typef/src/stroke_converter.cpp

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#include <pluginlib/class_list_macros.h>
#include "stroke_converter.h"


void seed_converter::TypeF::makeTables()
{
  ROS_INFO("upper's csv_dir is %s", upper_csv_dir.c_str());
  ROS_INFO("lifter's csv_dir is %s", lifter_csv_dir.c_str());

  if (makeTable(shoulder_p.table, upper_csv_dir + "/shoulder_p.csv"))
    makeInvTable(shoulder_p.inv_table, shoulder_p.table);
  if (makeTable(shoulder_r.table, upper_csv_dir + "/shoulder_r.csv"))
    makeInvTable(shoulder_r.inv_table, shoulder_r.table);
  if (makeTable(elbow_p.table, upper_csv_dir + "/elbow_p.csv"))
    makeInvTable(elbow_p.inv_table, elbow_p.table);
  if (makeTable(wrist_p.table, upper_csv_dir + "/wrist_p.csv"))
    makeInvTable(wrist_p.inv_table, wrist_p.table);
  if (makeTable(wrist_r.table, upper_csv_dir + "/wrist_r.csv"))
    makeInvTable(wrist_r.inv_table, wrist_r.table);
  if (makeTable(neck_p.table, upper_csv_dir + "/neck_p.csv"))
    makeInvTable(neck_p.inv_table, neck_p.table);
  if (makeTable(neck_r.table, upper_csv_dir + "/neck_r.csv"))
    makeInvTable(neck_r.inv_table, neck_r.table);
  if (makeTable(waist_p.table, upper_csv_dir + "/waist_p.csv"))
    makeInvTable(waist_p.inv_table, waist_p.table);
  if (makeTable(waist_r.table, upper_csv_dir + "/waist_r.csv"))
    makeInvTable(waist_r.inv_table, waist_r.table);
  if (makeTable(leg.table, lifter_csv_dir + "/leg.csv"))
    makeInvTable(leg.inv_table, leg.table);

}

void seed_converter::TypeF::Angle2Stroke
(std::vector<int16_t>& _strokes, const std::vector<double>& _angles)
{
  static const float rad2Deg = 180.0 / M_PI;
  static const float scale = 100.0;

  seed_converter::DiffJoint r_wrist
    = setDualAngleToStroke(rad2Deg * _angles[20], -rad2Deg * _angles[19],
                           wrist_r.table, wrist_p.table, true);
  seed_converter::DiffJoint l_wrist
    = setDualAngleToStroke(-rad2Deg * _angles[9], rad2Deg * _angles[8],
                           wrist_r.table, wrist_p.table, true);
  seed_converter::DiffJoint waist
    = setDualAngleToStroke(-rad2Deg * _angles[2], rad2Deg * _angles[1],
                           waist_r.table, waist_p.table, false);
  seed_converter::DiffJoint neck
    = setDualAngleToStroke(rad2Deg * _angles[13], rad2Deg * _angles[12],
                           neck_r.table, neck_p.table, false);

  _strokes[0] = static_cast<int16_t>(scale * rad2Deg * _angles[0]);
  _strokes[1] = static_cast<int16_t>(scale * waist.one);
  _strokes[2] = static_cast<int16_t>(scale * waist.two);

  _strokes[3]
    = static_cast<int16_t>(scale * setAngleToStroke(-rad2Deg * _angles[3], shoulder_p.table));
  _strokes[4]
    = static_cast<int16_t>(scale * setAngleToStroke(rad2Deg * _angles[4], shoulder_r.table));
  _strokes[5] = static_cast<int16_t>(-scale * rad2Deg * _angles[5]);
  _strokes[6]
    = static_cast<int16_t>(scale * setAngleToStroke(180 + rad2Deg * _angles[6], elbow_p.table));
  _strokes[7] = static_cast<int16_t>(-scale * rad2Deg * _angles[7]);
  _strokes[8] = static_cast<int16_t>(scale * l_wrist.one);
  _strokes[9] = static_cast<int16_t>(scale * l_wrist.two);
  _strokes[10] = static_cast<int16_t>(scale * (rad2Deg * _angles[10] + 50.0) * 0.18);

  _strokes[11] = static_cast<int16_t>(scale * rad2Deg * _angles[11]);
  _strokes[12] = static_cast<int16_t>(scale * neck.two);
  _strokes[13] = static_cast<int16_t>(scale * neck.one);

  _strokes[14]
    = static_cast<int16_t>(scale * setAngleToStroke(-rad2Deg * _angles[14], shoulder_p.table));
  _strokes[15]
    = static_cast<int16_t>(scale * setAngleToStroke(-rad2Deg * _angles[15], shoulder_r.table));
  _strokes[16] = static_cast<int16_t>(-scale * rad2Deg * _angles[16]);
  _strokes[17]
    = static_cast<int16_t>(scale * setAngleToStroke(180 + rad2Deg * _angles[17], elbow_p.table));
  _strokes[18] = static_cast<int16_t>(-scale * rad2Deg * _angles[18]);
  _strokes[19] = static_cast<int16_t>(scale * r_wrist.two);
  _strokes[20] = static_cast<int16_t>(scale * r_wrist.one);
  _strokes[21] = static_cast<int16_t>(-scale * (rad2Deg * _angles[21] - 50.0) * 0.18);

  _strokes[22]
    = static_cast<int16_t>(scale * setAngleToStroke(- rad2Deg * _angles[22], leg.table));  //knee
  _strokes[23]
    = static_cast<int16_t>(scale * setAngleToStroke(  rad2Deg * _angles[23], leg.table));  //ankle
}

void seed_converter::TypeF::Stroke2Angle
(std::vector<double>& _angles, const std::vector<int16_t>& _strokes)
{
  static const float deg2Rad = M_PI / 180.0;
  static const float scale_inv = 0.01;

  _angles[0] = deg2Rad * scale_inv * _strokes[0];
  _angles[1]
    = deg2Rad * setStrokeToAngle(scale_inv * (_strokes[2] + _strokes[1]) * 0.5, waist_p.inv_table);
  _angles[2]
    = deg2Rad * setStrokeToAngle(scale_inv * (_strokes[2] - _strokes[1]) * 0.5, waist_r.inv_table);
  _angles[3] = -deg2Rad * setStrokeToAngle(scale_inv * _strokes[3], shoulder_p.inv_table);
  _angles[4] = deg2Rad * setStrokeToAngle(scale_inv * _strokes[4], shoulder_r.inv_table);
  _angles[5] = -deg2Rad * scale_inv * _strokes[5];
  _angles[6] = - M_PI + deg2Rad * setStrokeToAngle(scale_inv * _strokes[6], elbow_p.inv_table);
  _angles[7] = -deg2Rad * scale_inv * _strokes[7];
  _angles[8]
    = -deg2Rad * setStrokeToAngle(scale_inv*(_strokes[9] - _strokes[8])*0.5, wrist_p.inv_table);
  _angles[9]
    = -deg2Rad * setStrokeToAngle(scale_inv*(_strokes[9] + _strokes[8])*0.5, wrist_r.inv_table);
  _angles[10] = deg2Rad * (scale_inv * _strokes[10] * 5.556 - 50.0);

  _angles[11] = deg2Rad * scale_inv * _strokes[11];
  _angles[12]
    = deg2Rad * setStrokeToAngle(scale_inv*(_strokes[13] + _strokes[12])*0.5, neck_p.inv_table);
  _angles[13]
    = -deg2Rad * setStrokeToAngle(scale_inv*(_strokes[13] - _strokes[12])*0.5, neck_r.inv_table);

  _angles[14] = -deg2Rad * setStrokeToAngle(scale_inv * _strokes[14], shoulder_p.inv_table);
  _angles[15] = -deg2Rad * setStrokeToAngle(scale_inv * _strokes[15], shoulder_r.inv_table);
  _angles[16] = -deg2Rad * scale_inv * _strokes[16];
  _angles[17] = - M_PI + deg2Rad * setStrokeToAngle(scale_inv * _strokes[17], elbow_p.inv_table);
  _angles[18] = -deg2Rad * scale_inv * _strokes[18];
  _angles[19]
    = -deg2Rad * setStrokeToAngle(scale_inv*(_strokes[20] - _strokes[19])*0.5, wrist_p.inv_table);
  _angles[20]
    = deg2Rad * setStrokeToAngle(scale_inv*(_strokes[20] + _strokes[19])*0.5, wrist_r.inv_table);
  _angles[21] = -deg2Rad * (scale_inv * _strokes[21] * 5.556 - 50.0);

  _angles[22] = -deg2Rad * setStrokeToAngle(scale_inv * _strokes[22], leg.inv_table);  // knee
  _angles[23] = deg2Rad * setStrokeToAngle(scale_inv * _strokes[23], leg.inv_table);  // ankle
}

PLUGINLIB_EXPORT_CLASS(seed_converter::TypeF, seed_converter::StrokeConverter)