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;
}