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July 30, 2019 12:28
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DART build as library
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cmake_minimum_required(VERSION 3.5.1) | |
project(mpc-project) | |
set(CMAKE_INCLUDE_CURRENT_DIR ON) | |
set(CMAKE_AUTOMOC ON) | |
set (CMAKE_CXX_STANDARD 11) | |
set(CMAKE_CXX_FLAGS "-g -Wall") | |
find_package(DART 6.6.0 REQUIRED COMPONENTS utils-urdf gui CONFIG) | |
add_executable(${PROJECT_NAME} "main.cpp") | |
target_link_libraries(${PROJECT_NAME} PUBLIC dart dart-utils-urdf dart-gui) | |
target_compile_options(${PROJECT_NAME} PUBLIC -fext-numeric-literals) |
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/* | |
* Copyright (c) 2015-2016, Graphics Lab, Georgia Tech Research Corporation | |
* Copyright (c) 2015-2016, Humanoid Lab, Georgia Tech Research Corporation | |
* Copyright (c) 2016, Personal Robotics Lab, Carnegie Mellon University | |
* All rights reserved. | |
* | |
* This file is provided under the following "BSD-style" License: | |
* Redistribution and use in source and binary forms, with or | |
* without modification, are permitted provided that the following | |
* conditions are met: | |
* * Redistributions of source code must retain the above copyright | |
* notice, this list of conditions and the following disclaimer. | |
* * Redistributions in binary form must reproduce the above | |
* copyright notice, this list of conditions and the following | |
* disclaimer in the documentation and/or other materials provided | |
* with the distribution. | |
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND | |
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, | |
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF | |
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | |
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR | |
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | |
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | |
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF | |
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | |
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | |
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | |
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | |
* POSSIBILITY OF SUCH DAMAGE. | |
*/ | |
#include "dart/dart.hpp" | |
#include "dart/gui/gui.hpp" | |
const double default_height = 1.0; // m | |
const double default_width = 0.2; // m | |
const double default_depth = 0.2; // m | |
const double default_torque = 15.0; // N-m | |
const double default_force = 15.0; // N | |
const int default_countdown = 200; // Number of timesteps for applying force | |
const double default_rest_position = 0.0; | |
const double delta_rest_position = 10.0 * M_PI / 180.0; | |
const double default_stiffness = 0.0; | |
const double delta_stiffness = 10; | |
const double default_damping = 5.0; | |
const double delta_damping = 1.0; | |
using namespace dart::dynamics; | |
using namespace dart::simulation; | |
class MyWindow : public dart::gui::SimWindow | |
{ | |
public: | |
/// Constructor | |
MyWindow(WorldPtr world) | |
: mBallConstraint(nullptr), | |
mPositiveSign(true), | |
mBodyForce(false) | |
{ | |
setWorld(world); | |
// Find the Skeleton named "pendulum" within the World | |
mPendulum = world->getSkeleton("pendulum"); | |
// Make sure that the pendulum was found in the World | |
assert(mPendulum != nullptr); | |
mForceCountDown.resize(mPendulum->getNumDofs(), 0); | |
ArrowShape::Properties arrow_properties; | |
arrow_properties.mRadius = 0.05; | |
mArrow = std::shared_ptr<ArrowShape>(new ArrowShape( | |
Eigen::Vector3d(-default_height, 0.0, default_height / 2.0), | |
Eigen::Vector3d(-default_width / 2.0, 0.0, default_height / 2.0), | |
arrow_properties, dart::Color::Orange(1.0))); | |
} | |
void changeDirection() | |
{ | |
mPositiveSign = !mPositiveSign; | |
if(mPositiveSign) | |
{ | |
mArrow->setPositions( | |
Eigen::Vector3d(-default_height, 0.0, default_height / 2.0), | |
Eigen::Vector3d(-default_width / 2.0, 0.0, default_height / 2.0)); | |
} | |
else | |
{ | |
mArrow->setPositions( | |
Eigen::Vector3d(default_height, 0.0, default_height / 2.0), | |
Eigen::Vector3d(default_width / 2.0, 0.0, default_height / 2.0)); | |
} | |
} | |
void applyForce(std::size_t index) | |
{ | |
if(index < mForceCountDown.size()) | |
mForceCountDown[index] = default_countdown; | |
} | |
void changeRestPosition(double delta) | |
{ | |
for(std::size_t i = 0; i < mPendulum->getNumDofs(); ++i) | |
{ | |
DegreeOfFreedom* dof = mPendulum->getDof(i); | |
double q0 = dof->getRestPosition() + delta; | |
// The system becomes numerically unstable when the rest position exceeds | |
// 90 degrees | |
if(std::abs(q0) > 90.0 * M_PI / 180.0) | |
q0 = (q0 > 0)? (90.0 * M_PI / 180.0) : -(90.0 * M_PI / 180.0); | |
dof->setRestPosition(q0); | |
} | |
// Only curl up along one axis in the BallJoint | |
mPendulum->getDof(0)->setRestPosition(0.0); | |
mPendulum->getDof(2)->setRestPosition(0.0); | |
} | |
void changeStiffness(double delta) | |
{ | |
for(std::size_t i = 0; i < mPendulum->getNumDofs(); ++i) | |
{ | |
DegreeOfFreedom* dof = mPendulum->getDof(i); | |
double stiffness = dof->getSpringStiffness() + delta; | |
if(stiffness < 0.0) | |
stiffness = 0.0; | |
dof->setSpringStiffness(stiffness); | |
} | |
} | |
void changeDamping(double delta) | |
{ | |
for(std::size_t i = 0; i < mPendulum->getNumDofs(); ++i) | |
{ | |
DegreeOfFreedom* dof = mPendulum->getDof(i); | |
double damping = dof->getDampingCoefficient() + delta; | |
if(damping < 0.0) | |
damping = 0.0; | |
dof->setDampingCoefficient(damping); | |
} | |
} | |
/// Add a constraint to attach the final link to the world | |
void addConstraint() | |
{ | |
// Get the last body in the pendulum | |
BodyNode* tip = mPendulum->getBodyNode(mPendulum->getNumBodyNodes() - 1); | |
// Attach the last link to the world | |
Eigen::Vector3d location = | |
tip->getTransform() * Eigen::Vector3d(0.0, 0.0, default_height); | |
mBallConstraint = | |
std::make_shared<dart::constraint::BallJointConstraint>(tip, location); | |
mWorld->getConstraintSolver()->addConstraint(mBallConstraint); | |
} | |
/// Remove any existing constraint, allowing the pendulum to flail freely | |
void removeConstraint() | |
{ | |
mWorld->getConstraintSolver()->removeConstraint(mBallConstraint); | |
mBallConstraint = nullptr; | |
} | |
/// Handle keyboard input | |
void keyboard(unsigned char key, int x, int y) override | |
{ | |
switch(key) | |
{ | |
case '-': | |
changeDirection(); | |
break; | |
case '1': | |
applyForce(0); | |
break; | |
case '2': | |
applyForce(1); | |
break; | |
case '3': | |
applyForce(2); | |
break; | |
case '4': | |
applyForce(3); | |
break; | |
case '5': | |
applyForce(4); | |
break; | |
case '6': | |
applyForce(5); | |
break; | |
case '7': | |
applyForce(6); | |
break; | |
case '8': | |
applyForce(7); | |
break; | |
case '9': | |
applyForce(8); | |
break; | |
case '0': | |
applyForce(9); | |
break; | |
case 'q': | |
changeRestPosition(delta_rest_position); | |
break; | |
case 'a': | |
changeRestPosition(-delta_rest_position); | |
break; | |
case 'w': | |
changeStiffness(delta_stiffness); | |
break; | |
case 's': | |
changeStiffness(-delta_stiffness); | |
break; | |
case 'e': | |
changeDamping(delta_damping); | |
break; | |
case 'd': | |
changeDamping(-delta_damping); | |
break; | |
case 'r': | |
{ | |
if(mBallConstraint) | |
removeConstraint(); | |
else | |
addConstraint(); | |
break; | |
} | |
case 'f': | |
mBodyForce = !mBodyForce; | |
break; | |
default: | |
SimWindow::keyboard(key, x, y); | |
} | |
} | |
void timeStepping() override | |
{ | |
// Reset all the shapes to be Blue | |
for(std::size_t i = 0; i < mPendulum->getNumBodyNodes(); ++i) | |
{ | |
BodyNode* bn = mPendulum->getBodyNode(i); | |
auto visualShapeNodes = bn->getShapeNodesWith<VisualAspect>(); | |
for(std::size_t j = 0; j < 2; ++j) | |
visualShapeNodes[j]->getVisualAspect()->setColor(dart::Color::Blue()); | |
// If we have three visualization shapes, that means the arrow is | |
// attached. We should remove it in case this body is no longer | |
// experiencing a force | |
if(visualShapeNodes.size() == 3u) | |
{ | |
assert(visualShapeNodes[2]->getShape() == mArrow); | |
visualShapeNodes[2]->remove(); | |
} | |
} | |
if(!mBodyForce) | |
{ | |
// Apply joint torques based on user input, and color the Joint shape red | |
for(std::size_t i = 0; i < mPendulum->getNumDofs(); ++i) | |
{ | |
if(mForceCountDown[i] > 0) | |
{ | |
DegreeOfFreedom* dof = mPendulum->getDof(i); | |
dof->setForce( mPositiveSign? default_torque : -default_torque ); | |
BodyNode* bn = dof->getChildBodyNode(); | |
auto visualShapeNodes = bn->getShapeNodesWith<VisualAspect>(); | |
visualShapeNodes[0]->getVisualAspect()->setColor(dart::Color::Red()); | |
--mForceCountDown[i]; | |
} | |
} | |
} | |
else | |
{ | |
// Apply body forces based on user input, and color the body shape red | |
for(std::size_t i = 0; i < mPendulum->getNumBodyNodes(); ++i) | |
{ | |
if(mForceCountDown[i] > 0) | |
{ | |
BodyNode* bn = mPendulum->getBodyNode(i); | |
Eigen::Vector3d force = default_force * Eigen::Vector3d::UnitX(); | |
Eigen::Vector3d location(-default_width / 2.0, 0.0, default_height / 2.0); | |
if(!mPositiveSign) | |
{ | |
force = -force; | |
location[0] = -location[0]; | |
} | |
bn->addExtForce(force, location, true, true); | |
auto shapeNodes = bn->getShapeNodesWith<VisualAspect>(); | |
shapeNodes[1]->getVisualAspect()->setColor(dart::Color::Red()); | |
bn->createShapeNodeWith<VisualAspect>(mArrow); | |
--mForceCountDown[i]; | |
} | |
} | |
} | |
// Step the simulation forward | |
SimWindow::timeStepping(); | |
} | |
protected: | |
/// An arrow shape that we will use to visualize applied forces | |
std::shared_ptr<ArrowShape> mArrow; | |
/// The pendulum that we will be perturbing | |
SkeletonPtr mPendulum; | |
/// Pointer to the ball constraint that we will be turning on and off | |
dart::constraint::BallJointConstraintPtr mBallConstraint; | |
/// Number of iterations before clearing a force entry | |
std::vector<int> mForceCountDown; | |
/// Whether a force should be applied in the positive or negative direction | |
bool mPositiveSign; | |
/// True if 1-9 should be used to apply a body force. Otherwise, 1-9 will be | |
/// used to apply a joint torque. | |
bool mBodyForce; | |
}; | |
void setGeometry(const BodyNodePtr& bn) | |
{ | |
// Create a BoxShape to be used for both visualization and collision checking | |
std::shared_ptr<BoxShape> box(new BoxShape( | |
Eigen::Vector3d(default_width, default_depth, default_height))); | |
// Create a shape node for visualization and collision checking | |
auto shapeNode | |
= bn->createShapeNodeWith<VisualAspect, CollisionAspect, DynamicsAspect>(box); | |
shapeNode->getVisualAspect()->setColor(dart::Color::Blue()); | |
// Set the location of the shape node | |
Eigen::Isometry3d box_tf(Eigen::Isometry3d::Identity()); | |
Eigen::Vector3d center = Eigen::Vector3d(0, 0, default_height / 2.0); | |
box_tf.translation() = center; | |
shapeNode->setRelativeTransform(box_tf); | |
// Move the center of mass to the center of the object | |
bn->setLocalCOM(center); | |
} | |
BodyNode* makeRootBody(const SkeletonPtr& pendulum, const std::string& name) | |
{ | |
BallJoint::Properties properties; | |
properties.mName = name + "_joint"; | |
properties.mRestPositions = Eigen::Vector3d::Constant(default_rest_position); | |
properties.mSpringStiffnesses = Eigen::Vector3d::Constant(default_stiffness); | |
properties.mDampingCoefficients = Eigen::Vector3d::Constant(default_damping); | |
BodyNodePtr bn = pendulum->createJointAndBodyNodePair<BallJoint>( | |
nullptr, properties, BodyNode::AspectProperties(name)).second; | |
// Make a shape for the Joint | |
const double& R = default_width; | |
std::shared_ptr<EllipsoidShape> ball( | |
new EllipsoidShape(sqrt(2) * Eigen::Vector3d(R, R, R))); | |
auto shapeNode = bn->createShapeNodeWith<VisualAspect>(ball); | |
shapeNode->getVisualAspect()->setColor(dart::Color::Blue()); | |
// Set the geometry of the Body | |
setGeometry(bn); | |
return bn; | |
} | |
BodyNode* addBody(const SkeletonPtr& pendulum, BodyNode* parent, | |
const std::string& name) | |
{ | |
// Set up the properties for the Joint | |
RevoluteJoint::Properties properties; | |
properties.mName = name + "_joint"; | |
properties.mAxis = Eigen::Vector3d::UnitY(); | |
properties.mT_ParentBodyToJoint.translation() = | |
Eigen::Vector3d(0, 0, default_height); | |
properties.mRestPositions[0] = default_rest_position; | |
properties.mSpringStiffnesses[0] = default_stiffness; | |
properties.mDampingCoefficients[0] = default_damping; | |
// Create a new BodyNode, attached to its parent by a RevoluteJoint | |
BodyNodePtr bn = pendulum->createJointAndBodyNodePair<RevoluteJoint>( | |
parent, properties, BodyNode::AspectProperties(name)).second; | |
// Make a shape for the Joint | |
const double R = default_width / 2.0; | |
const double h = default_depth; | |
std::shared_ptr<CylinderShape> cyl(new CylinderShape(R, h)); | |
// Line up the cylinder with the Joint axis | |
Eigen::Isometry3d tf(Eigen::Isometry3d::Identity()); | |
tf.linear() = dart::math::eulerXYZToMatrix( | |
Eigen::Vector3d(90.0 * M_PI / 180.0, 0, 0)); | |
auto shapeNode = bn->createShapeNodeWith<VisualAspect>(cyl); | |
shapeNode->getVisualAspect()->setColor(dart::Color::Blue()); | |
shapeNode->setRelativeTransform(tf); | |
// Set the geometry of the Body | |
setGeometry(bn); | |
return bn; | |
} | |
int main(int argc, char* argv[]) | |
{ | |
// Create an empty Skeleton with the name "pendulum" | |
SkeletonPtr pendulum = Skeleton::create("pendulum"); | |
// Add each body to the last BodyNode in the pendulum | |
BodyNode* bn = makeRootBody(pendulum, "body1"); | |
bn = addBody(pendulum, bn, "body2"); | |
bn = addBody(pendulum, bn, "body3"); | |
bn = addBody(pendulum, bn, "body4"); | |
bn = addBody(pendulum, bn, "body5"); | |
// Set the initial position of the first DegreeOfFreedom so that the pendulum | |
// starts to swing right away | |
pendulum->getDof(1)->setPosition(120 * M_PI / 180.0); | |
// Create a world and add the pendulum to the world | |
WorldPtr world(new World); | |
world->addSkeleton(pendulum); | |
// Create a window for rendering the world and handling user input | |
MyWindow window(world); | |
// Print instructions | |
std::cout << "space bar: simulation on/off" << std::endl; | |
std::cout << "'p': replay simulation" << std::endl; | |
std::cout << "'1' -> '9': apply torque to a pendulum body" << std::endl; | |
std::cout << "'-': Change sign of applied joint torques" << std::endl; | |
std::cout << "'q': Increase joint rest positions" << std::endl; | |
std::cout << "'a': Decrease joint rest positions" << std::endl; | |
std::cout << "'w': Increase joint spring stiffness" << std::endl; | |
std::cout << "'s': Decrease joint spring stiffness" << std::endl; | |
std::cout << "'e': Increase joint damping" << std::endl; | |
std::cout << "'d': Decrease joint damping" << std::endl; | |
std::cout << "'r': add/remove constraint on the end of the chain" << std::endl; | |
std::cout << "'f': switch between applying joint torques and body forces" << std::endl; | |
// Initialize glut, initialize the window, and begin the glut event loop | |
glutInit(&argc, argv); | |
window.initWindow(640, 480, "Multi-Pendulum Tutorial"); | |
glutMainLoop(); | |
} |
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