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change the behaviour of exported links to match the RBS and RBA documentations #15

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change the behaviour of exported links to match the RBS and RBA documentations #15

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e185aa9
fix reference frame in exported velocities and accelerations
doudou Dec 10, 2018
865b9f5
hide the new reference frame behavior under a flag
doudou Dec 10, 2018
e0a6876
remove use_proper_reference_frames to match the RBS and RBA definitions
doudou Dec 13, 2018
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79 changes: 54 additions & 25 deletions tasks/ModelTask.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ void ModelTask::setGazeboModel(WorldPtr _world, ModelPtr _model)
_model_frame.set(_model->GetName());
if (_world_frame.get().empty())
_world_frame.set(GzGet((*_world), Name, ()));
}
}

void ModelTask::InternalJointExport::addJoint(JointPtr joint, std::string name)
{
Expand Down Expand Up @@ -81,12 +81,12 @@ void ModelTask::setupJoints()
}
#endif
gzmsg << "ModelTask: found joint: " << GzGet((*world), Name, ()) + "/" + model->GetName() +
"/" + joint->GetName() << endl;
"/" + joint->GetName() << endl;
main_joint_export.addJoint(joint, joint->GetScopedName());
}
exported_joints.push_back(main_joint_export);


std::vector<JointExport> requested_exports =
_exported_joints.get();

Expand Down Expand Up @@ -252,16 +252,16 @@ void ModelTask::updateModelPose(base::Time const& time)
rbs.sourceFrame = _model_frame.get();
rbs.targetFrame = _world_frame.get();
rbs.position = base::Vector3d(
model2world.Pos().X(),model2world.Pos().Y(),model2world.Pos().Z());
model2world.Pos().X(),model2world.Pos().Y(),model2world.Pos().Z());
rbs.cov_position = _cov_position.get();
rbs.orientation = base::Quaterniond(
model2world.Rot().W(),model2world.Rot().X(),model2world.Rot().Y(),model2world.Rot().Z() );
model2world.Rot().W(),model2world.Rot().X(),model2world.Rot().Y(),model2world.Rot().Z() );
rbs.cov_orientation = _cov_orientation.get();
rbs.velocity = base::Vector3d(
model2world_vel.X(), model2world_vel.Y(), model2world_vel.Z());
model2world_vel.X(), model2world_vel.Y(), model2world_vel.Z());
rbs.cov_velocity = _cov_velocity.get();
rbs.angular_velocity = base::Vector3d(
model2world_angular_vel.X(), model2world_angular_vel.Y(), model2world_angular_vel.Z());
model2world_angular_vel.X(), model2world_angular_vel.Y(), model2world_angular_vel.Z());
_pose_samples.write(rbs);
}

Expand Down Expand Up @@ -337,7 +337,7 @@ void ModelTask::updateLinks(base::Time const& time)
for(auto& exported_link : link_export_setup)
{
//do not update the link if the last port writing happened
//in less then link_period.
//in less then link_period.
if (!(exported_link.last_update.isNull()))
{
if ((time - exported_link.last_update) <= exported_link.port_period)
Expand All @@ -346,50 +346,74 @@ void ModelTask::updateLinks(base::Time const& time)

Pose3d source2world = Pose3d::Zero;
Vector3d sourceInWorld_linear_vel = Vector3d::Zero;
Vector3d source_angular_vel = Vector3d::Zero;
Vector3d sourceInWorld_angular_vel = Vector3d::Zero;
Vector3d sourceInWorld_linear_acc = Vector3d::Zero;
Vector3d source_angular_acc = Vector3d::Zero;
Vector3d sourceInWorld_angular_acc = Vector3d::Zero;
if (exported_link.source_link_ptr)
{
source2world = GzGetIgn((*(exported_link.source_link_ptr)), WorldPose, ());
sourceInWorld_linear_vel = GzGetIgn((*(exported_link.source_link_ptr)), WorldLinearVel, ());
source_angular_vel = GzGetIgn((*(exported_link.source_link_ptr)), RelativeAngularVel, ());
sourceInWorld_linear_acc = GzGetIgn((*(exported_link.source_link_ptr)), WorldLinearAccel, ());
source_angular_acc = GzGetIgn((*(exported_link.source_link_ptr)), RelativeAngularAccel, ());
sourceInWorld_linear_vel =
GzGetIgn((*(exported_link.source_link_ptr)), WorldLinearVel, ());
sourceInWorld_angular_vel =
GzGetIgn((*(exported_link.source_link_ptr)), WorldAngularVel, ());
sourceInWorld_linear_acc =
GzGetIgn((*(exported_link.source_link_ptr)), WorldLinearAccel, ());
sourceInWorld_angular_acc =
GzGetIgn((*(exported_link.source_link_ptr)), WorldAngularAccel, ());
}

Pose3d target2world = Pose3d::Zero;
if (exported_link.target_link_ptr)
target2world = GzGetIgn((*(exported_link.target_link_ptr)), WorldPose, ());
target2world = GzGetIgn((*(exported_link.target_link_ptr)), WorldPose, ());

Pose3d source2target( Pose3d(source2world - target2world) );
Vector3d sourceInTarget_linear_vel (target2world.Rot().RotateVectorReverse(sourceInWorld_linear_vel));
Vector3d sourceInTarget_linear_acc (target2world.Rot().RotateVectorReverse(sourceInWorld_linear_acc));

Vector3d linear_vel =
target2world.Rot().RotateVectorReverse(sourceInWorld_linear_vel);
Vector3d linear_acc =
target2world.Rot().RotateVectorReverse(sourceInWorld_linear_acc);
Vector3d angular_vel =
source2world.Rot().RotateVectorReverse(sourceInWorld_angular_vel);
Vector3d angular_acc =
target2world.Rot().RotateVectorReverse(sourceInWorld_angular_acc);

RigidBodyState rbs;
rbs.sourceFrame = exported_link.source_frame;
rbs.targetFrame = exported_link.target_frame;
rbs.position = base::Vector3d(
source2target.Pos().X(),source2target.Pos().Y(),source2target.Pos().Z());
source2target.Pos().X(),
source2target.Pos().Y(),
source2target.Pos().Z());
rbs.cov_position = exported_link.cov_position;
rbs.orientation = base::Quaterniond(
source2target.Rot().W(),source2target.Rot().X(),source2target.Rot().Y(),source2target.Rot().Z() );
source2target.Rot().W(),
source2target.Rot().X(),
source2target.Rot().Y(),
source2target.Rot().Z() );
rbs.cov_orientation = exported_link.cov_orientation;
rbs.velocity = base::Vector3d(
sourceInTarget_linear_vel.X(),sourceInTarget_linear_vel.Y(),sourceInTarget_linear_vel.Z());
linear_vel.X(),
linear_vel.Y(),
linear_vel.Z());
rbs.cov_velocity = exported_link.cov_velocity;
rbs.angular_velocity = base::Vector3d(
source_angular_vel.X(),source_angular_vel.Y(),source_angular_vel.Z());
angular_vel.X(),
angular_vel.Y(),
angular_vel.Z());
rbs.cov_angular_velocity = exported_link.cov_angular_velocity;
rbs.time = time;
exported_link.port->write(rbs);

base::samples::RigidBodyAcceleration rba;
rba.cov_acceleration = exported_link.cov_acceleration;
rba.acceleration = base::Vector3d(
sourceInTarget_linear_acc.X(),sourceInTarget_linear_acc.Y(),sourceInTarget_linear_acc.Z());
linear_acc.X(),
linear_acc.Y(),
linear_acc.Z());
rba.angular_acceleration = base::Vector3d(
source_angular_acc.X(),source_angular_acc.Y(),source_angular_acc.Z());
angular_acc.X(),
angular_acc.Y(),
angular_acc.Z());
rba.cov_angular_acceleration = exported_link.cov_angular_acceleration;
rba.time = time;
exported_link.rba_port->write(rba);
Expand All @@ -415,9 +439,14 @@ void ModelTask::updateLinks(base::Time const& time)
Pose3d source2world = GzGetIgn((*exported_link.source_link_ptr), WorldPose, ());

exported_link.source_link_ptr->SetForce(source2world.Rot().RotateVector(
Vector3d(exported_link.wrench_in.force[0], exported_link.wrench_in.force[1], exported_link.wrench_in.force[2])));
Vector3d(exported_link.wrench_in.force[0],
exported_link.wrench_in.force[1],
exported_link.wrench_in.force[2])));
exported_link.source_link_ptr->SetTorque(source2world.Rot().RotateVector(
Vector3d(exported_link.wrench_in.torque[0], exported_link.wrench_in.torque[1], exported_link.wrench_in.torque[2])));
Vector3d(
exported_link.wrench_in.torque[0],
exported_link.wrench_in.torque[1],
exported_link.wrench_in.torque[2])));
}
}

Expand Down