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moved the FT estimation into an asynchronous thread (#213)
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,41 +1,54 @@ | ||
| #include "lbr_fri_ros2/ft_estimator.hpp" | ||
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|
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| namespace lbr_fri_ros2 { | ||
| FTEstimator::FTEstimator(const std::string &robot_description, const std::string &chain_root, | ||
| const std::string &chain_tip, const_cart_array_t_ref f_ext_th) | ||
| : f_ext_th_(f_ext_th) { | ||
| FTEstimatorImpl::FTEstimatorImpl(const std::string &robot_description, | ||
| const std::string &chain_root, const std::string &chain_tip, | ||
| const_cart_array_t_ref f_ext_th, const double &damping) | ||
| : f_ext_th_(f_ext_th), damping_(damping) { | ||
| kinematics_ptr_ = std::make_unique<Kinematics>(robot_description, chain_root, chain_tip); | ||
| reset(); | ||
| } | ||
|
|
||
| void FTEstimator::compute(const_jnt_array_t_ref measured_joint_position, | ||
| const_jnt_array_t_ref external_torque, cart_array_t_ref f_ext, | ||
| const double &damping) { | ||
| tau_ext_ = Eigen::Map<const Eigen::Matrix<double, N_JNTS, 1>>(external_torque.data()); | ||
| auto jacobian = kinematics_ptr_->compute_jacobian(measured_joint_position); | ||
| jacobian_inv_ = pinv(jacobian.data, damping); | ||
| f_ext_ = jacobian_inv_.transpose() * tau_ext_; | ||
| void FTEstimatorImpl::compute() { | ||
| auto jacobian = kinematics_ptr_->compute_jacobian(q_); | ||
| jacobian_inv_ = pinv(jacobian.data, damping_); | ||
| f_ext_raw_ = jacobian_inv_.transpose() * tau_ext_; | ||
| int i = -1; | ||
| f_ext_ = f_ext_raw_.unaryExpr([&](double v) { | ||
| ++i; | ||
| if (std::abs(v) < f_ext_th_[i]) { | ||
| return 0.; | ||
| } else { | ||
| return std::copysign(1., v) * (std::abs(v) - f_ext_th_[i]); | ||
| } | ||
| }); | ||
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|
||
| // rotate into chain tip frame | ||
| auto chain_tip_frame = kinematics_ptr_->compute_fk(measured_joint_position); | ||
| f_ext_.topRows(3) = Eigen::Matrix3d::Map(chain_tip_frame.M.data) * f_ext_.topRows(3); | ||
| f_ext_.bottomRows(3) = Eigen::Matrix3d::Map(chain_tip_frame.M.data) * f_ext_.bottomRows(3); | ||
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| Eigen::Map<Eigen::Matrix<double, CARTESIAN_DOF, 1>>(f_ext.data()) = f_ext_; | ||
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| // threshold force-torque | ||
| std::transform(f_ext.begin(), f_ext.end(), f_ext_th_.begin(), f_ext.begin(), | ||
| [](const double &f_ext_i, const double &f_ext_th_i) { | ||
| if (std::abs(f_ext_i) < f_ext_th_i) { | ||
| return 0.; | ||
| } else { | ||
| return std::copysign(1., f_ext_i) * (std::abs(f_ext_i) - f_ext_th_i); | ||
| } | ||
| }); | ||
| auto chain_tip_frame = kinematics_ptr_->compute_fk(q_); | ||
| f_ext_tf_.topRows(3) = Eigen::Matrix3d::Map(chain_tip_frame.M.data) * f_ext_.topRows(3); | ||
| f_ext_tf_.bottomRows(3) = Eigen::Matrix3d::Map(chain_tip_frame.M.data) * f_ext_.bottomRows(3); | ||
| } | ||
|
|
||
| void FTEstimator::reset() { | ||
| void FTEstimatorImpl::reset() { | ||
| std::for_each(q_.begin(), q_.end(), [](double &q_i) { q_i = 0.; }); | ||
| tau_ext_.setZero(); | ||
| f_ext_raw_.setZero(); | ||
| f_ext_.setZero(); | ||
| f_ext_tf_.setZero(); | ||
| jacobian_inv_.setZero(); | ||
| } | ||
|
|
||
| FTEstimator::FTEstimator(const std::shared_ptr<FTEstimatorImpl> ft_estimator_impl_ptr, | ||
| const std::uint16_t &update_rate) | ||
| : ft_estimator_impl_ptr_(ft_estimator_impl_ptr), update_rate_(update_rate) {} | ||
|
|
||
| void FTEstimator::perform_work_() { | ||
| running_ = true; | ||
| while (rclcpp::ok() && !should_stop_) { | ||
| auto start = std::chrono::high_resolution_clock::now(); | ||
| ft_estimator_impl_ptr_->compute(); | ||
| std::this_thread::sleep_until(start + std::chrono::nanoseconds(static_cast<int>( | ||
| 1.e9 / static_cast<double>(update_rate_)))); | ||
| } | ||
| }; | ||
| } // namespace lbr_fri_ros2 |
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