├── .gitignore ├── .gitpod.yml ├── .metadata.json ├── CMakeLists.txt ├── LICENSE ├── README.md ├── app └── scripts │ └── tutorial_inverse-kinematics.xml ├── assets └── robot.gif └── src ├── controller.cpp └── robot.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | # Build products 2 | build* 3 | 4 | # Linux temp files 5 | *~ 6 | -------------------------------------------------------------------------------- /.gitpod.yml: -------------------------------------------------------------------------------- 1 | image: ghcr.io/vvv-school/gitpod:latest 2 | ports: 3 | - port: 6080 4 | onOpen: notify 5 | - port: 10000-20000 6 | onOpen: ignore 7 | workspaceLocation: "." 8 | tasks: 9 | - command: start-vnc-session.sh 10 | - command: gp ports await 6080 && gp preview $(gp url 6080) 11 | -------------------------------------------------------------------------------- /.metadata.json: -------------------------------------------------------------------------------- 1 | { 2 | "maintainer": [{ 3 | "name": "Ugo Pattacini", 4 | "email": "ugo.pattacini@iit.it", 5 | "username": "pattacini" 6 | }] 7 | } -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # requires minimum cmake version 2 | cmake_minimum_required(VERSION 3.5) 3 | 4 | # enforce C++11 features 5 | set(CMAKE_CXX_STANDARD 11) 6 | 7 | # produce the cmake var PROJECT_NAME 8 | project(tutorial_inverse-kinematics) 9 | 10 | # mandatory use of these packages 11 | find_package(ICUBcontrib REQUIRED) 12 | find_package(YARP 3.5.1 REQUIRED COMPONENTS os sig math cv) 13 | find_package(ICUB REQUIRED) 14 | 15 | # extend the current search path used by cmake to load helpers 16 | list(APPEND CMAKE_MODULE_PATH ${ICUBCONTRIB_MODULE_PATH}) 17 | 18 | find_package(OpenCV REQUIRED) 19 | 20 | # helpers defining certain macros 21 | include(ICUBcontribHelpers) 22 | include(ICUBcontribOptions) 23 | 24 | # specify to install in $ICUBcontrib_DIR/bin 25 | icubcontrib_set_default_prefix() 26 | 27 | # robot 28 | add_executable(${PROJECT_NAME}-robot ${CMAKE_SOURCE_DIR}/src/robot.cpp) 29 | target_compile_definitions(${PROJECT_NAME}-robot PRIVATE _USE_MATH_DEFINES) 30 | target_link_libraries(${PROJECT_NAME}-robot ${YARP_LIBRARIES} ctrlLib ${OpenCV_LIBS}) 31 | install(TARGETS ${PROJECT_NAME}-robot DESTINATION bin) 32 | 33 | # controller 34 | add_executable(${PROJECT_NAME}-controller ${CMAKE_SOURCE_DIR}/src/controller.cpp) 35 | target_compile_definitions(${PROJECT_NAME}-controller PRIVATE _USE_MATH_DEFINES) 36 | target_link_libraries(${PROJECT_NAME}-controller ${YARP_LIBRARIES} ctrlLib) 37 | install(TARGETS ${PROJECT_NAME}-controller DESTINATION bin) 38 | 39 | # generate ad-hoc project to perform "make uninstall" 40 | icubcontrib_add_uninstall_target() 41 | 42 | file(GLOB scripts ${CMAKE_SOURCE_DIR}/app/scripts/*.xml) 43 | yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_APPLICATIONS_INSTALL_DIR}) 44 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. By contrast, 15 | the GNU General Public License is intended to guarantee your freedom to 16 | share and change all versions of a program--to make sure it remains free 17 | software for all its users. We, the Free Software Foundation, use the 18 | GNU General Public License for most of our software; it applies also to 19 | any other work released this way by its authors. You can apply it to 20 | your programs, too. 21 | 22 | When we speak of free software, we are referring to freedom, not 23 | price. Our General Public Licenses are designed to make sure that you 24 | have the freedom to distribute copies of free software (and charge for 25 | them if you wish), that you receive source code or can get it if you 26 | want it, that you can change the software or use pieces of it in new 27 | free programs, and that you know you can do these things. 28 | 29 | To protect your rights, we need to prevent others from denying you 30 | these rights or asking you to surrender the rights. Therefore, you have 31 | certain responsibilities if you distribute copies of the software, or if 32 | you modify it: responsibilities to respect the freedom of others. 33 | 34 | For example, if you distribute copies of such a program, whether 35 | gratis or for a fee, you must pass on to the recipients the same 36 | freedoms that you received. You must make sure that they, too, receive 37 | or can get the source code. And you must show them these terms so they 38 | know their rights. 39 | 40 | Developers that use the GNU GPL protect your rights with two steps: 41 | (1) assert copyright on the software, and (2) offer you this License 42 | giving you legal permission to copy, distribute and/or modify it. 43 | 44 | For the developers' and authors' protection, the GPL clearly explains 45 | that there is no warranty for this free software. For both users' and 46 | authors' sake, the GPL requires that modified versions be marked as 47 | changed, so that their problems will not be attributed erroneously to 48 | authors of previous versions. 49 | 50 | Some devices are designed to deny users access to install or run 51 | modified versions of the software inside them, although the manufacturer 52 | can do so. This is fundamentally incompatible with the aim of 53 | protecting users' freedom to change the software. The systematic 54 | pattern of such abuse occurs in the area of products for individuals to 55 | use, which is precisely where it is most unacceptable. Therefore, we 56 | have designed this version of the GPL to prohibit the practice for those 57 | products. If such problems arise substantially in other domains, we 58 | stand ready to extend this provision to those domains in future versions 59 | of the GPL, as needed to protect the freedom of users. 60 | 61 | Finally, every program is threatened constantly by software patents. 62 | States should not allow patents to restrict development and use of 63 | software on general-purpose computers, but in those that do, we wish to 64 | avoid the special danger that patents applied to a free program could 65 | make it effectively proprietary. To prevent this, the GPL assures that 66 | patents cannot be used to render the program non-free. 67 | 68 | The precise terms and conditions for copying, distribution and 69 | modification follow. 70 | 71 | TERMS AND CONDITIONS 72 | 73 | 0. Definitions. 74 | 75 | "This License" refers to version 3 of the GNU General Public License. 76 | 77 | "Copyright" also means copyright-like laws that apply to other kinds of 78 | works, such as semiconductor masks. 79 | 80 | "The Program" refers to any copyrightable work licensed under this 81 | License. Each licensee is addressed as "you". "Licensees" and 82 | "recipients" may be individuals or organizations. 83 | 84 | To "modify" a work means to copy from or adapt all or part of the work 85 | in a fashion requiring copyright permission, other than the making of an 86 | exact copy. The resulting work is called a "modified version" of the 87 | earlier work or a work "based on" the earlier work. 88 | 89 | A "covered work" means either the unmodified Program or a work based 90 | on the Program. 91 | 92 | To "propagate" a work means to do anything with it that, without 93 | permission, would make you directly or secondarily liable for 94 | infringement under applicable copyright law, except executing it on a 95 | computer or modifying a private copy. Propagation includes copying, 96 | distribution (with or without modification), making available to the 97 | public, and in some countries other activities as well. 98 | 99 | To "convey" a work means any kind of propagation that enables other 100 | parties to make or receive copies. Mere interaction with a user through 101 | a computer network, with no transfer of a copy, is not conveying. 102 | 103 | An interactive user interface displays "Appropriate Legal Notices" 104 | to the extent that it includes a convenient and prominently visible 105 | feature that (1) displays an appropriate copyright notice, and (2) 106 | tells the user that there is no warranty for the work (except to the 107 | extent that warranties are provided), that licensees may convey the 108 | work under this License, and how to view a copy of this License. If 109 | the interface presents a list of user commands or options, such as a 110 | menu, a prominent item in the list meets this criterion. 111 | 112 | 1. Source Code. 113 | 114 | The "source code" for a work means the preferred form of the work 115 | for making modifications to it. "Object code" means any non-source 116 | form of a work. 117 | 118 | A "Standard Interface" means an interface that either is an official 119 | standard defined by a recognized standards body, or, in the case of 120 | interfaces specified for a particular programming language, one that 121 | is widely used among developers working in that language. 122 | 123 | The "System Libraries" of an executable work include anything, other 124 | than the work as a whole, that (a) is included in the normal form of 125 | packaging a Major Component, but which is not part of that Major 126 | Component, and (b) serves only to enable use of the work with that 127 | Major Component, or to implement a Standard Interface for which an 128 | implementation is available to the public in source code form. A 129 | "Major Component", in this context, means a major essential component 130 | (kernel, window system, and so on) of the specific operating system 131 | (if any) on which the executable work runs, or a compiler used to 132 | produce the work, or an object code interpreter used to run it. 133 | 134 | The "Corresponding Source" for a work in object code form means all 135 | the source code needed to generate, install, and (for an executable 136 | work) run the object code and to modify the work, including scripts to 137 | control those activities. However, it does not include the work's 138 | System Libraries, or general-purpose tools or generally available free 139 | programs which are used unmodified in performing those activities but 140 | which are not part of the work. For example, Corresponding Source 141 | includes interface definition files associated with source files for 142 | the work, and the source code for shared libraries and dynamically 143 | linked subprograms that the work is specifically designed to require, 144 | such as by intimate data communication or control flow between those 145 | subprograms and other parts of the work. 146 | 147 | The Corresponding Source need not include anything that users 148 | can regenerate automatically from other parts of the Corresponding 149 | Source. 150 | 151 | The Corresponding Source for a work in source code form is that 152 | same work. 153 | 154 | 2. Basic Permissions. 155 | 156 | All rights granted under this License are granted for the term of 157 | copyright on the Program, and are irrevocable provided the stated 158 | conditions are met. This License explicitly affirms your unlimited 159 | permission to run the unmodified Program. The output from running a 160 | covered work is covered by this License only if the output, given its 161 | content, constitutes a covered work. This License acknowledges your 162 | rights of fair use or other equivalent, as provided by copyright law. 163 | 164 | You may make, run and propagate covered works that you do not 165 | convey, without conditions so long as your license otherwise remains 166 | in force. You may convey covered works to others for the sole purpose 167 | of having them make modifications exclusively for you, or provide you 168 | with facilities for running those works, provided that you comply with 169 | the terms of this License in conveying all material for which you do 170 | not control copyright. Those thus making or running the covered works 171 | for you must do so exclusively on your behalf, under your direction 172 | and control, on terms that prohibit them from making any copies of 173 | your copyrighted material outside their relationship with you. 174 | 175 | Conveying under any other circumstances is permitted solely under 176 | the conditions stated below. Sublicensing is not allowed; section 10 177 | makes it unnecessary. 178 | 179 | 3. Protecting Users' Legal Rights From Anti-Circumvention Law. 180 | 181 | No covered work shall be deemed part of an effective technological 182 | measure under any applicable law fulfilling obligations under article 183 | 11 of the WIPO copyright treaty adopted on 20 December 1996, or 184 | similar laws prohibiting or restricting circumvention of such 185 | measures. 186 | 187 | When you convey a covered work, you waive any legal power to forbid 188 | circumvention of technological measures to the extent such circumvention 189 | is effected by exercising rights under this License with respect to 190 | the covered work, and you disclaim any intention to limit operation or 191 | modification of the work as a means of enforcing, against the work's 192 | users, your or third parties' legal rights to forbid circumvention of 193 | technological measures. 194 | 195 | 4. Conveying Verbatim Copies. 196 | 197 | You may convey verbatim copies of the Program's source code as you 198 | receive it, in any medium, provided that you conspicuously and 199 | appropriately publish on each copy an appropriate copyright notice; 200 | keep intact all notices stating that this License and any 201 | non-permissive terms added in accord with section 7 apply to the code; 202 | keep intact all notices of the absence of any warranty; and give all 203 | recipients a copy of this License along with the Program. 204 | 205 | You may charge any price or no price for each copy that you convey, 206 | and you may offer support or warranty protection for a fee. 207 | 208 | 5. Conveying Modified Source Versions. 209 | 210 | You may convey a work based on the Program, or the modifications to 211 | produce it from the Program, in the form of source code under the 212 | terms of section 4, provided that you also meet all of these conditions: 213 | 214 | a) The work must carry prominent notices stating that you modified 215 | it, and giving a relevant date. 216 | 217 | b) The work must carry prominent notices stating that it is 218 | released under this License and any conditions added under section 219 | 7. This requirement modifies the requirement in section 4 to 220 | "keep intact all notices". 221 | 222 | c) You must license the entire work, as a whole, under this 223 | License to anyone who comes into possession of a copy. This 224 | License will therefore apply, along with any applicable section 7 225 | additional terms, to the whole of the work, and all its parts, 226 | regardless of how they are packaged. This License gives no 227 | permission to license the work in any other way, but it does not 228 | invalidate such permission if you have separately received it. 229 | 230 | d) If the work has interactive user interfaces, each must display 231 | Appropriate Legal Notices; however, if the Program has interactive 232 | interfaces that do not display Appropriate Legal Notices, your 233 | work need not make them do so. 234 | 235 | A compilation of a covered work with other separate and independent 236 | works, which are not by their nature extensions of the covered work, 237 | and which are not combined with it such as to form a larger program, 238 | in or on a volume of a storage or distribution medium, is called an 239 | "aggregate" if the compilation and its resulting copyright are not 240 | used to limit the access or legal rights of the compilation's users 241 | beyond what the individual works permit. Inclusion of a covered work 242 | in an aggregate does not cause this License to apply to the other 243 | parts of the aggregate. 244 | 245 | 6. Conveying Non-Source Forms. 246 | 247 | You may convey a covered work in object code form under the terms 248 | of sections 4 and 5, provided that you also convey the 249 | machine-readable Corresponding Source under the terms of this License, 250 | in one of these ways: 251 | 252 | a) Convey the object code in, or embodied in, a physical product 253 | (including a physical distribution medium), accompanied by the 254 | Corresponding Source fixed on a durable physical medium 255 | customarily used for software interchange. 256 | 257 | b) Convey the object code in, or embodied in, a physical product 258 | (including a physical distribution medium), accompanied by a 259 | written offer, valid for at least three years and valid for as 260 | long as you offer spare parts or customer support for that product 261 | model, to give anyone who possesses the object code either (1) a 262 | copy of the Corresponding Source for all the software in the 263 | product that is covered by this License, on a durable physical 264 | medium customarily used for software interchange, for a price no 265 | more than your reasonable cost of physically performing this 266 | conveying of source, or (2) access to copy the 267 | Corresponding Source from a network server at no charge. 268 | 269 | c) Convey individual copies of the object code with a copy of the 270 | written offer to provide the Corresponding Source. This 271 | alternative is allowed only occasionally and noncommercially, and 272 | only if you received the object code with such an offer, in accord 273 | with subsection 6b. 274 | 275 | d) Convey the object code by offering access from a designated 276 | place (gratis or for a charge), and offer equivalent access to the 277 | Corresponding Source in the same way through the same place at no 278 | further charge. You need not require recipients to copy the 279 | Corresponding Source along with the object code. If the place to 280 | copy the object code is a network server, the Corresponding Source 281 | may be on a different server (operated by you or a third party) 282 | that supports equivalent copying facilities, provided you maintain 283 | clear directions next to the object code saying where to find the 284 | Corresponding Source. Regardless of what server hosts the 285 | Corresponding Source, you remain obligated to ensure that it is 286 | available for as long as needed to satisfy these requirements. 287 | 288 | e) Convey the object code using peer-to-peer transmission, provided 289 | you inform other peers where the object code and Corresponding 290 | Source of the work are being offered to the general public at no 291 | charge under subsection 6d. 292 | 293 | A separable portion of the object code, whose source code is excluded 294 | from the Corresponding Source as a System Library, need not be 295 | included in conveying the object code work. 296 | 297 | A "User Product" is either (1) a "consumer product", which means any 298 | tangible personal property which is normally used for personal, family, 299 | or household purposes, or (2) anything designed or sold for incorporation 300 | into a dwelling. In determining whether a product is a consumer product, 301 | doubtful cases shall be resolved in favor of coverage. For a particular 302 | product received by a particular user, "normally used" refers to a 303 | typical or common use of that class of product, regardless of the status 304 | of the particular user or of the way in which the particular user 305 | actually uses, or expects or is expected to use, the product. A product 306 | is a consumer product regardless of whether the product has substantial 307 | commercial, industrial or non-consumer uses, unless such uses represent 308 | the only significant mode of use of the product. 309 | 310 | "Installation Information" for a User Product means any methods, 311 | procedures, authorization keys, or other information required to install 312 | and execute modified versions of a covered work in that User Product from 313 | a modified version of its Corresponding Source. The information must 314 | suffice to ensure that the continued functioning of the modified object 315 | code is in no case prevented or interfered with solely because 316 | modification has been made. 317 | 318 | If you convey an object code work under this section in, or with, or 319 | specifically for use in, a User Product, and the conveying occurs as 320 | part of a transaction in which the right of possession and use of the 321 | User Product is transferred to the recipient in perpetuity or for a 322 | fixed term (regardless of how the transaction is characterized), the 323 | Corresponding Source conveyed under this section must be accompanied 324 | by the Installation Information. But this requirement does not apply 325 | if neither you nor any third party retains the ability to install 326 | modified object code on the User Product (for example, the work has 327 | been installed in ROM). 328 | 329 | The requirement to provide Installation Information does not include a 330 | requirement to continue to provide support service, warranty, or updates 331 | for a work that has been modified or installed by the recipient, or for 332 | the User Product in which it has been modified or installed. Access to a 333 | network may be denied when the modification itself materially and 334 | adversely affects the operation of the network or violates the rules and 335 | protocols for communication across the network. 336 | 337 | Corresponding Source conveyed, and Installation Information provided, 338 | in accord with this section must be in a format that is publicly 339 | documented (and with an implementation available to the public in 340 | source code form), and must require no special password or key for 341 | unpacking, reading or copying. 342 | 343 | 7. Additional Terms. 344 | 345 | "Additional permissions" are terms that supplement the terms of this 346 | License by making exceptions from one or more of its conditions. 347 | Additional permissions that are applicable to the entire Program shall 348 | be treated as though they were included in this License, to the extent 349 | that they are valid under applicable law. If additional permissions 350 | apply only to part of the Program, that part may be used separately 351 | under those permissions, but the entire Program remains governed by 352 | this License without regard to the additional permissions. 353 | 354 | When you convey a copy of a covered work, you may at your option 355 | remove any additional permissions from that copy, or from any part of 356 | it. (Additional permissions may be written to require their own 357 | removal in certain cases when you modify the work.) You may place 358 | additional permissions on material, added by you to a covered work, 359 | for which you have or can give appropriate copyright permission. 360 | 361 | Notwithstanding any other provision of this License, for material you 362 | add to a covered work, you may (if authorized by the copyright holders of 363 | that material) supplement the terms of this License with terms: 364 | 365 | a) Disclaiming warranty or limiting liability differently from the 366 | terms of sections 15 and 16 of this License; or 367 | 368 | b) Requiring preservation of specified reasonable legal notices or 369 | author attributions in that material or in the Appropriate Legal 370 | Notices displayed by works containing it; or 371 | 372 | c) Prohibiting misrepresentation of the origin of that material, or 373 | requiring that modified versions of such material be marked in 374 | reasonable ways as different from the original version; or 375 | 376 | d) Limiting the use for publicity purposes of names of licensors or 377 | authors of the material; or 378 | 379 | e) Declining to grant rights under trademark law for use of some 380 | trade names, trademarks, or service marks; or 381 | 382 | f) Requiring indemnification of licensors and authors of that 383 | material by anyone who conveys the material (or modified versions of 384 | it) with contractual assumptions of liability to the recipient, for 385 | any liability that these contractual assumptions directly impose on 386 | those licensors and authors. 387 | 388 | All other non-permissive additional terms are considered "further 389 | restrictions" within the meaning of section 10. If the Program as you 390 | received it, or any part of it, contains a notice stating that it is 391 | governed by this License along with a term that is a further 392 | restriction, you may remove that term. If a license document contains 393 | a further restriction but permits relicensing or conveying under this 394 | License, you may add to a covered work material governed by the terms 395 | of that license document, provided that the further restriction does 396 | not survive such relicensing or conveying. 397 | 398 | If you add terms to a covered work in accord with this section, you 399 | must place, in the relevant source files, a statement of the 400 | additional terms that apply to those files, or a notice indicating 401 | where to find the applicable terms. 402 | 403 | Additional terms, permissive or non-permissive, may be stated in the 404 | form of a separately written license, or stated as exceptions; 405 | the above requirements apply either way. 406 | 407 | 8. Termination. 408 | 409 | You may not propagate or modify a covered work except as expressly 410 | provided under this License. Any attempt otherwise to propagate or 411 | modify it is void, and will automatically terminate your rights under 412 | this License (including any patent licenses granted under the third 413 | paragraph of section 11). 414 | 415 | However, if you cease all violation of this License, then your 416 | license from a particular copyright holder is reinstated (a) 417 | provisionally, unless and until the copyright holder explicitly and 418 | finally terminates your license, and (b) permanently, if the copyright 419 | holder fails to notify you of the violation by some reasonable means 420 | prior to 60 days after the cessation. 421 | 422 | Moreover, your license from a particular copyright holder is 423 | reinstated permanently if the copyright holder notifies you of the 424 | violation by some reasonable means, this is the first time you have 425 | received notice of violation of this License (for any work) from that 426 | copyright holder, and you cure the violation prior to 30 days after 427 | your receipt of the notice. 428 | 429 | Termination of your rights under this section does not terminate the 430 | licenses of parties who have received copies or rights from you under 431 | this License. If your rights have been terminated and not permanently 432 | reinstated, you do not qualify to receive new licenses for the same 433 | material under section 10. 434 | 435 | 9. Acceptance Not Required for Having Copies. 436 | 437 | You are not required to accept this License in order to receive or 438 | run a copy of the Program. Ancillary propagation of a covered work 439 | occurring solely as a consequence of using peer-to-peer transmission 440 | to receive a copy likewise does not require acceptance. However, 441 | nothing other than this License grants you permission to propagate or 442 | modify any covered work. These actions infringe copyright if you do 443 | not accept this License. Therefore, by modifying or propagating a 444 | covered work, you indicate your acceptance of this License to do so. 445 | 446 | 10. Automatic Licensing of Downstream Recipients. 447 | 448 | Each time you convey a covered work, the recipient automatically 449 | receives a license from the original licensors, to run, modify and 450 | propagate that work, subject to this License. You are not responsible 451 | for enforcing compliance by third parties with this License. 452 | 453 | An "entity transaction" is a transaction transferring control of an 454 | organization, or substantially all assets of one, or subdividing an 455 | organization, or merging organizations. If propagation of a covered 456 | work results from an entity transaction, each party to that 457 | transaction who receives a copy of the work also receives whatever 458 | licenses to the work the party's predecessor in interest had or could 459 | give under the previous paragraph, plus a right to possession of the 460 | Corresponding Source of the work from the predecessor in interest, if 461 | the predecessor has it or can get it with reasonable efforts. 462 | 463 | You may not impose any further restrictions on the exercise of the 464 | rights granted or affirmed under this License. For example, you may 465 | not impose a license fee, royalty, or other charge for exercise of 466 | rights granted under this License, and you may not initiate litigation 467 | (including a cross-claim or counterclaim in a lawsuit) alleging that 468 | any patent claim is infringed by making, using, selling, offering for 469 | sale, or importing the Program or any portion of it. 470 | 471 | 11. Patents. 472 | 473 | A "contributor" is a copyright holder who authorizes use under this 474 | License of the Program or a work on which the Program is based. The 475 | work thus licensed is called the contributor's "contributor version". 476 | 477 | A contributor's "essential patent claims" are all patent claims 478 | owned or controlled by the contributor, whether already acquired or 479 | hereafter acquired, that would be infringed by some manner, permitted 480 | by this License, of making, using, or selling its contributor version, 481 | but do not include claims that would be infringed only as a 482 | consequence of further modification of the contributor version. For 483 | purposes of this definition, "control" includes the right to grant 484 | patent sublicenses in a manner consistent with the requirements of 485 | this License. 486 | 487 | Each contributor grants you a non-exclusive, worldwide, royalty-free 488 | patent license under the contributor's essential patent claims, to 489 | make, use, sell, offer for sale, import and otherwise run, modify and 490 | propagate the contents of its contributor version. 491 | 492 | In the following three paragraphs, a "patent license" is any express 493 | agreement or commitment, however denominated, not to enforce a patent 494 | (such as an express permission to practice a patent or covenant not to 495 | sue for patent infringement). To "grant" such a patent license to a 496 | party means to make such an agreement or commitment not to enforce a 497 | patent against the party. 498 | 499 | If you convey a covered work, knowingly relying on a patent license, 500 | and the Corresponding Source of the work is not available for anyone 501 | to copy, free of charge and under the terms of this License, through a 502 | publicly available network server or other readily accessible means, 503 | then you must either (1) cause the Corresponding Source to be so 504 | available, or (2) arrange to deprive yourself of the benefit of the 505 | patent license for this particular work, or (3) arrange, in a manner 506 | consistent with the requirements of this License, to extend the patent 507 | license to downstream recipients. "Knowingly relying" means you have 508 | actual knowledge that, but for the patent license, your conveying the 509 | covered work in a country, or your recipient's use of the covered work 510 | in a country, would infringe one or more identifiable patents in that 511 | country that you have reason to believe are valid. 512 | 513 | If, pursuant to or in connection with a single transaction or 514 | arrangement, you convey, or propagate by procuring conveyance of, a 515 | covered work, and grant a patent license to some of the parties 516 | receiving the covered work authorizing them to use, propagate, modify 517 | or convey a specific copy of the covered work, then the patent license 518 | you grant is automatically extended to all recipients of the covered 519 | work and works based on it. 520 | 521 | A patent license is "discriminatory" if it does not include within 522 | the scope of its coverage, prohibits the exercise of, or is 523 | conditioned on the non-exercise of one or more of the rights that are 524 | specifically granted under this License. You may not convey a covered 525 | work if you are a party to an arrangement with a third party that is 526 | in the business of distributing software, under which you make payment 527 | to the third party based on the extent of your activity of conveying 528 | the work, and under which the third party grants, to any of the 529 | parties who would receive the covered work from you, a discriminatory 530 | patent license (a) in connection with copies of the covered work 531 | conveyed by you (or copies made from those copies), or (b) primarily 532 | for and in connection with specific products or compilations that 533 | contain the covered work, unless you entered into that arrangement, 534 | or that patent license was granted, prior to 28 March 2007. 535 | 536 | Nothing in this License shall be construed as excluding or limiting 537 | any implied license or other defenses to infringement that may 538 | otherwise be available to you under applicable patent law. 539 | 540 | 12. No Surrender of Others' Freedom. 541 | 542 | If conditions are imposed on you (whether by court order, agreement or 543 | otherwise) that contradict the conditions of this License, they do not 544 | excuse you from the conditions of this License. If you cannot convey a 545 | covered work so as to satisfy simultaneously your obligations under this 546 | License and any other pertinent obligations, then as a consequence you may 547 | not convey it at all. For example, if you agree to terms that obligate you 548 | to collect a royalty for further conveying from those to whom you convey 549 | the Program, the only way you could satisfy both those terms and this 550 | License would be to refrain entirely from conveying the Program. 551 | 552 | 13. Use with the GNU Affero General Public License. 553 | 554 | Notwithstanding any other provision of this License, you have 555 | permission to link or combine any covered work with a work licensed 556 | under version 3 of the GNU Affero General Public License into a single 557 | combined work, and to convey the resulting work. The terms of this 558 | License will continue to apply to the part which is the covered work, 559 | but the special requirements of the GNU Affero General Public License, 560 | section 13, concerning interaction through a network will apply to the 561 | combination as such. 562 | 563 | 14. Revised Versions of this License. 564 | 565 | The Free Software Foundation may publish revised and/or new versions of 566 | the GNU General Public License from time to time. Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | {one line to give the program's name and a brief idea of what it does.} 635 | Copyright (C) {year} {name of author} 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | {project} Copyright (C) {year} {fullname} 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | Tutorial on Inverse Kinematics 2 | ============================== 3 | 4 | [![Gitpod](https://gitpod.io/button/open-in-gitpod.svg)](https://gitpod.io/from-referrer) 5 | 6 | # Tutorial 7 | With this code example, we aim to guide you through the theory and the practical 8 | implementation of those methods that are traditionally employed to solve the 9 | Inverse Kinematics (IK) problem. 10 | 11 | In particular, we explore the pros and cons of the following algorithms for 12 | the Differential IK applied to the **2-links serial manipulator** shown in the 13 | animation below: 14 | - **Jacobian Transpose** 15 | - **Jacobian (Pseudo-)inverse** 16 | - **Damped Least Squares** 17 | 18 | ![robot](assets/robot.gif) 19 | 20 | Finally, we will also see the advantages of relying on **trajectory planning**. 21 | 22 | ### How to interact with the controller 23 | Once you launched the application in [**app/scripts**](app/scripts), establish a RPC communication with the controller by doing: 24 | ```console 25 | yarp rpc /tutorial_inverse-kinematics-controller/cmd:rpc 26 | ``` 27 | Then, you can operate through the commands listed below. 28 | 29 | #### Changing target position 30 | ```console 31 | >> target x y 32 | ``` 33 | where `x` and `y` are the new Cartesian coordinates of the target in the range **[-250,250]**. 34 | 35 | #### Changing IK algorithm 36 | ```console 37 | >> mode m 38 | ``` 39 | where `m` is a string specifying the new mode among the following options: 40 | - `t` for the Jacobian Transpose 41 | - `inv` for the Jacobian (Pseudo-)inverse 42 | - `dls` for the Damped Least Squares 43 | - `idle` for putting the controller in idle. 44 | 45 | #### Changing planner mode 46 | ```console 47 | >> planner m 48 | ``` 49 | where `m` can be `on` or `off`. 50 | 51 | #### Changing gain value 52 | ```console 53 | >> gain g k 54 | ``` 55 | where `g` is gain value (K = g*eye(2)) and `k` is parameter in DLS method. 56 | 57 | #### Changing Trajectory visualization mode 58 | ```console 59 | >> visu v 60 | ``` 61 | where `v` can be: 62 | - `0` to stop visualization 63 | - `1` to start visualization 64 | - `2` to clear visualization 65 | 66 | # [How to complete the assignment](https://github.com/vvv-school/vvv-school.github.io/blob/master/instructions/how-to-complete-assignments.md) 67 | -------------------------------------------------------------------------------- /app/scripts/tutorial_inverse-kinematics.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | Tutorial on Inverse Kinematics 4 | 5 | 6 | 7 | 8 | 9 | yarplogger 10 | --start 11 | localhost 12 | 13 | 14 | 15 | tutorial_inverse-kinematics-robot 16 | YARP_FORWARD_LOG_ENABLE=1 17 | 18 | /yarplogger 19 | 20 | localhost 21 | 22 | 23 | 24 | tutorial_inverse-kinematics-controller 25 | YARP_FORWARD_LOG_ENABLE=1 26 | 27 | /yarplogger 28 | 29 | localhost 30 | 31 | 32 | 33 | yarpview 34 | --name /environment --w 500 --h 500 --x 100 --y 50 --compact 35 | localhost 36 | 37 | 38 | 39 | yarpscope 40 | --remote /tutorial_inverse-kinematics-controller/tip-vel:o --title "Tip Velocity" --x 700 --y 50 --min -10.0 --max 500.0 41 | 42 | /tutorial_inverse-kinematics-controller/tip-vel:o 43 | 44 | localhost 45 | 46 | 47 | 48 | /tutorial_inverse-kinematics-robot/encoders:o 49 | /tutorial_inverse-kinematics-controller/encoders:i 50 | tcp 51 | 52 | 53 | 54 | /tutorial_inverse-kinematics-controller/motors:o 55 | /tutorial_inverse-kinematics-robot/motors:i 56 | tcp 57 | 58 | 59 | 60 | /tutorial_inverse-kinematics-controller/target:o 61 | /tutorial_inverse-kinematics-robot/target:i 62 | tcp 63 | 64 | 65 | 66 | /tutorial_inverse-kinematics-controller/visu:o 67 | /tutorial_inverse-kinematics-robot/visu:i 68 | tcp 69 | 70 | 71 | 72 | /tutorial_inverse-kinematics-robot/environment:o 73 | /environment 74 | tcp 75 | 76 | 77 | 78 | -------------------------------------------------------------------------------- /assets/robot.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/vvv-school/tutorial_inverse-kinematics/eea36e4ce92fc4a6aef22831abc89796ee91d143/assets/robot.gif -------------------------------------------------------------------------------- /src/controller.cpp: -------------------------------------------------------------------------------- 1 | // Tutorial on Inverse Kinematics. 2 | // 3 | // Author: Ugo Pattacini - 4 | 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | #include 11 | #include 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include 17 | #include 18 | #include 19 | #include 20 | #include 21 | 22 | #include 23 | 24 | using namespace std; 25 | using namespace yarp::os; 26 | using namespace yarp::sig; 27 | using namespace yarp::math; 28 | using namespace iCub::ctrl; 29 | 30 | 31 | class Controller : public RFModule 32 | { 33 | double link_length; 34 | string mode; 35 | 36 | BufferedPort portMotors; 37 | BufferedPort portEncoders; 38 | BufferedPort portTarget; 39 | BufferedPort portTipVel; 40 | BufferedPort portVisu; 41 | RpcServer portCmd; 42 | 43 | mutex mtx; 44 | Vector encoders; 45 | Vector target; 46 | Vector gains; 47 | double k; 48 | 49 | bool usePlanner; 50 | minJerkTrajGen *planner; 51 | 52 | // compute the 2D position of the tip of the manipulator 53 | Vector forward_kinematics(const Vector &j) const 54 | { 55 | Vector ee(2); 56 | ee[0]=link_length*(cos(j[0])+cos(j[0]+j[1])); 57 | ee[1]=link_length*(sin(j[0])+sin(j[0]+j[1])); 58 | return ee; 59 | } 60 | 61 | // compute the Jacobian of the tip's position 62 | Matrix jacobian(const Vector &j) const 63 | { 64 | Matrix J(2,2); 65 | J(0,0)=-link_length*(sin(j[0])+sin(j[0]+j[1])); J(0,1)=-link_length*sin(j[0]+j[1]); 66 | J(1,0)=link_length*(cos(j[0])+cos(j[0]+j[1])); J(1,1)=link_length*cos(j[0]+j[1]); 67 | return J; 68 | } 69 | 70 | public: 71 | bool configure(ResourceFinder &rf)override 72 | { 73 | link_length=rf.check("link-length",Value(100.0)).asFloat64(); 74 | 75 | portMotors.open("/tutorial_inverse-kinematics-controller/motors:o"); 76 | portEncoders.open("/tutorial_inverse-kinematics-controller/encoders:i"); 77 | portTarget.open("/tutorial_inverse-kinematics-controller/target:o"); 78 | portTipVel.open("/tutorial_inverse-kinematics-controller/tip-vel:o"); 79 | portVisu.open("/tutorial_inverse-kinematics-controller/visu:o"); 80 | portCmd.open("/tutorial_inverse-kinematics-controller/cmd:rpc"); 81 | attach(portCmd); 82 | 83 | // init the encoder values of the 2 joints 84 | encoders=zeros(2); 85 | 86 | // init the target position 87 | target=zeros(2); 88 | 89 | // init gains 90 | gains.resize(3); 91 | gains[0]=0.0004; 92 | gains[1]=1.0; 93 | gains[2]=2.0; 94 | k=10.0; 95 | 96 | // init planner 97 | planner=new minJerkTrajGen(target,getPeriod(),4.0); 98 | usePlanner=false; 99 | 100 | // init mode 101 | mode="idle"; 102 | 103 | return true; 104 | } 105 | 106 | bool close()override 107 | { 108 | delete planner; 109 | 110 | portMotors.close(); 111 | portEncoders.close(); 112 | portTarget.close(); 113 | portVisu.close(); 114 | portTipVel.close(); 115 | portCmd.close(); 116 | 117 | return true; 118 | } 119 | 120 | double getPeriod()override 121 | { 122 | return 0.01; 123 | } 124 | 125 | bool updateModule()override 126 | { 127 | // protect against race conditions 128 | lock_guard lg(mtx); 129 | 130 | // update the encoder readouts from the net 131 | if (Vector *enc=portEncoders.read(false)) 132 | encoders=*enc; 133 | 134 | // plan target trajectory 135 | planner->computeNextValues(target); 136 | 137 | // select desired end-effector position 138 | Vector ee_d=(usePlanner?planner->getPos():target); 139 | 140 | // compute quantities for differential kinematics 141 | Vector ee=forward_kinematics(encoders); 142 | Matrix J=jacobian(encoders); 143 | Vector err=ee_d-ee; 144 | 145 | // solve the task 146 | Vector &vel=portMotors.prepare(); 147 | if (mode=="t") 148 | { 149 | Matrix G=gains[0]*eye(2,2); 150 | vel=J.transposed()*G*err; 151 | } 152 | else if (mode=="inv") 153 | { 154 | Matrix G=gains[1]*eye(2,2); 155 | vel=pinv(J)*G*err; 156 | } 157 | else if (mode=="dls") 158 | { 159 | Matrix G=gains[2]*eye(2,2); 160 | vel=J.transposed()*pinv(J*J.transposed()+k*k*eye(2,2))*G*err; 161 | } 162 | else 163 | { 164 | vel=zeros(2); 165 | } 166 | 167 | // deliver the computed velocities to the actuators 168 | portMotors.writeStrict(); 169 | 170 | // provide magnitude of tip Cartesian velocity 171 | // for visualization purpose 172 | portTipVel.prepare()=norm(J*vel)*ones(1); 173 | portTipVel.writeStrict(); 174 | 175 | // send the target for visualization purpose 176 | portTarget.prepare()=ee_d; 177 | portTarget.writeStrict(); 178 | 179 | return true; 180 | } 181 | 182 | // this service handles the RPC requests for changing the mode 183 | // as well as the target positions and gains 184 | bool respond(const Bottle &command, Bottle &reply)override 185 | { 186 | // protect against race conditions 187 | lock_guard lg(mtx); 188 | 189 | string cmd=command.get(0).asString(); 190 | if (cmd=="mode") 191 | { 192 | if (command.size()>1) 193 | { 194 | string new_mode=command.get(1).asString(); 195 | if ((new_mode=="idle") || (new_mode=="t") || 196 | (new_mode=="inv") || (new_mode=="dls")) 197 | { 198 | mode=new_mode; 199 | reply.addString("ok"); 200 | return true; 201 | } 202 | } 203 | 204 | reply.addString("invalid mode"); 205 | } 206 | else if (cmd=="target") 207 | { 208 | if (command.size()>2) 209 | { 210 | target[0]=command.get(1).asFloat64(); 211 | target[1]=command.get(2).asFloat64(); 212 | reply.addString("ok"); 213 | return true; 214 | } 215 | 216 | reply.addString("invalid target"); 217 | } 218 | else if (cmd=="planner") 219 | { 220 | if (command.size()>1) 221 | { 222 | string new_mode=command.get(1).asString(); 223 | if ((new_mode=="on") || (new_mode=="off")) 224 | { 225 | usePlanner=(new_mode=="on"); 226 | reply.addString("ok"); 227 | return true; 228 | } 229 | } 230 | 231 | reply.addString("invalid mode"); 232 | } 233 | else if (cmd=="gain") 234 | { 235 | if (command.size()>1) 236 | { 237 | double g=command.get(1).asFloat64(); 238 | if (mode=="t") 239 | gains[0]=g; 240 | else if (mode=="inv") 241 | gains[1]=g; 242 | else if (mode=="dls") { 243 | gains[2]=g; 244 | k=command.get(2).asFloat64(); 245 | } 246 | 247 | reply.addString("ok"); 248 | return true; 249 | } 250 | 251 | reply.addString("invalid gain"); 252 | } 253 | else if (cmd=="visu") 254 | { 255 | if (command.size()>1) 256 | { 257 | int v=command.get(1).asInt32(); 258 | portVisu.prepare()=v*ones(1); 259 | portVisu.writeStrict(); 260 | reply.addString("ok"); 261 | return true; 262 | } 263 | 264 | reply.addString("invalid visu command"); 265 | } 266 | else 267 | reply.addString("invalid command"); 268 | 269 | return true; 270 | } 271 | }; 272 | 273 | 274 | int main(int argc, char *argv[]) 275 | { 276 | Network yarp; 277 | if (!yarp.checkNetwork()) 278 | { 279 | yError()<<"YARP doesn't seem to be available"; 280 | return EXIT_FAILURE; 281 | } 282 | 283 | ResourceFinder rf; 284 | rf.configure(argc,argv); 285 | 286 | Controller controller; 287 | return controller.runModule(rf); 288 | } 289 | 290 | -------------------------------------------------------------------------------- /src/robot.cpp: -------------------------------------------------------------------------------- 1 | // Tutorial on Inverse Kinematics. 2 | // 3 | // Author: Ugo Pattacini - 4 | 5 | #include 6 | #include 7 | #include 8 | 9 | #include 10 | #include 11 | 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include 17 | #include 18 | #include 19 | #include 20 | #include 21 | #include 22 | #include 23 | 24 | #include 25 | 26 | #define VEC_SIZE 1000 27 | 28 | using namespace std; 29 | using namespace yarp::os; 30 | using namespace yarp::sig; 31 | using namespace yarp::math; 32 | using namespace yarp::cv; 33 | using namespace iCub::ctrl; 34 | 35 | 36 | cv::Point repoint(cv::Mat &imgMat, const Vector &p) 37 | { 38 | return cv::Point((int)(imgMat.size().width/2.0+p[0]), 39 | (int)(imgMat.size().height/2.0-p[1])); 40 | } 41 | 42 | 43 | class Link 44 | { 45 | double length; 46 | vector points; 47 | 48 | public: 49 | Link(const double length_) : 50 | length(length_), points(6,Vector(3,1.0)) 51 | { 52 | double height=6; 53 | 54 | points[0][0]=0.0; 55 | points[0][1]=0.0; 56 | 57 | points[1][0]=0.0; 58 | points[1][1]=height/2.0; 59 | 60 | points[2][0]=length; 61 | points[2][1]=height/2.0; 62 | 63 | points[3][0]=length; 64 | points[3][1]=0.0; 65 | 66 | points[4][0]=length; 67 | points[4][1]=-height/2.0; 68 | 69 | points[5][0]=0.0; 70 | points[5][1]=-height/2.0; 71 | } 72 | 73 | Matrix draw(const Matrix &H, const double joint, cv::Mat &imgMat) const 74 | { 75 | double c=cos(joint); 76 | double s=sin(joint); 77 | 78 | Matrix H_=eye(3,3); 79 | H_(0,0)=c; H_(0,1)=-s; 80 | H_(1,0)=s; H_(1,1)=c; 81 | H_=H*H_; 82 | 83 | vector pts; 84 | for (auto &point:points) 85 | { 86 | Vector p=H_*point; 87 | pts.push_back(repoint(imgMat,p)); 88 | } 89 | vector> poly(1,pts); 90 | 91 | cv::fillPoly(imgMat,poly,cv::Scalar(96,176,224)); 92 | cv::circle(imgMat,pts[0],4,cv::Scalar(0,255,0),cv::FILLED); 93 | cv::circle(imgMat,pts[3],4,cv::Scalar(0,255,0),cv::FILLED); 94 | 95 | Matrix T=eye(3,3); T(0,2)=length; 96 | return H_*T; 97 | } 98 | }; 99 | 100 | 101 | class Robot 102 | { 103 | vector links; 104 | Integrator *joints; 105 | vector trajectory; 106 | 107 | public: 108 | Robot(const int n, const double length, const double Ts) 109 | { 110 | for (int i=0; i &img, bool visu_on) 117 | { 118 | Matrix H=eye(3,3); 119 | joints->integrate(velocity); 120 | 121 | cv::Mat imgMat=toCvMat(img); 122 | for (int i=0; iget()[i],imgMat); 124 | if (visu_on) { 125 | if (trajectory.size() >= VEC_SIZE) { 126 | trajectory.erase(trajectory.begin(),trajectory.begin()+VEC_SIZE/100); 127 | yWarning()<<"1/100 of trajectory data were removed to prevent excessive vector growth!"; 128 | } 129 | trajectory.push_back(Vector{H(0,2),H(1,2)}); 130 | for (auto& traj:trajectory) { 131 | cv::circle(imgMat,repoint(imgMat,traj),4,cv::Scalar(255,255,0),cv::FILLED); 132 | } 133 | } 134 | } 135 | 136 | void clearTrajectory() 137 | { 138 | trajectory.clear(); 139 | } 140 | 141 | Vector getJoints() const 142 | { 143 | return joints->get(); 144 | } 145 | 146 | virtual ~Robot() 147 | { 148 | delete joints; 149 | } 150 | }; 151 | 152 | 153 | class RobotModule : public RFModule 154 | { 155 | Robot *robot; 156 | 157 | BufferedPort> portEnvironment; 158 | BufferedPort portMotors; 159 | BufferedPort portEncoders; 160 | BufferedPort portTarget; 161 | BufferedPort portVisu; 162 | 163 | 164 | Vector velocity; 165 | Vector target; 166 | int env_edge; 167 | bool visu_on; 168 | 169 | public: 170 | bool configure(ResourceFinder &rf)override 171 | { 172 | int dof=rf.check("dof",Value(2)).asInt32(); 173 | double link_length=rf.check("link-length",Value(100.0)).asFloat64(); 174 | env_edge=rf.check("environment-edge",Value(500)).asInt32(); 175 | 176 | robot=new Robot(dof,link_length,getPeriod()); 177 | 178 | portEnvironment.open("/tutorial_inverse-kinematics-robot/environment:o"); 179 | portMotors.open("/tutorial_inverse-kinematics-robot/motors:i"); 180 | portEncoders.open("/tutorial_inverse-kinematics-robot/encoders:o"); 181 | portTarget.open("/tutorial_inverse-kinematics-robot/target:i"); 182 | portVisu.open("/tutorial_inverse-kinematics-robot/visu:i"); 183 | 184 | visu_on = false; 185 | velocity.resize(dof,0.0); 186 | target.resize(2,0.0); 187 | return true; 188 | } 189 | 190 | bool close()override 191 | { 192 | delete robot; 193 | 194 | portEnvironment.close(); 195 | portMotors.close(); 196 | portEncoders.close(); 197 | portTarget.close(); 198 | portVisu.close(); 199 | 200 | return true; 201 | } 202 | 203 | double getPeriod()override 204 | { 205 | return 0.01; 206 | } 207 | 208 | bool updateModule()override 209 | { 210 | if (Bottle *vel=portMotors.read(false)) 211 | if (vel->size()>=(int)velocity.length()) 212 | for (int i=0; isize(); i++) 213 | velocity[i]=vel->get(i).asFloat64(); 214 | 215 | if (Bottle *tar=portTarget.read(false)) 216 | { 217 | if (tar->size()>=2) 218 | { 219 | target[0]=tar->get(0).asFloat64(); 220 | target[1]=tar->get(1).asFloat64(); 221 | } 222 | } 223 | if (Bottle *vis=portVisu.read(false)) 224 | { 225 | int value = vis->get(0).asInt32(); 226 | if (value == 2) 227 | robot->clearTrajectory(); 228 | else if (value == 1) 229 | visu_on = true; 230 | else if (value == 0) { 231 | visu_on = false; 232 | robot->clearTrajectory(); 233 | } 234 | 235 | } 236 | 237 | ImageOf &env=portEnvironment.prepare(); 238 | env.resize(env_edge,env_edge); env.zero(); 239 | 240 | cv::Mat imgMat=toCvMat(env); 241 | cv::circle(imgMat,repoint(imgMat,target),5,cv::Scalar(0,0,255),cv::FILLED); 242 | 243 | robot->move(velocity,env, visu_on); 244 | 245 | Vector joints=robot->getJoints(); 246 | Bottle &encoders=portEncoders.prepare(); 247 | encoders.clear(); 248 | 249 | for (int i=0; i<(int)joints.length(); i++) 250 | encoders.addFloat64(joints[i]); 251 | 252 | portEnvironment.writeStrict(); 253 | portEncoders.writeStrict(); 254 | 255 | return true; 256 | } 257 | }; 258 | 259 | 260 | int main(int argc, char *argv[]) 261 | { 262 | Network yarp; 263 | if (!yarp.checkNetwork()) 264 | { 265 | yError()<<"YARP doesn't seem to be available"; 266 | return EXIT_FAILURE; 267 | } 268 | 269 | ResourceFinder rf; 270 | rf.configure(argc,argv); 271 | 272 | RobotModule robot; 273 | return robot.runModule(rf); 274 | } 275 | --------------------------------------------------------------------------------