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/**
\file
\author Shin'ichiro Nakaoka
*/
#include "LeggedBody.h"
#include "Link.h"
#include "JointPath.h"
#include <cnoid/YamlNodes>
#include <cnoid/EigenYaml>
using namespace cnoid;
LeggedBody::LeggedBody()
{
}
LeggedBody::LeggedBody(const LeggedBody& org)
: Body(org)
{
}
LeggedBody::~LeggedBody()
{
}
BodyPtr LeggedBody::duplicate() const
{
return new LeggedBody(*this);
}
bool LeggedBody::checkBodyInfoAsLeggedBody(const YamlMappingPtr info)
{
return info->findSequence("footLinks")->isValid();
}
void LeggedBody::doResetInfo(const YamlMapping& info)
{
Body::doResetInfo(info);
footInfos.clear();
const YamlSequence& footLinkNodes = *info["footLinks"].toSequence();
for(int i=0; i < footLinkNodes.size(); ++i){
FootInfo footInfo;
footInfo.info = footLinkNodes[i].toMapping();
const YamlMapping& footLinkNode = *footInfo.info;
footInfo.link = link(footLinkNode["link"].toString());
if(footInfo.link){
readEx(footLinkNode, "soleCenter", footInfo.soleCenter);
if(!read(footLinkNode, "homeCop", footInfo.homeCop)){
footInfo.homeCop = footInfo.soleCenter;
}
footInfos.push_back(footInfo);
}
}
}
bool LeggedBody::doLegIkToMoveCm(const Vector3& c, bool onlyProjectionToFloor)
{
if(footInfos.empty()){
return false;
}
static const int MAX_ITERATION = 100;
static const double ERROR_THRESH_SQR = 1.0e-6 * 1.0e-6;
Link* baseFoot = footInfos[0].link;
Link* waist = rootLink();
LinkTraverse fkTraverse(waist);
Vector3 c0 = calcCM();
bool failed = false;
int loopCounter = 0;
while(true){
Vector3 e = c - c0;
if(onlyProjectionToFloor){
e.z() = 0.0;
}
if(e.squaredNorm() < ERROR_THRESH_SQR){
break;
}
size_t numDone = 0;
JointPathPtr baseToWaist = getJointPath(baseFoot, waist);
if(baseToWaist && baseToWaist->calcInverseKinematics(waist->p + e, waist->R)){
numDone++;
for(size_t j=1; j < footInfos.size(); ++j){
Link* foot = footInfos[j].link;
JointPathPtr waistToFoot = getJointPath(waist, foot);
if(waistToFoot){
bool ikDone;
if(waistToFoot->hasAnalyticalIK()){
ikDone = waistToFoot->calcInverseKinematics(foot->p, foot->R);
} else {
Vector3 p0 = foot->p;
Matrix3 R0 = foot->R;
waistToFoot->calcForwardKinematics();
ikDone = waistToFoot->calcInverseKinematics(p0, R0);
}
if(ikDone){
numDone++;
} else {
break;
}
}
}
}
if(numDone < footInfos.size()){
failed = true;
break;
}
if(++loopCounter < MAX_ITERATION){
fkTraverse.calcForwardKinematics();
c0 = calcCM();
} else {
break;
}
}
return !failed;
}
bool LeggedBody::setStance(double width, Link* baseLink)
{
if(footInfos.size() != 2){
return false;
}
bool result = false;
Link* foot[2];
double sign;
if(footInfos[1].link == baseLink){
foot[0] = footInfos[1].link;
foot[1] = footInfos[0].link;
sign = -1.0;
} else {
foot[0] = footInfos[0].link;
foot[1] = footInfos[1].link;
sign = 1.0;
}
const Matrix3& R0 = foot[0]->R;
const Vector3 baseY(R0(0,1), sign * R0(1,1), 0.0);
Link* waist = rootLink();
foot[1]->p = foot[0]->p + baseY * width;
Vector3 wp = (foot[0]->p + foot[1]->p) / 2.0;
wp[2] = waist->p[2];
JointPathPtr ikPath = getJointPath(foot[0], waist);
if(ikPath && ikPath->calcInverseKinematics(wp, waist->R)){
ikPath = getJointPath(waist, foot[1]);
if(ikPath && ikPath->calcInverseKinematics(foot[1]->p, foot[1]->R)){
LinkTraverse fkTraverse(baseLink);
fkTraverse.calcForwardKinematics();
result = true;
}
}
return result;
}
Vector3 LeggedBody::centerOfSole(int footIndex) const
{
const FootInfo& info = footInfos[footIndex];
return info.link->p + info.link->R * info.soleCenter;
}
Vector3 LeggedBody::centerOfSoles() const
{
Vector3 p = Vector3::Zero();
int n = footInfos.size();
if(n == 0){
throw "LeggedBody::centerOfSoles(): not foot information";
} else {
for(int i=0; i < n; ++i){
const FootInfo& info = footInfos[i];
p.noalias() += info.link->p + info.link->R * info.soleCenter;
}
}
return p / n;
}
Vector3 LeggedBody::homeCopOfSole(int footIndex) const
{
const FootInfo& info = footInfos[footIndex];
return info.link->p + info.link->R * info.homeCop;
}
Vector3 LeggedBody::homeCopOfSoles() const
{
Vector3 p = Vector3::Zero();
int n = footInfos.size();
if(n == 0){
throw "LeggedBody::homeCopOfSoles(): not foot information";
} else {
for(size_t i=0; i < footInfos.size(); ++i){
const FootInfo& info = footInfos[i];
p.noalias() += info.link->p + info.link->R * info.homeCop;
}
}
return p / n;
}
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