Using lambda functions in the callbacks
Note
The source code for this example can be found in [orca_root]/examples/intermediate/02-using_lambda_callbacks.cc
, or alternatively on github at: https://github.com/syroco/orca/blob/dev/examples/intermediate/02-using_lambda_callbacks.cc
Full Code Listing
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// Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
// Copyright 2018, Fuzzy Logic Robotics
// Main contributor(s): Antoine Hoarau, Ryan Lober, and
// Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
//
// ORCA is a whole-body reactive controller framework for robotics.
//
// This software is governed by the CeCILL-C license under French law and
// abiding by the rules of distribution of free software. You can use,
// modify and/ or redistribute the software under the terms of the CeCILL-C
// license as circulated by CEA, CNRS and INRIA at the following URL
// "http://www.cecill.info".
//
// As a counterpart to the access to the source code and rights to copy,
// modify and redistribute granted by the license, users are provided only
// with a limited warranty and the software's author, the holder of the
// economic rights, and the successive licensors have only limited
// liability.
//
// In this respect, the user's attention is drawn to the risks associated
// with loading, using, modifying and/or developing or reproducing the
// software by the user in light of its specific status of free software,
// that may mean that it is complicated to manipulate, and that also
// therefore means that it is reserved for developers and experienced
// professionals having in-depth computer knowledge. Users are therefore
// encouraged to load and test the software's suitability as regards their
// requirements in conditions enabling the security of their systems and/or
// data to be ensured and, more generally, to use and operate it in the
// same conditions as regards security.
//
// The fact that you are presently reading this means that you have had
// knowledge of the CeCILL-C license and that you accept its terms.
/** @file
@copyright 2018 Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
@author Antoine Hoarau
@author Ryan Lober
*/
#include <orca/orca.h>
using namespace orca::all;
class MinJerkPositionTrajectory {
private:
Eigen::Vector3d alpha_, sp_, ep_;
double duration_ = 0.0;
double start_time_ = 0.0;
bool first_call_ = true;
bool traj_finished_ = false;
public:
MinJerkPositionTrajectory (double duration)
: duration_(duration)
{
}
bool isTrajectoryFinished(){return traj_finished_;}
void resetTrajectory(const Eigen::Vector3d& start_position, const Eigen::Vector3d& end_position)
{
sp_ = start_position;
ep_ = end_position;
alpha_ = ep_ - sp_;
first_call_ = true;
traj_finished_ = false;
}
void getDesired(double current_time, Eigen::Vector3d& p, Eigen::Vector3d& v, Eigen::Vector3d& a)
{
if(first_call_)
{
start_time_ = current_time;
first_call_ = false;
}
double tau = (current_time - start_time_) / duration_;
if(tau >= 1.0)
{
p = ep_;
v = Eigen::Vector3d::Zero();
a = Eigen::Vector3d::Zero();
traj_finished_ = true;
return;
}
p = sp_ + alpha_ * ( 10*pow(tau,3.0) - 15*pow(tau,4.0) + 6*pow(tau,5.0) );
v = Eigen::Vector3d::Zero() + alpha_ * ( 30*pow(tau,2.0) - 60*pow(tau,3.0) + 30*pow(tau,4.0) );
a = Eigen::Vector3d::Zero() + alpha_ * ( 60*pow(tau,1.0) - 180*pow(tau,2.0) + 120*pow(tau,3.0) );
}
};
int main(int argc, char const *argv[])
{
if(argc < 2)
{
std::cerr << "Usage : " << argv[0] << " /path/to/robot-urdf.urdf (optionally -l debug/info/warning/error)" << "\n";
return -1;
}
std::string urdf_url(argv[1]);
orca::utils::Logger::parseArgv(argc, argv);
auto robot_model = std::make_shared<RobotModel>();
robot_model->loadModelFromFile(urdf_url);
robot_model->setBaseFrame("base_link");
robot_model->setGravity(Eigen::Vector3d(0,0,-9.81));
RobotState eigState;
eigState.resize(robot_model->getNrOfDegreesOfFreedom());
eigState.jointPos.setZero();
eigState.jointVel.setZero();
robot_model->setRobotState(eigState.jointPos,eigState.jointVel);
orca::optim::Controller controller(
"controller"
,robot_model
,orca::optim::ResolutionStrategy::OneLevelWeighted
,QPSolverImplType::qpOASES
);
auto cart_task = std::make_shared<CartesianTask>("CartTask_EE");
controller.addTask(cart_task);
cart_task->setControlFrame("link_7"); //
Eigen::Affine3d cart_pos_ref;
cart_pos_ref.translation() = Eigen::Vector3d(1.,0.75,0.5); // x,y,z in meters
cart_pos_ref.linear() = Eigen::Quaterniond::Identity().toRotationMatrix();
Vector6d cart_vel_ref = Vector6d::Zero();
Vector6d cart_acc_ref = Vector6d::Zero();
Vector6d P;
P << 1000, 1000, 1000, 10, 10, 10;
//cart_task->servoController()->pid()->setProportionalGain(P);
Vector6d D;
D << 100, 100, 100, 1, 1, 1;
//cart_task->servoController()->pid()->setDerivativeGain(D);
const int ndof = robot_model->getNrOfDegreesOfFreedom();
auto jnt_trq_cstr = std::make_shared<JointTorqueLimitConstraint>("JointTorqueLimit");
controller.addConstraint(jnt_trq_cstr);
Eigen::VectorXd jntTrqMax(ndof);
jntTrqMax.setConstant(200.0);
jnt_trq_cstr->setLimits(-jntTrqMax,jntTrqMax);
auto jnt_pos_cstr = std::make_shared<JointPositionLimitConstraint>("JointPositionLimit");
controller.addConstraint(jnt_pos_cstr);
auto jnt_vel_cstr = std::make_shared<JointVelocityLimitConstraint>("JointVelocityLimit");
controller.addConstraint(jnt_vel_cstr);
Eigen::VectorXd jntVelMax(ndof);
jntVelMax.setConstant(2.0);
jnt_vel_cstr->setLimits(-jntVelMax,jntVelMax);
double dt = 0.001;
double current_time = 0.0;
// The good stuff...
MinJerkPositionTrajectory traj(5.0);
int traj_loops = 0;
bool exit_control_loop = true;
Eigen::Vector3d start_position, end_position;
cart_task->onActivationCallback([](){
std::cout << "Activating CartesianTask..." << '\n';
});
cart_task->onActivatedCallback([&](){
//start_position = cart_task->servoController()->getCurrentCartesianPose().block(0,3,3,1);
end_position = cart_pos_ref.translation();
traj.resetTrajectory(start_position, end_position);
std::cout << "CartesianTask activated. Begining trajectory." << '\n';
});
cart_task->onComputeBeginCallback([&](double current_time, double dt){
Eigen::Vector3d p, v, a;
traj.getDesired(current_time, p, v, a);
cart_pos_ref.translation() = p;
cart_vel_ref.head(3) = v;
cart_acc_ref.head(3) = a;
//cart_task->servoController()->setDesired(cart_pos_ref.matrix(),cart_vel_ref,cart_acc_ref);
});
cart_task->onComputeEndCallback([&](double current_time, double dt){
if (traj.isTrajectoryFinished() )
{
if (traj_loops < 4)
{
traj.resetTrajectory(end_position, start_position);
std::cout << "Changing trajectory direction." << '\n';
++traj_loops;
}
else
{
std::cout << "Trajectory looping finished." << '\n';
exit_control_loop = true;
}
}
});
cart_task->onDeactivationCallback([](){
std::cout << "Deactivating task." << '\n';
});
cart_task->onDeactivatedCallback([](){
std::cout << "CartesianTask deactivated. Stopping controller" << '\n';
});
controller.activateTasksAndConstraints();
// Control loop
while(traj_loops < 4)
{
controller.update(current_time, dt);
current_time +=dt;
}
std::cout << "Out of control loop." << '\n';
controller.deactivateTasksAndConstraints();
while(!controller.tasksAndConstraintsDeactivated())
{
controller.update(current_time, dt);
current_time += dt;
}
return 0;
}
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