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Fix servo motor doesn't respect joint position limits
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Jeongseok Lee
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Jul 7, 2021
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| /* | ||
| * Copyright (c) 2011-2021, The DART development contributors | ||
| * All rights reserved. | ||
| * | ||
| * The list of contributors can be found at: | ||
| * https://github.com/dartsim/dart/blob/master/LICENSE | ||
| * | ||
| * 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. | ||
| */ | ||
|
|
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| #include "dart/constraint/DynamicJointConstraint.hpp" | ||
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| #include <cassert> | ||
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| #include "dart/common/Console.hpp" | ||
|
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| #define DART_ERROR_ALLOWANCE 0.0 | ||
| #define DART_ERP 0.01 | ||
| #define DART_MAX_ERV 1e+1 | ||
| #define DART_CFM 1e-9 | ||
|
|
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| namespace dart { | ||
| namespace constraint { | ||
|
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| double DynamicJointConstraint::mErrorAllowance = DART_ERROR_ALLOWANCE; | ||
| double DynamicJointConstraint::mErrorReductionParameter = DART_ERP; | ||
| double DynamicJointConstraint::mMaxErrorReductionVelocity = DART_MAX_ERV; | ||
| double DynamicJointConstraint::mConstraintForceMixing = DART_CFM; | ||
|
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| //============================================================================== | ||
| DynamicJointConstraint::DynamicJointConstraint(dynamics::BodyNode* body) | ||
| : ConstraintBase(), mBodyNode1(body), mBodyNode2(nullptr) | ||
| { | ||
| assert(body); | ||
| } | ||
|
|
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| //============================================================================== | ||
| DynamicJointConstraint::DynamicJointConstraint( | ||
| dynamics::BodyNode* body1, dynamics::BodyNode* body2) | ||
| : ConstraintBase(), mBodyNode1(body1), mBodyNode2(body2) | ||
| { | ||
| assert(body1); | ||
| assert(body2); | ||
| } | ||
|
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| //============================================================================== | ||
| DynamicJointConstraint::~DynamicJointConstraint() | ||
| { | ||
| // Do nothing | ||
| } | ||
|
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| //============================================================================== | ||
| void DynamicJointConstraint::setErrorAllowance(double allowance) | ||
| { | ||
| // Clamp error reduction parameter if it is out of the range | ||
| if (allowance < 0.0) | ||
| { | ||
| dtwarn << "Error reduction parameter[" << allowance | ||
| << "] is lower than 0.0. " | ||
| << "It is set to 0.0." << std::endl; | ||
| mErrorAllowance = 0.0; | ||
| } | ||
|
|
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| mErrorAllowance = allowance; | ||
| } | ||
|
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| //============================================================================== | ||
| double DynamicJointConstraint::getErrorAllowance() | ||
| { | ||
| return mErrorAllowance; | ||
| } | ||
|
|
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| //============================================================================== | ||
| void DynamicJointConstraint::setErrorReductionParameter(double erp) | ||
| { | ||
| // Clamp error reduction parameter if it is out of the range [0, 1] | ||
| if (erp < 0.0) | ||
| { | ||
| dtwarn << "Error reduction parameter [" << erp << "] is lower than 0.0. " | ||
| << "It is set to 0.0." << std::endl; | ||
| mErrorReductionParameter = 0.0; | ||
| } | ||
| if (erp > 1.0) | ||
| { | ||
| dtwarn << "Error reduction parameter [" << erp << "] is greater than 1.0. " | ||
| << "It is set to 1.0." << std::endl; | ||
| mErrorReductionParameter = 1.0; | ||
| } | ||
|
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| mErrorReductionParameter = erp; | ||
| } | ||
|
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| //============================================================================== | ||
| double DynamicJointConstraint::getErrorReductionParameter() | ||
| { | ||
| return mErrorReductionParameter; | ||
| } | ||
|
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| //============================================================================== | ||
| void DynamicJointConstraint::setMaxErrorReductionVelocity(double erv) | ||
| { | ||
| // Clamp maximum error reduction velocity if it is out of the range | ||
| if (erv < 0.0) | ||
| { | ||
| dtwarn << "Maximum error reduction velocity [" << erv | ||
| << "] is lower than 0.0. " | ||
| << "It is set to 0.0." << std::endl; | ||
| mMaxErrorReductionVelocity = 0.0; | ||
| } | ||
|
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| mMaxErrorReductionVelocity = erv; | ||
| } | ||
|
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| //============================================================================== | ||
| double DynamicJointConstraint::getMaxErrorReductionVelocity() | ||
| { | ||
| return mMaxErrorReductionVelocity; | ||
| } | ||
|
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| //============================================================================== | ||
| void DynamicJointConstraint::setConstraintForceMixing(double cfm) | ||
| { | ||
| // Clamp constraint force mixing parameter if it is out of the range | ||
| if (cfm < 1e-9) | ||
| { | ||
| dtwarn << "Constraint force mixing parameter [" << cfm | ||
| << "] is lower than 1e-9. " | ||
| << "It is set to 1e-9." << std::endl; | ||
| mConstraintForceMixing = 1e-9; | ||
| } | ||
|
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| mConstraintForceMixing = cfm; | ||
| } | ||
|
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| //============================================================================== | ||
| double DynamicJointConstraint::getConstraintForceMixing() | ||
| { | ||
| return mConstraintForceMixing; | ||
| } | ||
|
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| //============================================================================== | ||
| dynamics::BodyNode* DynamicJointConstraint::getBodyNode1() const | ||
| { | ||
| return mBodyNode1; | ||
| } | ||
|
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| //============================================================================== | ||
| dynamics::BodyNode* DynamicJointConstraint::getBodyNode2() const | ||
| { | ||
| return mBodyNode2; | ||
| } | ||
|
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| } // namespace constraint | ||
| } // namespace dart |
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