ik_tests.cpp

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#include <boost/date_time.hpp>
#include <trac_ik/trac_ik.hpp>
#include <ros/ros.h>
#include <kdl/chainiksolverpos_nr_jl.hpp>

double fRand(double min, double max)
{
  double f = (double)rand() / RAND_MAX;
  return min + f * (max - min);
}


void test(ros::NodeHandle& nh, double num_samples, std::string chain_start, std::string chain_end, double timeout, std::string urdf_param)
{

  double eps = 1e-5;

  // This constructor parses the URDF loaded in rosparm urdf_param into the
  // needed KDL structures.  We then pull these out to compare against the KDL
  // IK solver.
  TRAC_IK::TRAC_IK tracik_solver(chain_start, chain_end, urdf_param, timeout, eps);

  KDL::Chain chain;
  KDL::JntArray ll, ul; //lower joint limits, upper joint limits

  bool valid = tracik_solver.getKDLChain(chain);
  
  if (!valid) {
    ROS_ERROR("There was no valid KDL chain found");
    return;
  }

  valid = tracik_solver.getKDLLimits(ll,ul);

  if (!valid) {
    ROS_ERROR("There were no valid KDL joint limits found");
    return;
  }

  assert(chain.getNrOfJoints() == ll.data.size());
  assert(chain.getNrOfJoints() == ul.data.size());

  ROS_INFO ("Using %d joints",chain.getNrOfJoints());


  // Set up KDL IK
  KDL::ChainFkSolverPos_recursive fk_solver(chain); // Forward kin. solver
  KDL::ChainIkSolverVel_pinv vik_solver(chain); // PseudoInverse vel solver
  KDL::ChainIkSolverPos_NR_JL kdl_solver(chain,ll,ul,fk_solver, vik_solver, 1, eps); // Joint Limit Solver
  // 1 iteration per solve (will wrap in timed loop to compare with TRAC-IK) 


  // Create Nominal chain configuration midway between all joint limits
  KDL::JntArray nominal(chain.getNrOfJoints());

  for (uint j=0; j<nominal.data.size(); j++) {
    nominal(j) = (ll(j)+ul(j))/2.0;
  }    

  // Create desired number of valid, random joint configurations
  std::vector<KDL::JntArray> JointList;
  KDL::JntArray q(chain.getNrOfJoints());
   
  for (uint i=0; i < num_samples; i++) {
    for (uint j=0; j<ll.data.size(); j++) {
      q(j)=fRand(ll(j), ul(j));
    }    
    JointList.push_back(q);
  }


  boost::posix_time::ptime start_time;
  boost::posix_time::time_duration diff;

  KDL::JntArray result;
  KDL::Frame end_effector_pose;
  int rc;

  double total_time=0;
  uint success=0;

  ROS_INFO_STREAM("*** Testing KDL with "<<num_samples<<" random samples");

  for (uint i=0; i < num_samples; i++) {
    fk_solver.JntToCart(JointList[i],end_effector_pose);
    double elapsed = 0;
    result=nominal; // start with nominal
    start_time = boost::posix_time::microsec_clock::local_time();
    do {
      q=result; // when iterating start with last solution
      rc=kdl_solver.CartToJnt(q,end_effector_pose,result);
      diff = boost::posix_time::microsec_clock::local_time() - start_time;
      elapsed = diff.total_nanoseconds() / 1e9;
    } while (rc < 0 && elapsed < timeout);
    total_time+=elapsed;
    if (rc>=0)
      success++;
    
    if (int((double)i/num_samples*100)%10 == 0)
      ROS_INFO_STREAM_THROTTLE(1,int((i)/num_samples*100)<<"\% done");
  }

  ROS_INFO_STREAM("KDL found "<<success<<" solutions ("<<100.0*success/num_samples<<"\%) with an average of "<<total_time/num_samples<<" secs per sample");


  total_time=0;
  success=0;

  ROS_INFO_STREAM("*** Testing TRAC-IK with "<<num_samples<<" random samples");

  for (uint i=0; i < num_samples; i++) {
    fk_solver.JntToCart(JointList[i],end_effector_pose);
    double elapsed = 0;
    start_time = boost::posix_time::microsec_clock::local_time();
    rc=tracik_solver.CartToJnt(nominal,end_effector_pose,result);
    diff = boost::posix_time::microsec_clock::local_time() - start_time;
    elapsed = diff.total_nanoseconds() / 1e9;
    total_time+=elapsed;
    if (rc>=0)
      success++;
    
    if (int((double)i/num_samples*100)%10 == 0)
      ROS_INFO_STREAM_THROTTLE(1,int((i)/num_samples*100)<<"\% done");
  }

  ROS_INFO_STREAM("TRAC-IK found "<<success<<" solutions ("<<100.0*success/num_samples<<"\%) with an average of "<<total_time/num_samples<<" secs per sample");



}



int main(int argc, char** argv)
{
  srand(1);
  ros::init(argc, argv, "ik_tests");
  ros::NodeHandle nh("~");

  int num_samples;
  std::string chain_start, chain_end, urdf_param;
  double timeout;

  nh.param("num_samples", num_samples, 1000);
  nh.param("chain_start", chain_start, std::string(""));
  nh.param("chain_end", chain_end, std::string(""));
  
  if (chain_start=="" || chain_end=="") {
    ROS_FATAL("Missing chain info in launch file");
    exit (-1);
  }

  nh.param("timeout", timeout, 0.005);
  nh.param("urdf_param", urdf_param, std::string("/robot_description"));

  if (num_samples < 1)
    num_samples = 1;

  test(nh, num_samples, chain_start, chain_end, timeout, urdf_param);

  // Useful when you make a script that loops over multiple launch files that test different robot chains
  // std::vector<char *> commandVector;
  // commandVector.push_back((char*)"killall");
  // commandVector.push_back((char*)"-9");
  // commandVector.push_back((char*)"roslaunch");
  // commandVector.push_back(NULL);  

  // char **command = &commandVector[0];
  // execvp(command[0],command);

  return 0;
}