran, WorldElement::ONE_STEP, WorldElement::ONE_STEP);
        } else {
                result = moveTo(newTran, 50*Contact::THRESHOLD, M_PI/36.0);
        }
        if (result) {
                DBGP("Approach no contact");
                return false;
        } else {
                DBGP("Approach results in contact");
                return true;
        }
}

bool 
Hand::findInitialContact(double moveDist)
{
        CollisionReport colReport;
        while (myWorld->getCollisionReport(&colReport)) {
                transf newTran = translate_transf(vec3(0,0,-moveDist / 2.0) * 
                        getApproachTran()) * getTran();
                setTran(newTran);
        }
        return approachToContact(moveDist, false);
}

Matrix
Robot::getJacobianJointToDOF(int chainNum){
        Matrix m = Matrix(chainVec[chainNum]->getNumJoints(), numDOF);
        //initialy they are irrelevant to each other
        m.setAllElements(0.0);
        for(int i = 0; i < m.rows(); ++i){
                //for each joint i
                m.elem(i,chainVec[chainNum]->getJoint(i)->getDOFNum()) = chainVec[chainNum]->getJoint(i)->getCouplingRatio();
        }
        return m;
}

---

graspit
Author(s):
autogenerated on Fri Jan 11 11:19:01 2013