566 lines
18 KiB
C++
566 lines
18 KiB
C++
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#include "rbdl/rbdl.h"
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#include "luamodel.h"
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#include <iostream>
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#include <map>
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#include "luatables.h"
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extern "C"
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{
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#include <lua.h>
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#include <lauxlib.h>
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#include <lualib.h>
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}
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using namespace std;
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using namespace RigidBodyDynamics;
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using namespace RigidBodyDynamics::Math;
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template<>
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Vector3d LuaTableNode::getDefault<Vector3d>(const Vector3d &default_value) {
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Vector3d result = default_value;
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if (stackQueryValue()) {
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LuaTable vector_table = LuaTable::fromLuaState (luaTable->L);
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if (vector_table.length() != 3) {
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cerr << "LuaModel Error: invalid 3d vector!" << endl;
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abort();
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}
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result[0] = vector_table[1];
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result[1] = vector_table[2];
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result[2] = vector_table[3];
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}
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stackRestore();
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return result;
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}
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template<>
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SpatialVector LuaTableNode::getDefault<SpatialVector>(
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const SpatialVector &default_value
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) {
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SpatialVector result = default_value;
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if (stackQueryValue()) {
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LuaTable vector_table = LuaTable::fromLuaState (luaTable->L);
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if (vector_table.length() != 6) {
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cerr << "LuaModel Error: invalid 6d vector!" << endl;
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abort();
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}
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result[0] = vector_table[1];
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result[1] = vector_table[2];
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result[2] = vector_table[3];
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result[3] = vector_table[4];
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result[4] = vector_table[5];
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result[5] = vector_table[6];
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}
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stackRestore();
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return result;
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}
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template<>
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Matrix3d LuaTableNode::getDefault<Matrix3d>(const Matrix3d &default_value) {
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Matrix3d result = default_value;
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if (stackQueryValue()) {
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LuaTable vector_table = LuaTable::fromLuaState (luaTable->L);
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if (vector_table.length() != 3) {
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cerr << "LuaModel Error: invalid 3d matrix!" << endl;
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abort();
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}
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if (vector_table[1].length() != 3
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|| vector_table[2].length() != 3
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|| vector_table[3].length() != 3) {
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cerr << "LuaModel Error: invalid 3d matrix!" << endl;
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abort();
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}
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result(0,0) = vector_table[1][1];
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result(0,1) = vector_table[1][2];
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result(0,2) = vector_table[1][3];
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result(1,0) = vector_table[2][1];
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result(1,1) = vector_table[2][2];
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result(1,2) = vector_table[2][3];
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result(2,0) = vector_table[3][1];
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result(2,1) = vector_table[3][2];
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result(2,2) = vector_table[3][3];
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}
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stackRestore();
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return result;
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}
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template<>
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SpatialTransform LuaTableNode::getDefault<SpatialTransform>(
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const SpatialTransform &default_value
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) {
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SpatialTransform result = default_value;
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if (stackQueryValue()) {
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LuaTable vector_table = LuaTable::fromLuaState (luaTable->L);
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result.r = vector_table["r"].getDefault<Vector3d>(Vector3d::Zero(3));
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result.E = vector_table["E"].getDefault<Matrix3d>(Matrix3d::Identity (3,3));
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}
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stackRestore();
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return result;
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}
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template<>
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Joint LuaTableNode::getDefault<Joint>(const Joint &default_value) {
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Joint result = default_value;
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if (stackQueryValue()) {
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LuaTable vector_table = LuaTable::fromLuaState (luaTable->L);
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int joint_dofs = vector_table.length();
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if (joint_dofs == 1) {
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string dof_string = vector_table[1].getDefault<std::string>("");
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if (dof_string == "JointTypeSpherical") {
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stackRestore();
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return Joint(JointTypeSpherical);
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} else if (dof_string == "JointTypeEulerZYX") {
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stackRestore();
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return Joint(JointTypeEulerZYX);
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}
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if (dof_string == "JointTypeEulerXYZ") {
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stackRestore();
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return Joint(JointTypeEulerXYZ);
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}
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if (dof_string == "JointTypeEulerYXZ") {
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stackRestore();
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return Joint(JointTypeEulerYXZ);
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}
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if (dof_string == "JointTypeTranslationXYZ") {
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stackRestore();
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return Joint(JointTypeTranslationXYZ);
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}
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}
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if (joint_dofs > 0) {
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if (vector_table[1].length() != 6) {
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cerr << "LuaModel Error: invalid joint motion subspace description at "
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<< this->keyStackToString() << endl;
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abort();
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}
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}
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switch (joint_dofs) {
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case 0:
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result = Joint(JointTypeFixed);
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break;
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case 1:
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result = Joint (vector_table[1].get<SpatialVector>());
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break;
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case 2:
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result = Joint(
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vector_table[1].get<SpatialVector>(),
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vector_table[2].get<SpatialVector>()
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);
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break;
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case 3:
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result = Joint(
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vector_table[1].get<SpatialVector>(),
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vector_table[2].get<SpatialVector>(),
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vector_table[3].get<SpatialVector>()
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);
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break;
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case 4:
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result = Joint(
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vector_table[1].get<SpatialVector>(),
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vector_table[2].get<SpatialVector>(),
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vector_table[3].get<SpatialVector>(),
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vector_table[4].get<SpatialVector>()
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);
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break;
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case 5:
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result = Joint(
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vector_table[1].get<SpatialVector>(),
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vector_table[2].get<SpatialVector>(),
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vector_table[3].get<SpatialVector>(),
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vector_table[4].get<SpatialVector>(),
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vector_table[5].get<SpatialVector>()
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);
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break;
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case 6:
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result = Joint(
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vector_table[1].get<SpatialVector>(),
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vector_table[2].get<SpatialVector>(),
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vector_table[3].get<SpatialVector>(),
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vector_table[4].get<SpatialVector>(),
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vector_table[5].get<SpatialVector>(),
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vector_table[6].get<SpatialVector>()
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);
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break;
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default:
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cerr << "Invalid number of DOFs for joint." << endl;
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abort();
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break;
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}
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}
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stackRestore();
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return result;
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}
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template<>
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Body LuaTableNode::getDefault<Body>(const Body &default_value) {
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Body result = default_value;
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if (stackQueryValue()) {
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LuaTable vector_table = LuaTable::fromLuaState (luaTable->L);
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double mass = 0.;
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Vector3d com (Vector3d::Zero(3));
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Matrix3d inertia (Matrix3d::Identity(3,3));
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mass = vector_table["mass"];
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com = vector_table["com"].getDefault<Vector3d>(com);
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inertia = vector_table["inertia"].getDefault<Matrix3d>(inertia);
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result = Body (mass, com, inertia);
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}
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stackRestore();
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return result;
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}
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namespace RigidBodyDynamics {
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namespace Addons {
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bool LuaModelReadFromTable (LuaTable &model_table, Model *model, bool verbose);
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bool LuaModelReadConstraintsFromTable (
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LuaTable &model_table,
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Model *model,
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std::vector<ConstraintSet>& constraint_sets,
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const std::vector<std::string>& constraint_set_names,
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bool verbose
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);
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typedef map<string, unsigned int> StringIntMap;
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StringIntMap body_table_id_map;
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RBDL_DLLAPI
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bool LuaModelReadFromLuaState (lua_State* L, Model* model, bool verbose) {
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assert (model);
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LuaTable model_table = LuaTable::fromLuaState (L);
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return LuaModelReadFromTable (model_table, model, verbose);
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}
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RBDL_DLLAPI
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bool LuaModelReadFromFile (const char* filename, Model* model, bool verbose) {
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if(!model) {
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std::cerr << "Model not provided." << std::endl;
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assert(false);
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abort();
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}
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LuaTable model_table = LuaTable::fromFile (filename);
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return LuaModelReadFromTable (model_table, model, verbose);
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}
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RBDL_DLLAPI
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std::vector<std::string> LuaModelGetConstraintSetNames(const char* filename) {
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std::vector<std::string> result;
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LuaTable model_table = LuaTable::fromFile (filename);
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std::vector<LuaKey> constraint_keys;
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if (model_table["constraint_sets"].exists()) {
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constraint_keys = model_table["constraint_sets"].keys();
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}
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if (constraint_keys.size() == 0) {
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return result;
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}
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for (size_t ci = 0; ci < constraint_keys.size(); ++ci) {
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if (constraint_keys[ci].type != LuaKey::String) {
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std::cerr << "Invalid constraint found in model.constraint_sets: no constraint set name was specified!"
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<< std::endl;
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abort();
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}
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result.push_back(constraint_keys[ci].string_value);
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}
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return result;
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}
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RBDL_DLLAPI
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bool LuaModelReadFromFileWithConstraints (
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const char* filename,
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Model* model,
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std::vector<ConstraintSet>& constraint_sets,
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const std::vector<std::string>& constraint_set_names,
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bool verbose
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) {
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if(!model) {
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std::cerr << "Model not provided." << std::endl;
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assert(false);
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abort();
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}
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if(constraint_sets.size() != constraint_set_names.size()) {
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std::cerr << "Number of constraint sets different from the number of \
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constraint set names." << std::endl;
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assert(false);
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abort();
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}
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LuaTable model_table = LuaTable::fromFile (filename);
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bool modelLoaded = LuaModelReadFromTable (model_table, model, verbose);
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bool constraintsLoaded = LuaModelReadConstraintsFromTable (model_table, model
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, constraint_sets, constraint_set_names, verbose);
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for(size_t i = 0; i < constraint_sets.size(); ++i) {
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constraint_sets[i].Bind(*model);
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}
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return modelLoaded && constraintsLoaded;
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}
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bool LuaModelReadFromTable (LuaTable &model_table, Model* model, bool verbose) {
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if (model_table["gravity"].exists()) {
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model->gravity = model_table["gravity"].get<Vector3d>();
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if (verbose)
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cout << "gravity = " << model->gravity.transpose() << endl;
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}
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int frame_count = model_table["frames"].length();
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body_table_id_map["ROOT"] = 0;
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for (int i = 1; i <= frame_count; i++) {
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if (!model_table["frames"][i]["parent"].exists()) {
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cerr << "Parent not defined for frame " << i << "." << endl;
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abort();
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}
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string body_name = model_table["frames"][i]["name"].getDefault<string>("");
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string parent_name = model_table["frames"][i]["parent"].get<string>();
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unsigned int parent_id = body_table_id_map[parent_name];
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SpatialTransform joint_frame
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= model_table["frames"][i]["joint_frame"].getDefault(SpatialTransform());
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Joint joint
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= model_table["frames"][i]["joint"].getDefault(Joint(JointTypeFixed));
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Body body = model_table["frames"][i]["body"].getDefault<Body>(Body());
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unsigned int body_id
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= model->AddBody (parent_id, joint_frame, joint, body, body_name);
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body_table_id_map[body_name] = body_id;
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if (verbose) {
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cout << "==== Added Body ====" << endl;
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cout << " body_name : " << body_name << endl;
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cout << " body id : " << body_id << endl;
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cout << " parent_id : " << parent_id << endl;
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cout << " joint dofs : " << joint.mDoFCount << endl;
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for (unsigned int j = 0; j < joint.mDoFCount; j++) {
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cout << " " << j << ": " << joint.mJointAxes[j].transpose() << endl;
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}
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cout << " joint_frame: " << joint_frame << endl;
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}
|
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}
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|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool LuaModelReadConstraintsFromTable (
|
||
|
|
LuaTable &model_table,
|
||
|
|
Model *model,
|
||
|
|
std::vector<ConstraintSet>& constraint_sets,
|
||
|
|
const std::vector<std::string>& constraint_set_names,
|
||
|
|
bool verbose
|
||
|
|
) {
|
||
|
|
for(size_t i = 0; i < constraint_set_names.size(); ++i) {
|
||
|
|
if (verbose) {
|
||
|
|
std::cout << "==== Constraint Set: " << constraint_set_names[i] << std::endl;
|
||
|
|
}
|
||
|
|
|
||
|
|
if(!model_table["constraint_sets"][constraint_set_names[i].c_str()]
|
||
|
|
.exists()) {
|
||
|
|
cerr << "Constraint set not existing: " << constraint_set_names[i] << "."
|
||
|
|
<< endl;
|
||
|
|
assert(false);
|
||
|
|
abort();
|
||
|
|
}
|
||
|
|
|
||
|
|
size_t num_constraints = model_table["constraint_sets"]
|
||
|
|
[constraint_set_names[i].c_str()]
|
||
|
|
.length();
|
||
|
|
|
||
|
|
for(size_t ci = 0; ci < num_constraints; ++ci) {
|
||
|
|
if (verbose) {
|
||
|
|
std::cout << "== Constraint " << ci << "/" << num_constraints << " ==" << std::endl;
|
||
|
|
}
|
||
|
|
|
||
|
|
if(!model_table["constraint_sets"]
|
||
|
|
[constraint_set_names[i].c_str()][ci + 1]["constraint_type"].exists()) {
|
||
|
|
cerr << "constraint_type not specified." << endl;
|
||
|
|
assert(false);
|
||
|
|
abort();
|
||
|
|
}
|
||
|
|
string constraintType = model_table["constraint_sets"]
|
||
|
|
[constraint_set_names[i].c_str()][ci + 1]["constraint_type"]
|
||
|
|
.getDefault<string>("");
|
||
|
|
std::string constraint_name = model_table["constraint_sets"][constraint_set_names[i].c_str()][ci + 1]
|
||
|
|
["name"].getDefault<string>("");
|
||
|
|
|
||
|
|
if(constraintType == "contact") {
|
||
|
|
if(!model_table["constraint_sets"][constraint_set_names[i].c_str()]
|
||
|
|
[ci + 1]["body"].exists()) {
|
||
|
|
cerr << "body not specified." << endl;
|
||
|
|
assert(false);
|
||
|
|
abort();
|
||
|
|
}
|
||
|
|
constraint_sets[i].AddContactConstraint
|
||
|
|
(model->GetBodyId(model_table["constraint_sets"]
|
||
|
|
[constraint_set_names[i].c_str()][ci + 1]["body"]
|
||
|
|
.getDefault<string>("").c_str())
|
||
|
|
, model_table["constraint_sets"][constraint_set_names[i].c_str()][ci + 1]
|
||
|
|
["point"].getDefault<Vector3d>(Vector3d::Zero())
|
||
|
|
, model_table["constraint_sets"][constraint_set_names[i].c_str()][ci + 1]
|
||
|
|
["normal"].getDefault<Vector3d>(Vector3d::Zero())
|
||
|
|
, model_table["constraint_sets"][constraint_set_names[i].c_str()][ci + 1]
|
||
|
|
["name"].getDefault<string>("").c_str()
|
||
|
|
, model_table["constraint_sets"][constraint_set_names[i].c_str()][ci + 1]
|
||
|
|
["normal_acceleration"].getDefault<double>(0.));
|
||
|
|
if(verbose) {
|
||
|
|
cout << " type = contact" << endl;
|
||
|
|
cout << " name = " << constraint_name << std::endl;
|
||
|
|
cout << " body = "
|
||
|
|
<< model_table["constraint_sets"][constraint_set_names[i].c_str()]
|
||
|
|
[ci + 1]["body"].getDefault<string>("") << endl;
|
||
|
|
cout << " body point = "
|
||
|
|
<< model_table["constraint_sets"][constraint_set_names[i].c_str()]
|
||
|
|
[ci + 1]["point"].getDefault<Vector3d>(Vector3d::Zero()).transpose()
|
||
|
|
<< endl;
|
||
|
|
cout << " world normal = "
|
||
|
|
<< model_table["constraint_sets"][constraint_set_names[i].c_str()]
|
||
|
|
[ci + 1]["normal"].getDefault<Vector3d>(Vector3d::Zero()).transpose()
|
||
|
|
<< endl;
|
||
|
|
cout << " normal acceleration = "
|
||
|
|
<< model_table["constraint_sets"][constraint_set_names[i].c_str()]
|
||
|
|
[ci + 1]["normal_acceleration"].getDefault<double>(0.) << endl;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else if(constraintType == "loop") {
|
||
|
|
if(!model_table["constraint_sets"][constraint_set_names[i].c_str()]
|
||
|
|
[ci + 1]["predecessor_body"].exists()) {
|
||
|
|
cerr << "predecessor_body not specified." << endl;
|
||
|
|
assert(false);
|
||
|
|
abort();
|
||
|
|
}
|
||
|
|
if(!model_table["constraint_sets"][constraint_set_names[i].c_str()]
|
||
|
|
[ci + 1]["successor_body"].exists()) {
|
||
|
|
cerr << "successor_body not specified." << endl;
|
||
|
|
assert(false);
|
||
|
|
abort();
|
||
|
|
}
|
||
|
|
|
||
|
|
// Add the loop constraint as a non-stablized constraint and compute
|
||
|
|
// and set the actual stabilization cofficients for the Baumgarte
|
||
|
|
// stabilization afterwards if enabled.
|
||
|
|
unsigned int constraint_id;
|
||
|
|
constraint_id = constraint_sets[i].AddLoopConstraint(model->GetBodyId
|
||
|
|
(model_table["constraint_sets"][constraint_set_names[i].c_str()]
|
||
|
|
[ci + 1]["predecessor_body"].getDefault<string>("").c_str())
|
||
|
|
, model->GetBodyId(model_table["constraint_sets"]
|
||
|
|
[constraint_set_names[i].c_str()][ci + 1]["successor_body"]
|
||
|
|
.getDefault<string>("").c_str())
|
||
|
|
, model_table["constraint_sets"][constraint_set_names[i].c_str()][ci + 1]
|
||
|
|
["predecessor_transform"].getDefault<SpatialTransform>(SpatialTransform())
|
||
|
|
, model_table["constraint_sets"][constraint_set_names[i].c_str()][ci + 1]
|
||
|
|
["successor_transform"].getDefault<SpatialTransform>(SpatialTransform())
|
||
|
|
, model_table["constraint_sets"][constraint_set_names[i].c_str()][ci + 1]
|
||
|
|
["axis"].getDefault<SpatialVector>(SpatialVector::Zero())
|
||
|
|
, false
|
||
|
|
, 0.0
|
||
|
|
, constraint_name.c_str());
|
||
|
|
|
||
|
|
bool enable_stabilization = model_table["constraint_sets"][constraint_set_names[i].c_str()][ci + 1]
|
||
|
|
["enable_stabilization"].getDefault<bool>(false);
|
||
|
|
double stabilization_parameter = 0.0;
|
||
|
|
if (enable_stabilization) {
|
||
|
|
stabilization_parameter = model_table["constraint_sets"][constraint_set_names[i].c_str()][ci + 1]
|
||
|
|
["stabilization_parameter"].getDefault<double>(0.1);
|
||
|
|
if (stabilization_parameter <= 0.0) {
|
||
|
|
std::cerr << "Invalid stabilization parameter: " << stabilization_parameter
|
||
|
|
<< " must be > 0.0" << std::endl;
|
||
|
|
abort();
|
||
|
|
}
|
||
|
|
double stabilization_coefficient = 1.0 / stabilization_parameter;
|
||
|
|
constraint_sets[i].baumgarteParameters[i] = Vector2d(
|
||
|
|
stabilization_coefficient, stabilization_coefficient);
|
||
|
|
}
|
||
|
|
|
||
|
|
if(verbose) {
|
||
|
|
cout << " type = loop" << endl;
|
||
|
|
cout << " name = " << constraint_name << std::endl;
|
||
|
|
cout << " predecessor body = "
|
||
|
|
<< model_table["constraint_sets"][constraint_set_names[i].c_str()]
|
||
|
|
[ci + 1]["predecessor_body"].getDefault<string>("") << endl;
|
||
|
|
cout << " successor body = "
|
||
|
|
<< model_table["constraint_sets"][constraint_set_names[i].c_str()]
|
||
|
|
[ci + 1]["successor_body"].getDefault<string>("") << endl;
|
||
|
|
cout << " predecessor body transform = " << endl
|
||
|
|
<< model_table["constraint_sets"][constraint_set_names[i].c_str()]
|
||
|
|
[ci + 1]["predecessor_transform"]
|
||
|
|
.getDefault<SpatialTransform>(SpatialTransform()) << endl;
|
||
|
|
cout << " successor body transform = " << endl
|
||
|
|
<< model_table["constraint_sets"][constraint_set_names[i].c_str()]
|
||
|
|
[ci + 1]["successor_transform"]
|
||
|
|
.getDefault<SpatialTransform>(SpatialTransform()) << endl;
|
||
|
|
cout << " constraint axis (in predecessor frame) = "
|
||
|
|
<< model_table["constraint_sets"][constraint_set_names[i].c_str()]
|
||
|
|
[ci + 1]["axis"].getDefault<SpatialVector>(SpatialVector::Zero())
|
||
|
|
.transpose() << endl;
|
||
|
|
cout << " enable_stabilization = " << enable_stabilization
|
||
|
|
<< endl;
|
||
|
|
if (enable_stabilization) {
|
||
|
|
cout << " stabilization_parameter = " << stabilization_parameter
|
||
|
|
<< endl;
|
||
|
|
}
|
||
|
|
cout << " constraint name = "
|
||
|
|
<< model_table["constraint_sets"][constraint_set_names[i].c_str()]
|
||
|
|
[ci + 1]["name"].getDefault<string>("").c_str() << endl;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
cerr << "Invalid constraint type: " << constraintType << endl;
|
||
|
|
abort();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|