111 lines
3.5 KiB
C++
111 lines
3.5 KiB
C++
|
#include <rbdl/rbdl.h>
|
||
|
|
#include <rbdl/rbdl_utils.h>
|
||
|
|
|
||
|
|
#include "urdfreader.h"
|
||
|
|
|
||
|
|
#include <iostream>
|
||
|
|
#include <iomanip>
|
||
|
|
|
||
|
|
using namespace std;
|
||
|
|
|
||
|
|
bool verbose = false;
|
||
|
|
bool floatbase = false;
|
||
|
|
string filename = "";
|
||
|
|
|
||
|
|
using namespace std;
|
||
|
|
|
||
|
|
using namespace RigidBodyDynamics::Math;
|
||
|
|
|
||
|
|
void usage (const char* argv_0) {
|
||
|
|
cerr << "Usage: " << argv_0 << "[-v] [-m] [-d] <robot.urdf>" << endl;
|
||
|
|
cerr << " -v | --verbose enable additional output" << endl;
|
||
|
|
cerr << " -d | --dof-overview print an overview of the degress of freedom" << endl;
|
||
|
|
cerr << " -f | --floatbase set the first mobile body as floating base" << endl;
|
||
|
|
cerr << " -m | --model-hierarchy print the hierarchy of the model" << endl;
|
||
|
|
cerr << " -o | --body-origins print the origins of all bodies that have names" << endl;
|
||
|
|
cerr << " -c | --center_of_mass print center of mass for bodies and full model" << endl;
|
||
|
|
cerr << " -h | --help print this help" << endl;
|
||
|
|
exit (1);
|
||
|
|
}
|
||
|
|
|
||
|
|
int main (int argc, char *argv[]) {
|
||
|
|
if (argc < 2) {
|
||
|
|
cerr << "Error: not enough arguments!" << endl;
|
||
|
|
usage(argv[0]);
|
||
|
|
}
|
||
|
|
|
||
|
|
bool verbose = false;
|
||
|
|
bool dof_overview = false;
|
||
|
|
bool model_hierarchy = false;
|
||
|
|
bool body_origins = false;
|
||
|
|
bool center_of_mass = false;
|
||
|
|
|
||
|
|
string filename = argv[1];
|
||
|
|
|
||
|
|
for (int i = 1; i < argc; i++) {
|
||
|
|
if (string(argv[i]) == "-v" || string (argv[i]) == "--verbose")
|
||
|
|
verbose = true;
|
||
|
|
else if (string(argv[i]) == "-d" || string (argv[i]) == "--dof-overview")
|
||
|
|
dof_overview = true;
|
||
|
|
else if (string(argv[i]) == "-m" || string (argv[i]) == "--model-hierarchy")
|
||
|
|
model_hierarchy = true;
|
||
|
|
else if (string(argv[i]) == "-f" || string (argv[i]) == "--floatbase")
|
||
|
|
floatbase = true;
|
||
|
|
else if (string(argv[i]) == "-o" || string (argv[i]) == "--body-origins")
|
||
|
|
body_origins = true;
|
||
|
|
else if (string(argv[i]) == "-c" || string (argv[i]) == "--center-of-mass")
|
||
|
|
center_of_mass = true;
|
||
|
|
else if (string(argv[i]) == "-h" || string (argv[i]) == "--help")
|
||
|
|
usage(argv[0]);
|
||
|
|
else
|
||
|
|
filename = argv[i];
|
||
|
|
}
|
||
|
|
|
||
|
|
RigidBodyDynamics::Model model;
|
||
|
|
|
||
|
|
if (!RigidBodyDynamics::Addons::URDFReadFromFile(filename.c_str(), &model, floatbase, verbose)) {
|
||
|
|
cerr << "Loading of urdf model failed!" << endl;
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
cout << "Model loading successful!" << endl;
|
||
|
|
|
||
|
|
if (dof_overview) {
|
||
|
|
cout << "Degree of freedom overview:" << endl;
|
||
|
|
cout << RigidBodyDynamics::Utils::GetModelDOFOverview(model);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (model_hierarchy) {
|
||
|
|
cout << "Model Hierarchy:" << endl;
|
||
|
|
cout << RigidBodyDynamics::Utils::GetModelHierarchy (model);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (body_origins) {
|
||
|
|
cout << "Body Origins:" << endl;
|
||
|
|
cout << RigidBodyDynamics::Utils::GetNamedBodyOriginsOverview(model);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (center_of_mass) {
|
||
|
|
VectorNd q_zero (VectorNd::Zero (model.q_size));
|
||
|
|
VectorNd qdot_zero (VectorNd::Zero (model.qdot_size));
|
||
|
|
RigidBodyDynamics::UpdateKinematics (model, q_zero, qdot_zero, qdot_zero);
|
||
|
|
|
||
|
|
for (unsigned int i = 1; i < model.mBodies.size(); i++) {
|
||
|
|
if (model.mBodies[i].mIsVirtual)
|
||
|
|
continue;
|
||
|
|
|
||
|
|
SpatialRigidBodyInertia rbi_base = model.X_base[i].apply(model.I[i]);
|
||
|
|
Vector3d body_com = rbi_base.h / rbi_base.m;
|
||
|
|
cout << setw(12) << model.GetBodyName (i) << ": " << setw(10) << body_com.transpose() << endl;
|
||
|
|
}
|
||
|
|
|
||
|
|
Vector3d model_com;
|
||
|
|
double mass;
|
||
|
|
RigidBodyDynamics::Utils::CalcCenterOfMass (model, q_zero, qdot_zero, NULL, mass, model_com);
|
||
|
|
cout << setw(14) << "Model COM: " << setw(10) << model_com.transpose() << endl;
|
||
|
|
cout << setw(14) << "Model mass: " << mass << endl;
|
||
|
|
}
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|