sot-core  4.11.2
Hierarchical task solver plug-in for dynamic-graph.
robot-utils.hh
Go to the documentation of this file.
1 /*
2  * Copyright 2017, 2019
3  * LAAS-CNRS
4  * A. Del Prete, T. Flayols, O. Stasse, F. Bailly
5  *
6  */
7 
8 #ifndef __sot_core_robot_utils_H__
9 #define __sot_core_robot_utils_H__
10 
11 /* --------------------------------------------------------------------- */
12 /* --- INCLUDE --------------------------------------------------------- */
13 /* --------------------------------------------------------------------- */
14 
15 #include <map>
16 
17 #include <pinocchio/fwd.hpp>
18 
19 #include <boost/assign.hpp>
20 #include <boost/property_tree/ptree.hpp>
21 
22 #include <dynamic-graph/linear-algebra.h>
23 #include <dynamic-graph/logger.h>
24 #include <dynamic-graph/signal-helper.h>
26 
27 namespace dynamicgraph {
28 namespace sot {
29 
31  double upper;
32  double lower;
33 
34  JointLimits() : upper(0.0), lower(0.0) {}
35 
36  JointLimits(double l, double u) : upper(u), lower(l) {}
37 };
38 
40 
42 
43 public:
45  ExtractJointMimics(std::string &robot_model);
46 
48  const std::vector<std::string> &get_mimic_joints();
49 
50 private:
51  void go_through(boost::property_tree::ptree &pt, int level, int stage);
52 
53  // Create empty property tree object
54  boost::property_tree::ptree tree_;
55  std::vector<std::string> mimic_joints_;
56  std::string current_joint_name_;
57  void go_through_full();
58 };
59 
61  Eigen::VectorXd upper;
62  Eigen::VectorXd lower;
63 
64  ForceLimits() : upper(Vector6d::Zero()), lower(Vector6d::Zero()) {}
65 
66  ForceLimits(const Eigen::VectorXd &l, const Eigen::VectorXd &u)
67  : upper(u), lower(l) {}
68 
69  void display(std::ostream &os) const;
70 };
71 
73  std::map<Index, ForceLimits> m_force_id_to_limits;
74  std::map<std::string, Index> m_name_to_force_id;
75  std::map<Index, std::string> m_force_id_to_name;
76 
77  Index m_Force_Id_Left_Hand, m_Force_Id_Right_Hand, m_Force_Id_Left_Foot,
78  m_Force_Id_Right_Foot;
79 
80  void set_name_to_force_id(const std::string &name, const Index &force_id);
81 
82  void set_force_id_to_limits(const Index &force_id,
83  const dynamicgraph::Vector &lf,
84  const dynamicgraph::Vector &uf);
85 
86  void create_force_id_to_name_map();
87 
88  Index get_id_from_name(const std::string &name);
89 
90  const std::string &get_name_from_id(Index idx);
91  std::string cp_get_name_from_id(Index idx);
92 
93  const ForceLimits &get_limits_from_id(Index force_id);
94  ForceLimits cp_get_limits_from_id(Index force_id);
95 
96  Index get_force_id_left_hand() { return m_Force_Id_Left_Hand; }
97 
98  void set_force_id_left_hand(Index anId) { m_Force_Id_Left_Hand = anId; }
99 
100  Index get_force_id_right_hand() { return m_Force_Id_Right_Hand; }
101 
102  void set_force_id_right_hand(Index anId) { m_Force_Id_Right_Hand = anId; }
103 
104  Index get_force_id_left_foot() { return m_Force_Id_Left_Foot; }
105 
106  void set_force_id_left_foot(Index anId) { m_Force_Id_Left_Foot = anId; }
107 
108  Index get_force_id_right_foot() { return m_Force_Id_Right_Foot; }
109 
110  void set_force_id_right_foot(Index anId) { m_Force_Id_Right_Foot = anId; }
111 
112  void display(std::ostream &out) const;
113 
114 }; // struct ForceUtil
115 
118  dynamicgraph::Vector m_Right_Foot_Sole_XYZ;
119 
121  dynamicgraph::Vector m_Right_Foot_Force_Sensor_XYZ;
122 
125  void display(std::ostream &os) const;
126 };
127 
131  void display(std::ostream &os) const;
132 };
133 
135 public:
136  RobotUtil();
137 
140 
143 
146 
148  std::vector<Index> m_urdf_to_sot;
149 
151  std::size_t m_nbJoints;
152 
154  std::map<std::string, Index> m_name_to_id;
155 
157  std::map<Index, std::string> m_id_to_name;
158 
160  std::map<Index, JointLimits> m_limits_map;
161 
163  std::string m_imu_joint_name;
164 
168  void create_id_to_name_map();
169 
171  std::string m_urdf_filename;
172 
173  dynamicgraph::Vector m_dgv_urdf_to_sot;
174 
179  const Index &get_id_from_name(const std::string &name);
180 
187  const std::string &get_name_from_id(Index id);
189 
191  void set_name_to_id(const std::string &jointName, const Index &jointId);
192 
194  void set_urdf_to_sot(const std::vector<Index> &urdf_to_sot);
195  void set_urdf_to_sot(const dynamicgraph::Vector &urdf_to_sot);
196 
198  void set_joint_limits_for_id(const Index &idx, const double &lq,
199  const double &uq);
200 
201  bool joints_urdf_to_sot(ConstRefVector q_urdf, RefVector q_sot);
202 
203  bool joints_sot_to_urdf(ConstRefVector q_sot, RefVector q_urdf);
204 
205  bool velocity_urdf_to_sot(ConstRefVector q_urdf, ConstRefVector v_urdf,
206  RefVector v_sot);
207 
208  bool velocity_sot_to_urdf(ConstRefVector q_urdf, ConstRefVector v_sot,
209  RefVector v_urdf);
210 
211  bool config_urdf_to_sot(ConstRefVector q_urdf, RefVector q_sot);
212  bool config_sot_to_urdf(ConstRefVector q_sot, RefVector q_urdf);
213 
214  bool base_urdf_to_sot(ConstRefVector q_urdf, RefVector q_sot);
215  bool base_sot_to_urdf(ConstRefVector q_sot, RefVector q_urdf);
216 
222  const JointLimits &get_joint_limits_from_id(Index id);
223  JointLimits cp_get_joint_limits_from_id(Index id);
224 
227  void sendMsg(const std::string &msg, MsgType t = MSG_TYPE_INFO,
230  const std::string &lineId = "");
231 
233  void setLoggerVerbosityLevel(LoggerVerbosity lv) { logger_.setVerbosity(lv); }
234 
236  LoggerVerbosity getLoggerVerbosityLevel() { return logger_.getVerbosity(); };
237 
238  void display(std::ostream &os) const;
239 
245  template <typename Type>
246  void set_parameter(const std::string &parameter_name,
247  const Type &parameter_value) {
248  try {
249  typedef boost::property_tree::ptree::path_type path;
250  path apath(parameter_name, '/');
251  property_tree_.put<Type>(apath, parameter_value);
252  } catch (const boost::property_tree::ptree_error &e) {
253  std::ostringstream oss;
254  oss << "Robot utils: parameter path is invalid " << '\n'
255  << " for set_parameter(" << parameter_name << ")\n"
256  << e.what() << std::endl;
257  sendMsg(oss.str(), MSG_TYPE_ERROR);
258  return;
259  }
260  }
261 
268  template <typename Type>
269  Type get_parameter(const std::string &parameter_name) {
270  try {
271  boost::property_tree::ptree::path_type apath(parameter_name, '/');
272  const Type &res = property_tree_.get<Type>(apath);
273 
274  return res;
275  } catch (const boost::property_tree::ptree_error &e) {
276  std::ostringstream oss;
277  oss << "Robot utils: parameter path is invalid " << '\n'
278  << " for get_parameter(" << parameter_name << ")\n"
279  << e.what() << std::endl;
280  sendMsg(oss.str(), MSG_TYPE_ERROR);
281  }
282  }
286  boost::property_tree::ptree &get_property_tree();
287 
288 protected:
289  Logger logger_;
290 
292  std::map<std::string, std::string> parameters_strings_;
293 
295  boost::property_tree::ptree property_tree_;
296 }; // struct RobotUtil
297 
299 typedef std::shared_ptr<RobotUtil> RobotUtilShrPtr;
300 
301 RobotUtilShrPtr RefVoidRobotUtil();
302 RobotUtilShrPtr getRobotUtil(std::string &robotName);
303 bool isNameInRobotUtil(std::string &robotName);
304 RobotUtilShrPtr createRobotUtil(std::string &robotName);
305 std::shared_ptr<std::vector<std::string> > getListOfRobots();
306 
308 
309 } // namespace sot
310 } // namespace dynamicgraph
311 
312 #endif // sot_torque_control_common_h_
JointLimits(double l, double u)
Definition: robot-utils.hh:36
Definition: robot-utils.hh:72
std::map< Index, JointLimits > m_limits_map
The joint limits map.
Definition: robot-utils.hh:160
Definition: robot-utils.hh:116
const Eigen::Ref< const Eigen::VectorXd > & ConstRefVector
Definition: matrix-geometry.hh:69
Index m_Force_Id_Right_Hand
Definition: robot-utils.hh:77
Definition: robot-utils.hh:134
ForceUtil m_force_util
Forces data.
Definition: robot-utils.hh:139
void set_force_id_right_hand(Index anId)
Definition: robot-utils.hh:102
bool base_se3_to_sot(ConstRefVector pos, ConstRefMatrix R, RefVector q_sot)
Eigen::VectorXd::Index Index
Definition: robot-utils.hh:39
Definition: robot-utils.hh:128
RobotUtilShrPtr createRobotUtil(std::string &robotName)
double lower
Definition: robot-utils.hh:32
std::string m_Left_Hand_Frame_Name
Definition: robot-utils.hh:129
void set_parameter(const std::string &parameter_name, const Type &parameter_value)
Set a parameter of type string. If parameter_name already exists the value is overwritten. If not it is inserted.
Definition: robot-utils.hh:246
Eigen::VectorXd upper
Definition: robot-utils.hh:61
void set_force_id_right_foot(Index anId)
Definition: robot-utils.hh:110
dynamicgraph::Vector m_Right_Foot_Sole_XYZ
Position of the foot soles w.r.t. the frame of the foot.
Definition: robot-utils.hh:118
std::map< std::string, Index > m_name_to_force_id
Definition: robot-utils.hh:74
dynamicgraph::Vector m_dgv_urdf_to_sot
Definition: robot-utils.hh:173
Index get_force_id_right_foot()
Definition: robot-utils.hh:108
#define SOT_CORE_EXPORT
Definition: api.hh:20
void set_force_id_left_foot(Index anId)
Definition: robot-utils.hh:106
JointLimits()
Definition: robot-utils.hh:34
ForceLimits()
Definition: robot-utils.hh:64
void setLoggerVerbosityLevel(LoggerVerbosity lv)
Specify the verbosity level of the logger.
Definition: robot-utils.hh:233
const Eigen::Ref< const Eigen::MatrixXd > ConstRefMatrix
Definition: matrix-geometry.hh:71
std::string m_imu_joint_name
The name of the joint IMU is attached to.
Definition: robot-utils.hh:163
std::map< Index, ForceLimits > m_force_id_to_limits
Definition: robot-utils.hh:73
std::shared_ptr< std::vector< std::string > > getListOfRobots()
Eigen::VectorXd lower
Definition: robot-utils.hh:62
Definition: robot-utils.hh:60
std::shared_ptr< RobotUtil > RobotUtilShrPtr
Accessors - This should be changed to RobotUtilPtrShared.
Definition: robot-utils.hh:299
ForceLimits(const Eigen::VectorXd &l, const Eigen::VectorXd &u)
Definition: robot-utils.hh:66
double upper
Definition: robot-utils.hh:31
std::size_t m_nbJoints
Nb of Dofs for the robot.
Definition: robot-utils.hh:151
void set_force_id_left_hand(Index anId)
Definition: robot-utils.hh:98
RobotUtilShrPtr RefVoidRobotUtil()
LoggerVerbosity getLoggerVerbosityLevel()
Get the logger&#39;s verbosity level.
Definition: robot-utils.hh:236
Index get_force_id_right_hand()
Definition: robot-utils.hh:100
std::vector< Index > m_urdf_to_sot
Map from the urdf index to the SoT index.
Definition: robot-utils.hh:148
std::string m_Right_Hand_Frame_Name
Definition: robot-utils.hh:130
RobotUtilShrPtr getRobotUtil(std::string &robotName)
FootUtil m_foot_util
Foot information.
Definition: robot-utils.hh:142
boost::property_tree::ptree property_tree_
Property tree.
Definition: robot-utils.hh:295
Index get_force_id_left_hand()
Definition: robot-utils.hh:96
std::string m_Left_Foot_Frame_Name
Definition: robot-utils.hh:123
std::map< std::string, std::string > parameters_strings_
Map of the parameters: map of strings.
Definition: robot-utils.hh:292
std::map< std::string, Index > m_name_to_id
Map from the name to the id.
Definition: robot-utils.hh:154
Type get_parameter(const std::string &parameter_name)
Get a parameter of type string. If parameter_name already exists the value is overwritten. If not it is inserted.
Definition: robot-utils.hh:269
dynamicgraph::Vector m_Right_Foot_Force_Sensor_XYZ
Position of the force/torque sensors w.r.t. the frame of the hosting link.
Definition: robot-utils.hh:121
HandUtil m_hand_util
Hand information.
Definition: robot-utils.hh:145
Definition: robot-utils.hh:41
Eigen::Ref< Eigen::VectorXd > RefVector
Definition: matrix-geometry.hh:68
Logger logger_
Definition: robot-utils.hh:289
std::map< Index, std::string > m_force_id_to_name
Definition: robot-utils.hh:75
Index get_force_id_left_foot()
Definition: robot-utils.hh:104
Definition: robot-utils.hh:30
bool isNameInRobotUtil(std::string &robotName)
std::string m_Right_Foot_Frame_Name
Definition: robot-utils.hh:124
std::map< Index, std::string > m_id_to_name
The map between id and name.
Definition: robot-utils.hh:157
Definition: abstract-sot-external-interface.hh:17
std::string m_urdf_filename
URDF file path.
Definition: robot-utils.hh:171