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MotorEconders-consistency - retrieve the coupling matrix at runtime #60

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merged 12 commits into from
Feb 21, 2022
Merged

MotorEconders-consistency - retrieve the coupling matrix at runtime #60

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44eced0
fixing opt enc gearratio
davidetome Feb 9, 2022
5b878fe
wip
davidetome Feb 9, 2022
34806f7
formatting one matrix from n matricies retrieved at runtime
davidetome Feb 15, 2022
711a08e
wip
davidetome Feb 16, 2022
a80e798
matrix correctly reconstructed - to be tested on the robot
davidetome Feb 17, 2022
7189c5a
matrix correctly reconstructed - to be tested on the robot
davidetome Feb 17, 2022
01d591a
coupling matrix are now retrieved at rurntime for MotorEconders-consi…
davidetome Feb 18, 2022
546c1d0
removed ubused variablw
davidetome Feb 18, 2022
6c08bd4
fixed typo
davidetome Feb 18, 2022
96c4df1
restored default encoders-icub.xml
davidetome Feb 18, 2022
6d4f86c
restored left leg conf file for iCub_SIM
davidetome Feb 18, 2022
39ac97a
motorEncoder-consistenct - removed matrices from .ini files
davidetome Feb 21, 2022
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96 changes: 81 additions & 15 deletions src/motorEncoders-consistency/motorEncodersConsistency.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@
#include <fstream>
#include "motorEncodersConsistency.h"
#include <iostream>
#include <yarp/dev/IRemoteVariables.h>

using namespace std;

Expand Down Expand Up @@ -124,20 +125,24 @@ bool OpticalEncodersConsistency::setup(yarp::os::Property& property) {
{
matrix.resize(matrix_size,matrix_size);
matrix.eye();
Bottle* matrixBottle = property.find("matrix").asList();
if (matrixBottle!= NULL && matrixBottle->size() == (matrix_size*matrix_size) )
{
for (int i=0; i< (matrix_size*matrix_size); i++)
{
matrix.data()[i]=matrixBottle->get(i).asFloat64();
}
}
else
{
char buff [500];
sprintf (buff, "invalid number of elements of parameter matrix %d!=%d", matrixBottle->size() , (matrix_size*matrix_size));
ROBOTTESTINGFRAMEWORK_ASSERT_ERROR(buff);
}

// The couplig matrix is retrived run-time by the IRemoteVariable interface accessing the jinimatic_mj variable
//
// Bottle* matrixBottle = property.find("matrix").asList();

// if (matrixBottle!= NULL && matrixBottle->size() == (matrix_size*matrix_size) )
// {
// for (int i=0; i< (matrix_size*matrix_size); i++)
// {
// matrix.data()[i]=matrixBottle->get(i).asFloat64();
// }
// }
// else
// {
// char buff [500];
// sprintf (buff, "invalid number of elements of parameter matrix %d!=%d", matrixBottle->size() , (matrix_size*matrix_size));
// ROBOTTESTINGFRAMEWORK_ASSERT_ERROR(buff);
// }
}
else
{
Expand All @@ -161,6 +166,8 @@ bool OpticalEncodersConsistency::setup(yarp::os::Property& property) {
ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(dd->view(iimd),"Unable to open interaction mode interface");
ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(dd->view(imotenc),"Unable to open motor encoders interface");
ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(dd->view(imot),"Unable to open motor interface");
ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(dd->view(ivar),"Unable to open motor interface");


if (!ienc->getAxes(&n_part_joints))
{
Expand Down Expand Up @@ -202,6 +209,7 @@ bool OpticalEncodersConsistency::setup(yarp::os::Property& property) {
gearbox[i]=t;
}


return true;
}

Expand Down Expand Up @@ -317,6 +325,59 @@ void OpticalEncodersConsistency::run()
int cycle=0;
double start_time = yarp::os::Time::now();

//****************************************************************************************
//Retrieving coupling matrix using IRemoteVariable
//****************************************************************************************

yarp::os::Bottle b;

ivar->getRemoteVariable("kinematic_mj", b);
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auto bb = b.get(1);
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int matrix_size = matrix.cols();

matrix.eye();

int njoints [4];

for(int i=0 ; i< b.size() ; i++)
{
Bottle bv;
bv.fromString(b.get(i).toString());
njoints[i] = sqrt(bv.size());

int ele = 0;
if(i==0) {
for (int r=0; r < njoints[i]; r++)
{
for (int c=0; c < njoints[i]; c++)
{
matrix(r,c) = bv.get(ele).asFloat64();
ele++;
}
}

}
else{
for (int r=0; r < njoints[i]; r++)
{
for (int c=0; c < njoints[i]; c++)
{
int jntprev = 0;
for (int j=0; j < i; j++) jntprev += njoints[j];
if(!jntprev > matrix_size) matrix(r+jntprev,c+jntprev) = bv.get(ele).asFloat64();
ele++;
}
}
}

}

// yDebug() << "MATRIX J2M : \n" << matrix.toString();

// **************************************************************************************

trasp_matrix = matrix.transposed();
inv_matrix = yarp::math::luinv(matrix);
inv_trasp_matrix = inv_matrix.transposed();
Expand All @@ -341,6 +402,8 @@ void OpticalEncodersConsistency::run()
yarp::sig::Vector tmp_vector;
tmp_vector.resize(n_part_joints);



while (1)
{
double curr_time = yarp::os::Time::now();
Expand Down Expand Up @@ -375,13 +438,16 @@ void OpticalEncodersConsistency::run()
{
off_enc_jnt = enc_jnt;
off_enc_mot2jnt = enc_mot2jnt;

}

enc_jnt2mot = matrix * enc_jnt;
enc_mot2jnt = inv_matrix * (enc_mot - off_enc_mot);
vel_jnt2mot = matrix * vel_jnt;
//acc_jnt2mot = matrix * acc_jnt;
for (unsigned int i = 0; i < jointsList.size(); i++) enc_jnt2mot[i] = enc_jnt2mot[i] * gearbox[i];


for (unsigned int i = 0; i < jointsList.size(); i++) enc_jnt2mot[i] = enc_jnt2mot[i] * gearbox[i];;
for (unsigned int i = 0; i < jointsList.size(); i++) vel_jnt2mot[i] = vel_jnt2mot[i] * gearbox[i];
//for (unsigned int i = 0; i < jointsList.size(); i++) acc_jnt2mot[i] = acc_jnt2mot[i] * gearbox[i];
for (unsigned int i = 0; i < jointsList.size(); i++) enc_mot2jnt[i] = enc_mot2jnt[i] / gearbox[i];
Expand Down
6 changes: 4 additions & 2 deletions src/motorEncoders-consistency/motorEncodersConsistency.h
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Expand Up @@ -108,13 +108,15 @@ class OpticalEncodersConsistency : public yarp::robottestingframework::TestCase

int n_part_joints;
int cycles;

yarp::dev::PolyDriver *dd;
yarp::dev::IPositionControl *ipos;
yarp::dev::IControlMode *icmd;
yarp::dev::IPositionControl *ipos;
yarp::dev::IControlMode *icmd;
yarp::dev::IInteractionMode *iimd;
yarp::dev::IEncoders *ienc;
yarp::dev::IMotorEncoders *imotenc;
yarp::dev::IMotor *imot;
yarp::dev::IRemoteVariables *ivar;

yarp::sig::Vector zero_vector;
yarp::sig::Vector enc_jnt;
Expand Down
2 changes: 1 addition & 1 deletion suites/contexts/icubSim/optical_encoders_consistency_left_leg.ini
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Expand Up @@ -3,7 +3,7 @@ robot ${robotname}
part left_leg
joints (0 1 2 3 4 5)
home (0 0 0 0 0 0)
speed (20 20 20 20)
speed (40 40 40 40)
max (15 15 15 -15 15 -15)
min (0 0 0 0 0 0)
cycles 10
Expand Down
15 changes: 2 additions & 13 deletions suites/encoders-icub.xml
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Expand Up @@ -4,17 +4,6 @@
<description> Testing encoders</description>
<environment>--robotname icub</environment>

<test type="dll" param="--from optical_encoders_drift_left_arm.ini"> OpticalEncodersDrift </test>
<test type="dll" param="--from optical_encoders_drift_right_arm.ini"> OpticalEncodersDrift </test>
<test type="dll" param="--from optical_encoders_drift_left_leg.ini"> OpticalEncodersDrift </test>
<test type="dll" param="--from optical_encoders_drift_right_leg.ini"> OpticalEncodersDrift </test>
<test type="dll" param="--from optical_encoders_drift_torso.ini"> OpticalEncodersDrift </test>
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<test type="dll" param="--from motorEncoderConsistency_left_arm.ini"> MotorEncodersConsistency </test>
<test type="dll" param="--from motorEncoderConsistency_right_arm.ini"> MotorEncodersConsistency </test>
<test type="dll" param="--from motorEncoderConsistency_left_leg.ini"> MotorEncodersConsistency </test>
<test type="dll" param="--from motorEncoderConsistency_right_leg.ini"> MotorEncodersConsistency </test>
<test type="dll" param="--from motorEncoderConsistency_torso.ini"> MotorEncodersConsistency </test>
<test type="dll" param="--from motorEncodersConsistency_face.ini"> MotorEncodersConsistency </test>
<test type="dll" param="--from motorEncodersConsistency_head.ini"> MotorEncodersConsistency </test>

<test type="dll" param="--from contexts/icub/motorEncoderConsistency_left_leg.ini"> MotorEncodersConsistency </test>
</suite>
7 changes: 4 additions & 3 deletions suites/encoders-icubSim.xml
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Expand Up @@ -5,10 +5,11 @@
<environment>--robotname icubSim</environment>
<fixture param="--fixture icubsim-fixture.xml"> yarpmanager </fixture>

<test type="dll" param="--from optical_encoders_consistency_left_arm.ini"> MotorEncodersConsistency </test>

<test type="dll" param="--from contexts/icubSim/optical_encoders_consistency_left_arm.ini"> MotorEncodersConsistency </test>
<!-- <test type="dll" param="--from optical_encoders_consistency_left_arm.ini"> MotorEncodersConsistency </test>
<test type="dll" param="--from optical_encoders_consistency_right_arm.ini"> MotorEncodersConsistency </test>
<test type="dll" param="--from optical_encoders_consistency_left_leg.ini"> MotorEncodersConsistency </test>
<test type="dll" param="--from optical_encoders_consistency_right_leg.ini"> MotorEncodersConsistency </test>
<test type="dll" param="--from optical_encoders_consistency_torso.ini"> MotorEncodersConsistency </test>
<test type="dll" param="--from optical_encoders_consistency_torso.ini"> MotorEncodersConsistency </test> -->
</suite>